version: 66.04
glider: 16
mission: 13
dive: 17
start: 6 7 109 23 13 8
data:
$ID,16
$MISSION,13
$DIVE,17
$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,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,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,-2107906.2
$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,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,25
$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,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,5
$ALTIM_SENSITIVITY,4
$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
$GPS1,230706,6134.644,-832.814,41,1.3,41,-9.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-63.3
$GPS2,231215,6134.655,-832.738,12,1.6,13,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.006,-0.264
$KALMAN_X,-29800.4,1977.1,850.1,12745.5,-9613.9
$KALMAN_Y,51309.2,-2679.5,-1026.2,-28836.4,17164.9
$MHEAD_RNG_PITCHd_Wd,150.6,11004,-18.1,-10.000
$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,16,-1.29,-146.6,0.0,0.0,0,79,0.00,0.00,-61.22,0.000,2,0.000,0.000,73,2608,3098
$GC,82,-1.29,-146.6,4.4,-7.1,3,106,11.77,2.60,-5.80,0.000,4,0.192,0.053,2072,1186,3419
$GC,201,-1.37,-146.6,25.5,-11.8,8,206,0.00,2.50,0.00,0.000,6,0.000,0.038,2073,2598,3419
$GC,523,-1.37,-146.6,63.0,-11.3,24,527,0.00,2.35,0.00,0.000,4,0.000,0.069,2073,3861,3419
$GC,623,-1.37,-146.6,75.0,-13.4,28,629,0.00,2.17,0.00,0.000,6,0.000,0.029,2073,2576,3418
$GC,941,-1.42,-146.6,111.6,-11.0,44,945,0.00,2.40,0.00,0.000,4,0.000,0.066,2073,3865,3419
$GC,1005,-1.42,-146.6,119.5,-12.5,47,1008,0.00,2.15,0.00,0.000,6,0.000,0.029,2073,2599,3419
$GC,1337,-1.42,-146.6,157.3,-11.3,63,1341,0.00,2.35,0.00,0.000,4,0.000,0.066,2073,3862,3419
$GC,1377,-1.42,-146.6,162.2,-12.1,65,1381,0.00,2.15,0.00,0.000,6,0.000,0.030,2073,2598,3419
$GC,1710,-1.46,-146.6,202.9,-12.5,81,1712,0.15,0.00,0.00,0.000,6,0.046,0.000,2029,2596,3420
$GC,2019,-1.40,-146.6,245.5,-13.2,96,2024,0.12,2.35,0.00,0.000,4,0.108,0.067,2052,3864,3420
$GC,2074,-1.40,-146.6,254.0,-14.4,98,2078,0.00,2.15,0.00,0.000,6,0.000,0.030,2052,2602,3420
$GC,2396,-1.40,-146.6,295.0,-12.6,114,2400,0.00,2.47,0.00,0.000,4,0.000,0.045,2051,1199,3420
$GC,2429,-1.40,-146.6,299.2,-12.6,115,2433,0.00,2.47,0.00,0.000,6,0.000,0.038,2052,2603,3420
$GC,2744,-1.40,-146.6,336.2,-11.6,130,2748,0.00,2.35,0.00,0.000,4,0.000,0.070,2052,3864,3420
$GC,2800,-1.40,-146.6,343.4,-12.6,132,2806,0.00,2.15,0.00,0.000,6,0.000,0.030,2052,2601,3420
$GC,3116,-1.40,-146.6,384.8,-13.9,148,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2600,3420
$GC,3426,-1.40,-146.6,427.1,-13.4,163,3430,0.00,2.35,0.00,0.000,4,0.000,0.070,2052,3860,3420
$GC,3453,-1.40,-146.6,431.5,-15.8,164,3457,0.00,2.17,0.00,0.000,6,0.000,0.031,2052,2590,3420
$GC,3777,-1.40,-146.6,476.8,-13.9,180,3781,0.00,2.35,0.00,0.000,4,0.000,0.065,2052,3860,3420
$GC,3816,-1.40,-146.6,484.0,-15.6,182,3820,0.00,2.15,0.00,0.000,6,0.000,0.032,2052,2605,3420
$GC,4149,-1.40,-146.6,530.4,-15.1,198,4153,0.00,2.35,0.00,0.000,4,0.000,0.071,2052,3858,3420
$GC,4282,-1.35,-146.6,551.4,-15.4,204,4286,0.00,2.17,0.00,0.000,6,0.000,0.033,2052,2593,3420
$GC,4609,-1.35,-146.6,589.9,-12.6,220,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2590,3420
$GC,4918,-1.35,-146.6,630.1,-12.8,235,4923,0.00,2.50,0.00,0.000,4,0.000,0.050,2052,1197,3419
$GC,5064,-1.39,-146.6,647.9,-10.5,241,5071,0.00,2.50,0.00,0.000,6,0.000,0.044,2052,2598,3419
$GC,5380,-1.39,-146.6,683.4,-9.1,257,5384,0.00,2.50,0.00,0.000,4,0.000,0.051,2051,1200,3418
$GC,5528,-1.48,-146.6,694.6,-7.2,263,5534,0.00,2.50,0.00,0.000,6,0.000,0.045,2052,2600,3418
$GC,5844,-1.48,-146.6,716.7,-8.4,279,5849,0.00,2.53,0.00,0.000,4,0.000,0.053,2052,1205,3415
$GC,5877,-1.48,-146.6,720.8,-11.7,280,5884,0.00,2.53,0.00,0.000,6,0.000,0.050,2052,2605,3416
$GC,6196,-1.56,-146.6,755.5,-8.9,296,6201,0.15,2.42,0.00,0.000,4,0.061,0.089,2014,3865,3415
$GC,6333,-1.46,-146.6,774.7,-7.2,302,6338,0.12,2.20,0.00,0.000,6,0.123,0.041,2036,2608,3414
$GC,6659,-1.41,-146.6,823.8,-14.7,318,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2606,3412
$STATE,6719,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6719,begin apogee
$GC,6726,-0.31,0.0,829.7,9.1,321,6861,1.27,0.00,129.50,1.124,6,0.112,0.000,2289,2291,2817
$STATE,6862,end apogee,CONTROL_FINISHED_OK
$STATE,6862,begin climb
$GC,6865,1.29,146.6,835.6,0.0,328,7005,1.62,2.83,131.73,1.114,4,0.071,0.081,2637,3712,2218
$GC,7263,1.20,261.6,811.0,4.8,345,7372,0.00,2.58,102.80,1.098,6,0.000,0.051,2636,2311,1751
$GC,7688,1.20,261.6,766.6,13.3,366,7692,0.00,2.70,0.00,0.000,4,0.000,0.076,2637,3712,1739
$GC,7874,1.16,261.6,741.5,14.7,374,7879,0.12,2.58,0.00,0.000,6,0.121,0.045,2616,2296,1738
$GC,8190,1.16,261.6,709.0,11.7,389,8194,0.00,2.72,0.00,0.000,4,0.000,0.079,2616,3705,1735
$GC,8247,1.11,261.6,701.8,15.9,391,8253,0.00,2.55,0.00,0.000,6,0.000,0.044,2616,2297,1735
$GC,8562,1.11,261.6,663.6,11.5,407,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2298,1734
$GC,8872,1.11,261.6,628.5,11.1,422,8876,0.00,2.65,0.00,0.000,4,0.000,0.067,2616,885,1733
$GC,8911,1.11,261.6,624.3,10.4,424,8915,0.00,2.58,0.00,0.000,6,0.000,0.048,2616,2305,1732
$GC,9237,1.11,261.6,584.9,12.4,440,9241,0.00,2.62,0.00,0.000,4,0.000,0.060,2616,888,1732
$GC,9321,1.11,261.6,575.6,12.2,444,9326,0.00,2.55,0.00,0.000,6,0.000,0.046,2616,2304,1732
$GC,9647,1.11,261.6,539.7,10.7,460,9652,0.00,2.67,0.00,0.000,4,0.000,0.074,2616,3709,1732
$GC,9755,1.11,261.6,525.9,13.5,465,9759,0.00,2.53,0.00,0.000,6,0.000,0.040,2616,2290,1732
$GC,10081,1.11,261.6,487.4,12.3,481,10085,0.00,2.67,0.00,0.000,4,0.000,0.071,2616,3705,1732
$GC,10102,1.11,261.6,484.2,13.6,482,10107,0.00,2.50,0.00,0.000,6,0.000,0.040,2616,2299,1732
$GC,10424,1.11,261.6,446.0,11.6,498,10428,0.00,2.58,0.00,0.000,4,0.000,0.059,2616,894,1732
$GC,10463,1.11,261.6,440.9,13.4,500,10467,0.00,2.50,0.00,0.000,6,0.000,0.040,2615,2305,1731
$GC,10789,1.11,261.6,404.1,11.4,516,10794,0.00,2.58,0.00,0.000,4,0.000,0.052,2616,888,1732
$GC,10913,1.16,261.6,390.1,10.4,521,10919,0.00,2.50,0.00,0.000,6,0.000,0.038,2616,2304,1732
$GC,11229,1.22,261.6,353.1,12.1,537,11233,0.00,2.60,0.00,0.000,4,0.000,0.064,2616,3702,1732
$GC,11268,1.22,261.6,348.1,13.1,539,11272,0.00,2.47,0.00,0.000,6,0.000,0.033,2616,2288,1732
$GC,11594,1.28,261.6,309.8,11.8,555,11599,0.10,2.50,0.00,0.000,4,0.055,0.050,2647,897,1732
$GC,11612,1.28,261.6,307.3,12.9,556,11616,0.00,2.47,0.00,0.000,6,0.000,0.037,2647,2305,1733
$GC,11938,1.28,261.6,263.8,12.9,572,11942,0.00,2.58,0.00,0.000,4,0.000,0.062,2647,3703,1733
$GC,11965,1.21,261.6,260.1,13.6,573,11970,0.12,2.45,0.00,0.000,6,0.110,0.032,2624,2299,1734
$GC,12281,1.26,261.6,223.2,11.6,588,12285,0.00,2.53,0.00,0.000,4,0.000,0.050,2624,888,1734
$GC,12314,1.30,261.6,219.3,12.3,589,12318,0.00,2.47,0.00,0.000,6,0.000,0.035,2624,2302,1733
$GC,12630,1.36,261.6,181.7,11.8,604,12635,0.15,2.58,0.00,0.000,4,0.048,0.062,2666,3701,1734
$GC,12663,1.26,261.6,177.3,13.8,605,12671,0.17,2.45,0.00,0.000,6,0.105,0.031,2634,2295,1735
$GC,12979,1.26,265.4,144.6,9.8,621,12984,0.00,2.50,0.00,0.000,4,0.000,0.049,2633,897,1735
$GC,13035,1.26,265.4,138.6,10.4,623,13041,0.00,2.45,0.00,0.000,6,0.000,0.035,2633,2301,1735
$GC,13351,1.26,265.4,102.8,11.8,639,13352,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2301,1736
$GC,13662,1.26,265.4,66.6,11.9,654,13666,0.00,2.53,0.00,0.000,4,0.000,0.047,2634,891,1736
$GC,13702,1.26,265.4,61.6,12.4,656,13706,0.00,2.47,0.00,0.000,6,0.000,0.035,2634,2309,1736
$GC,14029,1.26,265.4,26.2,10.0,672,14033,0.00,2.53,0.00,0.000,4,0.000,0.046,2634,897,1736
$GC,14152,1.30,265.4,12.0,12.1,677,14158,0.00,2.42,0.00,0.000,6,0.000,0.033,2634,2302,1736
$STATE,14238,end climb,SURFACE_DEPTH_REACHED
$STATE,14238,begin surface coast
$FINISH,0.6,1.013129
$STATE,14260,end surface coast,CONTROL_FINISHED_OK
$STATE,14260,begin surface
$SM_CCo,14344,0.00,0.000,0,0,1736,265.17
$SM_GC,1.46,12.38,0.00,0.00,0.095,0.000,0.000,71,2608,1736,-10.46,0.20,265.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1712
$TCM_TEMP,17.60
$XPDR_PINGS,34
$ALTIM_BOTTOM_PING,750.2,87.4
$24V_AH,23.5,9.210
$10V_AH,10.1,3.523
$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,28.275,153.775,364.025,0.000,0.000,17.993,28.605,155.081,15.250,0.000,0.000,13.338,1333.187,10662.007,476.644,1743.363,442.053,33.376,1368.367,0.000,1689.725,0.000,47.771,0.000
$DEVICE_MAMPS,191.750,88.972,1124.422,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.351,478.388,407.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34926,683
$CAP_FILE_SIZE,118430,0
$CFSIZE,260165632,257331200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080609,031336,6135.646,-832.084,37,1.3,48,-9.0