version: 66.04
glider: 16
mission: 13
dive: 33
start: 6 11 109 1 17 7
data:
$ID,16
$MISSION,13
$DIVE,33
$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,-2108166.5
$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,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,21
$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
$GPS1,010407,6146.276,-905.419,33,1.2,33,-9.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-61.9
$GPS2,011616,6146.316,-905.627,11,1.3,13,-9.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.145,-0.191
$KALMAN_X,-67952.7,-330.0,-723.2,25682.1,-6082.2
$KALMAN_Y,140475.2,-1857.9,-1116.8,-97155.1,25018.3
$MHEAD_RNG_PITCHd_Wd,139.5,46926,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-74.72,0.000,6,0.000,0.000,64,2604,3418
$GC,101,-1.03,-146.6,7.6,-9.8,4,123,12.15,2.58,0.00,0.000,4,0.190,0.039,2130,1181,3418
$GC,269,-1.03,-146.6,34.8,-7.7,11,273,0.00,2.53,0.00,0.000,6,0.000,0.038,2131,2601,3418
$GC,585,-1.03,-146.6,58.6,-7.5,26,589,0.00,2.35,0.00,0.000,4,0.000,0.068,2131,3862,3419
$GC,612,-1.03,-146.6,60.9,-8.1,27,616,0.00,2.20,0.00,0.000,6,0.000,0.028,2130,2576,3419
$GC,934,-1.03,-146.6,83.5,-6.7,43,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2575,3419
$GC,1243,-1.03,-146.6,105.7,-6.8,58,1247,0.00,2.42,0.00,0.000,4,0.000,0.041,2130,1205,3419
$GC,1271,-1.03,-146.6,107.6,-6.8,59,1275,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2607,3419
$GC,1587,-1.03,-146.6,128.2,-6.5,74,1591,0.00,2.35,0.00,0.000,4,0.000,0.068,2132,3866,3419
$GC,1650,-1.03,-146.6,132.6,-7.0,77,1655,0.00,2.17,0.00,0.000,6,0.000,0.029,2131,2587,3419
$GC,1977,-1.03,-146.6,156.5,-7.5,93,1981,0.00,2.42,0.00,0.000,4,0.000,0.042,2131,1207,3419
$GC,2010,-1.07,-146.6,158.4,-6.1,94,2015,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3419
$GC,2326,-1.07,-146.6,180.8,-7.5,109,2330,0.00,2.45,0.00,0.000,4,0.000,0.040,2131,1209,3419
$GC,2366,-1.13,-146.6,184.0,-8.0,111,2370,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3419
$GC,2692,-1.13,-146.6,213.0,-9.0,127,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,3002,-1.13,-146.6,240.9,-8.4,142,3006,0.00,2.35,0.00,0.000,4,0.000,0.069,2131,3861,3419
$GC,3041,-1.13,-146.6,244.6,-9.3,144,3045,0.00,2.15,0.00,0.000,6,0.000,0.029,2131,2593,3419
$GC,3374,-1.13,-146.6,269.5,-6.5,160,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2591,3419
$GC,3683,-1.13,-146.6,288.5,-5.8,175,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2591,3419
$GC,3992,-1.13,-146.6,305.5,-5.3,190,3996,0.00,2.42,0.00,0.000,4,0.000,0.042,2131,1211,3419
$GC,4026,-1.18,-146.6,307.3,-4.8,191,4031,0.12,2.45,0.00,0.000,6,0.048,0.038,2090,2610,3419
$GC,4343,-1.08,-146.6,331.3,-7.7,206,4345,0.17,0.00,0.00,0.000,6,0.100,0.000,2123,2610,3419
$GC,4653,-1.08,-146.6,350.1,-6.2,221,4657,0.00,2.47,0.00,0.000,4,0.000,0.041,2123,1211,3418
$GC,4697,-1.12,-146.6,352.8,-5.8,223,4702,0.00,2.45,0.00,0.000,6,0.000,0.038,2123,2601,3419
$GC,5019,-1.12,-146.6,372.9,-6.4,239,5023,0.00,2.35,0.00,0.000,4,0.000,0.071,2123,3858,3418
$GC,5068,-1.12,-146.6,376.5,-7.7,241,5072,0.00,2.15,0.00,0.000,6,0.000,0.030,2122,2599,3418
$GC,5390,-1.12,-146.6,396.0,-6.3,257,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2596,3419
$GC,5699,-1.12,-146.6,418.8,-7.5,272,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2596,3418
$GC,6008,-1.12,-146.6,438.6,-6.7,287,6012,0.00,2.38,0.00,0.000,4,0.000,0.071,2122,3864,3418
$GC,6048,-1.12,-146.6,441.6,-7.8,289,6052,0.00,2.15,0.00,0.000,6,0.000,0.031,2122,2600,3418
$GC,6380,-1.12,-146.6,470.8,-9.9,305,6385,0.00,2.47,0.00,0.000,4,0.000,0.044,2122,1202,3418
$GC,6476,-1.19,-146.6,480.9,-10.7,309,6480,0.00,2.47,0.00,0.000,6,0.000,0.040,2122,2603,3418
$GC,6791,-1.19,-146.6,514.9,-10.8,324,6795,0.00,2.35,0.00,0.000,4,0.000,0.074,2122,3857,3418
$GC,6926,-1.19,-146.6,530.0,-11.3,330,6929,0.00,2.15,0.00,0.000,6,0.000,0.032,2122,2605,3418
$GC,7254,-1.23,-146.6,567.7,-12.7,346,7259,0.15,2.50,0.00,0.000,4,0.045,0.048,2078,1205,3417
$GC,7338,-1.15,-146.6,580.3,-14.0,350,7344,0.15,2.47,0.00,0.000,6,0.104,0.044,2105,2598,3417
$GC,7666,-1.15,-146.6,619.2,-8.6,366,7670,0.00,2.42,0.00,0.000,4,0.000,0.084,2105,3863,3416
$GC,7693,-1.09,-146.6,621.7,-8.9,367,7697,0.00,2.17,0.00,0.000,6,0.000,0.036,2105,2603,3416
$GC,8017,-1.05,-146.6,651.2,-9.9,383,8018,0.12,0.00,0.00,0.000,6,0.120,0.000,2128,2600,3415
$GC,8323,-1.13,-146.6,673.9,-8.8,398,8328,0.00,2.55,0.00,0.000,4,0.000,0.058,2127,1202,3413
$GC,8352,-1.08,-146.6,675.6,-6.2,399,8356,0.00,2.53,0.00,0.000,6,0.000,0.051,2127,2597,3413
$GC,8668,-1.08,-146.6,695.9,-5.1,414,8672,0.00,2.47,0.00,0.000,4,0.000,0.092,2127,3867,3411
$GC,8701,-1.15,-146.6,699.0,-8.1,415,8707,0.00,2.25,0.00,0.000,6,0.000,0.053,2127,2617,3410
$STATE,8952,end dive,NO_VERTICAL_VELOCITY
$STATE,8952,begin apogee
$GC,8959,-0.31,0.0,698.9,0.0,428,9089,0.82,0.00,127.28,1.051,6,0.115,0.000,2289,2289,2817
$STATE,9090,end apogee,CONTROL_FINISHED_OK
$STATE,9090,begin climb
$GC,9093,1.03,146.6,698.9,0.0,434,9232,1.38,2.83,130.00,1.032,4,0.082,0.083,2577,3711,2218
$GC,9489,1.14,444.5,675.7,-2.7,451,9760,0.15,2.53,261.55,1.018,6,0.060,0.042,2613,2304,1004
$GC,10084,1.14,444.5,614.2,11.8,480,10088,0.00,2.65,0.00,0.000,4,0.000,0.067,2613,899,994
$GC,10139,1.20,444.5,607.7,11.1,482,10146,0.00,2.55,0.00,0.000,6,0.000,0.048,2613,2308,993
$GC,10455,1.20,444.5,564.7,15.5,498,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2308,992
$GC,10765,1.25,444.5,519.9,15.4,513,10769,0.00,2.62,0.00,0.000,4,0.000,0.061,2613,896,991
$GC,10827,1.30,444.5,509.8,16.3,516,10832,0.15,2.53,0.00,0.000,6,0.060,0.044,2649,2308,991
$GC,11154,1.25,444.5,447.5,19.5,532,11159,0.00,2.60,0.00,0.000,4,0.000,0.057,2649,896,990
$GC,11255,1.25,444.5,426.3,21.8,536,11261,0.00,2.53,0.00,0.000,6,0.000,0.042,2650,2311,989
$GC,11570,1.25,444.5,358.3,21.5,552,11575,0.00,2.60,0.00,0.000,4,0.000,0.054,2650,891,989
$GC,11615,1.25,444.5,348.6,21.9,554,11619,0.00,2.50,0.00,0.000,6,0.000,0.039,2650,2300,989
$GC,11936,1.21,444.5,284.4,19.6,570,11941,0.15,2.55,0.00,0.000,4,0.098,0.050,2620,895,989
$GC,12003,1.27,444.5,273.1,15.8,573,12007,0.00,2.47,0.00,0.000,6,0.000,0.038,2620,2302,989
$GC,12323,1.27,444.5,225.9,14.0,589,12327,0.00,2.55,0.00,0.000,4,0.000,0.050,2620,895,989
$GC,12364,1.32,444.5,220.2,14.3,591,12369,0.12,2.47,0.00,0.000,6,0.051,0.037,2652,2302,989
$GC,12691,1.28,444.5,168.1,16.7,607,12695,0.00,2.55,0.00,0.000,4,0.000,0.049,2654,888,990
$GC,12763,1.28,444.5,155.1,16.5,610,12767,0.00,2.47,0.00,0.000,6,0.000,0.037,2654,2299,990
$GC,13079,1.23,444.5,102.1,16.8,625,13084,0.15,2.53,0.00,0.000,4,0.096,0.048,2624,895,990
$GC,13129,1.30,444.5,94.4,13.6,627,13133,0.00,2.47,0.00,0.000,6,0.000,0.035,2624,2305,990
$GC,13445,1.34,444.5,51.9,13.0,642,13450,0.12,2.55,0.00,0.000,4,0.047,0.047,2665,888,990
$GC,13546,1.29,444.5,36.3,16.0,646,13553,0.12,2.47,0.00,0.000,6,0.094,0.036,2640,2306,991
$STATE,13797,end climb,SURFACE_DEPTH_REACHED
$STATE,13798,begin surface coast
$FINISH,0.7,1.015411
$STATE,13820,end surface coast,CONTROL_FINISHED_OK
$STATE,13820,begin surface
$SM_CCo,13903,0.00,0.000,0,0,990,448.16
$SM_GC,1.45,12.40,0.00,0.00,0.094,0.000,0.000,75,2599,990,-10.45,-0.03,448.16
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1729
$TCM_TEMP,16.50
$XPDR_PINGS,20
$24V_AH,23.5,11.641
$10V_AH,10.1,4.748
$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,28.450,133.075,518.825,0.000,0.000,54.325,81.587,346.752,11.000,0.000,0.000,13.493,1254.061,10460.002,575.891,1619.462,722.082,33.348,1436.531,0.000,1573.610,0.000,43.067,0.000
$DEVICE_MAMPS,190.216,92.040,1050.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.804,465.267,417.307,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34896,660
$CAP_FILE_SIZE,118550,0
$CFSIZE,260165632,256327680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,110609,051026,6146.798,-909.342,40,3.8,59,-9.4