version: 66.04
glider: 105
mission: 6
dive: 276
start: 8 14 109 16 50 57
data:
$ID,105
$MISSION,6
$DIVE,276
$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,550
$T_MISSION,580
$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,2
$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,-1632929.5
$T_RSLEEP,27
$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,2250
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,33
$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
$GPS1,164437,6126.616,-917.163,28,1.2,28,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-58.4
$GPS2,165037,6126.617,-917.284,11,1.4,16,-9.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.025,-0.238
$KALMAN_X,-160384.0,991.3,628.8,104309.0,-21.7
$KALMAN_Y,127308.9,-3266.1,-2239.5,-49887.2,54062.8
$MHEAD_RNG_PITCHd_Wd,91.6,46626,-11.0,-6.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.96,-146.6,0.0,0.0,0,85,0.00,0.00,-68.18,0.000,6,0.000,0.000,380,2242,3433
$GC,88,-0.96,-146.6,3.5,-6.1,3,110,11.75,2.58,0.00,0.000,4,0.133,0.051,2586,3647,3435
$GC,256,-0.96,-146.6,29.8,-8.4,10,260,0.00,2.42,0.00,0.000,6,0.000,0.028,2586,2223,3434
$GC,573,-0.96,-146.6,49.0,-5.7,25,577,0.00,2.40,0.00,0.000,4,0.000,0.042,2586,851,3435
$GC,601,-0.96,-146.6,51.2,-7.2,26,606,0.00,2.42,0.00,0.000,6,0.000,0.030,2586,2260,3435
$GC,917,-0.96,-146.6,73.5,-6.9,41,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2260,3436
$GC,1226,-0.96,-146.6,96.4,-8.2,56,1231,0.00,2.50,0.00,0.000,4,0.000,0.055,2586,3646,3437
$GC,1293,-0.96,-146.6,102.3,-9.3,59,1297,0.00,2.38,0.00,0.000,6,0.000,0.029,2586,2254,3437
$GC,1614,-0.96,-146.6,128.3,-7.6,75,1618,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3653,3436
$GC,1653,-0.96,-146.6,131.6,-8.6,77,1658,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2253,3437
$GC,1985,-0.96,-146.6,155.0,-7.0,93,1990,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3649,3436
$GC,2035,-0.96,-146.6,158.9,-7.8,95,2040,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2251,3436
$GC,2351,-0.96,-146.6,181.3,-7.4,110,2356,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3652,3436
$GC,2396,-0.96,-146.6,184.8,-7.9,112,2400,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2249,3436
$GC,2717,-0.96,-146.6,206.7,-6.5,128,2721,0.00,2.53,0.00,0.000,4,0.000,0.050,2586,3653,3436
$GC,2824,-0.96,-146.6,213.8,-6.2,133,2828,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2249,3436
$GC,3151,-0.96,-146.6,232.1,-5.5,149,3155,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3654,3435
$GC,3213,-0.96,-146.6,235.9,-6.4,152,3217,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3435
$GC,3541,-0.96,-146.6,254.8,-5.8,168,3545,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3637,3435
$GC,3636,-0.96,-146.6,260.9,-6.1,172,3640,0.00,2.38,0.00,0.000,6,0.000,0.031,2586,2251,3435
$GC,3957,-0.96,-146.6,279.3,-5.6,188,3961,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3650,3435
$GC,4021,-0.96,-146.6,283.2,-6.1,191,4025,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2252,3435
$GC,4347,-0.96,-146.6,303.7,-6.7,207,4351,0.00,2.55,0.00,0.000,4,0.000,0.052,2586,3648,3434
$GC,4418,-0.96,-146.6,309.0,-7.1,210,4423,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2249,3434
$GC,4741,-0.96,-146.6,330.3,-6.8,226,4745,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3650,3434
$GC,4829,-0.96,-146.6,337.0,-7.3,230,4833,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3434
$GC,5153,-0.96,-146.6,359.7,-6.7,246,5157,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3650,3434
$GC,5243,-0.96,-146.6,366.5,-7.4,250,5247,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3434
$GC,5566,-0.96,-146.6,387.6,-6.5,266,5571,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3648,3434
$GC,5617,-0.96,-146.6,391.7,-7.5,268,5621,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3433
$GC,5934,-0.96,-146.6,413.2,-6.8,283,5939,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3650,3433
$GC,6001,-0.96,-146.6,418.5,-7.7,286,6006,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2253,3433
$GC,6328,-0.96,-146.6,440.3,-6.6,302,6332,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3653,3433
$GC,6416,-0.96,-146.6,446.9,-7.9,306,6420,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2251,3433
$GC,6737,-0.96,-146.6,469.7,-7.3,322,6742,0.00,2.50,0.00,0.000,4,0.000,0.053,2586,3646,3433
$GC,6788,-0.96,-146.6,473.7,-8.0,324,6792,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2246,3433
$GC,7106,-0.96,-146.6,497.5,-7.8,339,7110,0.00,2.53,0.00,0.000,4,0.000,0.055,2586,3645,3433
$GC,7206,-0.96,-146.6,505.9,-8.3,343,7212,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2249,3433
$GC,7522,-0.96,-146.6,528.5,-7.1,359,7527,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3645,3432
$GC,7604,-0.96,-146.6,534.8,-7.2,362,7611,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2247,3432
$GC,7923,-0.96,-146.6,555.5,-6.8,378,7927,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3648,3432
$GC,8003,-0.96,-146.6,561.1,-6.5,381,8009,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3432
$STATE,8254,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8254,begin apogee
$GC,8262,-0.36,0.0,577.5,6.6,394,8391,0.62,0.00,126.05,1.143,6,0.066,0.000,2719,1463,2832
$STATE,8392,end apogee,CONTROL_FINISHED_OK
$STATE,8392,begin climb
$GC,8395,0.96,146.6,581.3,0.0,400,8530,1.30,2.28,125.90,1.106,4,0.056,0.059,3002,264,2233
$GC,8558,1.02,189.1,577.0,4.8,407,8605,0.00,2.05,37.67,1.062,6,0.000,0.032,3002,1469,2060
$GC,8916,1.02,189.1,555.2,6.1,425,8920,0.00,2.20,0.00,0.000,4,0.000,0.058,3001,260,2054
$GC,9039,1.04,209.0,548.0,5.5,430,9064,0.10,2.05,17.85,1.025,6,0.054,0.033,3037,1456,1978
$GC,9381,1.04,209.0,525.7,6.7,447,9385,0.00,2.47,0.00,0.000,4,0.000,0.044,3037,2853,1975
$GC,9467,1.04,209.0,519.8,7.3,451,9471,0.00,2.47,0.00,0.000,6,0.000,0.038,3038,1445,1974
$GC,9793,1.04,209.0,495.6,7.7,467,9794,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1445,1974
$GC,10102,1.04,209.0,472.2,7.4,482,10107,0.00,2.53,0.00,0.000,4,0.000,0.041,3038,2851,1973
$GC,10163,1.04,209.0,467.5,7.5,484,10169,0.00,2.45,0.00,0.000,6,0.000,0.038,3037,1453,1973
$GC,10479,1.04,209.0,444.3,7.3,500,10480,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1453,1973
$GC,10788,1.04,209.0,420.7,7.6,515,10792,0.00,2.47,0.00,0.000,4,0.000,0.042,3038,2854,1973
$GC,10838,1.04,209.0,416.8,7.7,517,10843,0.00,2.47,0.00,0.000,6,0.000,0.038,3038,1457,1972
$GC,11159,1.04,209.0,392.3,7.6,533,11163,0.00,2.45,0.00,0.000,4,0.000,0.041,3038,2857,1973
$GC,11198,1.04,209.0,389.5,7.7,535,11202,0.00,2.45,0.00,0.000,6,0.000,0.038,3038,1453,1972
$GC,11526,1.04,209.0,363.3,8.2,551,11530,0.00,2.47,0.00,0.000,4,0.000,0.041,3038,2854,1972
$GC,11561,1.04,209.0,360.4,8.5,552,11567,0.00,2.45,0.00,0.000,6,0.000,0.038,3037,1453,1972
$GC,11877,1.04,209.0,333.9,8.4,568,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1453,1972
$GC,12185,1.04,209.0,308.6,8.0,583,12190,0.00,2.47,0.00,0.000,4,0.000,0.041,3038,2854,1973
$GC,12235,1.04,209.0,304.4,8.0,585,12240,0.00,2.45,0.00,0.000,6,0.000,0.038,3038,1453,1972
$GC,12554,1.04,209.0,278.1,8.5,600,12555,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1453,1972
$GC,12860,1.04,209.0,252.7,8.1,615,12864,0.00,2.47,0.00,0.000,4,0.000,0.042,3038,2854,1972
$GC,12921,1.04,209.0,247.9,8.0,618,12926,0.00,2.47,0.00,0.000,6,0.000,0.038,3037,1454,1971
$GC,13253,1.04,209.0,223.5,7.2,634,13257,0.00,2.47,0.00,0.000,4,0.000,0.042,3038,2856,1972
$GC,13293,1.04,209.0,220.6,7.4,636,13297,0.00,2.45,0.00,0.000,6,0.000,0.038,3038,1453,1971
$GC,13620,1.04,209.0,196.5,7.5,652,13621,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1453,1972
$GC,13929,1.04,209.0,173.3,7.4,667,13933,0.00,2.47,0.00,0.000,4,0.000,0.042,3038,2855,1971
$GC,13984,1.04,209.0,168.9,7.6,669,13990,0.00,2.45,0.00,0.000,6,0.000,0.038,3038,1450,1971
$GC,14300,1.04,209.0,145.4,7.3,685,14301,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1450,1972
$GC,14609,1.04,209.0,124.3,6.5,700,14614,0.00,2.50,0.00,0.000,4,0.000,0.043,3038,2857,1972
$GC,14677,1.04,209.0,119.8,6.7,703,14682,0.00,2.47,0.00,0.000,6,0.000,0.038,3037,1454,1971
$GC,15010,1.07,231.2,101.2,5.4,719,15031,0.00,0.00,19.20,0.820,6,0.000,0.000,3038,1454,1889
$GC,15340,1.07,231.2,79.8,6.7,735,15344,0.00,2.47,0.00,0.000,4,0.000,0.041,3038,2856,1886
$GC,15425,1.07,231.2,73.6,7.2,739,15429,0.00,2.45,0.00,0.000,6,0.000,0.038,3038,1453,1885
$GC,15751,1.07,231.2,48.6,7.3,755,15756,0.00,2.47,0.00,0.000,4,0.000,0.040,3038,2858,1885
$GC,15792,1.07,231.2,45.5,7.5,757,15797,0.00,2.47,0.00,0.000,6,0.000,0.037,3038,1457,1885
$GC,16124,1.07,231.2,20.7,6.8,773,16128,0.00,2.47,0.00,0.000,4,0.000,0.039,3038,2862,1885
$GC,16210,1.07,231.2,14.6,7.2,777,16214,0.00,2.45,0.00,0.000,6,0.000,0.036,3038,1453,1885
$STATE,16389,end climb,SURFACE_DEPTH_REACHED
$STATE,16389,begin surface coast
$FINISH,0.4,1.026646
$STATE,16432,end surface coast,CONTROL_FINISHED_OK
$STATE,16432,begin surface
$SM_CCo,16456,42.35,0.768,0,0,1609,300.00
$SM_GC,1.17,0.00,0.00,42.35,0.000,0.000,0.768,387,2260,1609,-11.10,0.28,300.00
$IRIDIUM_FIX,6103.81,-920.34,081198,121241
$TT8_MAMPS,0.027612
$HUMID,1922
$INTERNAL_PRESSURE,8.16762
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.7,110.6
$24V_AH,23.2,58.421
$10V_AH,10.1,35.333
$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,25.075,174.050,326.675,42.350,0.000,32.977,33.902,171.066,3.750,0.000,0.000,16.772,1501.882,12233.521,494.092,1875.958,758.023,0.000,1486.066,0.000,2009.080,0.000,26.729,0.000
$DEVICE_MAMPS,133.458,59.059,1142.830,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,626.430,595.736,550.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41093,788
$CAP_FILE_SIZE,125723,0
$CFSIZE,260165632,237932544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,140809,212707,6126.265,-913.226,31,1.4,31,-9.3