version: 66.04
glider: 16
mission: 13
dive: 27
start: 6 9 109 18 34 35
data:
$ID,16
$MISSION,13
$DIVE,27
$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,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,-2108080.8
$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
$GPS1,182837,6141.854,-848.662,41,1.1,41,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-61.9
$GPS2,183344,6141.900,-848.807,16,1.1,16,-9.2
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.135,-0.198
$KALMAN_X,-49275.3,-788.2,-385.3,22018.0,-8232.6
$KALMAN_Y,102399.9,-241.8,-1584.6,-68366.9,20990.0
$MHEAD_RNG_PITCHd_Wd,145.5,30468,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,81,0.00,0.00,-61.83,0.000,2,0.000,0.000,61,2608,3118
$GC,84,-1.03,-146.6,4.3,-6.8,3,108,12.25,2.60,-5.38,0.000,4,0.193,0.054,2131,1186,3418
$GC,250,-1.03,-146.6,26.6,-9.5,10,254,0.00,2.50,0.00,0.000,6,0.000,0.038,2131,2599,3419
$GC,572,-1.03,-146.6,57.8,-10.7,26,576,0.00,2.35,0.00,0.000,4,0.000,0.071,2131,3861,3419
$GC,636,-1.03,-146.6,64.8,-10.8,29,640,0.00,2.20,0.00,0.000,6,0.000,0.029,2130,2572,3419
$GC,963,-1.03,-146.6,98.7,-11.4,45,967,0.00,2.40,0.00,0.000,4,0.000,0.067,2131,3861,3419
$GC,1003,-1.03,-146.6,103.2,-11.0,47,1007,0.00,2.15,0.00,0.000,6,0.000,0.030,2132,2597,3419
$GC,1335,-1.03,-146.6,138.8,-10.6,63,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2596,3419
$GC,1644,-1.03,-146.6,173.5,-11.4,78,1648,0.00,2.45,0.00,0.000,4,0.000,0.043,2131,1211,3419
$GC,1688,-1.09,-146.6,179.0,-11.3,80,1692,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2601,3420
$GC,2009,-1.09,-146.6,215.3,-10.6,96,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3420
$GC,2318,-1.09,-146.6,248.7,-10.6,111,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3419
$GC,2627,-1.09,-146.6,280.4,-10.4,126,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3419
$GC,2937,-1.09,-146.6,311.4,-9.7,141,2941,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1204,3419
$GC,2976,-1.15,-146.6,315.1,-9.7,143,2981,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2608,3420
$GC,3303,-1.15,-146.6,348.3,-10.2,159,3307,0.00,2.47,0.00,0.000,4,0.000,0.042,2131,1208,3420
$GC,3353,-1.22,-146.6,353.0,-9.4,161,3358,0.17,2.45,0.00,0.000,6,0.042,0.039,2080,2599,3420
$GC,3670,-1.11,-146.6,392.8,-12.3,176,3674,0.17,2.47,0.00,0.000,4,0.097,0.042,2117,1202,3420
$GC,3697,-1.11,-146.6,395.9,-9.9,177,3701,0.00,2.45,0.00,0.000,6,0.000,0.039,2117,2599,3420
$GC,4018,-1.11,-146.6,427.0,-9.4,193,4022,0.00,2.35,0.00,0.000,4,0.000,0.074,2117,3857,3419
$GC,4080,-1.11,-146.6,433.2,-9.5,196,4084,0.00,2.15,0.00,0.000,6,0.000,0.031,2117,2595,3420
$GC,4413,-1.11,-146.6,463.4,-9.1,212,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2593,3420
$GC,4722,-1.11,-146.6,486.7,-6.7,227,4726,0.00,2.47,0.00,0.000,4,0.000,0.047,2117,1201,3419
$GC,4773,-1.11,-146.6,490.1,-6.3,229,4777,0.00,2.47,0.00,0.000,6,0.000,0.041,2117,2600,3420
$GC,5088,-1.11,-146.6,509.4,-5.5,244,5092,0.00,2.38,0.00,0.000,4,0.000,0.075,2117,3865,3418
$GC,5116,-1.11,-146.6,511.1,-5.8,245,5120,0.00,2.17,0.00,0.000,6,0.000,0.032,2117,2596,3419
$GC,5438,-1.11,-146.6,529.9,-6.2,261,5443,0.00,2.47,0.00,0.000,4,0.000,0.047,2117,1205,3419
$GC,5502,-1.16,-146.6,533.3,-4.7,264,5506,0.00,2.47,0.00,0.000,6,0.000,0.042,2117,2600,3419
$GC,5828,-1.16,-146.6,556.3,-8.1,280,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2600,3419
$GC,6138,-1.16,-146.6,580.3,-7.5,295,6142,0.00,2.38,0.00,0.000,4,0.000,0.077,2117,3860,3418
$GC,6170,-1.16,-146.6,583.2,-8.8,296,6177,0.00,2.17,0.00,0.000,6,0.000,0.034,2117,2595,3417
$GC,6486,-1.16,-146.6,608.3,-7.8,312,6490,0.00,2.50,0.00,0.000,4,0.000,0.049,2117,1197,3417
$GC,6536,-1.22,-146.6,612.7,-9.2,314,6540,0.00,2.50,0.00,0.000,6,0.000,0.044,2117,2599,3416
$GC,6851,-1.22,-146.6,642.4,-9.1,329,6855,0.00,2.40,0.00,0.000,4,0.000,0.081,2117,3864,3416
$GC,6917,-1.22,-146.6,649.6,-10.5,332,6922,0.00,2.20,0.00,0.000,6,0.000,0.036,2117,2594,3416
$GC,7244,-1.22,-146.6,677.5,-8.5,348,7248,0.00,2.53,0.00,0.000,4,0.000,0.056,2117,1203,3416
$GC,7333,-1.26,-146.6,684.1,-6.9,352,7338,0.15,2.53,0.00,0.000,6,0.051,0.050,2077,2601,3415
$GC,7655,-1.14,-146.6,708.8,-9.3,368,7657,0.17,0.00,0.00,0.000,6,0.104,0.000,2109,2602,3414
$GC,7964,-1.14,-146.6,739.1,-7.4,383,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2601,3411
$GC,8273,-1.14,-146.6,772.5,-10.7,398,8277,0.00,2.55,0.00,0.000,4,0.000,0.058,2109,1206,3411
$GC,8317,-1.21,-146.6,776.1,-7.4,400,8322,0.00,2.55,0.00,0.000,6,0.000,0.054,2109,2606,3410
$GC,8639,-1.21,-146.6,798.2,-12.4,416,8643,0.00,2.45,0.00,0.000,4,0.000,0.094,2109,3864,3409
$GC,8701,-1.21,-146.6,802.6,-6.3,419,8705,0.00,2.22,0.00,0.000,6,0.000,0.044,2109,2609,3409
$GC,9028,-1.28,-146.6,823.7,-5.7,435,9030,0.15,0.00,0.00,0.000,6,0.057,0.000,2070,2607,3407
$STATE,9334,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9334,begin apogee
$GC,9341,-0.31,0.0,839.4,4.4,450,9477,1.15,0.00,129.52,1.161,6,0.132,0.000,2288,2303,2817
$STATE,9477,end apogee,CONTROL_FINISHED_OK
$STATE,9477,begin climb
$GC,9480,1.03,146.6,847.7,0.0,457,9621,1.42,2.78,132.43,1.134,4,0.087,0.067,2579,892,2218
$GC,9876,0.82,146.6,832.2,13.8,475,9881,0.22,2.58,0.00,0.000,6,0.113,0.050,2538,2307,2208
$GC,10198,0.72,146.6,805.9,7.8,491,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2307,2206
$GC,10507,0.70,190.6,783.2,6.0,506,10553,0.12,2.80,38.95,1.082,4,0.113,0.081,2515,3701,2039
$GC,10626,0.70,190.6,773.6,10.1,511,10631,0.00,2.55,0.00,0.000,6,0.000,0.044,2516,2298,2035
$GC,10943,0.83,255.1,751.9,5.3,526,11010,0.12,2.80,59.53,1.087,4,0.062,0.079,2547,3701,1776
$GC,11032,0.83,255.1,744.6,9.0,530,11036,0.00,2.55,0.00,0.000,6,0.000,0.042,2547,2300,1774
$GC,11354,0.89,268.2,719.5,7.1,546,11375,0.00,2.80,11.93,0.952,4,0.000,0.079,2547,3705,1723
$GC,11399,0.89,270.2,716.2,7.4,548,11403,0.00,2.55,0.00,0.000,6,0.000,0.043,2547,2299,1722
$GC,11725,0.94,270.2,688.3,8.6,564,11730,0.00,2.62,0.00,0.000,4,0.000,0.068,2547,893,1719
$GC,11748,1.00,270.2,686.1,9.3,565,11753,0.15,2.58,0.00,0.000,6,0.074,0.048,2579,2309,1718
$GC,12069,0.96,270.2,655.9,9.0,581,12071,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2309,1717
$GC,12379,0.91,270.2,627.7,9.1,596,12383,0.00,2.67,0.00,0.000,4,0.000,0.079,2579,3704,1717
$GC,12423,0.86,270.2,622.8,10.6,598,12428,0.17,2.53,0.00,0.000,6,0.120,0.042,2549,2299,1717
$GC,12744,0.92,275.8,597.7,7.3,614,12754,0.00,0.00,7.45,0.833,6,0.000,0.000,2549,2299,1692
$GC,13053,0.97,275.8,572.4,8.8,629,13058,0.12,2.67,0.00,0.000,4,0.061,0.072,2579,3708,1690
$GC,13098,0.90,275.8,567.5,11.1,631,13103,0.12,2.53,0.00,0.000,6,0.122,0.039,2558,2293,1689
$GC,13419,0.90,275.8,540.4,9.1,647,13420,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2293,1690
$GC,13728,0.90,275.8,508.5,10.3,662,13732,0.00,2.67,0.00,0.000,4,0.000,0.069,2558,3712,1690
$GC,13800,0.90,275.8,500.0,11.6,665,13804,0.00,2.50,0.00,0.000,6,0.000,0.037,2558,2301,1690
$GC,14116,0.94,275.8,468.2,10.0,680,14120,0.00,2.65,0.00,0.000,4,0.000,0.067,2558,3713,1689
$GC,14143,0.94,275.8,465.7,9.2,681,14147,0.00,2.50,0.00,0.000,6,0.000,0.035,2558,2294,1690
$GC,14459,0.94,275.8,438.1,8.8,696,14460,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2292,1690
$GC,14769,1.06,344.3,414.8,5.2,711,14840,0.15,2.65,62.88,0.850,4,0.058,0.053,2593,897,1412
$GC,14894,1.07,357.0,407.2,7.1,716,14913,0.00,2.53,12.02,0.758,6,0.000,0.038,2593,2311,1360
$GC,15230,1.08,357.8,386.0,7.5,733,15234,0.00,2.58,0.00,0.000,4,0.000,0.050,2593,897,1355
$GC,15264,1.12,357.8,383.2,8.5,734,15270,0.00,2.50,0.00,0.000,6,0.000,0.038,2593,2306,1354
$GC,15580,1.12,357.8,351.4,11.9,750,15584,0.00,2.58,0.00,0.000,4,0.000,0.050,2593,888,1354
$GC,15601,1.12,357.8,348.9,11.3,751,15606,0.00,2.50,0.00,0.000,6,0.000,0.037,2593,2305,1354
$GC,15923,1.12,357.8,315.6,10.2,767,15927,0.00,2.55,0.00,0.000,4,0.000,0.048,2593,895,1353
$GC,15963,1.16,357.8,311.6,9.6,769,15967,0.00,2.47,0.00,0.000,6,0.000,0.037,2593,2299,1353
$GC,16289,1.16,357.8,277.1,11.2,785,16293,0.00,2.53,0.00,0.000,4,0.000,0.048,2593,895,1353
$GC,16329,1.21,357.8,272.5,11.4,787,16334,0.15,2.47,0.00,0.000,6,0.056,0.036,2634,2302,1353
$GC,16655,1.16,357.8,230.6,12.7,803,16660,0.12,2.55,0.00,0.000,4,0.101,0.048,2611,892,1353
$GC,16688,1.16,357.8,226.3,12.2,804,16694,0.00,2.47,0.00,0.000,6,0.000,0.036,2611,2301,1353
$GC,17004,1.16,357.8,185.6,13.4,820,17005,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2301,1353
$GC,17313,1.16,357.8,146.3,12.4,835,17317,0.00,2.53,0.00,0.000,4,0.000,0.048,2611,895,1353
$GC,17352,1.16,357.8,141.5,12.8,836,17358,0.00,2.47,0.00,0.000,6,0.000,0.035,2611,2309,1353
$GC,17668,1.16,357.8,105.2,11.6,852,17672,0.00,2.55,0.00,0.000,4,0.000,0.048,2611,891,1353
$GC,17712,1.16,357.8,99.5,12.4,854,17716,0.00,2.47,0.00,0.000,6,0.000,0.035,2611,2305,1354
$GC,18033,1.16,357.8,58.9,12.8,870,18037,0.00,2.55,0.00,0.000,4,0.000,0.048,2611,888,1354
$GC,18060,1.16,357.8,55.4,12.6,871,18064,0.00,2.47,0.00,0.000,6,0.000,0.035,2611,2301,1353
$GC,18376,1.16,357.8,16.8,13.0,886,18380,0.00,2.53,0.00,0.000,4,0.000,0.046,2611,890,1354
$GC,18420,1.16,357.8,11.2,13.1,888,18424,0.00,2.47,0.00,0.000,6,0.000,0.035,2612,2303,1354
$STATE,18491,end climb,SURFACE_DEPTH_REACHED
$STATE,18491,begin surface coast
$FINISH,0.8,1.026799
$STATE,18513,end surface coast,CONTROL_FINISHED_OK
$STATE,18513,begin surface
$SM_CCo,18596,0.00,0.000,0,0,1353,359.12
$SM_GC,1.52,12.00,0.00,0.00,0.083,0.000,0.000,72,2603,1353,-10.46,0.08,359.12
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1693
$TCM_TEMP,16.60
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,751.0,98.3
$24V_AH,23.5,10.711
$10V_AH,10.1,4.262
$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,29.125,180.625,454.700,0.000,0.000,17.965,27.913,143.325,9.750,0.000,0.000,16.065,1673.685,14189.087,568.674,1998.395,472.492,33.352,1605.829,0.000,1943.701,0.000,44.843,0.000
$DEVICE_MAMPS,193.284,93.574,1161.238,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,645.073,630.477,482.685,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47541,893
$CAP_FILE_SIZE,144423,0
$CFSIZE,260165632,256679936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,090609,234551,6141.428,-853.024,30,2.0,44,-9.2