version: 66.04
glider: 105
mission: 6
dive: 299
start: 8 18 109 23 31 18
data:
$ID,105
$MISSION,6
$DIVE,299
$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,550
$T_MISSION,580
$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,2
$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,-1633448.5
$T_RSLEEP,27
$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,2250
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,30
$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,0
$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
$GPS1,232525,6147.992,-856.107,41,1.5,41,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-53.0
$GPS2,233056,6148.021,-856.163,16,1.4,16,-9.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.025,-0.238
$KALMAN_X,-160384.0,991.3,628.8,104309.0,-21.7
$KALMAN_Y,127308.9,-3266.1,-2239.5,-49887.2,54062.8
$MHEAD_RNG_PITCHd_Wd,149.8,43269,-11.0,-6.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.96,-146.6,0.0,0.0,0,79,0.00,0.00,-61.67,0.000,6,0.000,0.000,384,2242,3431
$GC,82,-0.96,-146.6,3.7,-6.6,3,103,11.73,2.60,0.00,0.000,4,0.133,0.053,2586,3654,3433
$GC,181,-0.96,-146.6,21.2,-9.4,7,186,0.00,2.45,0.00,0.000,6,0.000,0.028,2586,2232,3433
$GC,502,-0.96,-146.6,47.5,-8.0,23,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2232,3434
$GC,812,-0.96,-146.6,61.6,-3.7,38,816,0.00,2.40,0.00,0.000,4,0.000,0.041,2586,857,3434
$GC,890,-0.96,-146.6,66.1,-6.6,41,896,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2249,3434
$GC,1206,-0.96,-146.6,92.3,-10.1,57,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3435
$GC,1516,-0.96,-146.6,128.4,-11.6,72,1520,0.00,2.55,0.00,0.000,4,0.000,0.058,2586,3651,3435
$GC,1595,-0.96,-146.6,137.9,-11.3,75,1601,0.00,2.38,0.00,0.000,6,0.000,0.030,2586,2255,3435
$GC,1912,-0.96,-146.6,169.9,-9.5,91,1916,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3650,3435
$GC,1967,-0.96,-146.6,175.4,-9.3,93,1973,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2242,3435
$GC,2286,-0.96,-146.6,201.4,-7.9,109,2291,0.00,2.55,0.00,0.000,4,0.000,0.052,2586,3652,3435
$GC,2327,-0.96,-146.6,205.2,-9.3,111,2331,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2249,3435
$GC,2654,-0.96,-146.6,230.3,-7.6,127,2658,0.00,2.53,0.00,0.000,4,0.000,0.051,2587,3650,3434
$GC,2709,-0.96,-146.6,235.0,-8.6,129,2715,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2244,3434
$GC,3027,-0.96,-146.6,258.9,-7.5,145,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2244,3434
$GC,3334,-0.96,-146.6,281.3,-6.9,160,3338,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3653,3434
$GC,3391,-0.96,-146.6,285.3,-7.3,162,3397,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2249,3434
$GC,3707,-0.96,-146.6,306.2,-6.2,178,3711,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3650,3434
$GC,3756,-0.96,-146.6,309.4,-6.3,180,3760,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2245,3434
$GC,4072,-0.96,-146.6,327.3,-5.2,195,4077,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3653,3434
$GC,4141,-0.96,-146.6,331.3,-6.1,198,4145,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2249,3434
$GC,4463,-0.96,-146.6,348.5,-5.5,214,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3433
$GC,4774,-0.96,-146.6,366.3,-5.9,229,4779,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3651,3433
$GC,4815,-0.96,-146.6,369.1,-7.1,231,4819,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2242,3433
$GC,5141,-0.96,-146.6,391.5,-7.7,247,5146,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3650,3432
$GC,5231,-0.96,-146.6,399.0,-7.8,251,5235,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3432
$GC,5552,-0.96,-146.6,424.1,-8.1,267,5557,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3650,3432
$GC,5593,-0.96,-146.6,427.7,-9.4,269,5597,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2241,3432
$GC,5920,-0.96,-146.6,453.9,-8.0,285,5924,0.00,2.45,0.00,0.000,4,0.000,0.045,2587,846,3432
$GC,6031,-0.96,-146.6,462.9,-8.1,290,6036,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2249,3431
$GC,6353,-0.96,-146.6,484.0,-6.0,306,6357,0.00,2.53,0.00,0.000,4,0.000,0.057,2586,3650,3431
$GC,6515,-0.96,-146.6,494.7,-6.2,313,6520,0.00,2.42,0.00,0.000,6,0.000,0.031,2587,2253,3431
$GC,6836,-0.96,-146.6,507.4,-2.4,329,6840,0.00,2.53,0.00,0.000,4,0.000,0.055,2586,3648,3431
$GC,6936,-0.96,-146.6,512.1,-5.4,333,6943,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2246,3431
$GC,7252,-0.96,-146.6,530.6,-7.0,349,7256,0.00,2.45,0.00,0.000,4,0.000,0.046,2587,851,3431
$GC,7274,-0.96,-146.6,532.0,-6.0,350,7279,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2258,3430
$GC,7599,-0.96,-146.6,550.6,-5.8,366,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2258,3430
$GC,7906,-0.96,-146.6,568.9,-5.7,381,7907,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2258,3429
$GC,8217,-0.96,-146.6,589.8,-7.1,396,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2261,3429
$GC,8524,-0.96,-146.6,613.7,-8.1,411,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2260,3428
$GC,8833,-0.96,-146.6,636.1,-7.2,426,8838,0.00,2.55,0.00,0.000,4,0.000,0.050,2586,848,3426
$GC,8871,-0.96,-146.6,638.6,-6.1,427,8878,0.00,2.45,0.00,0.000,6,0.000,0.038,2587,2255,3426
$GC,9187,-0.96,-146.6,656.8,-3.8,443,9191,0.00,2.50,0.00,0.000,4,0.000,0.048,2586,851,3425
$STATE,9291,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9291,begin apogee
$GC,9300,-0.36,0.0,663.2,7.2,448,9435,0.62,0.00,127.25,1.254,6,0.061,0.000,2722,1460,2831
$STATE,9435,end apogee,CONTROL_FINISHED_OK
$STATE,9436,begin climb
$GC,9438,0.96,146.6,665.7,0.0,455,9577,1.33,2.28,129.07,1.209,4,0.051,0.066,3009,277,2232
$GC,9742,0.97,150.0,653.2,5.9,469,9745,0.00,2.05,0.00,0.000,6,0.000,0.035,3010,1461,2224
$GC,10068,1.00,179.1,636.9,5.2,485,10103,0.00,2.22,28.50,1.183,4,0.000,0.062,3010,277,2100
$GC,10134,1.00,179.1,632.6,6.5,488,10138,0.00,2.05,0.00,0.000,6,0.000,0.037,3010,1456,2098
$GC,10467,1.02,193.5,617.6,5.6,504,10486,0.00,0.00,13.38,1.132,6,0.000,0.000,3009,1456,2042
$GC,10798,1.09,246.0,601.2,4.6,520,10855,0.12,2.58,48.70,1.220,4,0.050,0.050,3057,2853,1828
$GC,10961,1.09,246.0,589.4,7.5,527,10966,0.00,2.47,0.00,0.000,6,0.000,0.042,3056,1462,1823
$GC,11277,1.09,246.0,560.3,10.6,542,11281,0.00,2.50,0.00,0.000,4,0.000,0.048,3057,2858,1819
$GC,11317,1.09,246.0,555.9,11.9,544,11321,0.00,2.50,0.00,0.000,6,0.000,0.042,3057,1453,1818
$GC,11643,1.09,246.0,516.3,12.0,560,11647,0.00,2.50,0.00,0.000,4,0.000,0.048,3057,2854,1817
$GC,11717,1.09,246.0,507.0,12.7,563,11721,0.00,2.50,0.00,0.000,6,0.000,0.041,3057,1446,1817
$GC,12033,1.09,246.0,469.6,10.5,578,12034,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1447,1816
$GC,12342,1.09,246.0,444.0,7.6,593,12345,0.00,2.15,0.00,0.000,4,0.000,0.060,3057,264,1816
$GC,12387,1.09,246.0,440.1,8.3,595,12391,0.00,2.03,0.00,0.000,6,0.000,0.032,3057,1459,1816
$GC,12720,1.09,246.0,414.4,7.4,611,12724,0.00,2.47,0.00,0.000,4,0.000,0.046,3057,2850,1815
$GC,12752,1.09,246.0,411.9,7.1,612,12759,0.00,2.45,0.00,0.000,6,0.000,0.038,3057,1453,1814
$GC,13068,1.09,246.0,391.4,6.7,628,13069,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1453,1815
$GC,13380,1.09,246.0,370.0,7.1,643,13384,0.00,2.45,0.00,0.000,4,0.000,0.042,3057,2852,1816
$GC,13424,1.09,246.0,366.7,6.7,645,13429,0.00,2.45,0.00,0.000,6,0.000,0.038,3057,1452,1815
$GC,13749,1.09,246.0,345.8,6.8,661,13750,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1452,1816
$GC,14057,1.09,246.0,322.2,8.5,676,14061,0.00,2.47,0.00,0.000,4,0.000,0.041,3057,2858,1816
$GC,14084,1.09,246.0,319.7,8.7,677,14089,0.00,2.47,0.00,0.000,6,0.000,0.038,3057,1461,1816
$GC,14405,1.09,246.0,292.2,8.6,693,14406,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1461,1816
$GC,14714,1.09,246.0,266.1,8.3,708,14718,0.00,2.45,0.00,0.000,4,0.000,0.041,3057,2857,1817
$GC,14742,1.09,246.0,263.7,8.1,709,14746,0.00,2.45,0.00,0.000,6,0.000,0.037,3057,1453,1817
$GC,15057,1.09,246.0,237.6,8.8,724,15058,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1453,1817
$GC,15367,1.09,246.0,211.2,8.4,739,15372,0.00,2.47,0.00,0.000,4,0.000,0.041,3057,2843,1817
$GC,15414,1.09,246.0,207.4,8.6,741,15418,0.00,2.42,0.00,0.000,6,0.000,0.037,3057,1454,1817
$GC,15740,1.09,246.0,179.2,8.9,757,15742,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1454,1818
$GC,16050,1.09,246.0,149.9,9.8,772,16055,0.00,2.47,0.00,0.000,4,0.000,0.042,3057,2848,1818
$GC,16100,1.09,246.0,145.0,9.8,774,16104,0.00,2.45,0.00,0.000,6,0.000,0.038,3057,1447,1818
$GC,16422,1.09,246.0,115.3,8.9,790,16424,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1447,1818
$GC,16731,1.09,246.0,89.2,9.2,805,16735,0.00,2.47,0.00,0.000,4,0.000,0.041,3057,2860,1818
$GC,16780,1.09,246.0,83.7,9.8,807,16784,0.00,2.45,0.00,0.000,6,0.000,0.035,3057,1452,1818
$GC,17096,1.09,246.0,53.1,7.7,822,17097,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1452,1819
$GC,17406,1.10,260.4,36.9,5.6,837,17428,0.00,2.55,12.02,0.755,4,0.000,0.040,3057,2861,1769
$GC,17501,1.11,265.9,30.9,5.8,841,17517,0.00,2.45,6.53,0.663,6,0.000,0.035,3057,1454,1747
$GC,17828,1.12,272.8,9.6,5.8,857,17842,0.00,2.50,7.65,0.681,4,0.000,0.038,3057,2856,1718
$GC,17887,1.12,272.8,4.5,8.0,859,17894,0.00,2.45,0.00,0.000,6,0.000,0.034,3057,1453,1717
$STATE,17913,end climb,SURFACE_DEPTH_REACHED
$STATE,17913,begin surface coast
$FINISH,0.0,1.012782
$STATE,17934,end surface coast,CONTROL_FINISHED_OK
$STATE,17934,begin surface
$SM_CCo,17958,19.00,0.749,0,0,1609,300.00
$SM_GC,0.47,0.00,0.00,19.00,0.000,0.000,0.749,394,2260,1609,-11.07,0.28,300.00
$IRIDIUM_FIX,6108.28,-921.81,121198,181859
$TT8_MAMPS,0.027612
$HUMID,1916
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.2,71.7
$24V_AH,23.1,61.759
$10V_AH,10.1,37.188
$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,25.475,160.975,373.100,19.000,0.000,28.083,30.907,142.178,5.250,0.000,0.000,16.163,1607.709,13502.862,526.217,1906.985,765.493,0.000,1537.496,0.000,2060.642,0.000,37.640,0.000
$DEVICE_MAMPS,132.691,65.962,1254.045,749.359,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,745.753,620.442,543.642,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44338,862
$CAP_FILE_SIZE,131378,0
$CFSIZE,260165632,236597248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,190809,043206,6147.415,-857.730,30,1.1,30,-9.3