version: 66.04
glider: 16
mission: 13
dive: 8
start: 6 6 109 13 17 47
data:
$ID,16
$MISSION,13
$DIVE,8
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,-3
$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,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-2107732.5
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3321
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,196
$ROLL_MAX,3869
$ROLL_DEG,40
$C_ROLL_DIVE,2333
$C_ROLL_CLIMB,2433
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.343216
$PRESSURE_SLOPE,0.0001162269
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$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,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199998
$SEABIRD_T_H,0.000619
$SEABIRD_T_I,2.055e-05
$SEABIRD_T_J,1.86e-06
$SEABIRD_C_G,-9.8699999
$SEABIRD_C_H,1.1
$SEABIRD_C_I,-0.000612
$SEABIRD_C_J,0.000141
$GPS1,131136,6131.436,-829.550,39,1.1,39,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-65.9
$GPS2,131556,6131.397,-829.646,13,1.3,13,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.084,-0.250
$KALMAN_X,2033.2,-835.4,-1003.8,-11611.7,1145.4
$KALMAN_Y,11088.7,2562.1,-784.4,-178.6,6212.8
$MHEAD_RNG_PITCHd_Wd,131.2,4854,-18.1,-10.000
$D_GRID,821
$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,-1.29,-146.6,0.0,0.0,0,77,0.00,0.00,-55.65,0.000,6,0.000,0.000,61,2311,3416
$GC,80,-1.29,-146.6,7.6,-14.9,3,102,11.62,2.47,0.00,0.000,4,0.187,0.045,2074,945,3417
$GC,194,-1.39,-146.6,33.6,-13.0,8,198,0.00,2.42,0.00,0.000,6,0.000,0.035,2074,2338,3418
$GC,521,-1.44,-146.6,73.0,-11.5,24,526,0.12,2.58,0.00,0.000,4,0.048,0.063,2033,3736,3418
$GC,745,-1.36,-146.6,104.8,-13.5,34,750,0.15,2.40,0.00,0.000,6,0.108,0.030,2060,2338,3418
$GC,1067,-1.36,-146.6,138.1,-9.8,50,1071,0.00,2.58,0.00,0.000,4,0.000,0.061,2060,3738,3418
$GC,1212,-1.36,-146.6,153.7,-10.3,56,1218,0.00,2.42,0.00,0.000,6,0.000,0.031,2060,2325,3418
$GC,1527,-1.36,-146.6,184.5,-10.1,72,1532,0.00,2.60,0.00,0.000,4,0.000,0.062,2060,3741,3418
$GC,1704,-1.36,-146.6,205.5,-12.8,80,1708,0.00,2.42,0.00,0.000,6,0.000,0.031,2061,2327,3419
$GC,2030,-1.36,-146.6,249.0,-14.4,96,2035,0.00,2.60,0.00,0.000,4,0.000,0.063,2060,3739,3419
$GC,2210,-1.36,-146.6,279.5,-17.8,104,2214,0.00,2.42,0.00,0.000,6,0.000,0.031,2060,2328,3419
$GC,2530,-1.36,-146.6,330.5,-15.3,120,2535,0.00,2.60,0.00,0.000,4,0.000,0.064,2060,3741,3420
$GC,2689,-1.36,-146.6,355.1,-15.5,127,2693,0.00,2.42,0.00,0.000,6,0.000,0.032,2060,2328,3420
$GC,3010,-1.41,-146.6,399.8,-13.7,143,3015,0.00,2.58,0.00,0.000,4,0.000,0.064,2060,3734,3420
$GC,3161,-1.41,-146.6,422.7,-15.1,149,3167,0.00,2.42,0.00,0.000,6,0.000,0.032,2060,2325,3420
$GC,3477,-1.45,-146.6,465.6,-13.3,165,3481,0.00,2.58,0.00,0.000,4,0.000,0.065,2060,3734,3420
$GC,3606,-1.45,-146.6,482.1,-12.9,171,3610,0.00,2.40,0.00,0.000,6,0.000,0.033,2061,2330,3420
$GC,3940,-1.45,-146.6,525.8,-15.0,187,3944,0.00,2.60,0.00,0.000,4,0.000,0.065,2060,3741,3420
$GC,3983,-1.45,-146.6,533.6,-17.3,189,3988,0.00,2.42,0.00,0.000,6,0.000,0.034,2060,2335,3419
$GC,4305,-1.49,-146.6,591.6,-16.2,205,4307,0.12,0.00,0.00,0.000,6,0.054,0.000,2024,2334,3420
$GC,4614,-1.42,-146.6,640.4,-15.6,220,4619,0.12,2.50,0.00,0.000,4,0.109,0.054,2046,931,3419
$GC,4647,-1.42,-146.6,645.5,-16.0,221,4653,0.00,2.45,0.00,0.000,6,0.000,0.041,2047,2331,3419
$GC,4963,-1.42,-146.6,686.3,-14.4,237,4967,0.00,2.65,0.00,0.000,4,0.000,0.077,2047,3743,3418
$GC,5159,-1.42,-146.6,715.3,-15.0,246,5164,0.00,2.45,0.00,0.000,6,0.000,0.041,2046,2338,3417
$GC,5485,-1.42,-146.6,755.9,-15.4,262,5490,0.00,2.65,0.00,0.000,4,0.000,0.078,2046,3741,3416
$GC,5570,-1.42,-146.6,769.5,-13.9,266,5575,0.00,2.47,0.00,0.000,6,0.000,0.044,2046,2334,3415
$GC,5897,-1.42,-146.6,809.1,-10.2,282,5902,0.00,2.65,0.00,0.000,4,0.000,0.083,2046,3735,3413
$STATE,5995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5995,begin apogee
$GC,6003,-0.31,0.0,821.2,15.5,286,6136,1.20,0.00,128.88,1.120,6,0.121,0.000,2286,2430,2817
$STATE,6137,end apogee,CONTROL_FINISHED_OK
$STATE,6137,begin climb
$GC,6140,1.29,146.6,822.0,0.0,293,6279,1.67,2.78,131.20,1.103,4,0.086,0.081,2635,3837,2218
$GC,6439,1.06,146.6,784.8,13.7,306,6444,0.25,2.53,0.00,0.000,6,0.123,0.044,2590,2425,2211
$GC,6766,1.11,285.5,766.6,3.7,322,6895,0.00,2.80,122.90,1.078,4,0.000,0.082,2590,3840,1651
$GC,6935,1.18,285.5,750.7,11.2,330,6940,0.12,2.55,0.00,0.000,6,0.062,0.046,2621,2431,1647
$GC,7256,1.18,285.5,717.5,10.9,346,7260,0.00,2.62,0.00,0.000,4,0.000,0.070,2622,1034,1640
$GC,7278,1.18,285.5,715.0,11.1,347,7282,0.00,2.55,0.00,0.000,6,0.000,0.052,2621,2437,1639
$GC,7598,1.19,293.4,684.9,9.6,363,7609,0.00,2.62,5.80,0.785,4,0.000,0.064,2621,1034,1620
$GC,7671,1.19,293.4,674.7,16.4,366,7675,0.00,2.55,0.00,0.000,6,0.000,0.052,2621,2439,1618
$GC,7987,1.19,293.4,634.0,13.3,381,7991,0.00,2.62,0.00,0.000,4,0.000,0.064,2622,1028,1618
$GC,8087,1.19,293.4,620.2,13.9,385,8093,0.00,2.55,0.00,0.000,6,0.000,0.051,2621,2433,1617
$GC,8403,1.24,293.4,582.9,10.9,401,8407,0.00,2.58,0.00,0.000,4,0.000,0.059,2622,1027,1616
$GC,8442,1.24,293.4,578.1,12.3,403,8447,0.00,2.53,0.00,0.000,6,0.000,0.047,2622,2436,1616
$GC,8768,1.24,293.4,546.0,10.4,419,8773,0.00,2.58,0.00,0.000,4,0.000,0.057,2621,1030,1616
$GC,8876,1.34,320.9,536.0,8.7,424,8908,0.12,2.47,25.95,0.921,6,0.058,0.042,2656,2434,1508
$GC,9226,1.38,359.3,502.6,8.3,441,9269,0.00,2.60,34.97,0.900,4,0.000,0.051,2656,1032,1351
$GC,9384,1.42,359.3,488.5,11.1,448,9389,0.00,2.50,0.00,0.000,6,0.000,0.040,2656,2435,1346
$GC,9711,1.47,359.3,454.2,10.5,464,9716,0.10,2.53,0.00,0.000,4,0.058,0.050,2686,1030,1345
$GC,9796,1.47,359.3,443.6,12.9,468,9800,0.00,2.47,0.00,0.000,6,0.000,0.038,2684,2434,1345
$GC,10122,1.47,359.3,401.1,12.9,484,10126,0.00,2.53,0.00,0.000,4,0.000,0.050,2686,1030,1345
$GC,10229,1.47,359.3,387.5,10.9,489,10233,0.00,2.47,0.00,0.000,6,0.000,0.038,2686,2438,1344
$GC,10555,1.47,359.3,335.5,14.8,505,10559,0.00,2.55,0.00,0.000,4,0.000,0.054,2686,1031,1344
$GC,10662,1.47,359.3,318.2,17.2,510,10666,0.00,2.47,0.00,0.000,6,0.000,0.038,2686,2438,1344
$GC,10988,1.47,359.3,263.6,17.6,526,10993,0.00,2.53,0.00,0.000,4,0.000,0.048,2685,1029,1344
$GC,11089,1.47,359.3,245.1,18.0,530,11095,0.00,2.45,0.00,0.000,6,0.000,0.036,2687,2432,1344
$GC,11405,1.47,359.3,188.5,17.1,546,11409,0.00,2.53,0.00,0.000,4,0.000,0.048,2686,1022,1344
$GC,11527,1.47,359.3,165.8,18.6,551,11533,0.00,2.47,0.00,0.000,6,0.000,0.036,2686,2436,1344
$GC,11845,1.47,359.3,113.7,15.7,567,11849,0.00,2.53,0.00,0.000,4,0.000,0.047,2686,1027,1344
$GC,11952,1.47,359.3,96.7,14.7,572,11957,0.00,2.45,0.00,0.000,6,0.000,0.036,2686,2432,1344
$GC,12279,1.47,359.3,43.3,16.5,588,12284,0.00,2.50,0.00,0.000,4,0.000,0.046,2686,1027,1344
$GC,12422,1.47,359.3,20.0,15.9,594,12426,0.00,2.45,0.00,0.000,6,0.000,0.035,2686,2434,1345
$STATE,12529,end climb,SURFACE_DEPTH_REACHED
$STATE,12529,begin surface coast
$FINISH,0.5,1.018778
$STATE,12551,end surface coast,CONTROL_FINISHED_OK
$STATE,12551,begin surface
$SM_CCo,12634,0.00,0.000,0,0,1343,361.57
$SM_GC,1.38,12.23,0.00,0.00,0.081,0.000,0.000,67,2316,1343,-10.47,-0.48,361.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1740
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,18.6
$ALTIM_BOTTOM_PING,776.1,76.5
$24V_AH,23.6,7.935
$10V_AH,10.1,2.920
$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,27.850,141.625,449.700,0.000,0.000,17.984,26.871,116.020,7.750,0.000,0.000,13.869,1216.691,9035.159,526.623,1760.876,420.329,33.325,1422.422,0.000,1702.700,0.000,50.986,0.000
$DEVICE_MAMPS,187.148,82.836,1119.820,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.381,419.408,342.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31740,600
$CAP_FILE_SIZE,109725,0
$CFSIZE,260165632,257835008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,060609,164936,6130.616,-832.222,39,1.8,39,-9.0