version: 66.04
glider: 105
mission: 6
dive: 50
start: 6 14 109 9 24 29
data:
$ID,105
$MISSION,6
$DIVE,50
$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,-1628954.8
$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,28
$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
$GPS1,091906,6212.881,-944.745,39,1.1,39,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-61.2
$GPS2,092408,6212.865,-944.774,14,1.0,14,-9.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6212.865,-1007.940
$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,279.9,20000,-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,12,begin dive
$GC,15,-1.17,-146.6,0.0,0.0,0,77,0.00,0.00,-59.15,0.000,6,0.000,0.000,395,2459,3431
$GC,80,-1.17,-146.6,4.5,-8.7,3,101,11.45,2.53,0.00,0.000,4,0.134,0.051,2536,3829,3432
$GC,438,-1.17,-146.6,57.2,-14.2,19,443,0.00,2.33,0.00,0.000,6,0.000,0.026,2536,2458,3433
$GC,770,-1.17,-146.6,101.5,-12.3,35,774,0.00,2.47,0.00,0.000,4,0.000,0.052,2536,3828,3433
$GC,859,-1.17,-146.6,111.6,-11.0,39,863,0.00,2.28,0.00,0.000,6,0.000,0.025,2536,2468,3433
$GC,1180,-1.17,-146.6,137.8,-8.3,55,1184,0.00,2.38,0.00,0.000,4,0.000,0.035,2536,1088,3434
$GC,1243,-1.17,-146.6,143.0,-8.0,58,1247,0.00,2.40,0.00,0.000,6,0.000,0.033,2536,2475,3434
$GC,1569,-1.17,-146.6,167.0,-7.5,74,1573,0.00,2.42,0.00,0.000,4,0.000,0.036,2536,1078,3434
$GC,1647,-1.17,-146.6,173.3,-7.9,77,1653,0.00,2.42,0.00,0.000,6,0.000,0.034,2536,2475,3434
$GC,1965,-1.17,-146.6,202.3,-9.3,93,1969,0.00,2.42,0.00,0.000,4,0.000,0.037,2536,1080,3434
$GC,2054,-1.17,-146.6,211.0,-9.0,97,2059,0.00,2.42,0.00,0.000,6,0.000,0.035,2536,2480,3434
$GC,2378,-1.17,-146.6,239.6,-8.9,113,2382,0.00,2.42,0.00,0.000,4,0.000,0.038,2536,1084,3433
$GC,2422,-1.17,-146.6,243.8,-8.6,115,2426,0.00,2.42,0.00,0.000,6,0.000,0.038,2536,2473,3433
$GC,2744,-1.17,-146.6,271.0,-8.1,131,2748,0.00,2.42,0.00,0.000,4,0.000,0.038,2536,1082,3434
$GC,2793,-1.17,-146.6,275.3,-8.0,133,2798,0.00,2.45,0.00,0.000,6,0.000,0.038,2536,2479,3433
$GC,3109,-1.17,-146.6,298.0,-6.8,148,3114,0.00,2.45,0.00,0.000,4,0.000,0.039,2536,1095,3434
$GC,3155,-1.17,-146.6,301.5,-8.0,150,3159,0.00,2.42,0.00,0.000,6,0.000,0.038,2536,2481,3433
$GC,3483,-1.17,-146.6,327.3,-8.1,166,3487,0.00,2.42,0.00,0.000,4,0.000,0.039,2536,1091,3434
$GC,3555,-1.17,-146.6,333.8,-9.2,169,3559,0.00,2.42,0.00,0.000,6,0.000,0.038,2536,2473,3433
$GC,3871,-1.17,-146.6,360.7,-7.6,184,3875,0.00,2.42,0.00,0.000,4,0.000,0.040,2536,1087,3433
$GC,3903,-1.17,-146.6,363.6,-8.1,185,3910,0.00,2.45,0.00,0.000,6,0.000,0.038,2536,2486,3434
$GC,4220,-1.17,-146.6,389.0,-8.4,201,4225,0.00,2.45,0.00,0.000,4,0.000,0.040,2536,1087,3433
$GC,4271,-1.17,-146.6,392.9,-6.9,203,4275,0.00,2.42,0.00,0.000,6,0.000,0.038,2536,2478,3433
$GC,4586,-1.17,-146.6,417.6,-8.2,218,4591,0.00,2.45,0.00,0.000,4,0.000,0.041,2536,1097,3433
$GC,4642,-1.17,-146.6,422.2,-7.8,220,4647,0.00,2.42,0.00,0.000,6,0.000,0.037,2536,2485,3433
$GC,4958,-1.17,-146.6,446.0,-9.1,235,4962,0.00,2.45,0.00,0.000,4,0.000,0.041,2536,1087,3433
$GC,4997,-1.17,-146.6,449.8,-9.8,237,5006,0.00,2.42,0.00,0.000,6,0.000,0.038,2536,2476,3433
$GC,5333,-1.17,-146.6,480.2,-9.8,253,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2476,3432
$GC,5643,-1.17,-146.6,504.6,-7.2,268,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2476,3432
$GC,5952,-1.17,-146.6,526.0,-8.2,283,5956,0.00,2.42,0.00,0.000,4,0.000,0.041,2536,1093,3432
$GC,6023,-1.17,-146.6,532.4,-8.3,286,6028,0.00,2.42,0.00,0.000,6,0.000,0.038,2536,2480,3432
$GC,6340,-1.17,-146.6,552.1,-5.5,301,6344,0.00,2.47,0.00,0.000,4,0.000,0.061,2536,3827,3432
$GC,6468,-1.17,-146.6,562.6,-9.3,306,6474,0.00,2.28,0.00,0.000,6,0.000,0.029,2536,2482,3432
$GC,6783,-1.17,-146.6,593.7,-8.5,322,6787,0.00,2.45,0.00,0.000,4,0.000,0.041,2536,1077,3432
$GC,6816,-1.17,-146.6,596.4,-8.0,323,6822,0.00,2.45,0.00,0.000,6,0.000,0.038,2536,2484,3432
$GC,7131,-1.17,-146.6,623.7,-9.1,339,7136,0.00,2.50,0.00,0.000,4,0.000,0.042,2536,1081,3431
$GC,7227,-1.17,-146.6,632.2,-8.6,343,7232,0.00,2.45,0.00,0.000,6,0.000,0.040,2536,2477,3431
$STATE,7298,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7298,begin apogee
$GC,7306,-0.36,0.0,638.3,8.4,347,7440,0.88,0.00,127.35,1.167,6,0.070,0.000,2722,1465,2832
$STATE,7441,end apogee,CONTROL_FINISHED_OK
$STATE,7441,begin climb
$GC,7444,1.17,146.6,644.4,0.0,354,7582,1.50,2.30,128.27,1.132,4,0.049,0.062,3054,267,2233
$GC,7707,1.18,146.8,633.1,7.5,366,7711,0.00,2.05,0.00,0.000,6,0.000,0.032,3054,1474,2227
$GC,8034,1.25,203.6,610.9,5.6,382,8090,0.00,2.28,50.22,1.124,4,0.000,0.061,3054,261,2001
$GC,8124,1.25,206.6,605.5,7.4,386,8133,0.00,2.08,3.88,0.659,6,0.000,0.033,3054,1454,1988
$GC,8451,1.25,206.6,581.6,8.0,402,8455,0.00,2.50,0.00,0.000,4,0.000,0.048,3054,2852,1983
$GC,8539,1.26,216.5,575.0,7.2,406,8555,0.00,2.47,9.35,0.989,6,0.000,0.039,3054,1454,1949
$GC,8867,1.26,216.5,547.8,10.5,422,8871,0.00,2.50,0.00,0.000,4,0.000,0.044,3054,2852,1946
$GC,9057,1.26,216.5,530.2,8.7,430,9064,0.00,2.47,0.00,0.000,6,0.000,0.038,3054,1450,1944
$GC,9374,1.27,221.1,505.1,7.3,446,9384,0.00,2.53,5.15,0.823,4,0.000,0.041,3054,2845,1929
$GC,9429,1.28,235.0,500.9,7.0,448,9449,0.12,2.45,14.30,1.035,6,0.040,0.036,3109,1445,1872
$GC,9771,1.28,235.0,467.5,10.0,465,9773,0.15,0.00,0.00,0.000,6,0.079,0.000,3078,1445,1869
$GC,10080,1.28,235.0,438.3,9.3,480,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1445,1869
$GC,10389,1.28,235.0,407.7,10.0,495,10390,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1445,1868
$GC,10699,1.28,235.0,379.0,8.7,510,10700,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1445,1869
$GC,11010,1.28,235.0,354.3,9.4,525,11015,0.00,2.47,0.00,0.000,4,0.000,0.038,3078,2857,1868
$GC,11050,1.28,235.0,350.3,9.9,527,11054,0.00,2.45,0.00,0.000,6,0.000,0.034,3078,1446,1868
$GC,11376,1.28,235.0,319.4,9.6,543,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1446,1868
$GC,11688,1.28,235.0,288.5,9.7,558,11692,0.00,2.45,0.00,0.000,4,0.000,0.038,3078,2848,1868
$GC,11720,1.28,235.0,284.9,9.4,559,11727,0.00,2.45,0.00,0.000,6,0.000,0.034,3078,1456,1868
$GC,12036,1.28,235.0,255.1,9.6,575,12037,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1456,1868
$GC,12345,1.28,235.0,223.6,9.9,590,12349,0.00,2.42,0.00,0.000,4,0.000,0.038,3078,2849,1868
$GC,12372,1.28,235.0,220.8,10.3,591,12376,0.00,2.42,0.00,0.000,6,0.000,0.033,3078,1450,1869
$GC,12690,1.28,235.0,188.2,10.1,606,12691,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1450,1869
$GC,12999,1.28,235.0,157.0,9.9,621,13003,0.00,2.45,0.00,0.000,4,0.000,0.038,3078,2850,1869
$GC,13026,1.28,235.0,153.9,10.8,622,13031,0.00,2.45,0.00,0.000,6,0.000,0.033,3078,1453,1869
$GC,13348,1.28,235.0,124.5,8.2,638,13349,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1453,1869
$GC,13656,1.28,235.0,98.2,8.8,653,13660,0.00,2.42,0.00,0.000,4,0.000,0.037,3078,2851,1869
$GC,13684,1.28,235.0,95.5,10.0,654,13688,0.00,2.42,0.00,0.000,6,0.000,0.032,3078,1448,1869
$GC,13999,1.28,235.0,62.5,11.9,669,14001,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1448,1870
$GC,14310,1.28,235.0,31.7,8.5,684,14314,0.00,2.10,0.00,0.000,4,0.000,0.053,3078,264,1870
$GC,14360,1.28,235.0,27.1,8.7,686,14364,0.00,2.00,0.00,0.000,6,0.000,0.027,3078,1474,1869
$STATE,14643,end climb,SURFACE_DEPTH_REACHED
$STATE,14643,begin surface coast
$FINISH,0.8,1.027197
$STATE,14667,end surface coast,CONTROL_FINISHED_OK
$STATE,14667,begin surface
$SM_CCo,14690,40.53,0.750,0,0,1609,300.00
$SM_GC,0.85,0.00,0.00,40.53,0.000,0.000,0.750,397,2453,1609,-11.05,-0.65,300.00
$IRIDIUM_FIX,6230.49,143.86,080998,050514
$TT8_MAMPS,0.027612
$HUMID,1813
$INTERNAL_PRESSURE,8.08949
$TCM_TEMP,13.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.3,70.6
$24V_AH,23.3,25.190
$10V_AH,10.1,10.913
$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,25.725,138.125,338.525,40.525,0.000,26.867,27.247,135.013,4.750,0.000,0.000,14.724,1335.106,10935.991,473.264,1650.122,645.382,0.000,1361.195,0.000,1778.688,0.000,33.094,0.000
$DEVICE_MAMPS,134.225,62.127,1166.607,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,624.603,489.661,437.577,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34887,701
$CAP_FILE_SIZE,111627,0
$CFSIZE,260165632,255168512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,140609,133107,6211.879,-946.568,27,1.6,27,-9.9