version: 66.04
glider: 105
mission: 6
dive: 12
start: 6 7 109 15 50 7
data:
$ID,105
$MISSION,6
$DIVE,12
$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,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,-1628310.9
$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,2425
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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,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
$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
$GPS1,154401,6134.485,-835.927,38,1.4,38,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-61.4
$GPS2,154913,6134.470,-835.975,11,1.5,16,-9.0
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.203,-0.127
$KALMAN_X,-45991.9,1463.2,968.5,26540.0,-18842.4
$KALMAN_Y,26995.6,-2705.1,-1055.9,-5200.5,14823.2
$MHEAD_RNG_PITCHd_Wd,131.0,12751,-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,-60.55,0.000,6,0.000,0.000,394,2402,3431
$GC,80,-1.17,-146.6,4.4,-9.0,3,101,11.43,2.42,0.00,0.000,4,0.134,0.034,2537,1002,3432
$GC,207,-1.17,-146.6,24.3,-9.5,8,214,0.00,2.47,0.00,0.000,6,0.000,0.032,2537,2437,3432
$GC,524,-1.17,-146.6,54.1,-9.4,24,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2437,3432
$GC,832,-1.17,-146.6,83.4,-9.0,39,836,0.00,2.47,0.00,0.000,4,0.000,0.035,2537,1012,3432
$GC,909,-1.17,-146.6,90.7,-9.7,42,916,0.00,2.42,0.00,0.000,6,0.000,0.031,2537,2420,3432
$GC,1226,-1.17,-146.6,118.2,-7.7,58,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2421,3432
$GC,1534,-1.17,-146.6,143.5,-8.1,73,1538,0.00,2.45,0.00,0.000,4,0.000,0.037,2537,1012,3433
$GC,1567,-1.17,-146.6,146.1,-7.5,74,1573,0.00,2.45,0.00,0.000,6,0.000,0.033,2537,2430,3433
$GC,1883,-1.17,-146.6,170.3,-7.4,90,1887,0.00,2.53,0.00,0.000,4,0.000,0.060,2537,3825,3433
$GC,1960,-1.17,-146.6,176.3,-7.6,93,1967,0.00,2.40,0.00,0.000,6,0.000,0.028,2537,2400,3433
$GC,2279,-1.17,-146.6,196.6,-6.9,109,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2399,3433
$GC,2586,-1.17,-146.6,217.8,-7.1,124,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2399,3433
$GC,2895,-1.17,-146.6,241.2,-6.6,139,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2399,3433
$GC,3205,-1.17,-146.6,262.6,-7.2,154,3209,0.00,2.38,0.00,0.000,4,0.000,0.041,2537,1032,3433
$GC,3245,-1.17,-146.6,265.5,-7.1,156,3249,0.00,2.40,0.00,0.000,6,0.000,0.035,2537,2427,3433
$GC,3572,-1.17,-146.6,294.0,-9.5,172,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2427,3433
$GC,3880,-1.17,-146.6,324.1,-10.2,187,3884,0.00,2.42,0.00,0.000,4,0.000,0.041,2537,1038,3433
$GC,3901,-1.17,-146.6,326.5,-10.5,188,3905,0.00,2.42,0.00,0.000,6,0.000,0.037,2537,2430,3433
$GC,4221,-1.17,-146.6,360.8,-11.6,204,4226,0.00,2.55,0.00,0.000,4,0.000,0.062,2537,3818,3433
$GC,4289,-1.17,-146.6,369.6,-13.2,207,4293,0.00,2.35,0.00,0.000,6,0.000,0.030,2537,2424,3433
$GC,4615,-1.17,-146.6,411.0,-13.2,223,4619,0.00,2.42,0.00,0.000,4,0.000,0.042,2537,1031,3432
$GC,4664,-1.17,-146.6,417.2,-12.0,225,4669,0.00,2.42,0.00,0.000,6,0.000,0.036,2537,2428,3433
$GC,4981,-1.17,-146.6,451.8,-10.7,240,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2427,3432
$GC,5289,-1.17,-146.6,485.8,-11.6,255,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2427,3432
$GC,5599,-1.17,-146.6,518.6,-10.2,270,5603,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1030,3432
$GC,5669,-1.17,-146.6,525.3,-10.3,273,5673,0.00,2.42,0.00,0.000,6,0.000,0.036,2537,2427,3432
$GC,5990,-1.17,-146.6,557.5,-8.3,289,5994,0.00,2.47,0.00,0.000,4,0.000,0.042,2537,1033,3432
$GC,6045,-1.17,-146.6,562.4,-9.0,291,6049,0.00,2.40,0.00,0.000,6,0.000,0.035,2537,2425,3432
$GC,6361,-1.17,-146.6,585.6,-5.7,306,6366,0.00,2.47,0.00,0.000,4,0.000,0.043,2537,1028,3432
$GC,6474,-1.17,-146.6,594.2,-7.0,311,6478,0.00,2.42,0.00,0.000,6,0.000,0.037,2536,2429,3432
$GC,6801,-1.17,-146.6,622.5,-8.9,327,6805,0.00,2.53,0.00,0.000,4,0.000,0.061,2537,3824,3432
$GC,7046,-1.17,-146.6,642.7,-8.2,338,7050,0.00,2.38,0.00,0.000,6,0.000,0.030,2537,2422,3431
$GC,7368,-1.17,-146.6,665.6,-6.2,354,7372,0.00,2.55,0.00,0.000,4,0.000,0.058,2537,3831,3431
$GC,7526,-1.17,-146.6,680.0,-8.9,361,7531,0.00,2.42,0.00,0.000,6,0.000,0.031,2537,2421,3431
$GC,7852,-1.17,-146.6,703.4,-7.7,377,7856,0.00,2.42,0.00,0.000,4,0.000,0.044,2537,1030,3430
$GC,7965,-1.17,-146.6,712.1,-7.1,382,7969,0.00,2.42,0.00,0.000,6,0.000,0.038,2537,2425,3430
$GC,8288,-1.17,-146.6,744.3,-8.9,398,8292,0.00,2.45,0.00,0.000,4,0.000,0.045,2537,1032,3429
$GC,8394,-1.17,-146.6,753.0,-8.3,403,8398,0.00,2.42,0.00,0.000,6,0.000,0.039,2537,2422,3429
$GC,8720,-1.17,-146.6,784.3,-8.0,419,8725,0.00,2.50,0.00,0.000,4,0.000,0.048,2537,1033,3428
$GC,8887,-1.17,-146.6,797.6,-8.3,426,8891,0.00,2.45,0.00,0.000,6,0.000,0.042,2537,2425,3427
$GC,9203,-1.17,-146.6,820.4,-4.6,441,9208,0.00,2.58,0.00,0.000,4,0.000,0.066,2537,3831,3426
$GC,9223,-1.17,-146.6,821.5,-6.1,442,9228,0.00,2.42,0.00,0.000,6,0.000,0.037,2537,2425,3426
$GC,9550,-1.17,-146.6,853.1,-11.8,458,9554,0.00,2.60,0.00,0.000,4,0.000,0.067,2537,3831,3425
$GC,9589,-1.17,-146.6,855.1,-4.9,460,9594,0.00,2.42,0.00,0.000,6,0.000,0.038,2537,2432,3425
$STATE,9625,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9625,begin apogee
$GC,9633,-0.36,0.0,857.4,6.2,462,9768,0.88,0.00,129.12,1.332,6,0.074,0.000,2721,1356,2832
$STATE,9769,end apogee,CONTROL_FINISHED_OK
$STATE,9769,begin climb
$GC,9772,1.17,146.6,862.1,0.0,469,9914,1.55,2.12,131.12,1.288,4,0.053,0.073,3057,270,2233
$GC,9964,1.17,146.6,843.8,14.9,478,9970,0.00,1.90,0.00,0.000,6,0.000,0.037,3057,1358,2228
$GC,10291,1.20,166.1,820.9,6.8,494,10313,0.00,2.62,17.05,1.205,4,0.000,0.051,3057,2751,2154
$GC,10549,1.20,166.1,803.4,8.5,505,10553,0.00,2.53,0.00,0.000,6,0.000,0.047,3057,1352,2149
$GC,10867,1.22,182.7,778.4,6.9,520,10890,0.00,2.60,15.45,1.214,4,0.000,0.050,3057,2742,2086
$GC,10954,1.23,189.4,771.6,7.3,523,10968,0.00,2.50,7.62,1.071,6,0.000,0.048,3057,1350,2060
$GC,11291,1.26,213.8,748.9,6.7,540,11321,0.00,2.12,23.65,1.251,4,0.000,0.069,3057,260,1960
$GC,11424,1.26,213.8,738.6,8.3,546,11429,0.00,1.90,0.00,0.000,6,0.000,0.036,3057,1342,1957
$GC,11756,1.29,240.7,713.3,6.6,562,11787,0.10,2.05,25.45,1.239,4,0.047,0.064,3101,260,1849
$GC,11831,1.29,240.7,706.4,9.3,565,11838,0.00,1.92,0.00,0.000,6,0.000,0.035,3101,1360,1847
$GC,12147,1.29,240.7,678.2,9.3,581,12151,0.00,2.47,0.00,0.000,4,0.000,0.047,3101,2744,1844
$GC,12248,1.29,240.7,667.2,8.1,585,12255,0.00,2.53,0.00,0.000,6,0.000,0.043,3101,1351,1843
$GC,12564,1.29,240.7,634.8,11.0,601,12568,0.00,2.50,0.00,0.000,4,0.000,0.043,3101,2749,1843
$GC,12591,1.29,240.7,630.5,15.6,602,12595,0.00,2.50,0.00,0.000,6,0.000,0.041,3101,1341,1842
$GC,12906,1.30,247.8,595.7,7.3,617,12915,0.00,0.00,6.70,0.969,6,0.000,0.000,3101,1341,1821
$GC,13218,1.30,247.8,569.1,8.6,632,13222,0.00,2.50,0.00,0.000,4,0.000,0.041,3101,2751,1820
$GC,13262,1.30,247.8,565.3,7.9,634,13266,0.00,2.47,0.00,0.000,6,0.000,0.038,3101,1348,1820
$GC,13582,1.30,247.8,540.5,8.9,650,13586,0.00,2.45,0.00,0.000,4,0.000,0.038,3101,2744,1820
$GC,13654,1.30,247.8,533.0,10.6,653,13658,0.00,2.45,0.00,0.000,6,0.000,0.038,3101,1348,1820
$GC,13969,1.30,247.8,500.7,9.8,668,13974,0.00,2.47,0.00,0.000,4,0.000,0.038,3101,2744,1820
$GC,14014,1.30,247.8,496.4,9.3,670,14019,0.00,2.47,0.00,0.000,6,0.000,0.037,3101,1348,1820
$GC,14346,1.30,247.8,462.8,9.8,686,14351,0.00,2.47,0.00,0.000,4,0.000,0.037,3101,2746,1821
$GC,14414,1.30,247.8,455.8,10.2,689,14418,0.00,2.45,0.00,0.000,6,0.000,0.036,3101,1341,1821
$GC,14740,1.30,247.8,420.5,11.0,705,14744,0.00,2.45,0.00,0.000,4,0.000,0.036,3101,2746,1821
$GC,14779,1.30,247.8,416.3,10.4,707,14783,0.00,2.45,0.00,0.000,6,0.000,0.036,3101,1342,1821
$GC,15105,1.30,247.8,380.8,10.6,723,15106,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1342,1821
$GC,15414,1.30,247.8,347.6,11.2,738,15415,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1341,1822
$GC,15723,1.30,247.8,311.0,11.6,753,15727,0.00,2.45,0.00,0.000,4,0.000,0.037,3101,2748,1822
$GC,15763,1.30,247.8,307.0,9.7,755,15767,0.00,2.42,0.00,0.000,6,0.000,0.035,3101,1350,1821
$GC,16090,1.30,247.8,275.2,9.6,771,16091,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1350,1822
$GC,16399,1.30,247.8,243.7,10.6,786,16400,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1349,1822
$GC,16708,1.30,247.8,208.9,12.1,801,16713,0.00,2.45,0.00,0.000,4,0.000,0.036,3101,2746,1822
$GC,16769,1.30,247.8,201.8,10.9,803,16775,0.00,2.42,0.00,0.000,6,0.000,0.035,3101,1351,1823
$GC,17084,1.30,247.8,168.2,10.4,819,17085,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1351,1823
$GC,17394,1.30,247.8,138.6,9.9,834,17395,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1351,1823
$GC,17703,1.30,247.8,105.5,10.7,849,17707,0.00,2.42,0.00,0.000,4,0.000,0.035,3101,2754,1823
$GC,17780,1.30,247.8,96.7,10.4,852,17787,0.00,2.42,0.00,0.000,6,0.000,0.034,3101,1351,1823
$GC,18096,1.30,247.8,63.0,10.9,868,18100,0.00,2.40,0.00,0.000,4,0.000,0.033,3101,2752,1824
$GC,18136,1.30,247.8,58.5,11.0,870,18141,0.00,2.45,0.00,0.000,6,0.000,0.034,3101,1350,1824
$GC,18469,1.30,247.8,24.7,10.2,886,18473,0.00,2.42,0.00,0.000,4,0.000,0.034,3101,2745,1824
$GC,18514,1.30,247.8,20.3,8.7,888,18519,0.00,2.40,0.00,0.000,6,0.000,0.032,3101,1348,1824
$STATE,18679,end climb,SURFACE_DEPTH_REACHED
$STATE,18679,begin surface coast
$FINISH,0.9,1.027216
$STATE,18702,end surface coast,CONTROL_FINISHED_OK
$STATE,18702,begin surface
$SM_CCo,18726,34.05,0.736,0,0,1609,300.00
$SM_GC,1.05,0.00,0.00,34.05,0.000,0.000,0.736,396,2421,1609,-11.06,-0.11,300.00
$IRIDIUM_FIX,6108.28,-732.70,010998,101019
$TT8_MAMPS,0.027612
$HUMID,1815
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.3
$ALTIM_BOTTOM_PING,801.1,65.4
$24V_AH,23.2,19.498
$10V_AH,10.1,8.054
$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,25.725,173.225,356.175,34.050,0.000,29.753,25.238,136.757,7.500,0.000,0.000,16.313,1705.792,14014.487,509.785,2096.739,748.036,33.375,1623.856,0.000,2225.739,0.000,52.184,0.000
$DEVICE_MAMPS,134.225,72.865,1332.279,736.320,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,799.625,616.362,523.630,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47455,897
$CAP_FILE_SIZE,141088,0
$CFSIZE,260165632,257228800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,070609,210407,6133.715,-835.459,39,1.2,39,-9.0