version: 66.04
glider: 105
mission: 6
dive: 23
start: 6 9 109 23 35 53
data:
$ID,105
$MISSION,6
$DIVE,23
$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,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$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,1
$FERRY_MAX,11
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1628485.9
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,2476
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.439545
$PRESSURE_SLOPE,0.0001163108
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043067979
$SEABIRD_T_H,0.0006302988
$SEABIRD_T_I,2.3035876e-05
$SEABIRD_T_J,2.3016955e-06
$SEABIRD_C_G,-10.448573
$SEABIRD_C_H,1.1833477
$SEABIRD_C_I,-0.0016540284
$SEABIRD_C_J,0.00022965467
$GPS1,232924,6141.375,-850.828,25,1.7,43,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-58.8
$GPS2,233501,6141.385,-850.838,14,1.7,31,-9.2
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.209,-0.116
$KALMAN_X,-104695.1,1150.1,1295.5,72029.8,-20076.0
$KALMAN_Y,52436.7,2259.0,-344.4,-23526.4,2790.9
$MHEAD_RNG_PITCHd_Wd,128.2,31079,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.17,-146.6,0.0,0.0,0,80,0.00,0.00,-62.38,0.000,6,0.000,0.000,388,2469,3431
$GC,83,-1.17,-146.6,3.8,-7.6,3,104,11.52,2.50,0.00,0.000,4,0.137,0.035,2535,1054,3432
$GC,288,-1.17,-146.6,33.9,-9.7,12,294,0.00,2.47,0.00,0.000,6,0.000,0.032,2535,2466,3432
$GC,615,-1.17,-146.6,71.6,-12.4,28,619,0.00,2.45,0.00,0.000,4,0.000,0.036,2535,1058,3432
$GC,642,-1.17,-146.6,74.9,-11.8,29,646,0.00,2.45,0.00,0.000,6,0.000,0.031,2535,2476,3432
$GC,959,-1.17,-146.6,100.8,-7.8,44,963,0.00,2.45,0.00,0.000,4,0.000,0.035,2535,1061,3432
$GC,1036,-1.17,-146.6,106.5,-7.6,47,1042,0.00,2.45,0.00,0.000,6,0.000,0.033,2535,2474,3433
$GC,1353,-1.17,-146.6,133.9,-8.9,63,1357,0.00,2.45,0.00,0.000,4,0.000,0.036,2535,1061,3433
$GC,1416,-1.17,-146.6,139.6,-9.6,66,1420,0.00,2.45,0.00,0.000,6,0.000,0.033,2535,2476,3433
$GC,1742,-1.17,-146.6,171.3,-11.0,82,1746,0.00,2.45,0.00,0.000,4,0.000,0.038,2535,1062,3433
$GC,1786,-1.17,-146.6,176.4,-11.0,84,1791,0.00,2.47,0.00,0.000,6,0.000,0.034,2535,2470,3433
$GC,2112,-1.17,-146.6,213.7,-10.8,100,2116,0.00,2.45,0.00,0.000,4,0.000,0.038,2535,1062,3433
$GC,2155,-1.17,-146.6,218.4,-10.2,102,2160,0.00,2.47,0.00,0.000,6,0.000,0.035,2535,2470,3433
$GC,2482,-1.17,-146.6,250.0,-9.5,118,2491,0.00,2.47,0.00,0.000,4,0.000,0.039,2535,1055,3433
$GC,2554,-1.17,-146.6,256.4,-9.4,121,2558,0.00,2.47,0.00,0.000,6,0.000,0.036,2535,2473,3433
$GC,2880,-1.17,-146.6,283.3,-8.6,137,2884,0.00,2.47,0.00,0.000,4,0.000,0.040,2535,1059,3433
$GC,2951,-1.17,-146.6,289.0,-7.7,140,2956,0.00,2.53,0.00,0.000,6,0.000,0.038,2535,2479,3433
$GC,3272,-1.17,-146.6,318.4,-10.2,156,3277,0.00,2.50,0.00,0.000,4,0.000,0.042,2535,1058,3433
$GC,3328,-1.17,-146.6,324.4,-10.5,158,3334,0.00,2.50,0.00,0.000,6,0.000,0.039,2535,2484,3433
$GC,3643,-1.17,-146.6,356.3,-9.0,174,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2484,3433
$GC,3955,-1.17,-146.6,382.2,-8.8,189,3959,0.00,2.50,0.00,0.000,4,0.000,0.041,2535,1061,3433
$GC,4049,-1.17,-146.6,390.7,-7.6,193,4054,0.00,2.50,0.00,0.000,6,0.000,0.038,2535,2485,3433
$GC,4367,-1.17,-146.6,418.4,-9.2,208,4371,0.00,2.45,0.00,0.000,4,0.000,0.062,2535,3832,3433
$GC,4461,-1.17,-146.6,427.6,-9.8,212,4465,0.00,2.33,0.00,0.000,6,0.000,0.028,2535,2458,3433
$GC,4783,-1.17,-146.6,458.1,-10.0,228,4788,0.00,2.47,0.00,0.000,4,0.000,0.052,2535,3834,3432
$GC,4895,-1.17,-146.6,469.4,-10.2,233,4899,0.00,2.30,0.00,0.000,6,0.000,0.028,2535,2471,3432
$GC,5222,-1.17,-146.6,495.9,-8.4,249,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2468,3432
$GC,5531,-1.17,-146.6,518.3,-6.9,264,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2468,3432
$GC,5841,-1.17,-146.6,542.3,-7.0,279,5845,0.00,2.42,0.00,0.000,4,0.000,0.043,2535,1080,3432
$GC,5896,-1.17,-146.6,546.3,-7.1,281,5902,0.00,2.45,0.00,0.000,6,0.000,0.038,2535,2477,3432
$GC,6213,-1.17,-146.6,567.1,-6.8,297,6217,0.00,2.45,0.00,0.000,4,0.000,0.041,2536,1080,3431
$GC,6319,-1.17,-146.6,574.0,-6.7,302,6323,0.00,2.45,0.00,0.000,6,0.000,0.038,2535,2482,3432
$GC,6645,-1.17,-146.6,597.9,-7.8,318,6649,0.00,2.47,0.00,0.000,4,0.000,0.042,2535,1077,3431
$GC,6740,-1.17,-146.6,605.0,-7.4,322,6744,0.00,2.45,0.00,0.000,6,0.000,0.038,2535,2475,3431
$GC,7056,-1.17,-146.6,627.9,-6.7,337,7060,0.00,2.45,0.00,0.000,4,0.000,0.044,2535,1081,3430
$GC,7149,-1.17,-146.6,636.0,-8.6,341,7154,0.00,2.45,0.00,0.000,6,0.000,0.039,2535,2481,3429
$GC,7465,-1.17,-146.6,664.3,-9.4,356,7470,0.00,2.50,0.00,0.000,4,0.000,0.044,2535,1083,3428
$GC,7516,-1.17,-146.6,668.8,-8.6,358,7521,0.00,2.45,0.00,0.000,6,0.000,0.041,2535,2475,3428
$GC,7837,-1.17,-146.6,691.4,-6.6,374,7842,0.00,2.50,0.00,0.000,4,0.000,0.048,2535,1087,3427
$GC,7875,-1.17,-146.6,694.1,-6.5,375,7883,0.00,2.47,0.00,0.000,6,0.000,0.043,2535,2467,3427
$GC,8192,-1.17,-146.6,714.4,-7.0,391,8196,0.00,2.47,0.00,0.000,4,0.000,0.048,2535,1082,3426
$GC,8264,-1.17,-146.6,719.7,-7.7,394,8268,0.00,2.47,0.00,0.000,6,0.000,0.044,2535,2473,3426
$GC,8579,-1.17,-146.6,744.4,-8.1,409,8584,0.00,2.53,0.00,0.000,4,0.000,0.050,2535,1085,3424
$GC,8662,-1.17,-146.6,751.3,-8.4,412,8669,0.00,2.47,0.00,0.000,6,0.000,0.046,2535,2477,3424
$GC,8978,-1.17,-146.6,778.4,-9.9,428,8983,0.00,2.53,0.00,0.000,4,0.000,0.051,2535,1090,3422
$GC,9010,-1.17,-146.6,782.4,-12.1,429,9015,0.00,2.47,0.00,0.000,6,0.000,0.046,2535,2477,3422
$GC,9329,-1.17,-146.6,812.3,-10.7,444,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2477,3421
$GC,9636,-1.17,-146.6,827.4,-4.0,459,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2477,3419
$GC,9944,-1.17,-146.6,842.9,-7.9,474,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2477,3417
$STATE,9985,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9985,begin apogee
$GC,9993,-0.36,0.0,848.1,10.4,476,10127,0.88,0.00,129.35,1.371,6,0.074,0.000,2718,1477,2832
$STATE,10128,end apogee,CONTROL_FINISHED_OK
$STATE,10128,begin climb
$GC,10131,1.17,146.6,856.2,0.0,483,10276,1.58,2.38,133.23,1.312,4,0.061,0.071,3056,264,2232
$GC,10395,1.17,146.6,836.5,8.8,495,10399,0.00,2.10,0.00,0.000,6,0.000,0.039,3056,1472,2224
$GC,10725,1.17,146.6,808.6,9.5,511,10726,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1473,2220
$GC,11033,1.17,146.6,782.3,9.7,526,11037,0.00,2.50,0.00,0.000,4,0.000,0.054,3056,2846,2218
$GC,11127,1.17,146.6,772.6,10.4,530,11132,0.00,2.50,0.00,0.000,6,0.000,0.046,3056,1447,2217
$GC,11443,1.17,146.6,742.9,9.4,545,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1447,2216
$GC,11752,1.17,146.6,710.9,10.7,560,11756,0.00,2.53,0.00,0.000,4,0.000,0.051,3056,2849,2215
$GC,11818,1.17,146.6,703.6,11.1,563,11822,0.00,2.50,0.00,0.000,6,0.000,0.044,3056,1453,2215
$GC,12139,1.17,146.6,671.2,9.1,579,12140,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1453,2215
$GC,12451,1.22,186.8,651.5,6.1,594,12489,0.00,0.00,34.40,1.259,6,0.000,0.000,3056,1453,2070
$GC,12801,1.22,186.8,627.4,9.0,611,12805,0.00,2.53,0.00,0.000,4,0.000,0.049,3056,2848,2064
$GC,12867,1.22,186.8,621.0,8.6,614,12871,0.00,2.47,0.00,0.000,6,0.000,0.044,3056,1453,2063
$GC,13188,1.22,186.8,593.8,8.6,630,13192,0.00,2.17,0.00,0.000,4,0.000,0.064,3056,264,2063
$GC,13249,1.22,186.8,587.7,10.1,632,13255,0.00,2.03,0.00,0.000,6,0.000,0.033,3056,1462,2062
$GC,13567,1.22,186.8,558.5,8.6,648,13571,0.00,2.47,0.00,0.000,4,0.000,0.048,3056,2843,2062
$GC,13656,1.22,186.8,550.6,8.2,652,13660,0.00,2.45,0.00,0.000,6,0.000,0.039,3056,1446,2061
$GC,13976,1.22,186.8,523.7,8.6,668,13977,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1446,2061
$GC,14288,1.22,186.8,498.7,8.2,683,14292,0.00,2.45,0.00,0.000,4,0.000,0.041,3056,2843,2062
$GC,14337,1.22,186.8,494.4,7.9,685,14342,0.00,2.42,0.00,0.000,6,0.000,0.037,3056,1449,2061
$GC,14653,1.22,186.8,469.8,7.6,700,14657,0.00,2.45,0.00,0.000,4,0.000,0.040,3056,2846,2062
$GC,14798,1.22,186.8,458.3,7.6,706,14804,0.00,2.45,0.00,0.000,6,0.000,0.038,3056,1448,2062
$GC,15113,1.22,186.8,431.1,8.7,722,15117,0.00,2.47,0.00,0.000,4,0.000,0.039,3056,2854,2062
$GC,15175,1.22,186.8,425.4,9.4,725,15179,0.00,2.45,0.00,0.000,6,0.000,0.036,3056,1449,2062
$GC,15501,1.22,186.8,394.2,9.9,741,15502,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1449,2062
$GC,15810,1.22,186.8,363.4,9.8,756,15814,0.00,2.12,0.00,0.000,4,0.000,0.057,3056,267,2063
$GC,15860,1.22,186.8,357.8,10.9,758,15864,0.00,1.98,0.00,0.000,6,0.000,0.029,3056,1464,2063
$GC,16187,1.22,186.8,326.9,9.2,774,16191,0.00,2.40,0.00,0.000,4,0.000,0.042,3056,2835,2063
$GC,16219,1.22,186.8,324.1,7.8,775,16226,0.00,2.40,0.00,0.000,6,0.000,0.035,3056,1455,2063
$GC,16536,1.28,231.4,302.9,6.0,791,16578,0.10,0.00,39.72,0.960,6,0.047,0.000,3094,1455,1888
$GC,16887,1.28,231.4,274.2,8.5,808,16890,0.00,2.15,0.00,0.000,4,0.000,0.057,3094,264,1883
$GC,16927,1.28,231.4,270.3,9.3,809,16933,0.00,1.98,0.00,0.000,6,0.000,0.028,3094,1453,1883
$GC,17242,1.28,231.4,242.4,8.6,825,17243,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1455,1883
$GC,17551,1.28,231.4,218.2,8.1,840,17552,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1455,1883
$GC,17861,1.35,286.9,196.4,5.6,855,17917,0.00,2.20,48.85,0.875,4,0.000,0.054,3094,273,1661
$GC,17956,1.35,286.9,188.9,9.7,859,17960,0.00,1.98,0.00,0.000,6,0.000,0.028,3094,1455,1658
$GC,18278,1.35,286.9,154.0,11.2,875,18282,0.00,2.15,0.00,0.000,4,0.000,0.054,3094,265,1655
$GC,18352,1.35,286.9,145.0,13.2,878,18356,0.00,1.98,0.00,0.000,6,0.000,0.028,3094,1453,1655
$GC,18679,1.35,286.9,115.3,8.2,894,18680,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1453,1654
$GC,18989,1.35,286.9,83.7,11.6,909,18991,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1454,1654
$GC,19297,1.35,286.9,47.9,10.8,924,19301,0.00,2.12,0.00,0.000,4,0.000,0.053,3094,267,1654
$GC,19343,1.35,286.9,42.3,12.3,926,19348,0.00,2.00,0.00,0.000,6,0.000,0.028,3094,1455,1654
$GC,19675,1.35,286.9,7.0,10.9,942,19679,0.00,2.15,0.00,0.000,4,0.000,0.053,3093,259,1653
$STATE,19706,end climb,SURFACE_DEPTH_REACHED
$STATE,19706,begin surface coast
$FINISH,-0.0,1.027234
$STATE,19729,end surface coast,CONTROL_FINISHED_OK
$STATE,19729,begin surface
$SM_CCo,19755,9.45,0.679,0,0,1609,300.00
$SM_GC,1.44,0.00,0.00,9.45,0.000,0.000,0.679,397,2453,1609,-11.05,-0.62,300.00
$IRIDIUM_FIX,6117.23,-847.52,030998,181846
$TT8_MAMPS,0.026845
$HUMID,1794
$INTERNAL_PRESSURE,8.08949
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,776.3,81.0
$24V_AH,23.1,21.416
$10V_AH,10.0,9.022
$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,25.850,180.075,385.550,9.450,0.000,31.323,29.584,140.142,6.750,0.000,0.000,31.579,1768.661,14880.608,528.511,2158.973,765.632,33.379,1661.519,0.000,2290.921,0.000,46.054,0.000
$DEVICE_MAMPS,136.526,70.564,1370.629,678.795,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,856.697,648.235,522.497,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47332,944
$CAP_FILE_SIZE,144144,0
$CFSIZE,260165632,256512000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,100609,050636,6142.270,-854.256,38,1.1,38,-9.2