version: 66.04
glider: 105
mission: 6
dive: 267
start: 8 12 109 8 47 58
data:
$ID,105
$MISSION,6
$DIVE,267
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,11
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1632793.8
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.439545
$PRESSURE_SLOPE,0.0001163108
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043067979
$SEABIRD_T_H,0.0006302988
$SEABIRD_T_I,2.3035876e-05
$SEABIRD_T_J,2.3016955e-06
$SEABIRD_C_G,-10.448573
$SEABIRD_C_H,1.1833477
$SEABIRD_C_I,-0.0016540284
$SEABIRD_C_J,0.00022965467
$GPS1,084155,6148.835,-930.833,42,1.9,42,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-60.4
$GPS2,084738,6148.923,-930.777,11,1.7,11,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.025,-0.238
$KALMAN_X,-160384.0,991.3,628.8,104309.0,-21.7
$KALMAN_Y,127308.9,-3266.1,-2239.5,-49887.2,54062.8
$MHEAD_RNG_PITCHd_Wd,162.6,60141,-11.0,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,85,0.00,0.00,-67.53,0.000,6,0.000,0.000,387,2241,3431
$GC,88,-0.96,-146.6,3.5,-6.1,3,109,11.73,2.50,0.00,0.000,4,0.134,0.037,2584,836,3433
$GC,274,-0.96,-146.6,28.1,-4.4,11,278,0.00,2.47,0.00,0.000,6,0.000,0.034,2584,2252,3434
$GC,596,-0.96,-146.6,46.6,-7.0,27,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3434
$GC,904,-0.96,-146.6,66.7,-6.1,42,908,0.00,2.55,0.00,0.000,4,0.000,0.058,2584,3653,3435
$GC,976,-0.96,-146.6,71.8,-7.1,45,980,0.00,2.42,0.00,0.000,6,0.000,0.030,2584,2234,3435
$GC,1293,-0.96,-146.6,92.3,-6.7,60,1298,0.00,2.58,0.00,0.000,4,0.000,0.052,2584,3655,3435
$GC,1404,-0.96,-146.6,100.9,-7.8,65,1408,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2250,3435
$GC,1726,-0.96,-146.6,125.1,-7.3,81,1730,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3652,3435
$GC,1782,-0.96,-146.6,129.8,-8.2,83,1788,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2241,3435
$GC,2098,-0.96,-146.6,152.7,-7.3,99,2102,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3651,3435
$GC,2154,-0.96,-146.6,157.1,-7.7,101,2160,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2247,3435
$GC,2469,-0.96,-146.6,181.4,-8.0,117,2473,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3653,3435
$GC,2570,-0.96,-146.6,190.4,-9.2,121,2577,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2248,3435
$GC,2885,-0.96,-146.6,215.2,-7.6,137,2890,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3651,3434
$GC,3003,-0.96,-146.6,224.6,-8.4,142,3007,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2245,3434
$GC,3318,-0.96,-146.6,247.4,-7.4,157,3323,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3651,3434
$GC,3385,-0.96,-146.6,252.8,-8.0,160,3390,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3434
$GC,3708,-0.96,-146.6,278.0,-7.9,176,3713,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3434
$GC,3753,-0.96,-146.6,282.1,-9.1,178,3757,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2247,3433
$GC,4074,-0.96,-146.6,307.6,-7.9,194,4078,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3434
$GC,4158,-0.96,-146.6,314.6,-8.6,198,4163,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2245,3433
$GC,4488,-0.96,-146.6,338.2,-7.0,214,4492,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3653,3433
$GC,4555,-0.96,-146.6,343.2,-6.9,217,4560,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2252,3433
$GC,4881,-0.96,-146.6,363.4,-6.1,233,4885,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3653,3433
$GC,4953,-0.96,-146.6,367.8,-6.5,236,4957,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2249,3433
$GC,5272,-0.96,-146.6,385.9,-5.8,251,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3433
$GC,5578,-0.96,-146.6,403.7,-5.7,266,5583,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3660,3433
$GC,5673,-0.96,-146.6,409.8,-6.5,270,5677,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2241,3432
$GC,5990,-0.96,-146.6,428.5,-5.8,285,5994,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3660,3432
$GC,6069,-0.96,-146.6,433.7,-6.1,288,6075,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2247,3432
$GC,6385,-0.96,-146.6,451.4,-5.3,304,6389,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3656,3432
$GC,6485,-0.96,-146.6,457.4,-6.2,308,6491,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2231,3432
$GC,6801,-0.96,-146.6,473.3,-4.9,324,6805,0.00,2.58,0.00,0.000,4,0.000,0.053,2584,3652,3432
$GC,6896,-0.96,-146.6,478.5,-5.6,328,6900,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3432
$GC,7214,-0.96,-146.6,493.7,-4.9,343,7218,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3432
$GC,7295,-0.96,-146.6,498.0,-5.4,346,7301,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3431
$GC,7610,-0.96,-146.6,515.7,-5.9,362,7615,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3647,3431
$GC,7678,-0.96,-146.6,520.6,-7.4,365,7682,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2242,3431
$GC,8005,-0.96,-146.6,541.6,-6.6,381,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2242,3431
$GC,8314,-0.96,-146.6,565.2,-7.5,396,8318,0.00,2.58,0.00,0.000,4,0.000,0.055,2584,3658,3430
$GC,8458,-0.96,-146.6,578.1,-8.6,402,8466,0.00,2.45,0.00,0.000,6,0.000,0.032,2584,2250,3430
$GC,8775,-0.96,-146.6,597.1,-5.5,418,8779,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3430
$GC,8897,-0.96,-146.6,603.8,-4.9,423,8904,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3429
$GC,9214,-0.96,-146.6,617.6,-5.0,439,9218,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,841,3429
$GC,9247,-0.96,-146.6,619.7,-6.3,440,9253,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2254,3429
$GC,9564,-0.96,-146.6,646.5,-10.2,456,9568,0.00,2.50,0.00,0.000,4,0.000,0.044,2585,841,3429
$GC,9600,-0.96,-146.6,650.0,-10.2,457,9606,0.00,2.45,0.00,0.000,6,0.000,0.034,2584,2260,3430
$GC,9915,-0.96,-146.6,679.8,-7.8,473,9920,0.00,2.50,0.00,0.000,4,0.000,0.056,2584,3645,3429
$GC,10161,-0.96,-146.6,698.6,-8.6,484,10166,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2252,3429
$GC,10483,-0.96,-146.6,717.1,-3.9,500,10487,0.00,2.53,0.00,0.000,4,0.000,0.056,2584,3644,3429
$GC,10647,-0.96,-146.6,727.2,-5.6,507,10652,0.00,2.42,0.00,0.000,6,0.000,0.034,2584,2238,3429
$STATE,10754,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10754,begin apogee
$GC,10762,-0.36,0.0,734.2,6.0,512,10898,0.65,0.00,127.88,1.273,6,0.069,0.000,2722,1460,2832
$STATE,10898,end apogee,CONTROL_FINISHED_OK
$STATE,10898,begin climb
$GC,10901,0.96,146.6,741.0,0.0,519,11040,1.33,2.58,128.88,1.237,4,0.064,0.046,3005,2851,2232
$GC,11379,1.01,184.0,728.9,5.0,540,11418,0.00,2.47,33.28,1.217,6,0.000,0.044,3005,1457,2081
$GC,11736,1.17,312.4,724.3,2.5,558,11861,0.17,2.60,115.43,1.257,4,0.037,0.048,3077,2850,1556
$GC,12091,1.17,312.4,697.9,12.3,574,12096,0.12,2.50,0.00,0.000,6,0.078,0.044,3050,1448,1546
$GC,12413,1.17,312.4,659.8,10.2,590,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1447,1543
$GC,12721,1.17,312.4,640.5,6.1,605,12725,0.00,2.50,0.00,0.000,4,0.000,0.044,3050,2854,1541
$GC,12753,1.17,312.4,638.2,7.0,606,12759,0.00,2.50,0.00,0.000,6,0.000,0.040,3050,1444,1541
$GC,13069,1.17,312.4,610.2,9.7,622,13074,0.00,2.53,0.00,0.000,4,0.000,0.043,3050,2854,1540
$GC,13107,1.17,312.4,607.0,7.4,623,13114,0.00,2.50,0.00,0.000,6,0.000,0.038,3050,1451,1540
$GC,13422,1.17,312.4,578.0,9.4,639,13424,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1451,1539
$GC,13732,1.17,312.4,548.5,10.3,654,13733,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1451,1540
$GC,14041,1.17,312.4,515.2,10.0,669,14042,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1451,1539
$GC,14350,1.17,312.4,482.2,10.7,684,14351,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1451,1540
$GC,14662,1.17,312.4,451.2,9.5,699,14664,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1451,1540
$GC,14969,1.17,312.4,422.4,9.0,714,14973,0.00,2.47,0.00,0.000,4,0.000,0.041,3050,2860,1540
$GC,14997,1.17,312.4,419.9,9.1,715,15001,0.00,2.45,0.00,0.000,6,0.000,0.037,3050,1456,1539
$GC,15312,1.17,312.4,395.4,6.8,730,15313,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1456,1539
$GC,15622,1.17,312.4,376.3,6.3,745,15623,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1456,1539
$GC,15931,1.17,312.4,353.2,8.1,760,15932,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1455,1539
$GC,16242,1.17,312.4,324.3,10.0,775,16244,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1455,1540
$GC,16550,1.17,312.4,292.1,10.7,790,16551,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1455,1540
$GC,16858,1.17,312.4,259.4,10.4,805,16863,0.00,2.47,0.00,0.000,4,0.000,0.041,3050,2863,1541
$GC,16886,1.17,312.4,256.4,9.9,806,16890,0.00,2.47,0.00,0.000,6,0.000,0.037,3050,1448,1540
$GC,17205,1.17,312.4,225.1,9.6,821,17206,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1448,1541
$GC,17511,1.17,312.4,198.2,8.1,836,17516,0.00,2.47,0.00,0.000,4,0.000,0.040,3050,2860,1541
$GC,17539,1.17,312.4,195.8,8.3,837,17543,0.00,2.45,0.00,0.000,6,0.000,0.036,3050,1455,1540
$GC,17855,1.17,312.4,166.6,10.5,852,17858,0.00,2.15,0.00,0.000,4,0.000,0.057,3050,258,1541
$GC,17877,1.17,312.4,163.9,11.4,853,17881,0.00,2.03,0.00,0.000,6,0.000,0.028,3050,1471,1541
$GC,18211,1.17,312.4,124.7,10.9,869,18213,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1473,1541
$GC,18520,1.17,312.4,93.9,10.4,884,18521,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1473,1541
$GC,18829,1.17,312.4,61.6,9.6,899,18830,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1473,1541
$GC,19139,1.17,312.4,36.4,6.4,914,19143,0.00,2.40,0.00,0.000,4,0.000,0.042,3050,2845,1541
$GC,19168,1.17,312.4,34.3,6.8,915,19172,0.00,2.42,0.00,0.000,6,0.000,0.035,3050,1446,1540
$GC,19484,1.17,312.4,13.9,6.5,930,19488,0.00,2.42,0.00,0.000,4,0.000,0.038,3050,2843,1541
$GC,19524,1.17,312.4,11.2,6.7,932,19529,0.00,2.42,0.00,0.000,6,0.000,0.035,3050,1460,1540
$STATE,19647,end climb,SURFACE_DEPTH_REACHED
$STATE,19647,begin surface coast
$FINISH,0.4,1.026528
$STATE,19669,end surface coast,CONTROL_FINISHED_OK
$STATE,19669,begin surface
$SM_CCo,19754,0.00,0.000,0,0,1536,317.66
$SM_GC,0.98,11.55,0.00,0.00,0.028,0.000,0.000,394,2235,1536,-10.99,-0.42,317.66
$IRIDIUM_FIX,6121.73,-935.21,061198,020237
$TT8_MAMPS,0.026845
$HUMID,1935
$INTERNAL_PRESSURE,8.15785
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.8,42.6
$24V_AH,23.1,56.932
$10V_AH,10.1,34.404
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.550,170.425,405.450,0.000,0.000,28.612,30.123,156.924,6.000,0.000,0.000,11.854,1759.706,14756.576,517.527,2226.833,830.572,0.000,1686.578,0.000,2389.882,0.000,41.090,0.000
$DEVICE_MAMPS,134.225,57.525,1273.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,765.998,724.156,580.324,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47403,939
$CAP_FILE_SIZE,144647,0
$CFSIZE,260165632,238579712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,120809,141831,6150.353,-927.312,42,1.1,42,-9.6