version: 66.04
glider: 105
mission: 6
dive: 254
start: 8 9 109 19 31 0
data:
$ID,105
$MISSION,6
$DIVE,254
$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,-1632573.5
$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,46
$R_STBD_OVSHOOT,44
$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
$GPS1,192506,6212.810,-920.354,39,1.4,39,-9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-63.7
$GPS2,193038,6212.850,-920.315,12,1.6,12,-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,179.3,99529,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-59.12,0.000,6,0.000,0.000,387,2226,3431
$GC,81,-0.96,-146.6,5.3,-10.3,3,102,11.73,2.60,0.00,0.000,4,0.134,0.052,2583,3634,3432
$GC,315,-0.96,-146.6,31.0,-6.0,13,319,0.00,2.35,0.00,0.000,6,0.000,0.030,2584,2256,3434
$GC,632,-0.96,-146.6,39.2,-1.4,28,636,0.00,2.50,0.00,0.000,4,0.000,0.050,2584,3639,3434
$GC,698,-0.96,-146.6,40.7,-2.2,31,702,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2249,3434
$GC,1020,-0.96,-146.6,45.1,-1.2,47,1025,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3627,3435
$GC,1134,-0.96,-146.6,47.2,-1.7,52,1138,0.00,2.35,0.00,0.000,6,0.000,0.028,2584,2249,3435
$GC,1463,-0.96,-146.6,57.2,-4.9,68,1467,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3643,3436
$GC,1586,-0.96,-146.6,65.6,-7.3,73,1592,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2250,3436
$GC,1904,-0.96,-146.6,88.0,-6.8,89,1908,0.00,2.50,0.00,0.000,4,0.000,0.052,2583,3634,3436
$GC,2015,-0.96,-146.6,97.0,-8.1,94,2019,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2242,3436
$GC,2337,-0.96,-146.6,123.3,-7.9,110,2342,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3633,3437
$GC,2445,-0.96,-146.6,132.3,-9.3,115,2449,0.00,2.38,0.00,0.000,6,0.000,0.030,2583,2244,3437
$GC,2771,-0.96,-146.6,161.3,-9.6,131,2776,0.00,2.45,0.00,0.000,4,0.000,0.044,2584,848,3436
$GC,2827,-0.96,-146.6,166.9,-10.1,133,2834,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2239,3436
$GC,3143,-0.96,-146.6,196.7,-8.8,149,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2240,3437
$GC,3452,-0.96,-146.6,220.5,-7.1,164,3457,0.00,2.47,0.00,0.000,4,0.000,0.043,2584,854,3436
$GC,3512,-0.96,-146.6,224.9,-7.0,166,3520,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2249,3436
$GC,3830,-0.96,-146.6,246.3,-6.7,182,3835,0.00,2.47,0.00,0.000,4,0.000,0.043,2584,848,3436
$GC,3880,-0.96,-146.6,249.7,-6.2,184,3885,0.00,2.45,0.00,0.000,6,0.000,0.034,2584,2261,3436
$GC,4199,-0.96,-146.6,266.9,-5.3,199,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2261,3436
$GC,4505,-0.96,-146.6,280.4,-3.9,214,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2261,3435
$GC,4815,-0.96,-146.6,292.9,-4.0,229,4819,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,846,3432
$GC,4848,-0.96,-146.6,294.5,-4.7,230,4854,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2253,3434
$GC,5165,-0.96,-146.6,309.4,-5.0,246,5169,0.00,2.47,0.00,0.000,4,0.000,0.043,2584,849,3433
$GC,5193,-0.96,-146.6,311.0,-5.9,247,5198,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2241,3426
$GC,5514,-0.96,-146.6,328.5,-5.7,263,5518,0.00,2.45,0.00,0.000,4,0.000,0.043,2584,851,3434
$GC,5558,-0.96,-146.6,331.4,-6.3,265,5563,0.00,2.42,0.00,0.000,6,0.000,0.034,2583,2251,3429
$GC,5880,-0.96,-146.6,349.6,-6.1,281,5885,0.00,2.47,0.00,0.000,4,0.000,0.043,2584,845,3433
$GC,5953,-0.96,-146.6,354.3,-6.2,284,5957,0.00,2.45,0.00,0.000,6,0.000,0.035,2583,2257,3433
$GC,6269,-0.96,-146.6,375.9,-7.2,299,6273,0.00,2.47,0.00,0.000,4,0.000,0.043,2584,851,3433
$GC,6346,-0.96,-146.6,382.0,-7.8,302,6352,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2245,3433
$GC,6663,-0.96,-146.6,405.6,-7.8,318,6667,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,846,3433
$GC,6706,-0.96,-146.6,409.3,-8.2,320,6711,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2254,3433
$GC,7029,-0.96,-146.6,436.0,-8.2,336,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2254,3432
$GC,7337,-0.96,-146.6,459.5,-7.0,351,7342,0.00,2.47,0.00,0.000,4,0.000,0.044,2583,852,3432
$GC,7432,-0.96,-146.6,466.6,-7.2,355,7437,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2256,3432
$GC,7749,-0.96,-146.6,487.8,-6.5,370,7753,0.00,2.53,0.00,0.000,4,0.000,0.058,2584,3648,3432
$GC,7816,-0.96,-146.6,492.6,-7.0,373,7821,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2252,3432
$GC,8145,-0.96,-146.6,513.7,-6.0,389,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3432
$GC,8452,-0.96,-146.6,529.8,-5.3,404,8456,0.00,2.47,0.00,0.000,4,0.000,0.045,2584,846,3430
$GC,8485,-0.96,-146.6,531.7,-5.4,405,8491,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2251,3431
$GC,8803,-0.96,-146.6,549.9,-6.2,421,8804,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3430
$STATE,8839,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8839,begin apogee
$GC,8848,-0.36,0.0,552.5,6.3,423,8976,0.65,0.00,125.53,1.150,6,0.065,0.000,2723,1463,2832
$STATE,8977,end apogee,CONTROL_FINISHED_OK
$STATE,8977,begin climb
$GC,8980,0.96,146.6,556.5,0.0,429,9114,1.30,2.58,125.70,1.112,4,0.059,0.046,3004,2856,2233
$GC,9452,0.96,146.6,535.4,7.3,450,9456,0.00,2.50,0.00,0.000,6,0.000,0.039,3005,1446,2224
$GC,9771,0.98,156.1,516.6,5.7,465,9785,0.00,2.58,8.02,0.936,4,0.000,0.044,3004,2854,2194
$GC,9893,1.03,197.6,509.7,4.9,470,9937,0.00,2.47,37.67,1.095,6,0.000,0.038,3004,1453,2025
$GC,10258,1.08,238.8,490.2,4.9,488,10301,0.12,2.60,36.92,1.089,4,0.044,0.045,3060,2864,1857
$GC,10370,1.08,238.8,482.3,7.3,493,10375,0.12,2.50,0.00,0.000,6,0.080,0.040,3034,1453,1852
$GC,10699,1.11,268.9,465.3,5.2,509,10734,0.00,2.62,27.20,1.071,4,0.000,0.044,3034,2864,1734
$GC,10788,1.15,296.4,460.4,5.2,513,10818,0.00,2.50,25.73,1.052,6,0.000,0.039,3034,1452,1623
$GC,11137,1.21,347.0,444.6,4.6,530,11189,0.12,2.58,45.85,1.070,4,0.041,0.044,3092,2863,1416
$GC,11217,1.21,347.0,438.6,8.0,533,11224,0.15,2.53,0.00,0.000,6,0.076,0.040,3061,1451,1413
$GC,11535,1.21,347.0,412.7,8.8,549,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1451,1408
$GC,11842,1.21,347.0,384.5,9.1,564,11846,0.00,2.17,0.00,0.000,4,0.000,0.061,3061,258,1406
$GC,11892,1.21,347.0,379.5,10.0,566,11896,0.00,2.03,0.00,0.000,6,0.000,0.030,3061,1470,1406
$GC,12219,1.21,347.0,349.4,9.5,582,12220,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1472,1405
$GC,12528,1.21,347.0,317.7,10.4,597,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1472,1405
$GC,12837,1.21,347.0,283.8,11.5,612,12841,0.00,2.20,0.00,0.000,4,0.000,0.058,3061,262,1405
$GC,12882,1.21,347.0,278.3,12.5,614,12886,0.00,2.03,0.00,0.000,6,0.000,0.031,3061,1458,1405
$GC,13214,1.21,347.0,239.1,12.0,630,13218,0.00,2.17,0.00,0.000,4,0.000,0.057,3061,262,1405
$GC,13239,1.21,347.0,236.2,12.5,631,13243,0.00,2.05,0.00,0.000,6,0.000,0.031,3061,1462,1405
$GC,13571,1.21,347.0,198.0,10.9,647,13572,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1465,1405
$GC,13883,1.21,347.0,167.6,9.4,662,13887,0.00,2.17,0.00,0.000,4,0.000,0.057,3061,263,1405
$GC,13906,1.21,347.0,165.3,9.0,663,13910,0.00,2.03,0.00,0.000,6,0.000,0.031,3061,1456,1404
$GC,14239,1.21,347.0,135.7,8.9,679,14240,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1456,1404
$GC,14548,1.21,347.0,105.7,10.2,694,14552,0.00,2.15,0.00,0.000,4,0.000,0.055,3061,262,1404
$GC,14576,1.21,347.0,102.6,10.5,695,14579,0.00,2.03,0.00,0.000,6,0.000,0.031,3061,1456,1404
$GC,14903,1.21,347.0,64.8,12.5,711,14904,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1456,1404
$GC,15212,1.21,347.0,28.7,9.6,726,15217,0.00,2.17,0.00,0.000,4,0.000,0.054,3061,264,1404
$GC,15268,1.21,347.0,22.6,10.9,728,15271,0.00,2.03,0.00,0.000,6,0.000,0.030,3061,1465,1405
$STATE,15483,end climb,SURFACE_DEPTH_REACHED
$STATE,15483,begin surface coast
$FINISH,0.2,1.019450
$STATE,15505,end surface coast,CONTROL_FINISHED_OK
$STATE,15505,begin surface
$SM_CCo,15589,0.00,0.000,0,0,1403,350.53
$SM_GC,0.85,11.55,0.00,0.00,0.025,0.000,0.000,389,2242,1403,-10.99,-0.23,350.53
$IRIDIUM_FIX,6148.92,-921.66,031198,151536
$TT8_MAMPS,0.026078
$HUMID,1919
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,500.3,61.2
$24V_AH,23.2,54.885
$10V_AH,10.1,33.298
$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,25.750,141.775,432.625,0.000,0.000,33.015,37.593,144.896,5.500,0.000,0.000,12.591,1407.583,11526.362,495.715,1780.094,713.558,0.000,1451.542,0.000,1911.641,0.000,28.221,0.000
$DEVICE_MAMPS,134.225,61.360,1149.733,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,651.683,520.016,529.722,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38070,740
$CAP_FILE_SIZE,118032,0
$CFSIZE,260165632,239415296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,090809,235206,6213.696,-915.594,40,0.9,40,-9.6