version: 66.04
glider: 105
mission: 6
dive: 310
start: 8 21 109 15 12 40
data:
$ID,105
$MISSION,6
$DIVE,310
$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,-1633637.1
$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,23
$R_STBD_OVSHOOT,31
$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
$GPS1,150630,6134.726,-834.967,39,1.3,44,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-57.3
$GPS2,151220,6134.705,-835.021,15,1.3,15,-9.0
$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,143.5,12424,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,82,0.00,0.00,-64.35,0.000,6,0.000,0.000,394,2238,3432
$GC,85,-0.96,-146.6,3.6,-6.6,3,106,11.70,2.60,0.00,0.000,4,0.134,0.051,2584,3652,3433
$GC,358,-0.96,-146.6,38.8,-8.9,15,362,0.00,2.42,0.00,0.000,6,0.000,0.029,2584,2229,3434
$GC,679,-0.96,-146.6,62.8,-6.9,31,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2229,3434
$GC,988,-0.96,-146.6,84.4,-7.6,46,992,0.00,2.40,0.00,0.000,4,0.000,0.041,2583,853,3434
$GC,1043,-0.96,-146.6,88.8,-7.4,48,1050,0.00,2.40,0.00,0.000,6,0.000,0.033,2584,2247,3435
$GC,1359,-0.96,-146.6,108.6,-6.3,64,1363,0.00,2.55,0.00,0.000,4,0.000,0.058,2584,3658,3435
$GC,1445,-0.96,-146.6,114.5,-6.7,68,1449,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3435
$GC,1773,-0.96,-146.6,138.5,-7.2,84,1777,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3652,3435
$GC,1845,-0.96,-146.6,144.6,-8.4,87,1849,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3435
$GC,2160,-0.96,-146.6,169.6,-8.1,102,2165,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3660,3435
$GC,2255,-0.96,-146.6,177.7,-8.5,106,2260,0.00,2.45,0.00,0.000,6,0.000,0.031,2583,2249,3435
$GC,2577,-0.96,-146.6,201.1,-7.4,122,2581,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3651,3435
$GC,2671,-0.96,-146.6,208.4,-7.2,126,2676,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3434
$GC,2989,-0.96,-146.6,230.4,-7.2,141,2993,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3651,3435
$GC,3033,-0.96,-146.6,234.1,-8.0,143,3037,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3435
$GC,3354,-0.96,-146.6,259.7,-8.2,159,3358,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3651,3434
$GC,3421,-0.96,-146.6,265.9,-9.2,162,3426,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2249,3434
$GC,3748,-0.96,-146.6,294.5,-8.3,178,3752,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3651,3434
$GC,3792,-0.96,-146.6,298.3,-8.7,180,3796,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3434
$GC,4113,-0.96,-146.6,324.4,-8.1,196,4117,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3651,3433
$GC,4229,-0.96,-146.6,334.4,-7.8,201,4234,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3433
$GC,4545,-0.96,-146.6,356.9,-6.7,216,4550,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3647,3433
$GC,4635,-0.96,-146.6,363.8,-8.6,220,4640,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2241,3433
$GC,4963,-0.96,-146.6,385.7,-6.5,236,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2239,3433
$GC,5272,-0.96,-146.6,406.4,-6.7,251,5277,0.00,2.58,0.00,0.000,4,0.000,0.055,2584,3644,3433
$GC,5400,-0.96,-146.6,415.8,-7.3,256,5406,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2241,3432
$GC,5716,-0.96,-146.6,436.2,-6.3,272,5721,0.00,2.58,0.00,0.000,4,0.000,0.056,2584,3658,3432
$GC,5779,-0.96,-146.6,440.5,-6.9,275,5783,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2247,3432
$GC,6106,-0.96,-146.6,460.1,-5.9,291,6110,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3657,3431
$GC,6183,-0.96,-146.6,465.0,-6.4,294,6189,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2236,3432
$GC,6500,-0.96,-146.6,482.4,-5.2,310,6504,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3651,3432
$GC,6562,-0.96,-146.6,485.9,-5.8,313,6566,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3432
$GC,6892,-0.96,-146.6,503.5,-5.2,329,6896,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3651,3432
$GC,6959,-0.96,-146.6,507.7,-5.9,332,6963,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2253,3432
$GC,7286,-0.96,-146.6,526.0,-6.0,348,7290,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3651,3431
$GC,7375,-0.96,-146.6,532.3,-7.0,352,7379,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3431
$GC,7696,-0.96,-146.6,553.9,-6.6,368,7700,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3431
$GC,7803,-0.96,-146.6,561.5,-7.0,373,7808,0.00,2.42,0.00,0.000,6,0.000,0.032,2584,2254,3431
$GC,8135,-0.96,-146.6,584.7,-7.2,389,8140,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3430
$GC,8220,-0.96,-146.6,591.3,-7.8,393,8224,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2249,3431
$GC,8547,-0.96,-146.6,618.5,-9.1,409,8551,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3430
$GC,8591,-0.96,-146.6,622.4,-8.6,411,8596,0.00,2.42,0.00,0.000,6,0.000,0.032,2584,2254,3430
$GC,8917,-0.96,-146.6,646.1,-7.7,427,8921,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3431
$GC,9086,-0.96,-146.6,662.3,-11.3,434,9092,0.00,2.42,0.00,0.000,6,0.000,0.032,2584,2236,3430
$GC,9402,-0.96,-146.6,694.4,-8.2,450,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2236,3431
$GC,9711,-0.96,-146.6,719.6,-7.2,465,9712,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2236,3430
$GC,10020,-0.96,-146.6,743.0,-7.2,480,10024,0.00,2.58,0.00,0.000,4,0.000,0.059,2584,3650,3430
$GC,10168,-0.96,-146.6,753.1,-4.9,486,10175,0.00,2.40,0.00,0.000,6,0.000,0.034,2584,2255,3430
$GC,10485,-0.96,-146.6,764.1,-3.7,502,10489,0.00,2.55,0.00,0.000,4,0.000,0.058,2584,3654,3430
$GC,10675,-0.96,-146.6,773.5,-5.7,510,10681,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2254,3429
$GC,10991,-0.96,-146.6,791.3,-5.8,526,10996,0.00,2.58,0.00,0.000,4,0.000,0.061,2584,3654,3427
$GC,11069,-0.96,-146.6,801.3,-14.6,529,11076,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2249,3427
$GC,11386,-0.96,-146.6,807.1,0.2,545,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2244,3426
$GC,11694,-0.96,-146.6,827.2,-6.5,560,11699,0.00,2.60,0.00,0.000,4,0.000,0.064,2584,3656,3424
$GC,11747,-0.96,-146.6,832.0,-8.0,562,11751,0.00,2.47,0.00,0.000,6,0.000,0.038,2584,2239,3424
$GC,12062,-0.96,-146.6,852.2,-10.8,577,12067,0.00,2.60,0.00,0.000,4,0.000,0.063,2584,3650,3423
$GC,12095,-0.96,-146.6,854.4,-6.2,578,12102,0.00,2.45,0.00,0.000,6,0.000,0.039,2584,2253,3422
$STATE,12141,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12141,begin apogee
$GC,12149,-0.36,0.0,857.6,6.6,581,12284,0.65,0.00,129.93,1.411,6,0.065,0.000,2722,1459,2832
$STATE,12285,end apogee,CONTROL_FINISHED_OK
$STATE,12285,begin climb
$GC,12288,0.96,146.6,862.6,0.0,588,12429,1.35,2.30,132.05,1.355,4,0.060,0.071,3008,258,2233
$GC,12769,0.96,146.6,836.9,11.8,610,12773,0.00,2.10,0.00,0.000,6,0.000,0.038,3008,1461,2222
$GC,13102,1.23,363.4,818.1,0.1,626,13307,0.22,2.60,195.02,1.354,4,0.032,0.051,3080,2858,1349
$GC,13391,1.23,363.4,786.0,13.0,638,13397,0.00,2.55,0.00,0.000,6,0.000,0.046,3080,1451,1341
$GC,13709,1.23,363.4,742.9,14.4,654,13710,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1451,1335
$GC,14016,1.23,363.4,711.3,11.0,669,14017,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1451,1332
$GC,14325,1.23,363.4,676.7,11.6,684,14329,0.00,2.53,0.00,0.000,4,0.000,0.048,3080,2856,1331
$GC,14369,1.23,363.4,670.9,13.6,686,14374,0.00,2.53,0.00,0.000,6,0.000,0.042,3080,1460,1330
$GC,14695,1.23,363.4,631.2,12.5,702,14697,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1460,1330
$GC,15005,1.23,363.4,594.6,11.4,717,15006,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1460,1330
$GC,15314,1.23,363.4,556.5,13.1,732,15318,0.00,2.20,0.00,0.000,4,0.000,0.060,3080,262,1330
$GC,15381,1.23,363.4,547.2,14.3,735,15385,0.00,2.03,0.00,0.000,6,0.000,0.032,3080,1465,1329
$GC,15715,1.23,363.4,506.4,12.0,751,15719,0.00,2.20,0.00,0.000,4,0.000,0.059,3080,260,1329
$GC,15771,1.23,363.4,498.9,12.7,753,15775,0.00,2.05,0.00,0.000,6,0.000,0.034,3080,1454,1329
$GC,16092,1.23,363.4,460.8,11.8,769,16097,0.00,2.20,0.00,0.000,4,0.000,0.058,3080,259,1330
$GC,16115,1.23,363.4,458.1,11.5,770,16119,0.00,2.05,0.00,0.000,6,0.000,0.034,3080,1455,1330
$GC,16448,1.23,363.4,422.3,10.5,786,16451,0.00,2.17,0.00,0.000,4,0.000,0.058,3080,258,1330
$GC,16493,1.23,363.4,417.5,11.2,788,16497,0.00,2.05,0.00,0.000,6,0.000,0.033,3080,1456,1330
$GC,16826,1.23,363.4,383.9,10.2,804,16829,0.00,2.17,0.00,0.000,4,0.000,0.058,3080,259,1330
$GC,16864,1.23,363.4,379.8,9.7,805,16870,0.00,2.08,0.00,0.000,6,0.000,0.033,3080,1454,1330
$GC,17181,1.23,363.4,350.0,9.6,821,17182,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1454,1331
$GC,17492,1.23,363.4,319.1,9.8,836,17496,0.00,2.17,0.00,0.000,4,0.000,0.058,3080,256,1331
$GC,17542,1.23,363.4,313.4,10.0,838,17546,0.00,2.05,0.00,0.000,6,0.000,0.033,3080,1455,1331
$GC,17869,1.23,363.4,281.1,10.0,854,17870,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1455,1331
$GC,18180,1.23,363.4,248.8,10.9,869,18184,0.00,2.17,0.00,0.000,4,0.000,0.058,3080,258,1331
$GC,18213,1.23,363.4,244.9,10.7,870,18218,0.00,2.08,0.00,0.000,6,0.000,0.033,3080,1454,1331
$GC,18535,1.23,363.4,211.0,10.5,886,18536,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1454,1331
$GC,18844,1.23,363.4,178.3,10.9,901,18847,0.00,2.17,0.00,0.000,4,0.000,0.057,3080,255,1331
$GC,18912,1.23,363.4,170.4,10.9,904,18916,0.00,2.05,0.00,0.000,6,0.000,0.032,3080,1455,1331
$GC,19245,1.23,363.4,132.2,11.6,920,19250,0.00,2.20,0.00,0.000,4,0.000,0.057,3081,259,1331
$GC,19295,1.23,363.4,125.3,13.9,922,19298,0.00,2.05,0.00,0.000,6,0.000,0.032,3080,1458,1331
$GC,19623,1.23,363.4,84.0,12.2,938,19627,0.00,2.17,0.00,0.000,4,0.000,0.056,3080,255,1331
$GC,19649,1.23,363.4,81.0,13.4,939,19653,0.00,2.05,0.00,0.000,6,0.000,0.032,3080,1457,1332
$GC,19984,1.23,363.4,46.4,11.2,955,19988,0.00,2.47,0.00,0.000,4,0.000,0.045,3080,2855,1332
$GC,20055,1.23,363.4,38.6,10.5,958,20060,0.00,2.45,0.00,0.000,6,0.000,0.035,3080,1446,1332
$GC,20372,1.23,363.4,7.7,10.1,973,20373,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1446,1331
$STATE,20432,end climb,SURFACE_DEPTH_REACHED
$STATE,20432,begin surface coast
$FINISH,0.1,1.013251
$STATE,20452,end surface coast,CONTROL_FINISHED_OK
$STATE,20453,begin surface
$SM_CCo,20537,0.00,0.000,0,0,1330,368.44
$SM_GC,0.98,11.70,0.00,0.00,0.027,0.000,0.000,392,2243,1330,-11.00,-0.20,368.44
$IRIDIUM_FIX,6108.28,-827.60,151198,090906
$TT8_MAMPS,0.026845
$HUMID,1939
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,776.0,91.6
$24V_AH,23.0,63.543
$10V_AH,10.0,38.286
$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,25.625,193.700,457.000,0.000,0.000,30.275,24.721,161.574,6.750,0.000,0.000,17.606,1853.683,15222.753,548.371,2401.877,853.441,0.000,1818.251,0.000,2530.874,0.000,46.071,0.000
$DEVICE_MAMPS,134.225,70.564,1410.513,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,836.125,701.109,556.588,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50666,977
$CAP_FILE_SIZE,153969,0
$CFSIZE,260165632,235798528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,210809,205624,6134.881,-836.503,33,1.9,50,-9.0