version: 66.03
glider: 105
mission: 3
dive: 10
start: 9 1 108 14 59 55
data:
$ID,105
$MISSION,3
$DIVE,10
$D_SURF,2
$D_FLARE,3
$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,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,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,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,-1588480.5
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2550
$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,1946
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,2831
$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,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-17.830805
$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,20
$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
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043115509
$SEABIRD_T_H,0.00064421911
$SEABIRD_T_I,2.4441668e-05
$SEABIRD_T_J,2.6855823e-06
$SEABIRD_C_G,-10.00054
$SEABIRD_C_H,1.1273263
$SEABIRD_C_I,-0.0013333842
$SEABIRD_C_J,0.00018589634
$GPS1,145357,6118.166,-752.426,29,3.9,48,-8.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-57.0
$GPS2,145903,6118.161,-752.517,15,1.4,15,-8.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SE0
$TGT_LATLONG,6100.000,-730.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.104,-0.242
$KALMAN_X,-10877.8,484.1,180.8,17337.4,-4221.6
$KALMAN_Y,26909.8,568.2,-570.6,-24146.3,8412.8
$MHEAD_RNG_PITCHd_Wd,165.2,39243,-18.1,-10.000
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.47,-146.6,0.0,0.0,0,87,0.00,0.00,-60.78,0.000,2,0.000,0.000,396,1943,3131
$GC,91,-1.47,-146.6,3.4,-6.2,3,113,9.73,2.47,-6.40,0.000,4,0.133,0.054,2223,543,3430
$GC,450,-1.47,-146.6,57.4,-13.3,19,455,0.00,2.40,0.00,0.000,6,0.000,0.027,2223,1945,3434
$GC,782,-1.47,-146.6,95.9,-10.5,35,786,0.00,2.45,0.00,0.000,4,0.000,0.041,2223,549,3435
$GC,1100,-1.47,-146.6,134.8,-13.5,49,1104,0.00,2.38,0.00,0.000,6,0.000,0.028,2223,1945,3436
$GC,1415,-1.47,-146.6,173.5,-12.0,64,1419,0.00,2.45,0.00,0.000,4,0.000,0.043,2223,550,3436
$GC,1460,-1.47,-146.6,179.1,-12.0,66,1464,0.00,2.38,0.00,0.000,6,0.000,0.028,2223,1945,3436
$GC,1780,-1.47,-146.6,215.8,-11.4,82,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1945,3436
$GC,2093,-1.47,-146.6,250.8,-10.9,97,2097,0.00,2.47,0.00,0.000,4,0.000,0.045,2222,545,3436
$GC,2181,-1.47,-146.6,261.4,-11.5,101,2185,0.00,2.40,0.00,0.000,6,0.000,0.030,2222,1949,3436
$GC,2504,-1.47,-146.6,296.8,-11.3,117,2508,0.00,2.47,0.00,0.000,4,0.000,0.048,2223,552,3436
$GC,2648,-1.47,-146.6,314.5,-12.1,123,2654,0.00,2.40,0.00,0.000,6,0.000,0.032,2223,1950,3436
$GC,2965,-1.47,-146.6,351.2,-11.7,139,2969,0.00,2.50,0.00,0.000,4,0.000,0.049,2223,547,3437
$GC,3038,-1.47,-146.6,360.3,-12.4,142,3042,0.00,2.42,0.00,0.000,6,0.000,0.033,2222,1951,3437
$GC,3353,-1.47,-146.6,397.5,-12.3,157,3357,0.00,2.50,0.00,0.000,4,0.000,0.051,2223,553,3436
$GC,3459,-1.47,-146.6,411.0,-13.3,162,3464,0.00,2.40,0.00,0.000,6,0.000,0.035,2223,1944,3436
$GC,3787,-1.47,-146.6,446.9,-10.1,178,3791,0.00,2.50,0.00,0.000,4,0.000,0.051,2223,548,3436
$GC,3999,-1.47,-146.6,468.5,-10.4,187,4006,0.00,2.40,0.00,0.000,6,0.000,0.036,2223,1946,3436
$GC,4315,-1.47,-146.6,496.9,-9.0,203,4320,0.00,2.50,0.00,0.000,4,0.000,0.054,2223,3350,3436
$GC,4355,-1.47,-146.6,500.7,-9.7,205,4360,0.00,2.42,0.00,0.000,6,0.000,0.034,2222,1941,3436
$GC,4683,-1.47,-146.6,529.0,-8.7,221,4687,0.00,2.50,0.00,0.000,4,0.000,0.054,2223,542,3436
$GC,4738,-1.47,-146.6,534.1,-9.6,223,4744,0.00,2.42,0.00,0.000,6,0.000,0.037,2222,1953,3436
$GC,5053,-1.47,-146.6,563.5,-9.6,239,5058,0.00,2.55,0.00,0.000,4,0.000,0.056,2223,546,3436
$GC,5120,-1.47,-146.6,570.4,-10.0,242,5125,0.00,2.45,0.00,0.000,6,0.000,0.040,2223,1947,3436
$GC,5444,-1.47,-146.6,599.4,-8.3,258,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1947,3435
$GC,5752,-1.47,-146.6,625.1,-8.5,273,5756,0.00,2.55,0.00,0.000,4,0.000,0.061,2223,550,3434
$GC,5801,-1.47,-146.6,629.6,-8.4,275,5806,0.00,2.45,0.00,0.000,6,0.000,0.041,2223,1947,3433
$GC,6118,-1.47,-146.6,654.6,-7.6,290,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1947,3431
$GC,6426,-1.47,-146.6,680.1,-8.4,305,6431,0.00,2.55,0.00,0.000,4,0.000,0.063,2223,551,3429
$GC,6493,-1.47,-146.6,686.3,-7.6,308,6498,0.00,2.45,0.00,0.000,6,0.000,0.041,2223,1945,3429
$GC,6817,-1.47,-146.6,718.8,-11.0,324,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1945,3427
$GC,7125,-1.47,-146.6,750.1,-11.0,339,7129,0.00,2.55,0.00,0.000,4,0.000,0.064,2223,551,3426
$GC,7187,-1.47,-146.6,756.1,-9.8,342,7191,0.00,2.45,0.00,0.000,6,0.000,0.041,2223,1948,3425
$GC,7513,-1.47,-146.6,787.9,-11.2,358,7517,0.00,2.55,0.00,0.000,4,0.000,0.063,2223,551,3423
$GC,7591,-1.47,-146.6,796.8,-8.3,361,7597,0.00,2.45,0.00,0.000,6,0.000,0.041,2223,1948,3423
$STATE,7780,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7781,begin apogee
$GC,7787,-0.36,0.0,814.9,12.2,371,8047,1.20,0.00,210.38,1.134,6,0.085,0.000,2470,2203,2831
$STATE,8047,end apogee,CONTROL_FINISHED_OK
$STATE,8047,begin climb
$GC,8050,1.47,146.6,821.8,0.0,384,8195,1.85,2.65,130.23,1.413,4,0.049,0.061,2869,804,2232
$GC,8203,1.56,217.8,817.1,6.8,391,8273,0.00,2.53,64.25,1.381,6,0.000,0.046,2869,2194,1942
$GC,8593,1.57,229.7,774.6,9.5,410,8641,0.10,2.70,29.73,0.858,4,0.053,0.069,2907,3600,1893
$GC,8977,1.57,229.7,722.8,13.2,427,8981,0.00,2.47,0.00,0.000,6,0.000,0.040,2907,2208,1891
$GC,9299,1.57,229.7,682.3,13.1,443,9303,0.00,2.60,0.00,0.000,4,0.000,0.065,2907,3609,1891
$GC,9430,1.57,229.7,664.6,14.0,449,9435,0.00,2.50,0.00,0.000,6,0.000,0.039,2907,2194,1890
$GC,9757,1.57,229.7,622.6,12.7,465,9761,0.00,2.62,0.00,0.000,4,0.000,0.064,2907,3609,1890
$GC,9818,1.57,229.7,614.4,13.5,468,9822,0.00,2.50,0.00,0.000,6,0.000,0.038,2907,2194,1889
$GC,10144,1.57,229.7,572.5,12.7,484,10149,0.00,2.65,0.00,0.000,4,0.000,0.064,2907,3608,1889
$GC,10191,1.57,229.7,566.4,14.1,486,10195,0.00,2.47,0.00,0.000,6,0.000,0.038,2907,2200,1888
$GC,10517,1.57,229.7,524.2,13.1,502,10521,0.00,2.60,0.00,0.000,4,0.000,0.061,2907,3610,1887
$GC,10791,1.57,229.7,485.2,14.0,514,10795,0.00,2.47,0.00,0.000,6,0.000,0.037,2907,2195,1886
$GC,11107,1.57,229.7,441.7,14.0,529,11111,0.00,2.58,0.00,0.000,4,0.000,0.056,2907,3612,1885
$GC,11150,1.57,229.7,435.2,15.3,531,11155,0.00,2.47,0.00,0.000,6,0.000,0.035,2907,2205,1885
$GC,11476,1.57,229.7,392.1,13.1,547,11481,0.00,2.53,0.00,0.000,4,0.000,0.054,2907,798,1885
$GC,11516,1.57,229.7,386.7,13.5,549,11520,0.00,2.45,0.00,0.000,6,0.000,0.035,2907,2208,1885
$GC,11843,1.57,229.7,341.7,14.0,565,11847,0.00,2.53,0.00,0.000,4,0.000,0.056,2907,3610,1885
$GC,11887,1.57,229.7,335.1,14.7,567,11891,0.00,2.42,0.00,0.000,6,0.000,0.031,2907,2192,1885
$GC,12210,1.57,229.7,292.6,12.9,583,12214,0.00,2.53,0.00,0.000,4,0.000,0.050,2907,3604,1886
$GC,12265,1.57,229.7,285.1,13.6,585,12271,0.00,2.40,0.00,0.000,6,0.000,0.030,2907,2200,1887
$GC,12583,1.57,229.7,246.3,12.4,601,12584,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2200,1888
$GC,12891,1.57,229.7,207.4,12.8,616,12895,0.00,2.50,0.00,0.000,4,0.000,0.048,2907,3604,1889
$GC,12918,1.57,229.7,203.4,13.4,617,12923,0.00,2.42,0.00,0.000,6,0.000,0.028,2907,2192,1890
$GC,13238,1.57,229.7,159.1,13.7,633,13240,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2192,1891
$GC,13549,1.57,229.7,115.9,14.2,648,13551,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2192,1892
$GC,13857,1.57,229.7,70.6,14.5,663,13861,0.00,2.42,0.00,0.000,4,0.000,0.046,2907,808,1893
$GC,13908,1.57,229.7,63.6,13.4,665,13913,0.00,2.40,0.00,0.000,6,0.000,0.030,2907,2211,1893
$GC,14224,1.57,229.7,22.3,12.8,680,14228,0.00,2.45,0.00,0.000,4,0.000,0.049,2907,3600,1894
$GC,14371,1.57,229.7,4.0,11.9,686,14377,0.00,2.35,0.00,0.000,6,0.000,0.028,2907,2201,1894
$STATE,14395,end climb,SURFACE_DEPTH_REACHED
$STATE,14395,begin surface coast
$FINISH,0.1,1.000345
$STATE,14418,end surface coast,CONTROL_FINISHED_OK
$STATE,14418,begin surface
$SM_CCo,14440,58.42,0.855,0,0,1607,300.00
$SM_GC,0.70,0.00,0.00,58.42,0.000,0.000,0.855,393,1938,1607,-9.92,-0.20,300.00
$IRIDIUM_FIX,6054.92,-755.78,261197,101029
$TT8_MAMPS,0.027612
$HUMID,2099
$INTERNAL_PRESSURE,8.06019
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.2
$ALTIM_BOTTOM_PING,775.5,48.5
$24V_AH,23.1,12.119
$10V_AH,10.0,4.526
$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
$DEVICE_SECS,23.750,139.925,434.575,58.425,0.000,24.212,33.532,140.643,7.000,0.000,0.000,15.689,1356.155,10377.699,623.373,1804.378,648.550,33.358,1583.225,0.000,1903.833,0.000,47.510
$DEVICE_MAMPS,132.691,69.030,1412.814,855.205,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,623.839,480.909,391.936,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34836,689
$CAP_FILE_SIZE,115867,0
$CFSIZE,260165632,257654784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,11,0
$GPS,010908,190255,6119.206,-752.078,42,1.1,42,-8.5