version: 66.02
glider: 16
mission: 6
dive: 31
start: 11 17 107 20 1 5
data:
$ID,16
$MISSION,6
$DIVE,31
$D_SURF,2
$D_FLARE,3
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-2075640.9
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2410
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,19
$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,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.08235
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,3
$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
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,195637,6124.262,-827.353,32,1.6,32,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-61.6
$GPS2,200014,6124.259,-827.319,11,1.6,15,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6129.000,-827.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.204,0.167
$KALMAN_X,-998.4,648.5,-308.1,34380.0,7955.2
$KALMAN_Y,62773.1,-1060.4,-526.7,-86982.2,2485.7
$MHEAD_RNG_PITCHd_Wd,318.1,8785,-18.1,-10.000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.29,-146.6,0.0,0.0,0,81,0.00,0.00,-62.45,0.000,2,0.000,0.000,73,2407,3264
$GC,83,-1.29,-146.6,4.4,-7.1,3,106,11.62,2.65,-3.15,0.000,4,0.176,0.078,2124,982,3417
$GC,233,-1.29,-146.6,32.6,-13.1,9,241,0.00,2.60,0.00,0.000,6,0.000,0.054,2124,2392,3418
$GC,549,-1.29,-146.6,78.2,-14.8,25,553,0.00,2.58,0.00,0.000,4,0.000,0.072,2124,3769,3419
$GC,587,-1.29,-146.6,83.6,-14.8,27,592,0.00,2.50,0.00,0.000,6,0.000,0.053,2124,2393,3419
$GC,913,-1.29,-146.6,129.4,-14.7,43,917,0.00,2.60,0.00,0.000,4,0.000,0.074,2124,3773,3419
$GC,974,-1.29,-146.6,138.8,-15.5,46,978,0.00,2.50,0.00,0.000,6,0.000,0.054,2124,2400,3419
$GC,1299,-1.29,-146.6,186.2,-14.7,62,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2400,3419
$GC,1608,-1.29,-146.6,231.5,-14.6,77,1612,0.00,2.58,0.00,0.000,4,0.000,0.075,2124,3772,3419
$GC,1646,-1.29,-146.6,237.3,-15.3,78,1653,0.00,2.53,0.00,0.000,6,0.000,0.055,2124,2405,3419
$GC,1961,-1.29,-146.6,279.8,-13.3,94,1965,0.00,2.58,0.00,0.000,4,0.000,0.076,2124,3769,3419
$GC,2000,-1.29,-146.6,285.3,-14.5,96,2005,0.00,2.50,0.00,0.000,6,0.000,0.056,2124,2398,3419
$GC,2325,-1.29,-146.6,328.3,-13.1,112,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2398,3419
$GC,2635,-1.29,-146.6,368.0,-12.8,127,2639,0.00,2.60,0.00,0.000,4,0.000,0.077,2124,3773,3419
$GC,2728,-1.29,-146.6,380.3,-12.4,131,2733,0.00,2.53,0.00,0.000,6,0.000,0.056,2124,2404,3419
$GC,3049,-1.29,-146.6,421.2,-13.2,147,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2404,3419
$GC,3358,-1.29,-146.6,461.9,-12.7,162,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2404,3419
$GC,3668,-1.29,-146.6,500.8,-12.3,177,3673,0.00,2.58,0.00,0.000,4,0.000,0.077,2124,3771,3419
$GC,3722,-1.29,-146.6,507.8,-12.6,179,3730,0.00,2.53,0.00,0.000,6,0.000,0.054,2124,2400,3419
$GC,4038,-1.29,-146.6,545.1,-12.6,195,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2400,3419
$GC,4348,-1.29,-146.6,575.2,-8.3,210,4352,0.00,2.58,0.00,0.000,4,0.000,0.077,2124,3768,3418
$GC,4413,-1.29,-146.6,582.9,-12.6,213,4418,0.00,2.53,0.00,0.000,6,0.000,0.057,2124,2401,3419
$STATE,4615,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4615,begin apogee
$GC,4619,-0.31,0.0,609.9,13.6,223,4742,1.08,0.00,119.72,1.098,6,0.113,0.000,2338,2192,2817
$STATE,4743,end apogee,CONTROL_FINISHED_OK
$STATE,4743,begin climb
$GC,4744,1.29,146.6,615.4,0.0,229,4866,1.70,0.00,117.43,1.084,6,0.079,0.000,2693,2192,2219
$GC,5188,1.32,172.2,582.5,8.8,251,5212,0.00,0.00,21.83,0.989,6,0.000,0.000,2693,2192,2114
$GC,5517,1.35,197.2,552.6,8.9,267,5543,0.00,2.70,21.00,0.966,4,0.000,0.070,2693,786,2012
$GC,5576,1.35,197.2,546.3,10.7,270,5580,0.00,2.60,0.00,0.000,6,0.000,0.049,2693,2203,2012
$GC,5907,1.35,197.2,512.3,10.8,286,5912,0.00,2.65,0.00,0.000,4,0.000,0.074,2693,3613,2012
$GC,5984,1.35,197.2,503.2,11.4,289,5991,0.00,2.65,0.00,0.000,6,0.000,0.061,2693,2204,2012
$GC,6300,1.35,197.2,467.5,11.7,305,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2204,2011
$GC,6609,1.35,197.2,434.1,10.5,320,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2204,2011
$GC,6918,1.35,197.2,400.5,11.0,335,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2204,2011
$GC,7227,1.35,197.2,365.6,11.5,350,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2204,2010
$GC,7537,1.35,197.2,330.7,11.2,365,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2204,2011
$GC,7846,1.35,197.2,296.8,10.8,380,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2204,2011
$GC,8155,1.35,197.2,264.5,10.8,395,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2204,2011
$GC,8464,1.35,197.2,230.6,11.1,410,8469,0.00,2.62,0.00,0.000,4,0.000,0.067,2693,782,2011
$GC,8508,1.35,197.2,225.4,12.2,412,8513,0.00,2.58,0.00,0.000,6,0.000,0.048,2693,2196,2010
$GC,8834,1.35,197.2,188.9,10.9,428,8838,0.00,2.62,0.00,0.000,4,0.000,0.071,2693,3614,2011
$GC,8894,1.35,197.2,181.6,12.3,430,8902,0.00,2.62,0.00,0.000,6,0.000,0.061,2693,2205,2011
$GC,9210,1.35,197.2,146.6,11.1,446,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2205,2011
$GC,9520,1.36,211.1,115.9,9.4,461,9533,0.00,0.00,11.93,0.692,6,0.000,0.000,2693,2205,1955
$GC,9830,1.36,211.1,79.7,11.8,476,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2205,1955
$GC,10138,1.36,211.1,43.0,12.1,491,10143,0.00,2.62,0.00,0.000,4,0.000,0.067,2693,782,1955
$GC,10187,1.36,211.1,36.9,11.6,493,10192,0.00,2.58,0.00,0.000,6,0.000,0.047,2693,2198,1955
$STATE,10488,end climb,SURFACE_DEPTH_REACHED
$STATE,10488,begin surface coast
$FINISH,0.6,1.014203
$STATE,10508,end surface coast,CONTROL_FINISHED_OK
$STATE,10508,begin surface
$SM_CCo,10526,49.92,0.628,2,0,1593,300.00
$SM_GC,1.48,0.00,0.00,49.92,0.000,0.000,0.628,69,2408,1593,-10.77,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2098
$TCM_TEMP,17.60
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,550.2,68.6
$24V_AH,23.6,11.346
$10V_AH,10.2,4.584
$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
$DEVICE_SECS,25.700,67.950,291.900,49.925,0.000,32.665,27.253,86.352,5.500,0.000,0.000,15.147,934.282,8143.877,470.439,1062.402,206.696,33.369,994.852,0.000,1038.358,0.000,31.975
$DEVICE_MAMPS,176.410,78.234,1097.577,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,351.681,367.674,331.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25272,509
$CFSIZE,260165632,256888832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,171107,225857,6125.488,-827.988,33,2.8,52,-8.9