version: 66.04
glider: 105
mission: 6
dive: 293
start: 8 17 109 14 29 21
data:
$ID,105
$MISSION,6
$DIVE,293
$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,-1633302.5
$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,19
$R_STBD_OVSHOOT,30
$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
$GPS1,142237,6131.833,-830.641,27,1.4,27,-9.0
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-56.6
$GPS2,142901,6131.930,-830.799,13,1.4,13,-9.0
$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,133.9,6248,-13.7,-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,-1.11,-102.2,0.0,0.0,0,100,0.00,0.00,-83.55,0.000,6,0.000,0.000,388,2243,3250
$GC,104,-1.16,-146.6,3.4,-4.2,4,126,11.52,2.50,-3.15,0.000,4,0.134,0.053,2538,834,3433
$GC,264,-1.16,-146.6,27.5,-11.5,11,268,0.00,2.47,0.00,0.000,6,0.000,0.035,2538,2244,3433
$GC,590,-1.16,-146.6,63.9,-11.3,27,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2244,3434
$GC,899,-1.16,-146.6,87.2,-6.5,42,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2244,3434
$GC,1210,-1.16,-146.6,113.8,-9.9,57,1214,0.00,2.58,0.00,0.000,4,0.000,0.058,2538,3656,3435
$GC,1274,-1.16,-146.6,120.2,-10.4,60,1278,0.00,2.45,0.00,0.000,6,0.000,0.030,2538,2226,3434
$GC,1602,-1.16,-146.6,149.8,-9.4,76,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2226,3435
$GC,1910,-1.16,-146.6,180.7,-9.9,91,1915,0.00,2.62,0.00,0.000,4,0.000,0.053,2538,3653,3434
$GC,2138,-1.16,-146.6,205.6,-11.0,101,2144,0.00,2.42,0.00,0.000,6,0.000,0.031,2538,2254,3434
$GC,2465,-1.16,-146.6,235.4,-8.5,117,2469,0.00,2.55,0.00,0.000,4,0.000,0.053,2538,3660,3434
$GC,2565,-1.16,-146.6,244.4,-9.3,121,2572,0.00,2.40,0.00,0.000,6,0.000,0.031,2538,2251,3435
$GC,2880,-1.16,-146.6,269.8,-7.8,137,2885,0.00,2.55,0.00,0.000,4,0.000,0.052,2538,3657,3434
$GC,2981,-1.16,-146.6,279.0,-8.7,141,2988,0.00,2.40,0.00,0.000,6,0.000,0.031,2538,2248,3434
$GC,3297,-1.16,-146.6,306.7,-8.9,157,3302,0.00,2.55,0.00,0.000,4,0.000,0.053,2538,3657,3434
$GC,3488,-1.16,-146.6,323.9,-9.8,165,3494,0.00,2.42,0.00,0.000,6,0.000,0.031,2538,2248,3434
$GC,3805,-1.16,-146.6,349.1,-7.6,181,3810,0.00,2.55,0.00,0.000,4,0.000,0.053,2538,3658,3433
$GC,3894,-1.16,-146.6,355.8,-7.1,185,3899,0.00,2.42,0.00,0.000,6,0.000,0.031,2538,2248,3433
$GC,4218,-1.16,-146.6,381.4,-8.1,201,4222,0.00,2.55,0.00,0.000,4,0.000,0.054,2538,3654,3433
$GC,4325,-1.16,-146.6,391.1,-8.6,206,4329,0.00,2.40,0.00,0.000,6,0.000,0.031,2538,2248,3433
$GC,4651,-1.16,-146.6,418.5,-8.3,222,4655,0.00,2.55,0.00,0.000,4,0.000,0.053,2538,3663,3433
$GC,4762,-1.16,-146.6,428.2,-9.0,227,4767,0.00,2.45,0.00,0.000,6,0.000,0.031,2538,2253,3432
$GC,5088,-1.16,-146.6,456.9,-8.8,243,5092,0.00,2.53,0.00,0.000,4,0.000,0.053,2538,3654,3433
$GC,5227,-1.16,-146.6,469.9,-9.1,249,5231,0.00,2.42,0.00,0.000,6,0.000,0.031,2538,2238,3432
$GC,5545,-1.16,-146.6,494.0,-7.5,264,5549,0.00,2.58,0.00,0.000,4,0.000,0.054,2538,3654,3432
$GC,5620,-1.16,-146.6,500.0,-7.9,267,5625,0.00,2.40,0.00,0.000,6,0.000,0.031,2538,2253,3432
$GC,5936,-1.16,-146.6,521.5,-6.9,282,5940,0.00,2.55,0.00,0.000,4,0.000,0.053,2538,3660,3432
$GC,6095,-1.16,-146.6,534.1,-9.3,289,6100,0.00,2.42,0.00,0.000,6,0.000,0.032,2538,2250,3431
$GC,6417,-1.16,-146.6,560.1,-8.2,305,6421,0.00,2.55,0.00,0.000,4,0.000,0.053,2538,3660,3432
$GC,6550,-1.16,-146.6,573.5,-11.0,311,6555,0.00,2.42,0.00,0.000,6,0.000,0.032,2538,2252,3431
$GC,6872,-1.16,-146.6,607.2,-9.7,327,6876,0.00,2.55,0.00,0.000,4,0.000,0.053,2538,3660,3431
$GC,7047,-1.16,-146.6,627.1,-13.3,335,7051,0.00,2.42,0.00,0.000,6,0.000,0.032,2538,2250,3431
$GC,7375,-1.16,-146.6,656.4,-8.1,351,7379,0.00,2.45,0.00,0.000,4,0.000,0.042,2538,846,3431
$GC,7424,-1.16,-146.6,660.4,-6.6,353,7429,0.00,2.45,0.00,0.000,6,0.000,0.036,2538,2255,3431
$GC,7740,-1.16,-146.6,679.9,-4.1,368,7745,0.00,2.53,0.00,0.000,4,0.000,0.060,2538,3648,3431
$GC,8042,-1.16,-146.6,696.6,-7.1,381,8049,0.00,2.42,0.00,0.000,6,0.000,0.034,2538,2251,3431
$GC,8359,-1.16,-146.6,713.0,-4.6,397,8363,0.00,2.55,0.00,0.000,4,0.000,0.059,2538,3648,3429
$GC,8477,-1.16,-146.6,718.7,-5.1,402,8481,0.00,2.45,0.00,0.000,6,0.000,0.035,2538,2236,3429
$GC,8793,-1.16,-146.6,735.4,-4.6,417,8797,0.00,2.60,0.00,0.000,4,0.000,0.064,2538,3648,3428
$GC,8893,-1.16,-146.6,742.9,-10.4,421,8900,0.00,2.42,0.00,0.000,6,0.000,0.037,2538,2255,3427
$GC,9210,-1.16,-146.6,754.4,-4.6,437,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2252,3426
$GC,9518,-1.16,-146.6,786.2,-11.4,452,9522,0.00,2.60,0.00,0.000,4,0.000,0.067,2538,3653,3424
$GC,9680,-1.16,-146.6,808.3,-11.7,459,9685,0.00,2.47,0.00,0.000,6,0.000,0.038,2538,2257,3423
$STATE,9939,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9939,begin apogee
$GC,9947,-0.36,0.0,837.7,13.7,472,10080,0.88,0.00,129.15,1.401,6,0.072,0.000,2722,1464,2832
$STATE,10081,end apogee,CONTROL_FINISHED_OK
$STATE,10081,begin climb
$GC,10084,1.16,146.6,842.9,0.0,479,10223,1.50,2.60,131.48,1.344,4,0.046,0.053,3057,2858,2233
$GC,10377,1.16,146.6,830.2,9.0,492,10382,0.00,2.55,0.00,0.000,6,0.000,0.044,3057,1442,2224
$GC,10692,1.16,146.6,805.1,8.1,507,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1442,2220
$GC,11002,1.16,146.6,769.8,7.9,522,11007,0.00,2.58,0.00,0.000,4,0.000,0.052,3057,2853,2219
$GC,11029,1.24,212.1,768.4,3.4,523,11093,0.00,2.50,58.15,1.335,6,0.000,0.044,3057,1449,1967
$GC,11414,1.24,212.1,728.4,18.8,542,11419,0.00,2.55,0.00,0.000,4,0.000,0.052,3057,2856,1958
$GC,11486,1.24,212.1,716.8,13.3,545,11491,0.00,2.55,0.00,0.000,6,0.000,0.046,3057,1458,1956
$GC,11807,1.24,212.1,683.3,10.4,561,11809,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1458,1955
$GC,12116,1.24,212.1,651.4,8.4,576,12118,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1459,1954
$GC,12428,1.24,212.1,632.0,6.6,591,12432,0.00,2.22,0.00,0.000,4,0.000,0.069,3057,260,1953
$GC,12478,1.24,212.1,628.2,6.4,593,12482,0.00,2.08,0.00,0.000,6,0.000,0.036,3057,1458,1953
$GC,12808,1.25,221.9,610.4,5.6,609,12822,0.00,2.28,7.65,1.107,4,0.000,0.064,3057,262,1927
$GC,12912,1.25,221.9,603.6,6.1,613,12919,0.00,2.08,0.00,0.000,6,0.000,0.036,3057,1453,1926
$GC,13228,1.25,221.9,582.1,7.5,629,13231,0.00,2.20,0.00,0.000,4,0.000,0.064,3057,258,1925
$GC,13318,1.25,221.9,575.3,7.6,633,13322,0.00,2.08,0.00,0.000,6,0.000,0.035,3057,1458,1925
$GC,13653,1.25,221.9,550.3,7.4,649,13657,0.00,2.50,0.00,0.000,4,0.000,0.048,3057,2860,1925
$GC,13738,1.25,221.9,543.3,8.4,653,13743,0.00,2.47,0.00,0.000,6,0.000,0.040,3057,1451,1924
$GC,14065,1.25,221.9,513.7,10.3,669,14067,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1450,1924
$GC,14377,1.25,221.9,488.0,8.1,684,14378,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1451,1924
$GC,14683,1.25,221.9,457.1,11.0,699,14688,0.00,2.50,0.00,0.000,4,0.000,0.043,3057,2857,1925
$GC,14739,1.25,221.9,450.7,10.7,701,14745,0.00,2.47,0.00,0.000,6,0.000,0.038,3057,1446,1925
$GC,15057,1.25,221.9,417.8,10.0,717,15058,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1446,1925
$GC,15364,1.25,221.9,389.3,8.9,732,15365,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1446,1926
$GC,15673,1.25,221.9,361.4,8.9,747,15677,0.00,2.50,0.00,0.000,4,0.000,0.041,3057,2857,1926
$GC,15723,1.25,221.9,356.6,9.6,749,15727,0.00,2.45,0.00,0.000,6,0.000,0.037,3057,1455,1926
$GC,16040,1.25,221.9,324.4,10.6,764,16042,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1455,1927
$GC,16347,1.25,221.9,290.7,10.8,779,16351,0.00,2.50,0.00,0.000,4,0.000,0.042,3057,2862,1927
$GC,16403,1.25,221.9,284.9,9.9,781,16409,0.00,2.47,0.00,0.000,6,0.000,0.037,3057,1447,1927
$GC,16721,1.25,221.9,256.2,7.8,797,16725,0.00,2.50,0.00,0.000,4,0.000,0.041,3057,2858,1928
$GC,16761,1.25,221.9,253.1,7.4,799,16765,0.00,2.45,0.00,0.000,6,0.000,0.037,3057,1455,1928
$GC,17087,1.25,221.9,227.8,8.1,815,17088,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1455,1928
$GC,17399,1.25,221.9,204.7,7.7,830,17400,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1455,1928
$GC,17705,1.25,221.9,180.0,8.3,845,17709,0.00,2.45,0.00,0.000,4,0.000,0.040,3057,2855,1928
$GC,17739,1.25,221.9,177.5,7.0,846,17745,0.00,2.45,0.00,0.000,6,0.000,0.037,3057,1450,1928
$GC,18054,1.28,245.0,157.3,5.1,862,18084,0.10,2.58,22.33,0.865,4,0.048,0.041,3102,2854,1832
$GC,18143,1.28,245.0,151.9,6.1,866,18148,0.12,2.45,0.00,0.000,6,0.084,0.037,3077,1456,1831
$GC,18470,1.28,245.0,130.3,7.7,882,18474,0.00,2.15,0.00,0.000,4,0.000,0.057,3077,261,1830
$GC,18548,1.28,245.0,123.9,8.3,885,18553,0.00,2.03,0.00,0.000,6,0.000,0.031,3077,1456,1829
$GC,18870,1.28,245.0,92.5,11.6,901,18871,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1456,1829
$GC,19179,1.30,258.7,62.4,5.5,916,19201,0.00,2.53,12.77,0.770,4,0.000,0.043,3077,2842,1776
$GC,19274,1.35,303.2,59.7,4.3,920,19319,0.00,2.45,39.85,0.804,6,0.000,0.037,3077,1444,1595
$GC,19645,1.35,303.2,13.9,11.7,938,19648,0.00,2.12,0.00,0.000,4,0.000,0.054,3077,258,1589
$GC,19716,1.35,303.2,5.3,11.8,941,19720,0.00,2.03,0.00,0.000,6,0.000,0.031,3077,1458,1589
$STATE,19752,end climb,SURFACE_DEPTH_REACHED
$STATE,19752,begin surface coast
$FINISH,0.3,1.013840
$STATE,19775,end surface coast,CONTROL_FINISHED_OK
$STATE,19775,begin surface
$SM_CCo,19860,0.00,0.000,0,0,1586,305.64
$SM_GC,1.11,11.62,0.00,0.00,0.023,0.000,0.000,386,2247,1586,-10.98,-0.06,305.64
$IRIDIUM_FIX,6103.81,-835.19,111198,090930
$TT8_MAMPS,0.026845
$HUMID,1910
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,776.6,69.9
$24V_AH,23.0,60.705
$10V_AH,10.1,36.630
$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,25.750,173.800,401.375,0.000,0.000,22.710,28.593,201.806,7.000,0.000,0.000,14.015,1805.943,14676.414,517.745,2371.343,869.353,0.000,1745.735,0.000,2500.693,0.000,48.950,0.000
$DEVICE_MAMPS,134.225,69.030,1400.542,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,803.554,673.517,542.691,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47333,944
$CAP_FILE_SIZE,149097,0
$CFSIZE,260165632,236994560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,170809,200137,6136.400,-832.501,39,1.0,39,-9.0