version: 66.04
glider: 105
mission: 6
dive: 250
start: 8 9 109 1 45 42
data:
$ID,105
$MISSION,6
$DIVE,250
$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,-1632496.4
$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,27
$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
$GPS1,013930,6211.171,-923.935,36,2.0,36,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-62.4
$GPS2,014522,6211.238,-923.918,16,3.4,35,-9.7
$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,177.1,97244,-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,12,begin dive
$GC,15,-0.96,-146.6,0.0,0.0,0,79,0.00,0.00,-61.30,0.000,2,0.000,0.000,393,2238,3352
$GC,82,-0.96,-146.6,4.2,-8.0,3,104,11.57,2.53,-1.35,0.000,4,0.130,0.053,2583,837,3433
$GC,154,-0.96,-146.6,18.3,-8.5,6,158,0.00,2.47,0.00,0.000,6,0.000,0.034,2583,2255,3434
$GC,476,-0.96,-146.6,43.6,-7.6,22,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2256,3434
$GC,784,-0.96,-146.6,69.5,-8.2,37,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2256,3435
$GC,1094,-0.96,-146.6,95.3,-9.8,52,1098,0.00,2.55,0.00,0.000,4,0.000,0.058,2583,3641,3435
$GC,1154,-0.96,-146.6,102.4,-12.0,54,1162,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2236,3435
$GC,1470,-0.96,-146.6,136.3,-9.1,70,1475,0.00,2.58,0.00,0.000,4,0.000,0.053,2583,3654,3436
$GC,1542,-0.96,-146.6,141.6,-6.1,73,1547,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2247,3436
$GC,1858,-0.96,-146.6,151.2,-0.9,88,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2247,3436
$GC,2169,-0.96,-146.6,148.0,1.8,103,2173,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3436
$GC,2327,-0.96,-146.6,148.3,-2.0,110,2331,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2244,3436
$GC,2649,-0.96,-146.6,165.4,-8.2,126,2653,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3652,3436
$GC,2727,-0.96,-146.6,173.9,-11.0,129,2734,0.00,2.38,0.00,0.000,6,0.000,0.031,2583,2251,3435
$GC,3043,-0.96,-146.6,215.7,-14.9,145,3047,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3435
$GC,3165,-0.96,-146.6,234.9,-15.5,150,3172,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2249,3435
$GC,3482,-0.96,-146.6,280.8,-13.2,166,3486,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3435
$GC,3621,-0.96,-146.6,297.0,-11.1,172,3625,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2247,3434
$GC,3940,-0.96,-146.6,322.3,-5.7,187,3944,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3434
$GC,4040,-0.96,-146.6,325.9,-1.9,191,4046,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3434
$GC,4358,-0.96,-146.6,324.8,1.3,207,4363,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3650,3434
$GC,4409,-0.96,-146.6,324.5,0.8,209,4413,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3434
$GC,4724,-0.96,-146.6,325.6,-1.5,224,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2251,3434
$GC,5034,-0.96,-146.6,335.8,-3.6,239,5039,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3648,3433
$GC,5101,-0.96,-146.6,338.8,-4.9,242,5105,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3433
$GC,5428,-0.96,-146.6,355.5,-5.4,258,5432,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3433
$GC,5495,-0.96,-146.6,359.7,-6.8,261,5500,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3433
$GC,5817,-0.96,-146.6,375.8,-3.6,277,5822,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3645,3433
$GC,5878,-0.96,-146.6,378.4,-4.8,279,5884,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3433
$GC,6194,-0.96,-146.6,393.3,-5.3,295,6198,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3650,3433
$GC,6305,-0.96,-146.6,400.9,-7.0,300,6309,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2236,3433
$GC,6629,-0.96,-146.6,422.7,-6.0,316,6633,0.00,2.58,0.00,0.000,4,0.000,0.056,2583,3653,3432
$GC,6736,-0.96,-146.6,431.7,-10.9,321,6740,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2254,3432
$GC,7062,-0.96,-146.6,473.4,-12.8,337,7067,0.00,2.47,0.00,0.000,4,0.000,0.046,2583,849,3432
$GC,7112,-0.96,-146.6,479.4,-11.7,339,7117,0.00,2.45,0.00,0.000,6,0.000,0.036,2583,2239,3431
$GC,7433,-0.96,-146.6,503.1,-5.5,355,7438,0.00,2.55,0.00,0.000,4,0.000,0.058,2583,3651,3431
$GC,7496,-0.96,-146.6,505.9,-4.6,358,7501,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2247,3431
$GC,7823,-0.96,-146.6,517.6,-3.5,374,7828,0.00,2.60,0.00,0.000,4,0.000,0.059,2583,3651,3430
$GC,7891,-0.96,-146.6,520.6,-5.2,377,7895,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2252,3429
$GC,8218,-0.96,-146.6,534.4,-3.8,393,8222,0.00,2.55,0.00,0.000,4,0.000,0.058,2583,3651,3428
$GC,8302,-0.96,-146.6,538.0,-6.1,397,8306,0.00,2.42,0.00,0.000,6,0.000,0.034,2583,2247,3428
$GC,8631,-0.96,-146.6,557.6,-6.7,413,8635,0.00,2.58,0.00,0.000,4,0.000,0.060,2583,3653,3426
$GC,8711,-0.96,-146.6,563.8,-7.6,416,8717,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2250,3427
$STATE,9004,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9004,begin apogee
$GC,9012,-0.36,0.0,584.9,7.1,431,9141,0.65,0.00,125.85,1.199,6,0.066,0.000,2721,1457,2832
$STATE,9142,end apogee,CONTROL_FINISHED_OK
$STATE,9142,begin climb
$GC,9145,0.96,146.6,588.3,0.0,437,9281,1.30,2.28,126.82,1.152,4,0.054,0.064,3005,271,2233
$GC,9434,0.96,146.6,577.1,6.4,450,9438,0.00,2.05,0.00,0.000,6,0.000,0.035,3005,1471,2225
$GC,9761,1.18,318.3,570.1,1.3,466,9921,0.20,2.58,149.40,1.150,4,0.035,0.048,3084,2842,1533
$GC,9983,1.18,318.3,550.9,10.2,476,9988,0.15,2.47,0.00,0.000,6,0.074,0.041,3053,1459,1527
$GC,10299,1.18,318.3,524.7,8.1,491,10302,0.00,2.20,0.00,0.000,4,0.000,0.062,3053,261,1522
$GC,10326,1.18,318.3,522.8,7.5,492,10330,0.00,2.05,0.00,0.000,6,0.000,0.034,3053,1454,1521
$GC,10656,1.18,318.3,500.8,6.3,508,10660,0.00,2.53,0.00,0.000,4,0.000,0.048,3053,2857,1519
$GC,10691,1.18,318.3,498.2,7.2,509,10697,0.00,2.50,0.00,0.000,6,0.000,0.041,3053,1452,1519
$GC,11006,1.18,318.3,475.6,7.8,525,11010,0.00,2.17,0.00,0.000,4,0.000,0.062,3053,262,1518
$GC,11056,1.18,318.3,470.7,10.6,527,11061,0.00,2.08,0.00,0.000,6,0.000,0.034,3053,1454,1518
$GC,11383,1.18,318.3,432.8,14.1,543,11387,0.00,2.50,0.00,0.000,4,0.000,0.046,3053,2856,1518
$GC,11432,1.18,318.3,425.4,14.9,545,11436,0.00,2.47,0.00,0.000,6,0.000,0.040,3053,1453,1517
$GC,11751,1.18,318.3,377.3,16.0,560,11752,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1453,1517
$GC,12057,1.18,318.3,326.8,16.7,575,12058,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1453,1517
$GC,12366,1.18,318.3,273.0,17.8,590,12371,0.00,2.47,0.00,0.000,4,0.000,0.041,3053,2857,1517
$GC,12394,1.18,318.3,267.9,17.9,591,12399,0.00,2.47,0.00,0.000,6,0.000,0.038,3053,1448,1516
$GC,12712,1.18,318.3,213.7,16.8,606,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1448,1517
$GC,13020,1.18,318.3,166.1,14.1,621,13022,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1449,1517
$GC,13329,1.18,318.3,128.7,10.1,636,13332,0.00,2.15,0.00,0.000,4,0.000,0.058,3053,258,1517
$GC,13346,1.18,318.3,126.9,10.3,636,13353,0.00,2.03,0.00,0.000,6,0.000,0.030,3053,1472,1518
$GC,13662,1.18,318.3,101.8,6.6,652,13666,0.00,2.17,0.00,0.000,4,0.000,0.054,3053,264,1518
$GC,13685,1.18,318.3,100.2,7.1,653,13689,0.00,2.00,0.00,0.000,6,0.000,0.030,3053,1456,1518
$GC,14019,1.23,362.9,82.1,4.8,669,14062,0.00,2.20,37.45,0.838,4,0.000,0.053,3053,260,1351
$GC,14079,1.23,364.0,78.7,6.0,671,14085,0.00,2.05,0.00,0.000,6,0.000,0.030,3053,1456,1349
$GC,14395,1.23,364.0,56.3,8.3,687,14400,0.00,2.17,0.00,0.000,4,0.000,0.053,3053,265,1346
$GC,14450,1.23,364.0,50.2,11.2,689,14454,0.00,2.00,0.00,0.000,6,0.000,0.030,3053,1457,1346
$GC,14773,1.23,364.0,21.1,8.9,705,14777,0.00,2.45,0.00,0.000,4,0.000,0.041,3053,2848,1346
$GC,14845,1.23,364.0,14.8,8.7,708,14849,0.00,2.42,0.00,0.000,6,0.000,0.035,3053,1453,1345
$STATE,14994,end climb,SURFACE_DEPTH_REACHED
$STATE,14994,begin surface coast
$FINISH,0.7,1.026779
$STATE,15015,end surface coast,CONTROL_FINISHED_OK
$STATE,15015,begin surface
$SM_CCo,15099,0.00,0.000,0,0,1343,365.25
$SM_GC,0.92,11.50,0.00,0.00,0.024,0.000,0.000,395,2235,1343,-10.98,-0.42,365.25
$IRIDIUM_FIX,6144.36,-933.03,021198,212101
$TT8_MAMPS,0.026845
$HUMID,1901
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.3,68.6
$24V_AH,23.2,54.255
$10V_AH,10.1,32.978
$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,25.375,151.425,439.525,0.000,0.000,30.039,29.829,142.342,4.250,0.000,0.000,36.540,1368.838,11114.218,505.064,1759.320,701.424,0.000,1455.783,0.000,1859.803,0.000,29.845,0.000
$DEVICE_MAMPS,130.390,64.428,1198.821,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,619.118,504.596,516.409,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34804,716
$CAP_FILE_SIZE,117468,0
$CFSIZE,260165632,239656960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,090809,055836,6211.474,-924.832,38,0.9,38,-9.7