version: 66.04
glider: 105
mission: 6
dive: 255
start: 8 9 109 23 57 56
data:
$ID,105
$MISSION,6
$DIVE,255
$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,-1632604.6
$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,22
$R_STBD_OVSHOOT,29
$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
$GPS1,235206,6213.696,-915.594,40,0.9,40,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-62.0
$GPS2,235737,6213.744,-915.420,13,0.9,30,-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,181.8,100473,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.96,-146.6,0.0,0.0,0,84,0.00,0.00,-65.12,0.000,6,0.000,0.000,389,2242,3432
$GC,87,-0.96,-146.6,3.9,-7.1,3,108,11.70,2.60,0.00,0.000,4,0.133,0.052,2585,3651,3433
$GC,237,-0.96,-146.6,26.5,-8.6,9,243,0.00,2.42,0.00,0.000,6,0.000,0.028,2586,2230,3434
$GC,553,-0.96,-146.6,53.9,-9.9,25,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2230,3434
$GC,863,-0.96,-146.6,81.2,-9.1,40,867,0.00,2.58,0.00,0.000,4,0.000,0.053,2586,3650,3436
$GC,998,-0.96,-146.6,96.5,-11.0,46,1002,0.00,2.40,0.00,0.000,6,0.000,0.028,2585,2238,3435
$GC,1318,-0.96,-146.6,130.1,-9.7,62,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2238,3435
$GC,1628,-0.96,-146.6,155.7,-7.7,77,1633,0.00,2.58,0.00,0.000,4,0.000,0.054,2586,3641,3435
$GC,1740,-0.96,-146.6,165.0,-8.5,82,1744,0.00,2.38,0.00,0.000,6,0.000,0.030,2586,2250,3436
$GC,2067,-0.96,-146.6,192.7,-9.0,98,2071,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3649,3435
$GC,2146,-0.96,-146.6,200.4,-10.2,101,2153,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2245,3436
$GC,2463,-0.96,-146.6,225.7,-7.5,117,2468,0.00,2.58,0.00,0.000,4,0.000,0.054,2585,3648,3435
$GC,2518,-0.96,-146.6,230.1,-7.8,119,2522,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2249,3436
$GC,2834,-0.96,-146.6,249.6,-5.9,134,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3435
$GC,3145,-0.96,-146.6,266.6,-5.3,149,3150,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3654,3435
$GC,3195,-0.96,-146.6,269.8,-6.3,151,3199,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2250,3435
$GC,3513,-0.96,-146.6,287.0,-5.5,166,3518,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3650,3435
$GC,3553,-0.96,-146.6,289.5,-6.4,168,3557,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2244,3434
$GC,3882,-0.96,-146.6,310.4,-6.8,184,3886,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3650,3434
$GC,3932,-0.96,-146.6,314.2,-7.2,186,3936,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3434
$GC,4249,-0.96,-146.6,337.2,-7.5,201,4253,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3656,3434
$GC,4339,-0.96,-146.6,344.7,-7.9,205,4343,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2239,3433
$GC,4663,-0.96,-146.6,366.3,-5.9,221,4667,0.00,2.58,0.00,0.000,4,0.000,0.054,2586,3657,3433
$GC,4724,-0.96,-146.6,370.2,-6.3,224,4729,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2252,3432
$GC,5052,-0.96,-146.6,388.0,-5.7,240,5056,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3650,3432
$GC,5152,-0.96,-146.6,394.6,-6.8,244,5158,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2242,3432
$GC,5467,-0.96,-146.6,416.0,-6.9,260,5471,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3650,3432
$GC,5540,-0.96,-146.6,421.5,-7.9,263,5544,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3432
$GC,5856,-0.96,-146.6,440.3,-5.6,278,5860,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3655,3432
$GC,5990,-0.96,-146.6,448.3,-5.6,284,5994,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2239,3432
$GC,6313,-0.96,-146.6,465.8,-5.5,300,6317,0.00,2.58,0.00,0.000,4,0.000,0.056,2585,3651,3431
$GC,6402,-0.96,-146.6,471.9,-6.8,304,6406,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2252,3431
$GC,6723,-0.96,-146.6,493.8,-7.3,320,6728,0.00,2.55,0.00,0.000,4,0.000,0.056,2586,3654,3431
$STATE,6821,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6822,begin apogee
$GC,6832,-0.36,0.0,501.2,7.5,324,6961,0.60,0.00,125.35,1.105,6,0.070,0.000,2717,1462,2832
$STATE,6961,end apogee,CONTROL_FINISHED_OK
$STATE,6961,begin climb
$GC,6964,0.96,146.6,505.8,0.0,331,7097,1.33,2.25,125.15,1.068,4,0.056,0.059,3005,273,2232
$GC,7207,0.96,146.6,497.0,6.2,342,7211,0.00,2.05,0.00,0.000,6,0.000,0.031,3005,1475,2228
$GC,7534,1.06,224.1,483.5,3.9,358,7607,0.10,2.50,66.88,1.062,4,0.051,0.045,3053,2842,1917
$GC,7720,1.06,224.1,472.9,6.6,366,7726,0.12,2.45,0.00,0.000,6,0.076,0.038,3026,1455,1912
$GC,8035,1.06,224.1,451.2,7.3,382,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1455,1909
$GC,8347,1.06,224.1,429.1,7.3,397,8351,0.00,2.47,0.00,0.000,4,0.000,0.044,3026,2852,1908
$GC,8458,1.06,224.1,420.0,8.1,402,8462,0.00,2.47,0.00,0.000,6,0.000,0.038,3026,1448,1907
$GC,8779,1.06,224.1,392.3,9.0,418,8783,0.00,2.47,0.00,0.000,4,0.000,0.043,3026,2852,1907
$GC,8820,1.06,224.1,388.4,9.8,420,8824,0.00,2.45,0.00,0.000,6,0.000,0.038,3026,1455,1906
$GC,9149,1.06,224.1,358.8,8.3,436,9154,0.00,2.45,0.00,0.000,4,0.000,0.041,3026,2851,1906
$GC,9205,1.06,224.1,354.4,7.0,438,9211,0.00,2.45,0.00,0.000,6,0.000,0.038,3026,1455,1906
$GC,9521,1.10,260.2,336.9,5.0,454,9557,0.00,2.53,30.67,0.992,4,0.000,0.041,3026,2850,1769
$GC,9579,1.15,298.9,333.7,4.9,456,9621,0.10,2.47,35.88,0.975,6,0.046,0.038,3077,1448,1612
$GC,9939,1.15,298.9,304.9,8.4,474,9941,0.12,0.00,0.00,0.000,6,0.077,0.000,3050,1448,1605
$GC,10247,1.15,298.9,281.1,8.3,489,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1449,1604
$GC,10555,1.15,298.9,252.4,9.8,504,10560,0.00,2.47,0.00,0.000,4,0.000,0.042,3050,2850,1603
$GC,10582,1.15,298.9,249.6,9.6,505,10587,0.00,2.45,0.00,0.000,6,0.000,0.038,3050,1456,1603
$GC,10898,1.15,298.9,217.4,10.3,520,10899,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1456,1603
$GC,11209,1.15,298.9,189.2,8.6,535,11211,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1456,1603
$GC,11516,1.15,298.9,164.9,7.7,550,11520,0.00,2.45,0.00,0.000,4,0.000,0.041,3050,2848,1603
$GC,11566,1.15,298.9,160.9,8.1,552,11571,0.00,2.45,0.00,0.000,6,0.000,0.038,3050,1452,1602
$GC,11883,1.15,298.9,135.0,8.3,567,11885,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1452,1602
$GC,12191,1.15,298.9,112.7,6.0,582,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1451,1602
$GC,12501,1.15,298.9,93.8,7.2,597,12506,0.00,2.17,0.00,0.000,4,0.000,0.058,3050,264,1602
$GC,12562,1.15,298.9,88.8,7.8,599,12570,0.00,2.03,0.00,0.000,6,0.000,0.030,3050,1461,1602
$GC,12878,1.15,298.9,64.7,8.3,615,12881,0.00,2.17,0.00,0.000,4,0.000,0.054,3050,257,1602
$GC,12901,1.15,298.9,62.4,10.0,616,12905,0.00,2.03,0.00,0.000,6,0.000,0.030,3050,1458,1602
$GC,13235,1.15,298.9,32.5,8.3,632,13239,0.00,2.15,0.00,0.000,4,0.000,0.054,3050,262,1602
$GC,13296,1.15,298.9,26.6,8.9,634,13303,0.00,2.03,0.00,0.000,6,0.000,0.030,3050,1450,1602
$GC,13612,1.15,298.9,6.9,7.2,650,13616,0.00,2.42,0.00,0.000,4,0.000,0.041,3050,2840,1602
$STATE,13660,end climb,SURFACE_DEPTH_REACHED
$STATE,13660,begin surface coast
$FINISH,1.2,1.026706
$STATE,13682,end surface coast,CONTROL_FINISHED_OK
$STATE,13683,begin surface
$SM_CCo,13766,0.00,0.000,0,0,1599,302.45
$SM_GC,1.20,11.43,0.00,0.00,0.021,0.000,0.000,393,2224,1599,-10.98,-0.74,302.45
$IRIDIUM_FIX,6148.92,-925.46,031198,191900
$TT8_MAMPS,0.026845
$HUMID,1925
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.4,35.4
$24V_AH,23.3,55.012
$10V_AH,10.1,33.370
$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,25.500,130.800,383.925,0.000,0.000,30.241,25.802,138.313,3.750,0.000,0.000,30.550,1249.428,10153.150,457.002,1597.011,639.870,0.000,1311.041,0.000,1697.683,0.000,26.519,0.000
$DEVICE_MAMPS,133.458,59.059,1105.247,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,543.769,482.738,463.472,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31735,653
$CAP_FILE_SIZE,105215,0
$CFSIZE,260165632,239378432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,100809,034837,6211.246,-911.977,38,1.1,38,-9.6