version: 66.04
glider: 105
mission: 6
dive: 31
start: 6 11 109 13 34 54
data:
$ID,105
$MISSION,6
$DIVE,31
$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,-1628632
$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,22
$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
$GPS1,132907,6152.503,-917.567,31,1.1,31,-9.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-57.2
$GPS2,133402,6152.520,-917.714,14,1.5,14,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.192,-0.143
$KALMAN_X,-165861.5,3494.5,1922.8,106385.1,-38139.0
$KALMAN_Y,86529.2,-2151.3,-1392.3,-31509.7,21294.2
$MHEAD_RNG_PITCHd_Wd,136.1,62525,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-67.18,0.000,6,0.000,0.000,395,2467,3431
$GC,87,-1.17,-146.6,3.0,-5.6,3,108,11.40,2.45,0.00,0.000,4,0.132,0.034,2537,1054,3433
$GC,292,-1.17,-146.6,34.0,-11.1,12,298,0.00,2.47,0.00,0.000,6,0.000,0.032,2537,2464,3432
$GC,619,-1.17,-146.6,70.9,-11.1,28,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2465,3433
$GC,930,-1.17,-146.6,106.6,-10.9,43,934,0.00,2.45,0.00,0.000,4,0.000,0.035,2537,1052,3433
$GC,1014,-1.17,-146.6,115.0,-8.9,47,1018,0.00,2.45,0.00,0.000,6,0.000,0.031,2537,2473,3433
$GC,1340,-1.17,-146.6,147.8,-11.6,63,1345,0.00,2.47,0.00,0.000,4,0.000,0.035,2537,1049,3433
$GC,1384,-1.17,-146.6,152.9,-10.9,65,1388,0.00,2.47,0.00,0.000,6,0.000,0.032,2537,2478,3434
$GC,1706,-1.17,-146.6,183.0,-8.6,81,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2479,3434
$GC,2016,-1.17,-146.6,211.1,-9.3,96,2020,0.00,2.47,0.00,0.000,4,0.000,0.038,2537,1058,3434
$GC,2048,-1.17,-146.6,214.4,-9.2,97,2055,0.00,2.47,0.00,0.000,6,0.000,0.035,2537,2480,3435
$GC,2364,-1.17,-146.6,242.2,-8.7,113,2368,0.00,2.50,0.00,0.000,4,0.000,0.038,2537,1052,3435
$GC,2408,-1.17,-146.6,246.1,-9.0,115,2412,0.00,2.47,0.00,0.000,6,0.000,0.035,2537,2473,3435
$GC,2729,-1.17,-146.6,274.8,-10.3,131,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2473,3435
$GC,3038,-1.17,-146.6,314.8,-14.0,146,3043,0.00,2.50,0.00,0.000,4,0.000,0.039,2537,1061,3435
$GC,3121,-1.17,-146.6,326.8,-14.3,149,3127,0.00,2.47,0.00,0.000,6,0.000,0.037,2537,2477,3435
$GC,3437,-1.17,-146.6,373.4,-14.9,165,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2477,3435
$GC,3746,-1.17,-146.6,416.5,-12.7,180,3750,0.00,2.50,0.00,0.000,4,0.000,0.041,2537,1056,3435
$GC,3789,-1.17,-146.6,421.8,-12.2,182,3794,0.00,2.50,0.00,0.000,6,0.000,0.037,2537,2473,3435
$GC,4117,-1.17,-146.6,450.1,-6.5,198,4122,0.00,2.50,0.00,0.000,4,0.000,0.041,2537,1067,3435
$GC,4169,-1.17,-146.6,453.2,-5.6,200,4173,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2480,3435
$GC,4493,-1.17,-146.6,475.7,-8.4,216,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2481,3435
$GC,4800,-1.17,-146.6,499.0,-8.4,231,4804,0.00,2.50,0.00,0.000,4,0.000,0.044,2537,1061,3435
$GC,4977,-1.17,-146.6,514.1,-9.8,239,4982,0.00,2.50,0.00,0.000,6,0.000,0.043,2537,2472,3435
$GC,5306,-1.17,-146.6,544.7,-7.5,255,5310,0.00,2.53,0.00,0.000,4,0.000,0.048,2537,1057,3433
$GC,5339,-1.17,-146.6,547.8,-7.3,256,5345,0.00,2.53,0.00,0.000,6,0.000,0.043,2537,2479,3433
$GC,5654,-1.17,-146.6,573.5,-10.3,272,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2479,3432
$GC,5964,-1.17,-146.6,589.1,-3.9,287,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2480,3430
$GC,6273,-1.17,-146.6,612.3,-8.2,302,6277,0.00,2.55,0.00,0.000,4,0.000,0.048,2537,1055,3428
$GC,6322,-1.17,-146.6,615.9,-9.1,304,6326,0.00,2.55,0.00,0.000,6,0.000,0.044,2537,2482,3428
$GC,6641,-1.17,-146.6,629.8,1.9,319,6645,0.00,2.55,0.00,0.000,4,0.000,0.048,2537,1057,3427
$GC,6797,-1.17,-146.6,634.9,-8.0,326,6801,0.00,2.53,0.00,0.000,6,0.000,0.044,2537,2476,3426
$STATE,6868,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6869,begin apogee
$GC,6876,-0.36,0.0,638.7,5.3,330,7011,0.88,0.00,126.45,1.230,6,0.072,0.000,2721,1455,2832
$STATE,7012,end apogee,CONTROL_FINISHED_OK
$STATE,7012,begin climb
$GC,7014,1.17,146.6,642.0,0.0,337,7153,1.50,2.30,129.23,1.174,4,0.049,0.070,3053,272,2233
$GC,7244,1.18,149.6,644.6,7.4,347,7250,0.00,2.08,0.00,0.000,6,0.000,0.037,3052,1474,2226
$GC,7562,1.18,149.6,623.7,8.2,363,7566,0.00,2.25,0.00,0.000,4,0.000,0.065,3052,264,2221
$GC,7904,1.19,159.2,584.9,7.2,378,7918,0.00,2.05,9.82,1.047,6,0.000,0.036,3053,1456,2183
$GC,8247,1.19,159.2,562.5,8.4,395,8251,0.00,2.50,0.00,0.000,4,0.000,0.050,3052,2848,2181
$GC,8302,1.22,179.5,559.9,6.8,397,8329,0.00,2.50,19.38,1.136,6,0.000,0.042,3052,1447,2099
$GC,8640,1.22,179.5,534.2,10.3,414,8644,0.00,2.17,0.00,0.000,4,0.000,0.065,3053,264,2095
$GC,8656,1.22,179.5,531.4,13.1,414,8662,0.00,2.03,0.00,0.000,6,0.000,0.034,3053,1458,2095
$GC,8974,1.22,179.5,504.2,9.1,430,8978,0.00,2.22,0.00,0.000,4,0.000,0.066,3052,258,2094
$GC,9091,1.22,179.5,492.5,10.8,435,9095,0.00,2.05,0.00,0.000,6,0.000,0.033,3053,1457,2093
$GC,9419,1.22,179.5,461.7,8.6,451,9423,0.00,2.47,0.00,0.000,4,0.000,0.048,3053,2842,2092
$GC,9514,1.22,181.8,453.8,7.4,455,9518,0.00,2.45,0.00,0.000,6,0.000,0.041,3053,1451,2092
$GC,9832,1.26,219.1,432.5,6.2,470,9871,0.10,0.00,35.92,1.107,6,0.054,0.000,3091,1451,1938
$GC,10182,1.26,219.1,398.6,10.1,487,10186,0.00,2.47,0.00,0.000,4,0.000,0.041,3091,2843,1932
$GC,10221,1.26,219.1,394.7,9.6,489,10226,0.00,2.45,0.00,0.000,6,0.000,0.037,3091,1451,1932
$GC,10548,1.26,219.1,362.7,10.8,505,10549,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1451,1931
$GC,10860,1.26,219.1,326.9,12.3,520,10861,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1451,1931
$GC,11166,1.26,219.1,290.7,11.2,535,11168,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1451,1931
$GC,11476,1.26,219.1,259.0,9.5,550,11477,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1451,1931
$GC,11785,1.26,219.1,230.5,9.1,565,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1451,1932
$GC,12094,1.26,219.1,201.5,9.7,580,12098,0.00,2.12,0.00,0.000,4,0.000,0.054,3091,263,1932
$GC,12178,1.26,219.1,192.3,11.5,583,12184,0.00,1.98,0.00,0.000,6,0.000,0.027,3091,1467,1932
$GC,12496,1.26,219.1,163.0,8.2,599,12497,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1469,1932
$GC,12803,1.26,219.1,136.3,9.0,614,12804,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1469,1933
$GC,13112,1.26,219.1,107.0,9.3,629,13113,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1469,1933
$GC,13423,1.26,219.1,73.6,11.2,644,13424,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1469,1933
$GC,13731,1.26,219.1,42.8,10.0,659,13734,0.00,2.15,0.00,0.000,4,0.000,0.051,3092,265,1933
$GC,13843,1.26,219.1,30.2,10.9,664,13847,0.00,1.98,0.00,0.000,6,0.000,0.029,3092,1457,1934
$STATE,14132,end climb,SURFACE_DEPTH_REACHED
$STATE,14132,begin surface coast
$FINISH,0.0,1.013608
$STATE,14155,end surface coast,CONTROL_FINISHED_OK
$STATE,14155,begin surface
$SM_CCo,14179,52.28,0.749,0,0,1609,300.00
$SM_GC,0.48,0.00,0.00,52.28,0.000,0.000,0.749,397,2462,1609,-11.05,-0.40,300.00
$IRIDIUM_FIX,6121.73,-912.78,050998,090900
$TT8_MAMPS,0.027612
$HUMID,1827
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.7,71.4
$24V_AH,23.2,22.689
$10V_AH,10.1,9.661
$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,25.650,103.725,320.800,52.275,0.000,27.773,27.576,133.932,4.750,0.000,0.000,14.621,1279.538,10625.390,467.371,1557.195,602.872,33.360,1283.631,0.000,1671.021,0.000,33.079,0.000
$DEVICE_MAMPS,131.924,69.797,1230.268,749.359,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,618.527,465.415,432.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34754,679
$CAP_FILE_SIZE,101075,0
$CFSIZE,260165632,256094208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,110609,173345,6152.175,-924.843,40,2.8,59,-9.6