version: 66.04
glider: 5
mission: 7
dive: 21
start: 9 1 109 10 36 47
data:
$ID,5
$MISSION,7
$DIVE,21
$D_SURF,3
$D_FLARE,2
$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,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$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,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-100615.25
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.674383
$PRESSURE_SLOPE,0.000115925
$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,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,0
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,103037,6129.128,-820.653,27,1.4,27,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-64.2
$GPS2,103555,6129.127,-820.617,17,1.5,17,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.211,-0.159
$KALMAN_X,-44020.8,1272.9,778.4,58870.0,-12129.3
$KALMAN_Y,36262.6,-300.5,-336.9,-49474.0,6468.5
$MHEAD_RNG_PITCHd_Wd,135.9,4197,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.44,-146.6,0.0,0.0,0,61,0.00,0.00,-42.03,0.000,2,0.000,0.000,423,2141,2483
$GC,65,-1.44,-146.6,2.0,-3.6,2,122,11.05,2.55,-40.53,0.000,4,0.167,0.079,2423,3533,3429
$GC,157,-1.30,-146.6,9.0,-14.5,5,162,0.17,2.50,0.00,0.000,6,0.104,0.049,2458,2127,3428
$GC,474,-1.30,-146.6,53.6,-13.7,20,479,0.00,2.58,0.00,0.000,4,0.000,0.066,2458,3530,3429
$GC,502,-1.30,-146.6,57.9,-14.3,21,507,0.00,2.47,0.00,0.000,6,0.000,0.049,2458,2139,3429
$GC,819,-1.30,-146.6,102.2,-13.9,36,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2126,3430
$GC,1128,-1.30,-146.6,144.9,-13.6,51,1135,0.00,2.55,0.00,0.000,4,0.000,0.067,2458,3524,3431
$GC,1165,-1.30,-146.6,149.8,-13.3,52,1169,0.00,2.47,0.00,0.000,6,0.000,0.052,2458,2137,3431
$GC,1481,-1.30,-146.6,190.0,-12.7,67,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2123,3431
$GC,1790,-1.30,-146.6,231.4,-13.6,82,1794,0.00,2.58,0.00,0.000,4,0.000,0.071,2458,3531,3431
$GC,1829,-1.30,-146.6,237.0,-14.2,84,1834,0.00,2.47,0.00,0.000,6,0.000,0.056,2458,2144,3431
$GC,2157,-1.30,-146.6,279.6,-12.7,100,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2131,3431
$GC,2466,-1.30,-146.6,319.4,-12.4,115,2470,0.00,2.55,0.00,0.000,4,0.000,0.071,2458,3524,3431
$GC,2499,-1.30,-146.6,323.5,-12.5,116,2503,0.00,2.45,0.00,0.000,6,0.000,0.055,2458,2154,3431
$GC,2815,-1.30,-146.6,362.3,-13.1,131,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2142,3431
$GC,3124,-1.34,-146.6,407.1,-14.8,146,3129,0.00,2.55,0.00,0.000,4,0.000,0.073,2458,3533,3431
$GC,3158,-1.34,-146.6,412.2,-14.1,147,3164,0.00,2.47,0.00,0.000,6,0.000,0.056,2458,2150,3431
$GC,3474,-1.39,-146.6,452.5,-12.4,163,3478,0.00,2.55,0.00,0.000,4,0.000,0.070,2458,725,3430
$GC,3507,-1.46,-146.6,456.8,-12.3,164,3514,0.15,2.53,0.00,0.000,6,0.053,0.051,2418,2149,3431
$GC,3824,-1.40,-146.6,500.8,-13.9,180,3825,0.10,0.00,0.00,0.000,6,0.108,0.000,2436,2150,3431
$GC,4132,-1.40,-146.6,540.8,-12.5,195,4137,0.00,2.60,0.00,0.000,4,0.000,0.068,2435,723,3430
$GC,4241,-1.44,-146.6,554.6,-13.0,200,4245,0.00,2.50,0.00,0.000,6,0.000,0.053,2435,2142,3430
$GC,4569,-1.44,-146.6,596.4,-12.2,216,4573,0.00,2.55,0.00,0.000,4,0.000,0.074,2436,3535,3430
$GC,4725,-1.44,-146.6,616.6,-12.5,223,4729,0.00,2.53,0.00,0.000,6,0.000,0.057,2436,2126,3430
$GC,5046,-1.44,-146.6,655.2,-11.8,239,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2113,3430
$GC,5355,-1.44,-146.6,693.7,-10.5,254,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2107,3430
$STATE,5579,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5579,begin apogee
$GC,5587,-0.33,0.0,723.4,16.5,265,5722,1.10,0.00,127.70,1.322,6,0.086,0.000,2670,1905,2832
$STATE,5723,end apogee,CONTROL_FINISHED_OK
$STATE,5723,begin climb
$GC,5726,1.44,146.6,728.6,0.0,272,5863,1.77,2.70,126.90,1.286,4,0.062,0.085,3058,512,2233
$GC,5906,1.27,183.9,720.2,8.3,280,5946,0.20,2.58,33.58,1.230,6,0.091,0.060,3020,1933,2081
$GC,6272,1.27,214.0,688.1,8.6,298,6305,0.00,2.67,26.90,1.232,4,0.000,0.081,3020,3310,1958
$GC,6391,1.27,214.0,675.7,11.0,303,6396,0.00,2.62,0.00,0.000,6,0.000,0.077,3020,1926,1957
$GC,6707,1.27,214.0,644.6,10.0,318,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1927,1956
$GC,7016,1.27,214.5,611.7,10.0,333,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1926,1955
$GC,7326,1.27,214.5,577.3,11.7,348,7330,0.00,2.65,0.00,0.000,4,0.000,0.087,3020,510,1953
$GC,7365,1.21,214.5,572.1,13.6,350,7370,0.00,2.55,0.00,0.000,6,0.000,0.061,3020,1921,1953
$GC,7692,1.21,214.5,531.3,12.3,366,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1935,1952
$GC,8002,1.21,214.5,493.7,11.7,381,8006,0.00,2.65,0.00,0.000,4,0.000,0.081,3020,511,1952
$GC,8097,1.15,214.5,482.1,11.6,385,8102,0.15,2.55,0.00,0.000,6,0.104,0.055,2993,1938,1952
$GC,8413,1.36,291.5,459.1,6.5,400,8486,0.22,2.78,64.95,1.161,4,0.052,0.076,3047,509,1642
$GC,8498,1.30,291.5,449.7,14.1,404,8502,0.00,2.60,0.00,0.000,6,0.000,0.053,3047,1939,1642
$GC,8819,1.30,291.5,404.7,11.6,420,8823,0.00,2.70,0.00,0.000,4,0.000,0.076,3047,503,1644
$GC,8897,1.23,291.5,395.5,12.1,423,8904,0.17,2.53,0.00,0.000,6,0.095,0.053,3013,1914,1644
$GC,9213,1.30,291.5,360.1,10.4,439,9218,0.00,2.60,0.00,0.000,4,0.000,0.077,3013,510,1644
$GC,9231,1.36,291.5,358.2,10.5,440,9236,0.12,2.47,0.00,0.000,6,0.059,0.052,3046,1901,1644
$GC,9559,1.36,291.5,317.9,12.5,456,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1915,1644
$GC,9868,1.36,291.5,280.2,12.2,471,9873,0.00,2.58,0.00,0.000,4,0.000,0.074,3046,510,1645
$GC,9891,1.31,291.5,277.0,13.7,472,9895,0.00,2.45,0.00,0.000,6,0.000,0.051,3046,1891,1645
$GC,10212,1.31,291.5,238.6,11.3,488,10216,0.00,2.58,0.00,0.000,4,0.000,0.074,3046,503,1645
$GC,10239,1.27,291.5,235.1,12.7,489,10245,0.15,2.45,0.00,0.000,6,0.094,0.051,3017,1884,1645
$GC,10556,1.34,291.5,205.0,10.0,504,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1899,1646
$GC,10865,1.42,291.5,173.5,10.4,519,10867,0.17,0.00,0.00,0.000,6,0.054,0.000,3062,1899,1646
$GC,11175,1.38,291.5,131.8,13.7,534,11179,0.00,2.53,0.00,0.000,4,0.000,0.071,3062,510,1647
$GC,11203,1.30,291.5,127.4,15.4,535,11208,0.17,2.40,0.00,0.000,6,0.092,0.049,3028,1875,1647
$GC,11521,1.36,291.5,90.7,11.0,550,11525,0.00,2.53,0.00,0.000,4,0.000,0.073,3027,503,1647
$GC,11548,1.36,291.5,87.2,11.3,551,11553,0.00,2.40,0.00,0.000,6,0.000,0.049,3027,1868,1647
$GC,11865,1.44,291.5,46.9,13.3,566,11870,0.12,2.53,0.00,0.000,4,0.057,0.071,3063,503,1648
$GC,11928,1.37,291.5,37.4,14.7,569,11933,0.00,2.38,0.00,0.000,6,0.000,0.048,3063,1858,1648
$STATE,12212,end climb,SURFACE_DEPTH_REACHED
$STATE,12212,begin surface coast
$FINISH,0.3,1.010070
$STATE,12235,end surface coast,CONTROL_FINISHED_OK
$STATE,12235,begin surface
$SM_CCo,12259,5.12,0.604,0,0,1608,300.00
$SM_GC,2.26,0.00,0.00,5.12,0.000,0.000,0.604,421,2146,1608,-10.69,0.45,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1830
$TCM_TEMP,17.60
$XPDR_PINGS,52
$ALTIM_BOTTOM_PING,670.7,62.6
$24V_AH,23.7,6.147
$10V_AH,10.1,3.233
$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,27.225,107.700,380.025,5.125,0.000,37.760,32.887,130.612,19.000,0.000,0.000,17.126,1103.789,9279.001,486.007,1287.447,432.346,33.351,1169.379,0.000,1252.177,0.000,41.029,0.000
$DEVICE_MAMPS,167.206,86.671,1321.541,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.090,436.030,349.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28550,584
$CAP_FILE_SIZE,96523,0
$CFSIZE,254472192,250540032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
$GPS,010909,140230,6129.028,-821.331,39,2.0,39,-8.9