version: 66.04
glider: 105
mission: 6
dive: 27
start: 6 10 109 21 28 47
data:
$ID,105
$MISSION,6
$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,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,-1628569.2
$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,36
$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
$GPS1,211936,6143.707,-901.199,41,1.4,41,-9.3
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-57.5
$GPS2,212755,6143.819,-901.291,12,1.4,12,-9.3
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.203,-0.128
$KALMAN_X,-133974.8,1907.4,1239.0,91333.3,-19650.5
$KALMAN_Y,68619.2,225.9,-94.3,-33412.5,7141.0
$MHEAD_RNG_PITCHd_Wd,131.6,41031,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.17,-146.6,0.0,0.0,0,78,0.00,0.00,-59.75,0.000,6,0.000,0.000,396,2454,3432
$GC,81,-1.17,-146.6,4.6,-8.9,3,101,11.48,2.42,0.00,0.000,4,0.136,0.032,2537,1054,3432
$GC,341,-1.17,-146.6,38.1,-8.2,14,348,0.00,2.45,0.00,0.000,6,0.000,0.032,2537,2470,3433
$GC,657,-1.17,-146.6,66.1,-9.7,30,662,0.00,2.45,0.00,0.000,4,0.000,0.035,2537,1059,3433
$GC,724,-1.17,-146.6,72.4,-8.7,33,728,0.00,2.45,0.00,0.000,6,0.000,0.031,2537,2474,3433
$GC,1046,-1.17,-146.6,97.5,-8.0,49,1050,0.00,2.45,0.00,0.000,4,0.000,0.057,2537,3829,3433
$GC,1124,-1.17,-146.6,104.9,-9.9,52,1131,0.00,2.33,0.00,0.000,6,0.000,0.025,2537,2459,3433
$GC,1439,-1.17,-146.6,134.8,-10.2,68,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2457,3433
$GC,1751,-1.17,-146.6,166.8,-10.1,83,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2458,3433
$GC,2058,-1.17,-146.6,197.6,-10.3,98,2062,0.00,2.38,0.00,0.000,4,0.000,0.038,2537,1085,3433
$GC,2097,-1.17,-146.6,201.8,-11.0,100,2102,0.00,2.40,0.00,0.000,6,0.000,0.032,2537,2477,3434
$GC,2424,-1.17,-146.6,235.4,-10.3,116,2428,0.00,2.42,0.00,0.000,4,0.000,0.038,2537,1085,3433
$GC,2480,-1.17,-146.6,241.4,-10.6,118,2487,0.00,2.45,0.00,0.000,6,0.000,0.035,2536,2476,3433
$GC,2795,-1.17,-146.6,273.2,-10.2,134,2799,0.00,2.42,0.00,0.000,4,0.000,0.038,2537,1081,3433
$GC,2851,-1.17,-146.6,279.1,-10.7,136,2857,0.00,2.42,0.00,0.000,6,0.000,0.035,2537,2474,3433
$GC,3166,-1.17,-146.6,309.2,-9.3,152,3171,0.00,2.45,0.00,0.000,4,0.000,0.039,2537,1090,3433
$GC,3223,-1.17,-146.6,314.9,-10.1,154,3227,0.00,2.42,0.00,0.000,6,0.000,0.037,2536,2480,3433
$GC,3538,-1.17,-146.6,344.3,-9.1,169,3542,0.00,2.42,0.00,0.000,4,0.000,0.040,2537,1088,3433
$GC,3577,-1.17,-146.6,348.2,-9.6,171,3582,0.00,2.42,0.00,0.000,6,0.000,0.038,2536,2474,3433
$GC,3904,-1.17,-146.6,378.0,-9.2,187,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2474,3433
$GC,4213,-1.17,-146.6,408.3,-10.4,202,4217,0.00,2.42,0.00,0.000,4,0.000,0.041,2537,1089,3433
$GC,4246,-1.17,-146.6,412.1,-10.9,203,4252,0.00,2.42,0.00,0.000,6,0.000,0.038,2537,2477,3433
$GC,4563,-1.17,-146.6,446.7,-11.0,219,4567,0.00,2.47,0.00,0.000,4,0.000,0.063,2537,3834,3433
$GC,4603,-1.17,-146.6,451.3,-11.3,221,4607,0.00,2.28,0.00,0.000,6,0.000,0.028,2537,2483,3433
$GC,4929,-1.17,-146.6,480.5,-8.4,237,4933,0.00,2.45,0.00,0.000,4,0.000,0.040,2537,1073,3433
$GC,5036,-1.17,-146.6,489.7,-9.0,242,5041,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2478,3433
$GC,5363,-1.17,-146.6,515.7,-7.9,258,5367,0.00,2.45,0.00,0.000,4,0.000,0.061,2536,3833,3432
$GC,5495,-1.17,-146.6,527.2,-8.1,264,5499,0.00,2.30,0.00,0.000,6,0.000,0.029,2537,2478,3432
$GC,5823,-1.17,-146.6,554.3,-8.3,280,5827,0.00,2.45,0.00,0.000,4,0.000,0.043,2537,1077,3432
$GC,5867,-1.17,-146.6,558.4,-9.3,282,5871,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2483,3432
$GC,6188,-1.17,-146.6,585.4,-8.6,298,6192,0.00,2.45,0.00,0.000,4,0.000,0.063,2537,3831,3431
$GC,6353,-1.17,-146.6,598.2,-7.0,305,6357,0.00,2.30,0.00,0.000,6,0.000,0.031,2537,2480,3430
$GC,6669,-1.17,-146.6,626.9,-7.2,320,6673,0.00,2.50,0.00,0.000,4,0.000,0.065,2537,3831,3430
$GC,6718,-1.17,-146.6,632.3,-7.2,322,6722,0.00,2.33,0.00,0.000,6,0.000,0.033,2537,2479,3429
$GC,7036,-1.17,-146.6,641.7,-6.4,337,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2476,3428
$GC,7343,-1.17,-146.6,667.2,-6.8,352,7348,0.00,2.53,0.00,0.000,4,0.000,0.068,2537,3821,3426
$GC,7434,-1.17,-146.6,673.2,-2.3,356,7439,0.00,2.35,0.00,0.000,6,0.000,0.035,2537,2476,3425
$GC,7766,-1.17,-146.6,686.2,2.1,372,7770,0.00,2.50,0.00,0.000,4,0.000,0.051,2537,1071,3423
$GC,7815,-1.17,-146.6,687.9,-5.9,374,7820,0.00,2.50,0.00,0.000,6,0.000,0.044,2537,2474,3423
$GC,8133,-1.17,-146.6,710.6,-9.2,389,8138,0.00,2.53,0.00,0.000,4,0.000,0.051,2537,1067,3422
$GC,8223,-1.17,-146.6,717.3,-11.9,393,8227,0.00,2.50,0.00,0.000,6,0.000,0.045,2537,2476,3422
$STATE,8418,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8418,begin apogee
$GC,8425,-0.36,0.0,731.2,11.4,403,8561,0.88,0.00,126.90,1.294,6,0.074,0.000,2721,1466,2831
$STATE,8561,end apogee,CONTROL_FINISHED_OK
$STATE,8561,begin climb
$GC,8564,1.17,146.6,737.8,0.0,410,8704,1.50,2.62,130.88,1.236,4,0.044,0.054,3057,2858,2233
$GC,8713,1.17,146.6,731.1,12.1,417,8718,0.00,2.55,0.00,0.000,6,0.000,0.046,3057,1453,2231
$GC,9040,1.21,178.5,691.7,6.4,433,9075,0.00,2.30,28.12,1.187,4,0.000,0.068,3057,264,2103
$GC,9401,1.21,178.5,660.4,10.1,449,9405,0.00,2.08,0.00,0.000,6,0.000,0.036,3057,1472,2095
$GC,9730,1.30,245.1,636.2,5.2,465,9798,0.10,2.33,60.47,1.220,4,0.052,0.066,3094,267,1831
$GC,9827,1.43,350.5,630.7,3.9,469,9928,0.00,2.08,96.03,1.187,6,0.000,0.035,3094,1462,1402
$GC,10251,1.43,350.5,594.1,9.3,490,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1462,1389
$GC,10560,1.44,359.7,568.8,7.2,505,10569,0.00,0.00,6.72,0.970,6,0.000,0.000,3094,1462,1366
$GC,10872,1.44,359.7,535.0,11.9,520,10876,0.00,2.50,0.00,0.000,4,0.000,0.049,3094,2855,1362
$GC,10944,1.44,359.7,524.9,14.4,523,10949,0.00,2.53,0.00,0.000,6,0.000,0.042,3094,1458,1362
$GC,11264,1.44,359.7,479.2,13.9,539,11266,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1458,1361
$GC,11574,1.44,359.7,438.0,12.8,554,11577,0.00,2.17,0.00,0.000,4,0.000,0.060,3094,262,1360
$GC,11619,1.44,359.7,431.8,13.6,556,11624,0.00,2.05,0.00,0.000,6,0.000,0.030,3094,1467,1360
$GC,11951,1.44,359.7,386.4,15.3,572,11955,0.00,2.20,0.00,0.000,4,0.000,0.058,3094,261,1360
$GC,12001,1.44,359.7,379.3,13.3,574,12005,0.00,2.00,0.00,0.000,6,0.000,0.031,3094,1457,1360
$GC,12328,1.44,359.7,336.9,12.5,590,12329,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1458,1360
$GC,12637,1.44,359.7,299.5,11.8,605,12641,0.00,2.17,0.00,0.000,4,0.000,0.056,3094,257,1360
$GC,12682,1.44,359.7,294.0,12.3,607,12686,0.00,2.03,0.00,0.000,6,0.000,0.030,3094,1461,1360
$GC,13015,1.44,359.7,254.1,13.0,623,13016,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1463,1360
$GC,13324,1.44,359.7,213.4,12.2,638,13328,0.00,2.17,0.00,0.000,4,0.000,0.054,3094,258,1361
$GC,13394,1.44,359.7,205.0,12.6,641,13397,0.00,2.00,0.00,0.000,6,0.000,0.029,3094,1455,1361
$GC,13726,1.44,359.7,166.2,11.8,657,13727,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1456,1362
$GC,14037,1.44,359.7,127.8,12.8,672,14041,0.00,2.15,0.00,0.000,4,0.000,0.054,3094,261,1362
$GC,14087,1.44,359.7,120.4,14.2,674,14090,0.00,2.00,0.00,0.000,6,0.000,0.028,3094,1458,1362
$GC,14414,1.44,359.7,78.1,12.3,690,14417,0.00,2.15,0.00,0.000,4,0.000,0.053,3094,262,1362
$GC,14460,1.44,359.7,72.0,13.6,692,14465,0.00,2.00,0.00,0.000,6,0.000,0.029,3094,1452,1362
$GC,14792,1.44,359.7,31.0,12.1,708,14793,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1453,1362
$STATE,15057,end climb,SURFACE_DEPTH_REACHED
$STATE,15057,begin surface coast
$FINISH,-0.1,1.017013
$STATE,15079,end surface coast,CONTROL_FINISHED_OK
$STATE,15079,begin surface
$SM_CCo,15163,0.00,0.000,0,0,1359,361.08
$SM_GC,0.64,11.65,0.00,0.00,0.023,0.000,0.000,394,2452,1359,-10.99,-0.68,361.08
$IRIDIUM_FIX,6126.23,-655.63,040998,212135
$TT8_MAMPS,0.026845
$HUMID,1839
$INTERNAL_PRESSURE,8.06019
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.7,87.4
$24V_AH,23.2,22.035
$10V_AH,10.0,9.375
$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,25.600,135.075,449.125,0.000,0.000,48.834,113.446,158.275,5.750,0.000,0.000,13.000,1368.884,11264.885,497.139,1739.472,788.410,33.351,1446.051,0.000,1851.389,0.000,40.928,0.000
$DEVICE_MAMPS,135.759,68.263,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,645.684,494.595,440.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38023,722
$CAP_FILE_SIZE,114988,0
$CFSIZE,260165632,256282624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,110609,014237,6145.316,-905.131,30,1.7,30,-9.4