version: 66.02
glider: 16
mission: 6
dive: 58
start: 11 21 107 21 46 34
data:
$ID,16
$MISSION,6
$DIVE,58
$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,412.5
$T_MISSION,440
$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,-2076281.6
$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,18
$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
$GPS1,213955,6136.880,-905.148,40,1.3,57,-9.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-58.7
$GPS2,214547,6136.830,-905.187,13,7.4,32,-9.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.180,0.167
$KALMAN_X,11002.5,-1150.5,-692.1,-8736.4,7559.1
$KALMAN_Y,80051.0,-7.2,-254.8,-82339.7,92.8
$MHEAD_RNG_PITCHd_Wd,322.2,17405,-14.8,-8.000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-1.08,-146.6,0.0,0.0,0,82,0.00,0.00,-62.08,0.000,2,0.000,0.000,72,2406,3252
$GC,84,-1.08,-146.6,4.3,-6.9,3,107,11.85,2.55,-3.42,0.000,4,0.175,0.077,2167,3770,3417
$GC,206,-1.08,-146.6,22.2,-9.8,8,211,0.00,2.50,0.00,0.000,6,0.000,0.044,2167,2401,3417
$GC,529,-1.08,-146.6,58.8,-12.0,24,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2401,3417
$GC,838,-1.08,-146.6,92.6,-11.2,39,842,0.00,2.55,0.00,0.000,4,0.000,0.069,2167,3765,3417
$GC,908,-1.08,-146.6,100.4,-11.2,42,913,0.00,2.47,0.00,0.000,6,0.000,0.044,2167,2401,3417
$GC,1230,-1.08,-146.6,137.0,-11.6,58,1234,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,988,3417
$GC,1268,-1.08,-146.6,141.4,-11.3,60,1273,0.00,2.55,0.00,0.000,6,0.000,0.049,2167,2399,3417
$GC,1594,-1.08,-146.6,179.1,-11.2,76,1598,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,986,3417
$GC,1625,-1.08,-146.6,182.7,-11.3,77,1632,0.00,2.60,0.00,0.000,6,0.000,0.050,2167,2400,3417
$GC,1941,-1.08,-146.6,218.3,-10.7,93,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3417
$GC,2250,-1.08,-146.6,249.7,-10.4,108,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3417
$GC,2559,-1.08,-146.6,280.9,-9.9,123,2563,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,985,3417
$GC,2614,-1.08,-146.6,286.5,-9.4,125,2621,0.00,2.60,0.00,0.000,6,0.000,0.050,2167,2400,3417
$GC,2930,-1.08,-146.6,316.6,-9.3,141,2934,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,980,3418
$GC,2972,-1.08,-146.6,320.7,-8.7,143,2977,0.00,2.60,0.00,0.000,6,0.000,0.050,2167,2401,3418
$GC,3299,-1.08,-146.6,349.6,-8.7,159,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2401,3418
$GC,3609,-1.08,-146.6,375.2,-8.2,174,3613,0.00,2.60,0.00,0.000,4,0.000,0.060,2167,982,3418
$GC,3674,-1.08,-146.6,381.0,-8.7,177,3679,0.00,2.60,0.00,0.000,6,0.000,0.050,2167,2401,3418
$GC,4000,-1.08,-146.6,409.0,-8.7,193,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2401,3418
$GC,4310,-1.08,-146.6,437.0,-9.0,208,4314,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,979,3418
$GC,4397,-1.08,-146.6,445.6,-10.1,212,4402,0.00,2.60,0.00,0.000,6,0.000,0.050,2167,2403,3418
$GC,4724,-1.08,-146.6,478.1,-10.4,228,4728,0.00,2.60,0.00,0.000,4,0.000,0.060,2167,983,3418
$GC,4785,-1.08,-146.6,484.8,-10.8,231,4790,0.00,2.55,0.00,0.000,6,0.000,0.050,2167,2401,3418
$GC,5111,-1.08,-146.6,522.8,-12.2,247,5115,0.00,2.60,0.00,0.000,4,0.000,0.060,2167,982,3418
$GC,5149,-1.08,-146.6,527.6,-11.7,249,5153,0.00,2.58,0.00,0.000,6,0.000,0.051,2167,2408,3418
$GC,5474,-1.08,-146.6,563.1,-9.7,265,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2408,3418
$GC,5784,-1.08,-146.6,583.4,-5.8,280,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2408,3418
$GC,6093,-1.08,-146.6,603.5,-6.6,295,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2408,3417
$GC,6402,-1.08,-146.6,633.1,-11.3,310,6406,0.00,2.60,0.00,0.000,4,0.000,0.062,2167,986,3418
$GC,6447,-1.08,-146.6,638.1,-11.5,312,6451,0.00,2.55,0.00,0.000,6,0.000,0.051,2167,2401,3418
$GC,6772,-1.08,-146.6,667.1,-7.2,328,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2401,3418
$GC,7081,-1.08,-146.6,693.6,-11.9,343,7085,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,985,3418
$GC,7157,-1.08,-146.6,705.6,-16.1,346,7162,0.00,2.60,0.00,0.000,6,0.000,0.051,2167,2404,3418
$GC,7481,-1.08,-146.6,750.5,-10.9,362,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3418
$GC,7788,-1.08,-146.6,768.4,-2.0,377,7792,0.00,2.60,0.00,0.000,4,0.000,0.063,2167,986,3418
$GC,7993,-1.08,-146.6,780.1,-8.2,386,7998,0.00,2.60,0.00,0.000,6,0.000,0.057,2168,2392,3418
$GC,8314,-1.08,-146.6,809.5,-10.1,402,8319,0.00,2.65,0.00,0.000,4,0.000,0.091,2167,3764,3418
$GC,8353,-1.08,-146.6,814.6,-14.0,404,8357,0.00,2.50,0.00,0.000,6,0.000,0.059,2167,2398,3418
$STATE,8596,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8596,begin apogee
$GC,8600,-0.31,0.0,834.0,8.2,416,8726,0.88,0.00,123.18,1.256,6,0.119,0.000,2339,2194,2817
$STATE,8727,end apogee,CONTROL_FINISHED_OK
$STATE,8727,begin climb
$GC,8729,1.08,146.6,836.1,0.0,422,8854,1.48,0.00,121.15,1.225,6,0.086,0.000,2646,2194,2219
$GC,9159,1.11,169.6,801.8,7.2,443,9184,0.00,2.83,20.05,1.144,4,0.000,0.087,2646,3610,2124
$GC,9301,1.11,169.6,788.7,11.3,449,9308,0.00,2.67,0.00,0.000,6,0.000,0.068,2646,2200,2124
$GC,9616,1.11,169.6,756.5,12.0,465,9621,0.00,2.70,0.00,0.000,4,0.000,0.079,2646,786,2122
$GC,9749,1.11,169.6,742.5,11.2,471,9754,0.00,2.62,0.00,0.000,6,0.000,0.058,2646,2195,2120
$GC,10076,1.11,169.6,708.3,8.2,487,10081,0.00,2.70,0.00,0.000,4,0.000,0.080,2646,3612,2117
$GC,10204,1.11,169.6,696.8,8.8,493,10209,0.00,2.60,0.00,0.000,6,0.000,0.057,2646,2198,2117
$GC,10530,1.11,169.6,663.3,10.4,509,10534,0.00,2.65,0.00,0.000,4,0.000,0.067,2646,779,2116
$GC,10600,1.11,169.6,655.2,11.9,512,10605,0.00,2.60,0.00,0.000,6,0.000,0.048,2646,2197,2115
$GC,10922,1.12,176.3,624.0,7.8,528,10928,0.00,0.00,5.12,0.816,6,0.000,0.000,2646,2196,2098
$GC,11231,1.16,214.6,603.8,6.6,543,11265,0.00,0.00,32.20,1.087,6,0.000,0.000,2646,2196,1942
$GC,11559,1.16,214.6,572.5,11.6,559,11563,0.00,2.62,0.00,0.000,4,0.000,0.069,2646,3611,1941
$GC,11604,1.16,214.6,566.5,14.3,561,11609,0.00,2.58,0.00,0.000,6,0.000,0.051,2646,2198,1941
$GC,11930,1.16,214.6,521.2,13.2,577,11931,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2198,1941
$GC,12239,1.16,216.7,492.2,7.9,592,12248,0.00,2.62,4.00,0.645,4,0.000,0.067,2646,3611,1933
$GC,12292,1.16,216.7,487.4,8.9,594,12297,0.00,2.60,0.00,0.000,6,0.000,0.051,2647,2201,1933
$GC,12613,1.16,216.7,456.1,10.5,610,12614,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2200,1933
$GC,12922,1.16,216.7,421.2,11.4,625,12924,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2200,1933
$GC,13232,1.16,216.7,386.3,11.1,640,13233,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2200,1934
$GC,13541,1.16,216.7,352.9,10.8,655,13545,0.00,2.60,0.00,0.000,4,0.000,0.062,2646,785,1935
$GC,13584,1.16,216.7,348.0,11.1,657,13589,0.00,2.55,0.00,0.000,6,0.000,0.043,2646,2193,1935
$GC,13911,1.16,216.7,314.7,10.0,673,13915,0.00,2.60,0.00,0.000,4,0.000,0.067,2646,3611,1936
$GC,13950,1.16,216.7,310.6,11.0,675,13954,0.00,2.58,0.00,0.000,6,0.000,0.051,2646,2192,1936
$GC,14276,1.16,216.7,277.3,10.8,691,14277,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2192,1936
$GC,14585,1.16,216.7,245.3,10.0,706,14589,0.00,2.58,0.00,0.000,4,0.000,0.063,2646,786,1937
$GC,14623,1.16,216.7,241.4,10.7,708,14627,0.00,2.53,0.00,0.000,6,0.000,0.044,2646,2201,1937
$GC,14949,1.16,216.7,208.7,10.3,724,14953,0.00,2.60,0.00,0.000,4,0.000,0.067,2646,3613,1937
$GC,15014,1.16,216.7,201.4,11.2,727,15018,0.00,2.58,0.00,0.000,6,0.000,0.050,2647,2202,1937
$GC,15340,1.16,216.7,167.9,9.4,743,15342,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2202,1937
$GC,15650,1.23,284.0,142.2,5.6,758,15711,0.15,0.00,53.83,0.754,6,0.044,0.000,2693,2201,1658
$GC,16020,1.23,284.0,98.5,15.5,776,16022,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2202,1658
$GC,16328,1.23,284.0,49.9,14.6,791,16333,0.00,2.62,0.00,0.000,4,0.000,0.063,2693,778,1658
$GC,16367,1.23,284.0,43.9,16.5,793,16371,0.00,2.55,0.00,0.000,6,0.000,0.042,2693,2201,1658
$STATE,16650,end climb,SURFACE_DEPTH_REACHED
$STATE,16650,begin surface coast
$FINISH,0.8,1.002964
$STATE,16672,end surface coast,CONTROL_FINISHED_OK
$STATE,16672,begin surface
$SM_CCo,16690,13.00,0.548,1,0,1594,300.00
$SM_GC,1.39,0.00,0.00,13.00,0.000,0.000,0.548,70,2405,1594,-10.76,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2094
$TCM_TEMP,17.50
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,750.5,92.2
$24V_AH,23.5,14.634
$10V_AH,10.2,6.192
$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,25.750,130.550,359.525,13.000,0.000,32.589,28.265,188.879,12.250,0.000,0.000,33.295,1481.632,12926.183,514.102,1788.961,350.401,33.353,1388.065,0.000,1728.207,0.000,44.596
$DEVICE_MAMPS,174.876,91.273,1256.346,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,566.907,580.213,443.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41242,808
$CFSIZE,260165632,255635456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,221107,022608,6138.392,-911.201,33,1.7,33,-9.4