version: 66.04
glider: 105
mission: 6
dive: 284
start: 8 16 109 3 38 16
data:
$ID,105
$MISSION,6
$DIVE,284
$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,-1633135.4
$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,32
$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
$GPS1,033136,6125.647,-903.876,35,1.6,35,-9.2
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-53.5
$GPS2,033758,6125.659,-903.917,13,3.3,32,-9.2
$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,86.0,35318,-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,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,81,0.00,0.00,-63.78,0.000,6,0.000,0.000,384,2246,3431
$GC,84,-0.96,-146.6,3.8,-6.8,3,105,11.60,2.53,0.00,0.000,4,0.130,0.038,2587,835,3433
$GC,153,-0.96,-146.6,19.0,-7.6,6,157,0.00,2.47,0.00,0.000,6,0.000,0.034,2587,2256,3433
$GC,481,-0.96,-146.6,43.7,-7.1,22,485,0.00,2.53,0.00,0.000,4,0.000,0.056,2587,3650,3433
$GC,722,-0.96,-146.6,65.6,-10.5,33,727,0.00,2.45,0.00,0.000,6,0.000,0.030,2586,2228,3433
$GC,1054,-0.96,-146.6,98.5,-11.0,49,1058,0.00,2.58,0.00,0.000,4,0.000,0.051,2587,3654,3434
$GC,1140,-0.96,-146.6,109.0,-12.9,53,1144,0.00,2.38,0.00,0.000,6,0.000,0.030,2587,2253,3434
$GC,1469,-0.96,-146.6,142.3,-9.3,69,1473,0.00,2.45,0.00,0.000,4,0.000,0.042,2587,850,3435
$GC,1518,-0.96,-146.6,146.8,-9.0,71,1522,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2249,3435
$GC,1834,-0.96,-146.6,170.5,-6.9,86,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2249,3435
$GC,2146,-0.96,-146.6,190.6,-6.4,101,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2250,3434
$GC,2453,-0.96,-146.6,210.4,-6.5,116,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2249,3434
$GC,2762,-0.96,-146.6,231.7,-6.6,131,2766,0.00,2.55,0.00,0.000,4,0.000,0.059,2587,3650,3434
$GC,2846,-0.96,-146.6,237.4,-6.9,135,2851,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2247,3434
$GC,3173,-0.96,-146.6,257.7,-6.1,151,3177,0.00,2.53,0.00,0.000,4,0.000,0.052,2587,3650,3433
$GC,3262,-0.96,-146.6,264.2,-7.2,155,3266,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2247,3433
$GC,3584,-0.96,-146.6,287.6,-7.4,171,3588,0.00,2.53,0.00,0.000,4,0.000,0.051,2587,3650,3433
$GC,3668,-0.96,-146.6,293.7,-7.2,175,3673,0.00,2.42,0.00,0.000,6,0.000,0.031,2587,2250,3432
$GC,4001,-0.96,-146.6,315.5,-6.4,191,4005,0.00,2.55,0.00,0.000,4,0.000,0.051,2587,3650,3432
$GC,4056,-0.96,-146.6,319.2,-6.2,193,4060,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3432
$GC,4371,-0.96,-146.6,338.3,-6.0,208,4376,0.00,2.55,0.00,0.000,4,0.000,0.052,2587,3650,3432
$GC,4484,-0.96,-146.6,345.7,-6.8,213,4488,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2245,3432
$GC,4810,-0.96,-146.6,365.7,-6.1,229,4814,0.00,2.53,0.00,0.000,4,0.000,0.054,2587,3650,3432
$GC,4917,-0.96,-146.6,372.8,-6.5,234,4922,0.00,2.42,0.00,0.000,6,0.000,0.031,2587,2251,3432
$GC,5249,-0.96,-146.6,393.1,-5.8,250,5253,0.00,2.53,0.00,0.000,4,0.000,0.052,2587,3652,3432
$GC,5311,-0.96,-146.6,396.8,-7.1,253,5316,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2252,3431
$GC,5639,-0.96,-146.6,414.4,-0.9,269,5644,0.00,2.55,0.00,0.000,4,0.000,0.056,2587,3647,3431
$STATE,5955,end dive,NO_VERTICAL_VELOCITY
$STATE,5955,begin apogee
$GC,5966,-0.36,0.0,414.5,0.0,283,6092,0.57,0.00,123.10,1.038,6,0.054,0.000,2721,1460,2832
$STATE,6093,end apogee,CONTROL_FINISHED_OK
$STATE,6093,begin climb
$GC,6095,0.96,146.6,414.3,0.0,289,6228,1.30,2.20,123.70,0.999,4,0.051,0.059,3008,267,2233
$GC,6366,0.97,150.1,403.2,5.9,301,6369,0.00,2.03,0.00,0.000,6,0.000,0.032,3008,1463,2228
$GC,6688,0.99,170.1,387.2,5.5,317,6713,0.00,2.50,20.55,0.945,4,0.000,0.045,3008,2853,2137
$GC,6777,1.02,189.3,381.8,5.5,321,6800,0.00,2.47,17.83,0.930,6,0.000,0.038,3008,1447,2060
$GC,7111,1.05,219.8,363.2,5.2,337,7145,0.00,2.58,27.40,0.960,4,0.000,0.041,3008,2851,1934
$GC,7191,1.08,240.3,358.7,5.4,340,7220,0.12,2.47,19.15,0.924,6,0.042,0.038,3069,1447,1850
$GC,7530,1.08,240.3,330.0,8.9,357,7532,0.17,0.00,0.00,0.000,6,0.070,0.000,3032,1447,1846
$GC,7837,1.08,240.3,305.0,8.4,372,7841,0.00,2.50,0.00,0.000,4,0.000,0.042,3032,2857,1845
$GC,7876,1.08,240.3,301.9,8.1,374,7881,0.00,2.45,0.00,0.000,6,0.000,0.038,3032,1456,1845
$GC,8206,1.08,240.3,278.7,6.9,390,8210,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2851,1844
$GC,8245,1.08,240.3,275.6,7.3,392,8250,0.00,2.45,0.00,0.000,6,0.000,0.038,3032,1454,1844
$GC,8575,1.08,240.3,253.3,6.3,408,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1454,1844
$GC,8881,1.08,240.3,234.8,6.4,423,8885,0.00,2.47,0.00,0.000,4,0.000,0.041,3032,2853,1843
$GC,8930,1.08,240.3,231.6,6.2,425,8935,0.00,2.45,0.00,0.000,6,0.000,0.037,3032,1451,1843
$GC,9246,1.08,240.3,211.8,6.2,440,9251,0.00,2.45,0.00,0.000,4,0.000,0.041,3032,2851,1843
$GC,9279,1.08,240.3,209.5,6.6,441,9286,0.00,2.45,0.00,0.000,6,0.000,0.038,3032,1454,1843
$GC,9597,1.08,240.3,188.0,7.0,457,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1454,1843
$GC,9905,1.08,240.3,166.7,7.0,472,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1454,1843
$GC,10216,1.08,240.3,145.3,6.9,487,10221,0.00,2.45,0.00,0.000,4,0.000,0.041,3032,2851,1843
$GC,10266,1.08,240.3,141.5,7.1,489,10271,0.00,2.45,0.00,0.000,6,0.000,0.038,3032,1447,1843
$GC,10584,1.08,240.3,117.0,8.4,504,10588,0.00,2.12,0.00,0.000,4,0.000,0.058,3032,265,1843
$GC,10630,1.08,240.3,112.5,9.6,506,10634,0.00,2.00,0.00,0.000,6,0.000,0.030,3032,1467,1843
$GC,10962,1.08,240.3,83.4,8.4,522,10966,0.00,2.40,0.00,0.000,4,0.000,0.041,3032,2849,1843
$GC,11034,1.08,240.3,77.1,9.2,525,11038,0.00,2.42,0.00,0.000,6,0.000,0.036,3032,1453,1842
$GC,11351,1.08,240.3,47.8,8.0,540,11355,0.00,2.12,0.00,0.000,4,0.000,0.056,3032,264,1843
$GC,11379,1.08,240.3,45.4,8.0,541,11383,0.00,2.00,0.00,0.000,6,0.000,0.030,3032,1458,1843
$GC,11707,1.08,244.1,26.4,5.9,557,11708,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1458,1843
$GC,12017,1.12,270.3,10.2,5.3,572,12044,0.00,0.00,25.52,0.760,6,0.000,0.000,3032,1458,1729
$STATE,12115,end climb,SURFACE_DEPTH_REACHED
$STATE,12115,begin surface coast
$FINISH,0.1,1.026810
$STATE,12137,end surface coast,CONTROL_FINISHED_OK
$STATE,12137,begin surface
$SM_CCo,12161,20.33,0.735,0,0,1608,300.00
$SM_GC,0.58,0.00,0.00,20.33,0.000,0.000,0.735,386,2244,1608,-11.10,-0.17,300.00
$IRIDIUM_FIX,6103.81,-911.46,091198,232358
$TT8_MAMPS,0.027612
$HUMID,1918
$INTERNAL_PRESSURE,8.17739
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.4,75.0
$24V_AH,23.3,59.480
$10V_AH,10.1,35.956
$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,25.300,114.125,357.250,20.325,0.000,32.988,32.616,173.596,2.750,0.000,0.000,33.419,1118.666,8880.911,443.999,1464.777,657.457,0.000,1218.887,0.000,1546.019,0.000,21.499,0.000
$DEVICE_MAMPS,129.623,59.059,1037.751,734.786,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.617,435.590,436.051,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28475,578
$CAP_FILE_SIZE,94622,0
$CFSIZE,260165632,237539328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,160809,070256,6126.134,-859.252,38,2.0,57,-9.2