version: 66.04
glider: 139
mission: 6
dive: 98
start: 4 11 109 7 30 12
data:
$ID,139
$MISSION,6
$DIVE,98
$D_SURF,6
$D_FLARE,3
$D_TGT,950
$D_ABORT,1050
$D_NO_BLEED,90
$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,400
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51904
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,8
$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,25000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1353271.9
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1890
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2200
$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,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.263241
$PRESSURE_SLOPE,0.000116328
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,550
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$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,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8723097
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,071706,2144.222,-15827.466,30,1.0,46,9.9
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.8
$GPS2,072920,2144.290,-15827.430,14,2.0,14,9.9
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,CENTRE2
$TGT_LATLONG,2140.200,-15834.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.218,-0.034
$KALMAN_X,-33133.3,391.8,636.0,21070.2,1472.3
$KALMAN_Y,7102.5,183.1,1105.1,-17515.5,-1444.5
$MHEAD_RNG_PITCHd_Wd,251.4,14774,-16.6,-7.917
$D_GRID,950
$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,16,-1.18,-116.8,0.0,0.0,0,69,0.00,0.00,-50.97,0.000,2,0.000,0.000,427,1872,2529
$GC,72,-1.18,-116.8,3.8,-6.3,9,93,11.95,2.42,-2.50,0.000,4,0.147,0.052,2584,497,2681
$GC,245,-1.18,-116.8,41.4,-16.4,33,249,0.00,2.25,0.00,0.000,6,0.000,0.021,2585,1893,2683
$GC,506,-1.18,-116.8,83.1,-16.3,57,510,0.00,2.30,0.00,0.000,4,0.000,0.025,2585,3290,2684
$GC,546,-1.18,-116.8,89.0,-14.4,60,553,0.00,2.33,0.00,0.000,6,0.000,0.063,2584,1896,2684
$GC,807,-1.18,-116.8,125.3,-13.4,85,811,0.00,2.30,0.00,0.000,4,0.000,0.027,2585,3283,2685
$GC,834,-1.18,-116.8,128.8,-12.4,87,840,0.00,2.35,0.00,0.000,6,0.000,0.028,2584,1881,2685
$GC,1095,-1.18,-116.8,159.5,-9.9,112,1099,0.00,2.40,0.00,0.000,4,0.000,0.078,2584,484,2686
$GC,1185,-1.18,-116.8,169.6,-11.3,119,1191,0.00,2.28,0.00,0.000,6,0.000,0.028,2585,1896,2686
$GC,1446,-1.18,-116.8,198.1,-10.7,144,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1899,2687
$GC,1694,-1.18,-116.8,221.4,-8.1,157,1698,0.00,2.45,0.00,0.000,4,0.000,0.046,2585,479,2687
$GC,1738,-1.18,-116.8,225.5,-9.2,159,1742,0.00,2.30,0.00,0.000,6,0.000,0.022,2585,1898,2687
$GC,2065,-1.18,-116.8,255.4,-9.6,175,2069,0.00,2.28,0.00,0.000,4,0.000,0.031,2585,3279,2688
$GC,2103,-1.18,-116.8,259.5,-10.1,176,2110,0.00,2.38,0.00,0.000,6,0.000,0.030,2585,1886,2687
$GC,2419,-1.18,-116.8,287.8,-8.9,192,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1886,2687
$GC,2726,-1.18,-116.8,315.7,-9.3,203,2730,0.00,2.42,0.00,0.000,4,0.000,0.051,2584,487,2685
$GC,2792,-1.18,-116.8,322.1,-9.3,204,2796,0.00,2.33,0.00,0.000,6,0.000,0.027,2584,1883,2684
$GC,3134,-1.18,-116.8,350.8,-8.6,213,3138,0.00,2.35,0.00,0.000,4,0.000,0.035,2584,3287,2683
$GC,3200,-1.18,-116.8,357.0,-9.1,214,3204,0.00,2.38,0.00,0.000,6,0.000,0.057,2584,1886,2683
$GC,3548,-1.18,-116.8,389.6,-9.4,223,3552,0.00,2.38,0.00,0.000,4,0.000,0.035,2585,3284,2681
$GC,3625,-1.18,-116.8,396.8,-8.8,224,3631,0.00,2.38,0.00,0.000,6,0.000,0.034,2584,1885,2680
$GC,3957,-1.18,-116.8,425.9,-8.3,233,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1885,2678
$GC,4281,-1.18,-116.8,452.8,-8.1,241,4285,0.00,2.47,0.00,0.000,4,0.000,0.056,2584,480,2677
$GC,4302,-1.18,-116.8,454.5,-8.2,241,4306,0.00,2.35,0.00,0.000,6,0.000,0.031,2584,1887,2676
$GC,4644,-1.18,-116.8,482.8,-8.7,250,4648,0.00,2.40,0.00,0.000,4,0.000,0.040,2584,3296,2674
$GC,4688,-1.18,-116.8,486.5,-8.2,251,4692,0.00,2.40,0.00,0.000,6,0.000,0.035,2584,1888,2674
$GC,5005,-1.18,-116.8,511.9,-8.0,259,5010,0.00,2.50,0.00,0.000,4,0.000,0.059,2584,477,2672
$GC,5032,-1.18,-116.8,514.2,-8.6,259,5037,0.00,2.38,0.00,0.000,6,0.000,0.032,2584,1886,2672
$GC,5369,-1.18,-116.8,543.1,-9.1,268,5374,0.00,2.50,0.00,0.000,4,0.000,0.059,2584,481,2670
$GC,5402,-1.18,-116.8,546.7,-10.8,268,5408,0.00,2.38,0.00,0.000,6,0.000,0.033,2584,1893,2670
$STATE,5451,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5451,begin apogee
$GC,5457,-0.31,0.0,551.4,10.2,270,5563,0.93,0.00,102.70,0.989,6,0.074,0.000,2779,2015,2200
$STATE,5564,end apogee,CONTROL_FINISHED_OK
$STATE,5564,begin climb
$GC,5566,1.18,116.8,555.2,0.0,272,5683,1.45,2.47,106.82,0.968,4,0.043,0.046,3106,3371,1722
$GC,5716,1.33,235.7,559.2,2.5,276,5828,0.15,2.42,105.53,0.958,6,0.050,0.037,3144,1978,1239
$GC,6141,1.33,235.7,512.9,12.2,287,6145,0.00,2.53,0.00,0.000,4,0.000,0.059,3144,577,1229
$GC,6218,1.33,235.7,502.3,14.1,288,6223,0.00,2.38,0.00,0.000,6,0.000,0.033,3144,1968,1227
$GC,6555,1.33,235.7,459.7,12.5,297,6559,0.00,1.73,0.00,0.000,4,0.000,0.097,3144,989,1226
$GC,6588,1.33,235.7,455.0,13.9,297,6592,0.00,1.73,0.00,0.000,6,0.000,0.032,3144,1987,1225
$GC,6925,1.33,235.7,413.9,11.7,306,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1991,1224
$GC,7249,1.33,235.7,374.8,12.5,314,7254,0.00,2.45,0.00,0.000,4,0.000,0.043,3144,3398,1223
$GC,7276,1.33,235.7,371.3,13.0,314,7281,0.00,2.42,0.00,0.000,6,0.000,0.066,3144,1989,1223
$GC,7613,1.33,235.7,330.5,12.2,323,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1989,1222
$GC,7919,1.33,235.7,291.7,12.5,332,7923,0.00,2.50,0.00,0.000,4,0.000,0.066,3143,580,1221
$GC,8030,1.33,235.7,276.9,13.1,337,8034,0.00,2.40,0.00,0.000,6,0.000,0.031,3144,2006,1220
$GC,8359,1.33,235.7,239.5,11.2,353,8363,0.00,2.38,0.00,0.000,4,0.000,0.044,3143,3389,1219
$GC,8470,1.33,235.7,226.7,11.5,358,8474,0.00,2.40,0.00,0.000,6,0.000,0.033,3144,1985,1219
$GC,8788,1.33,235.7,193.8,10.1,376,8792,0.00,2.47,0.00,0.000,4,0.000,0.068,3144,575,1218
$GC,8939,1.33,235.7,176.9,9.7,389,8944,0.00,2.38,0.00,0.000,6,0.000,0.028,3144,2004,1216
$GC,9201,1.33,235.7,154.8,8.0,413,9205,0.00,2.50,0.00,0.000,4,0.000,0.048,3144,571,1216
$GC,9302,1.33,235.7,145.0,9.9,421,9308,0.00,2.35,0.00,0.000,6,0.000,0.026,3144,1997,1215
$GC,9562,1.33,235.7,123.1,8.9,446,9567,0.00,2.47,0.00,0.000,4,0.000,0.046,3144,574,1215
$GC,9640,1.33,235.7,115.4,10.5,452,9646,0.00,2.33,0.00,0.000,6,0.000,0.025,3144,2002,1216
$GC,9901,1.33,235.7,90.0,9.2,477,9902,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2006,1215
$GC,10156,1.33,235.7,68.0,8.4,501,10160,0.00,2.30,0.00,0.000,4,0.000,0.063,3144,3383,1216
$GC,10183,1.33,235.7,65.3,9.4,503,10190,0.00,2.33,0.00,0.000,6,0.000,0.026,3145,1976,1216
$GC,10444,1.33,235.7,42.4,8.7,528,10448,0.00,2.38,0.00,0.000,4,0.000,0.076,3144,585,1217
$GC,10478,1.33,235.7,39.0,9.5,531,10483,0.00,2.28,0.00,0.000,6,0.000,0.022,3144,1993,1217
$GC,10748,1.33,235.7,15.0,8.8,570,10754,0.00,2.40,0.00,0.000,4,0.000,0.042,3144,587,1218
$GC,10812,1.33,235.7,8.9,10.0,581,10818,0.00,2.28,0.00,0.000,6,0.000,0.021,3144,2001,1218
$STATE,10846,end climb,SURFACE_DEPTH_REACHED
$STATE,10846,begin surface coast
$FINISH,0.6,1.023112
$STATE,10925,end surface coast,CONTROL_FINISHED_OK
$STATE,10925,begin surface
$SM_CCo,10946,67.72,0.548,0,0,894,320.12
$SM_GC,1.21,0.00,0.00,67.72,0.000,0.000,0.548,425,1870,894,-11.16,-0.57,320.12
$IRIDIUM_FIX,2136.49,-15827.43,060798,070714
$TT8_MAMPS,0.029146
$HUMID,1747
$INTERNAL_PRESSURE,8.03396
$TCM_TEMP,21.70
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,551.4,15.4
$24V_AH,23.4,29.643
$10V_AH,10.2,16.884
$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,26.075,118.225,315.050,67.725,0.000,81.793,81.382,325.550,3.750,0.000,0.000,15.909,1117.345,8067.548,466.361,1404.952,686.586,33.362,1193.978,0.000,1385.976,0.000,5.470,0.000
$DEVICE_MAMPS,147.264,96.642,988.663,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.712,369.583,537.145,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31723,601
$CAP_FILE_SIZE,97345,6
$CFSIZE,260165632,252067840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110409,103500,2144.368,-15828.163,35,1.4,35,9.9