version: 66.04
glider: 105
mission: 6
dive: 44
start: 6 13 109 11 11 33
data:
$ID,105
$MISSION,6
$DIVE,44
$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,440
$T_MISSION,480
$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,270
$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,-1628865.9
$T_RSLEEP,2
$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,2476
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,30
$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
$GPS1,110637,6213.625,-919.456,33,1.0,33,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-63.2
$GPS2,111114,6213.676,-919.442,12,1.9,12,-9.7
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6213.676,-942.619
$TGT_RADIUS,1852.000
$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,279.7,20000,-13.9,-7.500
$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,14,begin dive
$GC,17,-1.17,-146.6,0.0,0.0,0,78,0.00,0.00,-59.33,0.000,6,0.000,0.000,397,2459,3432
$GC,81,-1.17,-146.6,4.3,-8.4,3,102,11.48,2.53,0.00,0.000,4,0.137,0.053,2535,3831,3433
$GC,439,-1.17,-146.6,49.5,-10.0,19,444,0.00,2.35,0.00,0.000,6,0.000,0.025,2535,2443,3433
$GC,771,-1.17,-146.6,81.0,-9.2,35,775,0.00,2.50,0.00,0.000,4,0.000,0.053,2535,3827,3434
$GC,928,-1.17,-146.6,96.4,-9.2,42,932,0.00,2.25,0.00,0.000,6,0.000,0.025,2535,2481,3434
$GC,1249,-1.17,-146.6,124.4,-8.7,58,1253,0.00,2.40,0.00,0.000,4,0.000,0.036,2535,1085,3434
$GC,1311,-1.17,-146.6,130.1,-9.3,61,1315,0.00,2.40,0.00,0.000,6,0.000,0.032,2535,2476,3434
$GC,1638,-1.17,-146.6,161.3,-9.9,77,1642,0.00,2.42,0.00,0.000,4,0.000,0.037,2535,1077,3434
$GC,1700,-1.17,-146.6,167.5,-10.2,80,1704,0.00,2.42,0.00,0.000,6,0.000,0.034,2535,2476,3434
$GC,2026,-1.17,-146.6,197.8,-9.0,96,2030,0.00,2.40,0.00,0.000,4,0.000,0.038,2535,1087,3434
$GC,2098,-1.17,-146.6,204.2,-8.6,99,2102,0.00,2.42,0.00,0.000,6,0.000,0.035,2535,2475,3434
$GC,2416,-1.17,-146.6,229.8,-7.9,114,2420,0.00,2.42,0.00,0.000,4,0.000,0.038,2535,1080,3434
$GC,2471,-1.17,-146.6,234.6,-8.8,116,2477,0.00,2.42,0.00,0.000,6,0.000,0.036,2535,2476,3434
$GC,2786,-1.17,-146.6,261.5,-8.8,132,2790,0.00,2.42,0.00,0.000,4,0.000,0.039,2535,1080,3434
$GC,2841,-1.17,-146.6,266.5,-9.3,134,2847,0.00,2.45,0.00,0.000,6,0.000,0.037,2535,2482,3434
$GC,3157,-1.17,-146.6,296.4,-9.9,150,3161,0.00,2.42,0.00,0.000,4,0.000,0.039,2535,1088,3434
$GC,3207,-1.17,-146.6,301.5,-10.2,152,3211,0.00,2.42,0.00,0.000,6,0.000,0.038,2535,2475,3434
$GC,3523,-1.17,-146.6,335.2,-11.2,167,3527,0.00,2.42,0.00,0.000,4,0.000,0.040,2535,1086,3434
$GC,3589,-1.17,-146.6,343.2,-11.8,170,3594,0.00,2.42,0.00,0.000,6,0.000,0.038,2535,2474,3434
$GC,3911,-1.17,-146.6,380.6,-11.1,186,3916,0.00,2.45,0.00,0.000,4,0.000,0.041,2535,1094,3434
$GC,3949,-1.17,-146.6,385.0,-11.6,187,3955,0.00,2.42,0.00,0.000,6,0.000,0.038,2535,2480,3434
$GC,4266,-1.17,-146.6,411.3,-6.3,203,4270,0.00,2.45,0.00,0.000,4,0.000,0.041,2535,1082,3434
$GC,4321,-1.17,-146.6,415.0,-6.6,205,4328,0.00,2.45,0.00,0.000,6,0.000,0.039,2535,2480,3434
$GC,4639,-1.17,-146.6,426.0,-2.1,221,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2480,3434
$GC,4947,-1.17,-146.6,433.3,-4.9,236,4951,0.00,2.45,0.00,0.000,4,0.000,0.064,2535,3828,3434
$GC,5009,-1.17,-146.6,437.6,-6.4,239,5013,0.00,2.28,0.00,0.000,6,0.000,0.029,2535,2484,3433
$GC,5335,-1.17,-146.6,462.0,-8.6,255,5339,0.00,2.45,0.00,0.000,4,0.000,0.041,2535,1076,3434
$GC,5457,-1.17,-146.6,472.5,-8.7,260,5464,0.00,2.45,0.00,0.000,6,0.000,0.039,2535,2483,3433
$GC,5774,-1.17,-146.6,501.0,-9.3,276,5779,0.00,2.47,0.00,0.000,4,0.000,0.043,2535,1078,3433
$GC,5869,-1.17,-146.6,510.1,-9.4,280,5873,0.00,2.47,0.00,0.000,6,0.000,0.040,2535,2485,3433
$GC,6185,-1.17,-146.6,539.1,-9.0,295,6189,0.00,2.47,0.00,0.000,4,0.000,0.044,2535,1081,3431
$GC,6229,-1.17,-146.6,543.3,-9.6,297,6234,0.00,2.47,0.00,0.000,6,0.000,0.040,2535,2475,3431
$STATE,6410,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6410,begin apogee
$GC,6418,-0.36,0.0,559.3,9.0,306,6551,0.88,0.00,126.38,1.121,6,0.073,0.000,2719,1465,2831
$STATE,6552,end apogee,CONTROL_FINISHED_OK
$STATE,6552,begin climb
$GC,6555,1.17,146.6,564.7,0.0,313,6690,1.50,2.60,127.07,1.082,4,0.048,0.050,3052,2865,2232
$GC,6720,1.24,201.9,560.1,5.6,320,6775,0.00,2.50,48.17,1.050,6,0.000,0.040,3052,1455,2009
$GC,7100,1.24,201.9,529.6,8.4,339,7104,0.00,2.53,0.00,0.000,4,0.000,0.046,3052,2864,1999
$GC,7139,1.24,201.9,526.0,8.8,341,7144,0.00,2.50,0.00,0.000,6,0.000,0.040,3052,1448,1999
$GC,7466,1.24,201.9,499.5,8.5,357,7469,0.00,2.17,0.00,0.000,4,0.000,0.061,3052,261,1998
$GC,7527,1.24,201.9,493.1,11.0,359,7533,0.00,2.05,0.00,0.000,6,0.000,0.032,3052,1478,1998
$GC,7845,1.24,201.9,453.1,14.3,375,7848,0.00,2.22,0.00,0.000,4,0.000,0.059,3052,264,1997
$GC,8038,1.49,403.6,441.3,0.6,383,8225,0.32,2.03,177.05,1.042,6,0.031,0.032,3140,1458,1186
$GC,8547,1.49,403.6,392.3,11.1,408,8550,0.00,2.20,0.00,0.000,4,0.000,0.058,3139,258,1174
$GC,8596,1.49,403.6,386.9,11.2,410,8600,0.00,2.03,0.00,0.000,6,0.000,0.031,3140,1459,1172
$GC,8925,1.49,403.6,336.4,18.8,426,8929,0.00,2.17,0.00,0.000,4,0.000,0.056,3140,259,1171
$GC,8975,1.49,403.6,325.9,19.6,428,8979,0.00,2.03,0.00,0.000,6,0.000,0.030,3140,1455,1170
$GC,9302,1.49,403.6,274.1,12.8,444,9306,0.00,2.20,0.00,0.000,4,0.000,0.056,3140,263,1170
$GC,9414,1.49,403.6,260.1,12.8,449,9417,0.00,2.00,0.00,0.000,6,0.000,0.030,3140,1454,1170
$GC,9748,1.49,403.6,213.6,15.4,465,9752,0.00,2.17,0.00,0.000,4,0.000,0.055,3139,258,1169
$GC,9804,1.49,403.6,203.7,17.9,467,9808,0.00,2.03,0.00,0.000,6,0.000,0.029,3140,1459,1169
$GC,10127,1.49,403.6,153.2,15.2,483,10131,0.00,2.17,0.00,0.000,4,0.000,0.054,3139,256,1168
$GC,10205,1.49,403.6,140.0,16.2,486,10209,0.00,2.03,0.00,0.000,6,0.000,0.028,3140,1468,1168
$GC,10527,1.49,403.6,89.1,15.0,502,10531,0.00,2.17,0.00,0.000,4,0.000,0.054,3140,262,1169
$GC,10618,1.49,403.6,75.4,15.0,506,10622,0.00,1.98,0.00,0.000,6,0.000,0.028,3140,1454,1168
$GC,10952,1.49,403.6,29.3,13.8,522,10956,0.00,2.15,0.00,0.000,4,0.000,0.053,3140,261,1169
$GC,11057,1.49,403.6,12.7,15.9,526,11064,0.00,2.03,0.00,0.000,6,0.000,0.028,3140,1455,1169
$STATE,11123,end climb,SURFACE_DEPTH_REACHED
$STATE,11123,begin surface coast
$FINISH,0.1,1.027213
$STATE,11145,end surface coast,CONTROL_FINISHED_OK
$STATE,11145,begin surface
$SM_CCo,11229,0.00,0.000,0,0,1167,408.18
$SM_GC,0.91,11.90,0.00,0.00,0.025,0.000,0.000,393,2452,1167,-11.00,-0.71,408.18
$IRIDIUM_FIX,6148.92,-920.16,070998,070704
$TT8_MAMPS,0.026845
$HUMID,1836
$INTERNAL_PRESSURE,8.05043
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,526.0,43.2
$24V_AH,23.3,24.426
$10V_AH,10.1,10.498
$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,26.075,124.375,478.675,0.000,0.000,28.291,25.085,119.167,4.500,0.000,0.000,12.223,1050.842,7960.146,509.851,1441.153,547.819,0.000,1322.056,0.000,1522.142,0.000,32.706,0.000
$DEVICE_MAMPS,137.293,63.661,1121.354,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.098,363.482,354.550,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25374,531
$CAP_FILE_SIZE,93421,0
$CFSIZE,260165632,255504384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,130609,142000,6215.476,-921.499,36,1.4,41,-9.7