version: 66.04
glider: 105
mission: 6
dive: 13
start: 6 7 109 21 10 26
data:
$ID,105
$MISSION,6
$DIVE,13
$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,-1628323.6
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,210407,6133.715,-835.459,39,1.2,39,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-58.8
$GPS2,210932,6133.693,-835.386,12,1.3,12,-9.0
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.235,-0.047
$KALMAN_X,-51288.2,3060.9,1294.5,30406.4,-20846.9
$KALMAN_Y,26792.3,-2060.1,-946.9,-7163.8,12158.0
$MHEAD_RNG_PITCHd_Wd,110.4,11447,-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,-59.65,0.000,6,0.000,0.000,397,2421,3431
$GC,80,-1.17,-146.6,4.4,-8.9,3,101,11.48,2.45,0.00,0.000,4,0.136,0.035,2537,1011,3432
$GC,238,-1.17,-146.6,27.2,-9.7,10,243,0.00,2.45,0.00,0.000,6,0.000,0.032,2537,2425,3433
$GC,565,-1.17,-146.6,55.6,-8.5,26,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2425,3433
$GC,874,-1.17,-146.6,81.7,-8.9,41,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2425,3433
$GC,1185,-1.17,-146.6,110.2,-9.7,56,1189,0.00,2.45,0.00,0.000,4,0.000,0.036,2537,1013,3433
$GC,1256,-1.17,-146.6,117.4,-9.7,59,1260,0.00,2.45,0.00,0.000,6,0.000,0.034,2537,2423,3433
$GC,1572,-1.17,-146.6,146.7,-9.3,74,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2424,3433
$GC,1882,-1.17,-146.6,176.9,-10.0,89,1886,0.00,2.47,0.00,0.000,4,0.000,0.038,2537,1007,3433
$GC,1909,-1.17,-146.6,179.9,-10.6,90,1913,0.00,2.47,0.00,0.000,6,0.000,0.035,2537,2428,3433
$GC,2224,-1.17,-146.6,210.3,-10.2,105,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2428,3433
$GC,2534,-1.17,-146.6,237.9,-8.4,120,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2428,3433
$GC,2843,-1.17,-146.6,261.1,-7.0,135,2847,0.00,2.47,0.00,0.000,4,0.000,0.040,2537,1013,3433
$GC,2893,-1.17,-146.6,264.8,-7.1,137,2898,0.00,2.47,0.00,0.000,6,0.000,0.036,2537,2417,3433
$GC,3214,-1.17,-146.6,287.6,-6.6,153,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2416,3433
$GC,3523,-1.17,-146.6,308.8,-7.6,168,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2417,3433
$GC,3833,-1.17,-146.6,331.3,-7.4,183,3838,0.00,2.45,0.00,0.000,4,0.000,0.042,2537,1015,3433
$GC,3889,-1.17,-146.6,335.6,-7.8,185,3895,0.00,2.45,0.00,0.000,6,0.000,0.037,2537,2426,3433
$GC,4206,-1.17,-146.6,360.7,-8.7,201,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2426,3433
$GC,4514,-1.17,-146.6,385.8,-7.7,216,4518,0.00,2.47,0.00,0.000,4,0.000,0.042,2536,1014,3432
$GC,4547,-1.17,-146.6,388.3,-7.3,217,4553,0.00,2.45,0.00,0.000,6,0.000,0.037,2537,2424,3432
$GC,4865,-1.17,-146.6,411.5,-7.3,233,4869,0.00,2.47,0.00,0.000,4,0.000,0.042,2537,1013,3432
$GC,4898,-1.17,-146.6,414.2,-7.2,234,4904,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2425,3432
$GC,5213,-1.17,-146.6,439.0,-7.4,250,5217,0.00,2.47,0.00,0.000,4,0.000,0.042,2536,1011,3432
$GC,5257,-1.17,-146.6,442.4,-7.7,252,5262,0.00,2.50,0.00,0.000,6,0.000,0.038,2537,2425,3432
$GC,5584,-1.17,-146.6,465.3,-6.9,268,5588,0.00,2.47,0.00,0.000,4,0.000,0.043,2537,1013,3432
$GC,5647,-1.17,-146.6,470.0,-8.2,271,5651,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2434,3432
$GC,5974,-1.17,-146.6,494.2,-7.3,287,5979,0.00,2.53,0.00,0.000,4,0.000,0.044,2537,1016,3432
$GC,6029,-1.17,-146.6,498.5,-7.6,289,6033,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2431,3432
$GC,6345,-1.17,-146.6,523.0,-8.3,304,6349,0.00,2.50,0.00,0.000,4,0.000,0.043,2537,1010,3432
$GC,6400,-1.17,-146.6,526.5,-5.3,306,6406,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2430,3432
$GC,6716,-1.17,-146.6,547.4,-8.2,322,6720,0.00,2.53,0.00,0.000,4,0.000,0.058,2537,3833,3432
$GC,7001,-1.17,-146.6,571.2,-11.3,335,7006,0.00,2.42,0.00,0.000,6,0.000,0.030,2537,2403,3432
$GC,7329,-1.17,-146.6,595.7,-6.0,351,7333,0.00,2.40,0.00,0.000,4,0.000,0.042,2537,1023,3431
$GC,7401,-1.17,-146.6,600.6,-7.2,354,7406,0.00,2.45,0.00,0.000,6,0.000,0.037,2537,2430,3431
$GC,7717,-1.17,-146.6,620.8,-9.8,369,7721,0.00,2.47,0.00,0.000,4,0.000,0.045,2537,1026,3431
$GC,7771,-1.17,-146.6,626.2,-9.1,371,7778,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2431,3431
$GC,8087,-1.17,-146.6,652.7,-8.8,387,8092,0.00,2.47,0.00,0.000,4,0.000,0.042,2537,1035,3430
$GC,8204,-1.17,-146.6,661.7,-9.1,392,8208,0.00,2.45,0.00,0.000,6,0.000,0.039,2537,2432,3429
$GC,8524,-1.17,-146.6,685.7,-8.0,408,8529,0.00,2.50,0.00,0.000,4,0.000,0.049,2537,1028,3428
$GC,8642,-1.17,-146.6,690.6,-4.8,413,8647,0.00,2.47,0.00,0.000,6,0.000,0.040,2537,2423,3429
$GC,8962,-1.17,-146.6,716.5,-9.8,429,8967,0.00,2.47,0.00,0.000,4,0.000,0.045,2537,1026,3427
$GC,9141,-1.17,-146.6,737.3,-15.0,437,9145,0.00,2.47,0.00,0.000,6,0.000,0.042,2537,2430,3427
$GC,9462,-1.17,-146.6,765.8,-4.2,453,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2430,3425
$GC,9771,-1.17,-146.6,802.4,-6.9,468,9776,0.00,2.60,0.00,0.000,4,0.000,0.069,2537,3825,3424
$GC,9861,-1.17,-146.6,810.3,-8.2,472,9866,0.00,2.45,0.00,0.000,6,0.000,0.039,2537,2434,3424
$STATE,10067,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10067,begin apogee
$GC,10075,-0.36,0.0,833.1,14.4,482,10209,0.88,0.00,128.57,1.330,6,0.068,0.000,2724,1352,2832
$STATE,10210,end apogee,CONTROL_FINISHED_OK
$STATE,10210,begin climb
$GC,10213,1.17,146.6,842.7,0.0,489,10355,1.52,2.62,131.62,1.285,4,0.061,0.051,3053,2760,2232
$GC,10693,1.31,259.4,821.6,3.6,510,10800,0.15,2.55,100.18,1.288,6,0.040,0.050,3104,1348,1773
$GC,11128,1.31,259.4,763.2,12.2,531,11132,0.00,2.58,0.00,0.000,4,0.000,0.051,3104,2758,1761
$GC,11298,1.31,259.4,739.1,16.1,538,11305,0.00,2.53,0.00,0.000,6,0.000,0.051,3104,1352,1759
$GC,11614,1.31,259.4,699.7,11.9,554,11618,0.00,2.55,0.00,0.000,4,0.000,0.049,3104,2761,1757
$GC,11670,1.31,259.4,692.3,10.1,556,11676,0.00,2.55,0.00,0.000,6,0.000,0.047,3104,1340,1757
$GC,11985,1.31,259.4,657.3,9.9,572,11989,0.00,2.55,0.00,0.000,4,0.000,0.050,3104,2763,1756
$GC,12029,1.31,259.4,652.9,9.1,574,12033,0.00,2.55,0.00,0.000,6,0.000,0.047,3104,1348,1755
$GC,12350,1.31,259.4,619.0,12.4,590,12354,0.00,2.00,0.00,0.000,4,0.000,0.067,3104,261,1755
$GC,12428,1.31,259.4,611.0,12.7,593,12433,0.00,1.92,0.00,0.000,6,0.000,0.035,3104,1364,1755
$GC,12749,1.31,259.4,577.0,9.5,609,12752,0.00,2.03,0.00,0.000,4,0.000,0.063,3104,262,1755
$GC,12967,1.31,259.4,559.2,8.7,618,12974,0.00,1.90,0.00,0.000,6,0.000,0.035,3104,1354,1754
$GC,13282,1.31,259.4,531.2,9.0,634,13287,0.00,2.47,0.00,0.000,4,0.000,0.048,3104,2744,1754
$GC,13390,1.31,259.4,522.5,9.1,639,13394,0.00,2.47,0.00,0.000,6,0.000,0.042,3104,1349,1753
$GC,13716,1.31,259.4,484.0,9.3,655,13720,0.00,1.98,0.00,0.000,4,0.000,0.060,3104,258,1754
$GC,13822,1.31,259.4,474.6,8.6,659,13828,0.00,1.83,0.00,0.000,6,0.000,0.031,3104,1358,1754
$GC,14140,1.31,259.4,436.7,12.1,675,14143,0.00,2.00,0.00,0.000,4,0.000,0.059,3104,261,1754
$GC,14240,1.31,259.4,421.7,14.3,679,14244,0.00,1.83,0.00,0.000,6,0.000,0.032,3104,1346,1753
$GC,14561,1.31,259.4,378.4,11.9,695,14562,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1348,1753
$GC,14872,1.31,259.4,338.2,11.7,710,14876,0.00,2.47,0.00,0.000,4,0.000,0.043,3104,2749,1755
$GC,14900,1.31,259.4,334.8,11.3,711,14905,0.00,2.47,0.00,0.000,6,0.000,0.038,3104,1337,1754
$GC,15216,1.31,259.4,303.2,9.8,726,15217,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1337,1754
$GC,15525,1.31,259.4,269.5,11.1,741,15526,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1335,1755
$GC,15834,1.31,259.4,235.3,11.2,756,15839,0.00,2.50,0.00,0.000,4,0.000,0.039,3104,2745,1756
$GC,15895,1.31,259.4,227.8,11.5,758,15901,0.00,2.45,0.00,0.000,6,0.000,0.037,3104,1343,1756
$GC,16211,1.31,259.4,191.3,11.0,774,16215,0.00,2.45,0.00,0.000,4,0.000,0.038,3104,2748,1756
$GC,16260,1.31,259.4,185.7,10.7,776,16265,0.00,2.45,0.00,0.000,6,0.000,0.036,3104,1356,1756
$GC,16581,1.31,259.4,150.4,11.3,792,16582,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1356,1757
$GC,16891,1.31,259.4,112.3,12.5,807,16892,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1355,1758
$GC,17200,1.31,259.4,78.4,10.4,822,17201,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1355,1757
$GC,17511,1.31,259.4,48.2,10.5,837,17512,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1355,1758
$GC,17818,1.31,259.4,16.0,10.6,852,17820,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1355,1758
$STATE,17940,end climb,SURFACE_DEPTH_REACHED
$STATE,17940,begin surface coast
$FINISH,0.2,1.027228
$STATE,17963,end surface coast,CONTROL_FINISHED_OK
$STATE,17963,begin surface
$SM_CCo,17987,23.12,0.741,0,0,1609,300.00
$SM_GC,0.65,0.00,0.00,23.12,0.000,0.000,0.741,393,2417,1609,-11.07,-0.23,300.00
$IRIDIUM_FIX,6112.75,-832.74,010998,151540
$TT8_MAMPS,0.027612
$HUMID,1822
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.1,17.3
$ALTIM_BOTTOM_PING,750.1,91.6
$24V_AH,23.2,19.648
$10V_AH,10.1,8.141
$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,25.725,148.500,360.375,23.125,0.000,25.331,27.400,154.041,6.750,0.000,0.000,12.175,1614.980,13431.637,481.214,2075.072,733.508,33.345,1554.491,0.000,2188.992,0.000,47.799,0.000
$DEVICE_MAMPS,135.759,69.030,1329.978,740.922,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,735.268,588.775,496.961,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44208,859
$CAP_FILE_SIZE,131791,0
$CFSIZE,260165632,257175552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,080609,021201,6135.397,-831.334,45,1.8,45,-9.0