version: 66.04
glider: 16
mission: 13
dive: 57
start: 6 14 109 9 58 14
data:
$ID,16
$MISSION,13
$DIVE,57
$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,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$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,0
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,270
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-2108619
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3321
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,196
$ROLL_MAX,3869
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.343216
$PRESSURE_SLOPE,0.0001162269
$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,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$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,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199998
$SEABIRD_T_H,0.000619
$SEABIRD_T_I,2.055e-05
$SEABIRD_T_J,1.86e-06
$SEABIRD_C_G,-9.8699999
$SEABIRD_C_H,1.1
$SEABIRD_C_I,-0.000612
$SEABIRD_C_J,0.000141
$GPS1,095313,6159.289,-917.039,25,1.3,32,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.3
$GPS2,095756,6159.274,-917.069,14,1.3,14,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6159.274,-940.063
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.081,-0.225
$KALMAN_X,-87037.4,1552.8,520.3,38953.3,-1645.0
$KALMAN_Y,197075.5,-3550.9,-2288.7,-114382.5,45486.2
$MHEAD_RNG_PITCHd_Wd,279.5,20000,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-59.45,0.000,6,0.000,0.000,74,2607,3415
$GC,80,-1.03,-146.6,5.9,-10.1,3,102,11.98,2.38,0.00,0.000,4,0.187,0.064,2131,3858,3416
$GC,354,-1.03,-146.6,52.7,-12.5,15,358,0.00,2.17,0.00,0.000,6,0.000,0.028,2131,2583,3417
$GC,676,-1.03,-146.6,87.2,-10.7,31,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2582,3417
$GC,985,-1.03,-146.6,117.2,-8.4,46,989,0.00,2.35,0.00,0.000,4,0.000,0.064,2131,3856,3417
$GC,1047,-1.03,-146.6,122.3,-8.6,49,1051,0.00,2.15,0.00,0.000,6,0.000,0.029,2131,2588,3417
$GC,1380,-1.03,-146.6,147.9,-7.5,65,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2587,3417
$GC,1689,-1.03,-146.6,173.6,-8.9,80,1693,0.00,2.42,0.00,0.000,4,0.000,0.042,2131,1211,3417
$GC,1728,-1.07,-146.6,177.2,-8.9,81,1735,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3417
$GC,2044,-1.07,-146.6,205.7,-9.2,97,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3417
$GC,2353,-1.07,-146.6,234.4,-9.4,112,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3417
$GC,2662,-1.07,-146.6,264.4,-9.8,127,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3417
$GC,2972,-1.07,-146.6,294.1,-9.6,142,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3417
$GC,3281,-1.07,-146.6,322.1,-8.9,157,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3417
$GC,3591,-1.07,-146.6,350.6,-9.9,172,3595,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1210,3417
$GC,3631,-1.12,-146.6,354.6,-9.6,174,3635,0.00,2.45,0.00,0.000,6,0.000,0.039,2131,2603,3416
$GC,3957,-1.12,-146.6,386.0,-10.0,190,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3416
$GC,4267,-1.12,-146.6,419.8,-11.4,205,4271,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1202,3416
$GC,4317,-1.17,-146.6,425.8,-11.4,207,4322,0.12,2.47,0.00,0.000,6,0.048,0.039,2092,2608,3416
$GC,4633,-1.08,-146.6,469.2,-13.3,222,4635,0.15,0.00,0.00,0.000,6,0.100,0.000,2121,2608,3416
$GC,4942,-1.08,-146.6,497.8,-7.3,237,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2608,3416
$GC,5251,-1.08,-146.6,526.7,-10.6,252,5255,0.00,2.47,0.00,0.000,4,0.000,0.043,2121,1209,3416
$STATE,5281,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5281,begin apogee
$GC,5290,-0.31,0.0,530.1,10.2,253,5419,0.80,0.00,125.68,0.895,6,0.100,0.000,2285,2303,2817
$STATE,5420,end apogee,CONTROL_FINISHED_OK
$STATE,5420,begin climb
$GC,5423,1.03,146.6,536.4,0.0,260,5560,1.40,2.58,127.70,0.883,4,0.071,0.046,2581,909,2218
$GC,5586,0.95,180.4,534.5,6.3,268,5621,0.00,2.50,30.15,0.845,6,0.000,0.037,2581,2307,2081
$GC,5935,0.97,239.4,511.2,5.5,284,5992,0.00,0.00,53.00,0.854,6,0.000,0.000,2581,2306,1840
$GC,6302,0.97,239.4,486.4,7.6,302,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2306,1834
$GC,6611,0.97,239.4,461.4,7.9,317,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2307,1833
$GC,6920,0.97,239.4,434.8,8.8,332,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2306,1833
$GC,7229,0.97,239.4,407.7,8.6,347,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2307,1832
$GC,7539,0.97,239.4,380.7,8.8,362,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2306,1833
$GC,7848,0.97,239.4,352.1,9.5,377,7852,0.00,2.60,0.00,0.000,4,0.000,0.064,2582,3708,1832
$GC,7892,0.97,239.4,347.5,10.6,379,7896,0.00,2.42,0.00,0.000,6,0.000,0.031,2581,2311,1833
$GC,8218,0.97,239.4,315.1,10.1,395,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2309,1832
$GC,8528,0.97,239.4,283.3,10.1,410,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2310,1832
$GC,8837,0.97,239.4,252.5,9.8,425,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2310,1832
$GC,9146,0.97,239.4,223.8,9.3,440,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2310,1832
$GC,9455,0.97,239.4,197.6,8.2,455,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2310,1832
$GC,9765,0.97,239.4,171.9,8.3,470,9766,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2310,1832
$GC,10075,0.97,239.4,146.2,8.3,485,10076,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2310,1832
$GC,10384,0.97,239.4,121.9,7.6,500,10385,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2310,1832
$GC,10693,0.97,239.4,98.9,7.8,515,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2310,1832
$GC,11002,0.97,239.4,71.6,9.1,530,11004,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2310,1832
$GC,11312,1.03,289.8,49.1,5.8,545,11357,0.00,0.00,43.05,0.582,6,0.000,0.000,2581,2309,1635
$GC,11663,1.11,289.8,19.2,9.8,562,11667,0.00,2.53,0.00,0.000,4,0.000,0.047,2581,902,1628
$GC,11727,1.20,289.8,12.8,9.7,565,11732,0.17,2.45,0.00,0.000,6,0.047,0.035,2633,2302,1626
$STATE,11824,end climb,SURFACE_DEPTH_REACHED
$STATE,11824,begin surface coast
$FINISH,0.7,1.024508
$STATE,11846,end surface coast,CONTROL_FINISHED_OK
$STATE,11846,begin surface
$SM_CCo,11930,0.00,0.000,0,0,1623,292.89
$SM_GC,1.76,12.43,0.00,0.00,0.095,0.000,0.000,71,2601,1623,-10.47,0.03,292.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1708
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,476.3,63.7
$24V_AH,23.7,14.272
$10V_AH,10.1,6.133
$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,27.050,43.750,379.575,0.000,0.000,18.024,36.807,125.498,3.750,0.000,0.000,14.067,1007.023,9268.254,445.346,1145.982,351.661,0.000,1006.489,0.000,1122.528,0.000,26.943,0.000
$DEVICE_MAMPS,187.148,64.428,895.089,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.816,388.179,410.259,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28505,571
$CAP_FILE_SIZE,73838,0
$CFSIZE,260165632,255307776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140609,131814,6158.772,-919.734,26,1.8,34,-9.6