version: 66.04
glider: 139
mission: 6
dive: 105
start: 4 12 109 18 56 46
data:
$ID,139
$MISSION,6
$DIVE,105
$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,-1353479.6
$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,25
$R_STBD_OVSHOOT,25
$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,750
$ALTIM_PING_DELTA,25
$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
$GPS1,184855,2139.965,-15832.968,49,1.6,50,9.9
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.5
$GPS2,185558,2139.995,-15832.925,11,3.4,30,9.9
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,CENTRE2
$TGT_LATLONG,2140.200,-15834.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.176,0.003
$KALMAN_X,1590.8,-41.4,-163.4,-7948.8,999.7
$KALMAN_Y,-94.9,-7.7,-208.7,-5281.0,306.6
$MHEAD_RNG_PITCHd_Wd,261.1,3249,-21.5,-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,12,begin dive
$GC,15,-1.43,-71.4,0.0,0.0,0,64,0.00,0.00,-46.33,0.000,2,0.000,0.000,426,1876,2367
$GC,67,-1.47,-104.2,3.1,-5.5,8,92,11.60,2.42,-4.65,0.000,4,0.146,0.038,2526,3304,2629
$GC,99,-1.47,-104.2,15.5,-32.8,13,105,0.00,2.38,0.00,0.000,6,0.000,0.026,2526,1882,2631
$GC,300,-1.47,-104.2,56.2,-20.1,38,305,0.00,2.42,0.00,0.000,4,0.000,0.044,2526,476,2632
$GC,457,-1.47,-104.2,88.7,-20.7,51,463,0.00,2.35,0.00,0.000,6,0.000,0.020,2526,1926,2633
$GC,718,-1.47,-104.2,132.2,-15.6,76,721,0.00,2.22,0.00,0.000,4,0.000,0.025,2526,3285,2634
$GC,740,-1.47,-104.2,135.8,-15.6,78,744,0.00,2.35,0.00,0.000,6,0.000,0.029,2526,1878,2633
$GC,1006,-1.47,-104.2,174.3,-15.1,103,1010,0.00,2.35,0.00,0.000,4,0.000,0.026,2526,3295,2635
$GC,1061,-1.47,-104.2,182.8,-14.7,107,1068,0.00,2.38,0.00,0.000,6,0.000,0.029,2526,1879,2635
$GC,1319,-1.47,-104.2,216.2,-12.6,126,1323,0.00,2.35,0.00,0.000,4,0.000,0.031,2526,3289,2636
$GC,1441,-1.47,-104.2,233.7,-14.0,131,1447,0.00,2.35,0.00,0.000,6,0.000,0.027,2526,1883,2636
$GC,1757,-1.47,-104.2,275.8,-13.6,147,1761,0.00,2.35,0.00,0.000,4,0.000,0.030,2526,3288,2637
$GC,1828,-1.47,-104.2,285.7,-13.3,150,1832,0.00,2.35,0.00,0.000,6,0.000,0.030,2526,1890,2637
$GC,2146,-1.47,-104.2,325.1,-11.9,161,2150,0.00,2.45,0.00,0.000,4,0.000,0.048,2525,476,2637
$GC,2196,-1.47,-104.2,330.9,-12.1,162,2200,0.00,2.33,0.00,0.000,6,0.000,0.025,2526,1897,2637
$GC,2515,-1.47,-104.2,366.6,-11.2,170,2518,0.00,1.62,0.00,0.000,4,0.000,0.077,2526,2914,2636
$GC,2626,-1.47,-104.2,378.8,-10.2,172,2630,0.00,1.75,0.00,0.000,6,0.000,0.034,2526,1890,2636
$GC,2974,-1.47,-104.2,419.9,-11.9,181,2978,0.00,2.38,0.00,0.000,4,0.000,0.035,2526,3288,2633
$GC,3029,-1.47,-104.2,426.3,-11.6,182,3033,0.00,2.38,0.00,0.000,6,0.000,0.034,2526,1893,2633
$GC,3341,-1.47,-104.2,461.7,-11.3,190,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1892,2630
$GC,3666,-1.47,-104.2,498.6,-11.0,198,3671,0.00,2.40,0.00,0.000,4,0.000,0.039,2526,3289,2628
$GC,3716,-1.47,-104.2,504.0,-10.7,199,3720,0.00,2.40,0.00,0.000,6,0.000,0.037,2526,1890,2628
$GC,4035,-1.47,-104.2,537.0,-10.3,207,4039,0.00,2.40,0.00,0.000,4,0.000,0.041,2526,3286,2626
$GC,4107,-1.47,-104.2,544.9,-11.0,208,4111,0.00,2.40,0.00,0.000,6,0.000,0.039,2526,1892,2625
$GC,4444,-1.47,-104.2,581.7,-10.9,217,4448,0.00,2.40,0.00,0.000,4,0.000,0.044,2526,3275,2623
$GC,4499,-1.47,-104.2,587.3,-10.4,218,4503,0.00,2.40,0.00,0.000,6,0.000,0.041,2526,1889,2623
$GC,4812,-1.47,-104.2,620.1,-10.8,226,4816,0.00,2.42,0.00,0.000,4,0.000,0.048,2526,3273,2621
$GC,4889,-1.47,-104.2,628.8,-11.1,227,4896,0.00,2.42,0.00,0.000,6,0.000,0.054,2526,1888,2621
$GC,5221,-1.47,-104.2,664.9,-10.8,236,5225,0.00,2.47,0.00,0.000,4,0.000,0.054,2526,3282,2618
$GC,5292,-1.47,-104.2,672.9,-10.8,237,5297,0.00,2.45,0.00,0.000,6,0.000,0.049,2526,1892,2618
$GC,5629,-1.47,-104.2,707.6,-10.3,246,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1892,2616
$GC,5954,-1.47,-104.2,740.1,-10.2,254,5958,0.00,2.50,0.00,0.000,4,0.000,0.064,2526,3272,2615
$GC,5987,-1.47,-104.2,743.3,-9.6,254,5993,0.00,2.50,0.00,0.000,6,0.000,0.081,2526,1894,2614
$GC,6321,-1.47,-104.2,777.1,-10.6,263,6325,0.00,2.70,0.00,0.000,4,0.000,0.096,2526,481,2613
$GC,6347,-1.47,-104.2,780.3,-11.5,263,6351,0.00,2.47,0.00,0.000,6,0.000,0.058,2526,1864,2613
$GC,6684,-1.47,-104.2,813.7,-9.8,272,6688,0.00,2.72,0.00,0.000,4,0.000,0.089,2526,3307,2611
$GC,6716,-1.47,-104.2,816.8,-9.6,272,6723,0.00,2.70,0.00,0.000,6,0.000,0.091,2526,1892,2611
$STATE,6845,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6845,begin apogee
$GC,6851,-0.31,0.0,828.3,9.1,276,6949,1.23,0.00,94.60,1.205,6,0.084,0.000,2778,1997,2200
$STATE,6950,end apogee,CONTROL_FINISHED_OK
$STATE,6950,begin climb
$GC,6952,1.47,104.2,830.0,0.0,278,7063,1.75,2.83,100.55,1.179,4,0.040,0.090,3177,3401,1775
$GC,7130,1.47,104.2,824.6,8.8,282,7134,0.00,2.75,0.00,0.000,6,0.000,0.114,3177,1983,1770
$GC,7443,1.47,104.2,794.5,9.7,290,7447,0.00,2.70,0.00,0.000,4,0.000,0.078,3177,3405,1763
$GC,7582,1.47,104.2,781.4,9.1,293,7587,0.00,2.65,0.00,0.000,6,0.000,0.071,3177,1987,1762
$GC,7895,1.47,104.2,755.3,8.1,301,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1987,1759
$GC,8220,1.48,112.9,731.7,7.3,309,8231,0.00,2.58,6.07,0.891,4,0.000,0.058,3177,3405,1739
$GC,8444,1.48,112.9,713.4,8.0,314,8448,0.00,2.53,0.00,0.000,6,0.000,0.052,3177,1985,1738
$GC,8768,1.48,112.9,688.2,7.9,322,8772,0.00,2.55,0.00,0.000,4,0.000,0.052,3177,3415,1736
$GC,8963,1.48,112.9,671.9,8.1,326,8967,0.00,2.53,0.00,0.000,6,0.000,0.058,3177,1983,1736
$GC,9311,1.50,123.7,646.5,7.1,335,9330,0.00,2.62,11.45,1.003,4,0.000,0.048,3177,3407,1694
$GC,9467,1.50,123.7,633.8,8.4,338,9471,0.00,2.50,0.00,0.000,6,0.000,0.061,3177,1986,1693
$GC,9808,1.50,124.3,606.5,7.9,347,9813,0.00,2.53,0.00,0.000,4,0.000,0.048,3177,3412,1692
$GC,9886,1.51,130.6,600.2,7.5,348,9901,0.00,2.50,7.65,0.909,6,0.000,0.060,3177,1986,1667
$GC,10220,1.51,130.6,573.0,8.2,357,10225,0.00,2.50,0.00,0.000,4,0.000,0.048,3177,3412,1665
$GC,10270,1.51,130.6,568.8,8.3,358,10274,0.00,2.47,0.00,0.000,6,0.000,0.073,3177,1988,1664
$GC,10595,1.53,150.5,544.9,6.4,366,10620,0.00,2.58,20.33,1.004,4,0.000,0.046,3177,3413,1585
$GC,10698,1.53,150.5,535.5,8.8,368,10702,0.00,2.53,0.00,0.000,6,0.000,0.070,3177,1969,1584
$GC,11046,1.53,150.5,504.8,9.3,377,11050,0.00,2.53,0.00,0.000,4,0.000,0.045,3177,3406,1581
$GC,11175,1.53,150.5,491.4,11.0,380,11179,0.00,2.45,0.00,0.000,6,0.000,0.070,3177,1985,1581
$GC,11504,1.53,150.5,458.8,9.7,388,11508,0.00,2.50,0.00,0.000,4,0.000,0.044,3177,3410,1579
$GC,11699,1.53,150.5,440.4,8.9,392,11703,0.00,2.45,0.00,0.000,6,0.000,0.044,3177,1988,1579
$GC,12047,1.53,150.5,410.2,8.7,401,12051,0.00,2.50,0.00,0.000,4,0.000,0.043,3177,3419,1578
$GC,12259,1.53,150.5,391.4,8.9,405,12265,0.00,2.47,0.00,0.000,6,0.000,0.035,3177,1979,1578
$GC,12590,1.53,150.5,361.1,9.4,414,12594,0.00,2.50,0.00,0.000,4,0.000,0.041,3177,3415,1578
$GC,12701,1.53,150.5,351.1,8.7,416,12705,0.00,2.45,0.00,0.000,6,0.000,0.067,3177,1989,1577
$GC,13043,1.54,159.6,325.9,7.2,425,13058,0.00,2.53,8.07,0.768,4,0.000,0.040,3177,3410,1548
$GC,13215,1.54,159.6,311.4,8.2,428,13221,0.00,2.45,0.00,0.000,6,0.000,0.034,3177,1983,1548
$GC,13529,1.54,159.6,281.2,9.7,441,13533,0.00,2.47,0.00,0.000,4,0.000,0.058,3177,583,1547
$GC,13578,1.54,159.6,276.0,10.0,443,13582,0.00,2.42,0.00,0.000,6,0.000,0.031,3177,2023,1546
$GC,13900,1.55,164.3,251.5,7.6,459,13907,0.00,0.00,5.47,0.633,6,0.000,0.000,3177,2028,1530
$GC,14209,1.55,164.3,224.9,8.8,474,14213,0.00,2.33,0.00,0.000,4,0.000,0.038,3177,3387,1530
$GC,14298,1.56,173.0,217.3,7.3,478,14315,0.00,2.40,9.68,0.709,6,0.000,0.031,3177,1975,1494
$GC,14624,1.62,220.0,198.2,4.4,495,14677,0.10,2.50,43.05,0.756,4,0.059,0.049,3207,578,1301
$GC,14701,1.62,220.0,193.3,8.7,502,14705,0.00,2.40,0.00,0.000,6,0.000,0.028,3207,1999,1299
$GC,14961,1.62,220.0,168.5,11.4,526,14962,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2003,1296
$GC,15216,1.62,220.0,137.4,10.6,550,15220,0.00,2.35,0.00,0.000,4,0.000,0.034,3207,3391,1295
$GC,15301,1.62,220.0,127.3,11.9,557,15305,0.00,2.38,0.00,0.000,6,0.000,0.028,3207,1985,1296
$GC,15562,1.62,220.0,97.7,12.5,581,15566,0.00,2.38,0.00,0.000,4,0.000,0.031,3207,3388,1295
$GC,15591,1.62,220.0,93.9,13.1,583,15595,0.00,2.35,0.00,0.000,6,0.000,0.028,3207,1989,1295
$GC,15852,1.62,220.0,67.1,8.9,607,15856,0.00,2.42,0.00,0.000,4,0.000,0.044,3207,581,1295
$GC,15902,1.62,220.0,62.5,9.3,611,15907,0.00,2.33,0.00,0.000,6,0.000,0.023,3207,2002,1294
$GC,16163,1.62,220.0,38.7,8.6,635,16167,0.00,2.45,0.00,0.000,4,0.000,0.041,3207,584,1294
$GC,16180,1.62,220.0,37.1,8.5,636,16185,0.00,2.30,0.00,0.000,6,0.000,0.022,3207,1996,1293
$GC,16452,1.62,220.0,13.2,9.2,677,16459,0.00,2.42,0.00,0.000,4,0.000,0.047,3207,581,1294
$GC,16482,1.62,220.0,10.2,9.7,682,16488,0.00,2.30,0.00,0.000,6,0.000,0.022,3207,1998,1294
$STATE,16526,end climb,SURFACE_DEPTH_REACHED
$STATE,16526,begin surface coast
$FINISH,0.4,1.023656
$STATE,16615,end surface coast,CONTROL_FINISHED_OK
$STATE,16615,begin surface
$SM_CCo,16637,82.00,0.562,0,0,895,320.12
$SM_GC,1.11,0.00,0.00,82.00,0.000,0.000,0.562,425,1865,895,-11.16,-0.74,320.12
$IRIDIUM_FIX,2131.85,-15828.28,070798,141424
$TT8_MAMPS,0.029146
$HUMID,1724
$INTERNAL_PRESSURE,8.01442
$TCM_TEMP,22.10
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,828.3,19.4
$24V_AH,23.2,30.560
$10V_AH,10.2,17.493
$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,26.700,185.725,306.925,82.000,0.000,30.525,30.721,214.920,6.500,0.000,0.000,33.413,1434.755,12574.052,520.670,2069.628,530.976,31.431,1574.285,0.000,2009.266,0.000,16.288,0.000
$DEVICE_MAMPS,145.730,114.283,1204.957,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.174,364.708,493.489,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34955,705
$CAP_FILE_SIZE,134376,8
$CFSIZE,260165632,251580416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120409,233637,2141.420,-15833.621,31,1.3,32,9.9