version: 66.04
glider: 16
mission: 13
dive: 34
start: 6 11 109 5 16 22
data:
$ID,16
$MISSION,13
$DIVE,34
$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,-2108183.8
$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,26
$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
$GPS1,051026,6146.798,-909.342,40,3.8,59,-9.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-56.7
$GPS2,051531,6146.824,-909.482,11,1.2,16,-9.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.164,-0.174
$KALMAN_X,-77039.7,2.0,664.0,29631.4,-17114.1
$KALMAN_Y,145545.1,-2007.6,-1919.8,-100273.4,28790.5
$MHEAD_RNG_PITCHd_Wd,137.8,50160,-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,-146.6,0.0,0.0,0,100,0.00,0.00,-80.88,0.000,2,0.000,0.000,73,2599,3183
$GC,103,-1.03,-146.6,4.0,-4.2,4,126,11.85,2.53,-4.30,0.000,4,0.182,0.054,2130,1188,3416
$GC,271,-1.03,-146.6,28.9,-10.2,11,276,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2600,3417
$GC,587,-1.03,-146.6,61.3,-10.4,26,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,897,-1.03,-146.6,94.7,-11.0,41,901,0.00,2.50,0.00,0.000,4,0.000,0.040,2131,1188,3418
$GC,924,-1.03,-146.6,97.9,-11.8,42,928,0.00,2.50,0.00,0.000,6,0.000,0.037,2130,2605,3418
$GC,1241,-1.03,-146.6,133.5,-10.9,57,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2605,3418
$GC,1548,-1.03,-146.6,162.7,-9.3,72,1553,0.00,2.53,0.00,0.000,4,0.000,0.042,2131,1185,3418
$GC,1599,-1.08,-146.6,167.8,-9.6,74,1603,0.00,2.50,0.00,0.000,6,0.000,0.037,2130,2603,3418
$GC,1915,-1.08,-146.6,194.3,-7.3,89,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3418
$GC,2224,-1.08,-146.6,214.2,-5.8,104,2228,0.00,2.50,0.00,0.000,4,0.000,0.041,2131,1189,3418
$GC,2257,-1.13,-146.6,216.3,-5.7,105,2264,0.00,2.50,0.00,0.000,6,0.000,0.038,2131,2609,3418
$GC,2574,-1.13,-146.6,233.8,-5.3,121,2578,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1189,3418
$GC,2636,-1.18,-146.6,236.7,-4.4,124,2641,0.12,2.50,0.00,0.000,6,0.046,0.038,2091,2608,3418
$GC,2965,-1.08,-146.6,257.6,-6.3,140,2970,0.17,2.35,0.00,0.000,4,0.097,0.070,2128,3864,3418
$GC,3044,-1.08,-146.6,261.8,-4.6,143,3048,0.00,2.20,0.00,0.000,6,0.000,0.029,2128,2573,3418
$GC,3362,-1.08,-146.6,275.7,-5.0,158,3366,0.00,2.42,0.00,0.000,4,0.000,0.043,2128,1201,3418
$GC,3389,-1.08,-146.6,277.2,-4.8,159,3393,0.00,2.45,0.00,0.000,6,0.000,0.038,2128,2600,3418
$GC,3711,-1.08,-146.6,293.9,-5.8,175,3715,0.00,2.35,0.00,0.000,4,0.000,0.070,2128,3861,3418
$GC,3744,-1.08,-146.6,296.2,-6.8,176,3750,0.00,2.15,0.00,0.000,6,0.000,0.030,2128,2595,3418
$GC,4060,-1.08,-146.6,317.0,-7.3,192,4064,0.00,2.45,0.00,0.000,4,0.000,0.043,2128,1206,3418
$GC,4105,-1.14,-146.6,320.3,-7.8,194,4109,0.00,2.45,0.00,0.000,6,0.000,0.038,2128,2600,3418
$GC,4438,-1.14,-146.6,347.2,-9.0,210,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,4747,-1.14,-146.6,377.6,-10.2,225,4751,0.00,2.45,0.00,0.000,4,0.000,0.042,2128,1211,3418
$GC,4802,-1.19,-146.6,383.4,-10.8,227,4809,0.12,2.45,0.00,0.000,6,0.046,0.038,2088,2600,3418
$GC,5118,-1.09,-146.6,423.7,-13.3,243,5123,0.17,2.35,0.00,0.000,4,0.095,0.071,2122,3857,3418
$GC,5173,-1.09,-146.6,430.8,-12.2,245,5180,0.00,2.12,0.00,0.000,6,0.000,0.031,2122,2602,3419
$GC,5490,-1.09,-146.6,465.4,-10.7,261,5494,0.00,2.35,0.00,0.000,4,0.000,0.071,2122,3857,3418
$GC,5552,-1.09,-146.6,472.5,-11.5,264,5556,0.00,2.15,0.00,0.000,6,0.000,0.031,2122,2594,3418
$GC,5884,-1.09,-146.6,509.1,-11.4,280,5888,0.00,2.47,0.00,0.000,4,0.000,0.047,2122,1205,3418
$GC,5917,-1.09,-146.6,512.8,-10.3,281,5923,0.00,2.47,0.00,0.000,6,0.000,0.038,2122,2609,3417
$GC,6233,-1.09,-146.6,546.8,-11.0,297,6237,0.00,2.47,0.00,0.000,4,0.000,0.044,2122,1209,3418
$GC,6289,-1.13,-146.6,552.1,-9.0,299,6293,0.00,2.47,0.00,0.000,6,0.000,0.041,2122,2605,3418
$GC,6605,-1.18,-146.6,584.3,-9.0,314,6609,0.00,2.38,0.00,0.000,4,0.000,0.078,2122,3860,3417
$GC,6786,-1.18,-146.6,595.6,-6.2,322,6790,0.00,2.17,0.00,0.000,6,0.000,0.035,2122,2601,3417
$GC,7113,-1.18,-146.6,612.2,-3.9,338,7117,0.00,2.42,0.00,0.000,4,0.000,0.083,2122,3865,3416
$GC,7142,-1.18,-146.6,613.6,-5.0,339,7146,0.00,2.20,0.00,0.000,6,0.000,0.038,2122,2603,3416
$GC,7458,-1.18,-146.6,629.4,-6.6,354,7462,0.00,2.58,0.00,0.000,4,0.000,0.061,2122,1203,3414
$GC,7498,-1.25,-146.6,632.4,-7.1,356,7503,0.17,2.53,0.00,0.000,6,0.048,0.051,2075,2598,3414
$GC,7825,-1.16,-146.6,669.5,-14.3,372,7830,0.17,2.45,0.00,0.000,4,0.110,0.087,2107,3863,3413
$GC,7880,-1.16,-146.6,675.8,-10.9,374,7886,0.00,2.22,0.00,0.000,6,0.000,0.041,2107,2599,3412
$GC,8196,-1.16,-146.6,707.1,-7.4,390,8200,0.00,2.55,0.00,0.000,4,0.000,0.056,2107,1196,3410
$GC,8240,-1.22,-146.6,713.3,-13.3,392,8244,0.00,2.55,0.00,0.000,6,0.000,0.053,2107,2599,3410
$STATE,8269,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8270,begin apogee
$GC,8277,-0.31,0.0,717.5,13.4,394,8412,0.93,0.00,127.65,1.066,6,0.117,0.000,2288,2303,2818
$STATE,8413,end apogee,CONTROL_FINISHED_OK
$STATE,8413,begin climb
$GC,8416,1.03,146.6,722.0,0.0,401,8554,1.40,2.67,130.00,1.045,4,0.084,0.060,2579,900,2218
$GC,8812,0.88,146.6,692.3,14.6,419,8817,0.15,2.58,0.00,0.000,6,0.097,0.056,2551,2298,2209
$GC,9139,0.71,146.6,640.2,14.1,435,9144,0.17,2.60,0.00,0.000,4,0.104,0.061,2519,901,2207
$GC,9397,0.82,240.5,618.8,4.3,446,9486,0.00,2.53,82.45,0.994,6,0.000,0.048,2518,2306,1837
$GC,9797,1.00,324.5,610.5,4.6,466,9881,0.25,2.70,75.93,0.986,4,0.051,0.062,2582,896,1492
$GC,10026,1.00,324.5,583.0,17.0,476,10031,0.00,2.55,0.00,0.000,6,0.000,0.048,2582,2298,1483
$GC,10348,1.00,324.5,535.7,12.0,492,10352,0.00,2.72,0.00,0.000,4,0.000,0.077,2582,3711,1481
$GC,10374,1.00,324.5,532.2,13.8,493,10379,0.00,2.53,0.00,0.000,6,0.000,0.042,2582,2308,1479
$GC,10690,1.00,324.5,492.8,13.2,508,10695,0.00,2.62,0.00,0.000,4,0.000,0.061,2582,894,1478
$GC,10740,1.00,324.5,485.8,14.0,510,10745,0.00,2.53,0.00,0.000,6,0.000,0.044,2582,2303,1477
$GC,11056,1.02,339.2,453.4,7.0,525,11077,0.00,2.67,11.52,0.810,4,0.000,0.054,2582,892,1433
$GC,11111,1.08,345.8,449.4,7.3,527,11124,0.00,2.53,7.53,0.740,6,0.000,0.041,2582,2301,1407
$GC,11432,1.12,345.8,423.1,8.5,543,11436,0.00,2.58,0.00,0.000,4,0.000,0.052,2582,890,1405
$GC,11460,1.17,345.8,420.6,8.7,544,11465,0.15,2.53,0.00,0.000,6,0.056,0.039,2623,2308,1405
$GC,11782,1.12,345.8,388.2,9.7,560,11786,0.00,2.62,0.00,0.000,4,0.000,0.065,2623,3712,1404
$GC,11809,1.06,345.8,385.2,10.6,561,11814,0.17,2.50,0.00,0.000,6,0.099,0.035,2589,2295,1404
$GC,12125,1.10,345.8,357.8,9.1,576,12130,0.00,2.55,0.00,0.000,4,0.000,0.053,2589,890,1404
$GC,12166,1.15,345.8,354.1,9.5,578,12170,0.00,2.50,0.00,0.000,6,0.000,0.038,2589,2308,1404
$GC,12492,1.15,345.8,328.1,7.6,594,12496,0.00,2.55,0.00,0.000,4,0.000,0.050,2589,894,1404
$GC,12526,1.21,345.8,325.1,9.0,595,12533,0.15,2.47,0.00,0.000,6,0.048,0.037,2633,2304,1404
$GC,12843,1.14,345.8,285.3,14.0,611,12847,0.15,2.55,0.00,0.000,4,0.097,0.048,2604,891,1404
$GC,12870,1.14,345.8,281.2,13.9,612,12874,0.00,2.47,0.00,0.000,6,0.000,0.036,2604,2301,1404
$GC,13185,1.14,345.8,237.3,14.2,627,13189,0.00,2.53,0.00,0.000,4,0.000,0.048,2604,894,1404
$GC,13225,1.14,345.8,231.3,15.0,629,13229,0.00,2.47,0.00,0.000,6,0.000,0.037,2604,2303,1404
$GC,13551,1.14,345.8,178.2,16.5,645,13552,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2304,1405
$GC,13861,1.14,345.8,127.5,16.1,660,13865,0.00,2.53,0.00,0.000,4,0.000,0.048,2604,892,1405
$GC,13928,1.14,345.8,116.5,14.8,663,13932,0.00,2.47,0.00,0.000,6,0.000,0.035,2603,2306,1405
$GC,14249,1.14,345.8,78.5,10.4,679,14254,0.00,2.53,0.00,0.000,4,0.000,0.046,2604,893,1405
$GC,14300,1.18,345.8,72.2,12.3,681,14304,0.00,2.47,0.00,0.000,6,0.000,0.035,2604,2308,1405
$GC,14615,1.18,345.8,36.2,11.0,696,14620,0.00,2.55,0.00,0.000,4,0.000,0.046,2604,885,1405
$GC,14656,1.22,345.8,31.9,10.8,698,14661,0.00,2.47,0.00,0.000,6,0.000,0.035,2604,2302,1405
$STATE,14939,end climb,SURFACE_DEPTH_REACHED
$STATE,14940,begin surface coast
$FINISH,0.9,1.026808
$STATE,14962,end surface coast,CONTROL_FINISHED_OK
$STATE,14962,begin surface
$SM_CCo,15045,0.00,0.000,0,0,1405,346.36
$SM_GC,1.51,11.80,0.00,0.00,0.075,0.000,0.000,67,2604,1405,-10.47,0.14,346.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1714
$TCM_TEMP,16.40
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,675.2,50.6
$24V_AH,23.6,11.779
$10V_AH,10.1,4.821
$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,28.125,169.300,435.075,0.000,0.000,18.104,28.381,143.273,9.500,0.000,0.000,16.478,1384.472,11184.884,553.337,1778.492,449.725,33.347,1487.519,0.000,1726.995,0.000,39.853,0.000
$DEVICE_MAMPS,181.779,87.438,1066.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,509.138,502.484,416.688,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37963,713
$CAP_FILE_SIZE,126253,0
$CFSIZE,260165632,256253952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,110609,092826,6148.726,-913.993,42,1.1,43,-9.5