version: 66.02
glider: 16
mission: 6
dive: 67
start: 11 23 107 16 17 43
data:
$ID,16
$MISSION,6
$DIVE,67
$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,-2076494
$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,15
$R_STBD_OVSHOOT,20
$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
$GPS1,161155,6136.468,-919.122,29,1.7,46,-9.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-52.8
$GPS2,161656,6136.511,-919.117,13,1.7,30,-9.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.212,-0.124
$KALMAN_X,-8477.2,192.0,310.7,-3898.9,-7498.5
$KALMAN_Y,98101.4,-389.8,-539.8,-100261.3,7159.2
$MHEAD_RNG_PITCHd_Wd,129.7,34979,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.08,-146.6,0.0,0.0,0,83,0.00,0.00,-62.75,0.000,2,0.000,0.000,65,2405,3254
$GC,85,-1.08,-146.6,4.1,-6.5,3,108,11.80,2.55,-3.55,0.000,4,0.172,0.083,2169,3765,3416
$GC,359,-1.08,-146.6,43.4,-14.6,15,364,0.00,2.50,0.00,0.000,6,0.000,0.049,2169,2402,3417
$GC,686,-1.08,-146.6,83.0,-8.4,31,690,0.00,2.58,0.00,0.000,4,0.000,0.071,2169,3770,3417
$GC,740,-1.08,-146.6,89.1,-12.3,33,747,0.00,2.53,0.00,0.000,6,0.000,0.051,2169,2400,3417
$GC,1056,-1.08,-146.6,117.2,-9.1,49,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3417
$GC,1365,-1.08,-146.6,149.4,-11.2,64,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3417
$GC,1674,-1.08,-146.6,183.1,-10.7,79,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3417
$GC,1983,-1.08,-146.6,217.2,-10.7,94,1987,0.00,2.62,0.00,0.000,4,0.000,0.066,2169,978,3416
$GC,2026,-1.08,-146.6,221.7,-9.8,96,2031,0.00,2.62,0.00,0.000,6,0.000,0.054,2169,2396,3417
$GC,2353,-1.08,-146.6,257.4,-10.7,112,2357,0.00,2.58,0.00,0.000,4,0.000,0.073,2169,3776,3418
$GC,2402,-1.08,-146.6,263.0,-11.3,114,2407,0.00,2.53,0.00,0.000,6,0.000,0.052,2169,2402,3417
$GC,2723,-1.08,-146.6,294.0,-9.4,130,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2403,3417
$GC,3032,-1.08,-146.6,320.9,-8.7,145,3037,0.00,2.62,0.00,0.000,4,0.000,0.067,2169,982,3417
$GC,3087,-1.08,-146.6,325.8,-8.5,147,3094,0.00,2.62,0.00,0.000,6,0.000,0.055,2169,2399,3418
$GC,3402,-1.08,-146.6,353.0,-8.8,163,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3417
$GC,3711,-1.08,-146.6,382.0,-9.7,178,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3417
$GC,4021,-1.08,-146.6,411.5,-9.9,193,4025,0.00,2.62,0.00,0.000,4,0.000,0.067,2169,981,3417
$GC,4063,-1.08,-146.6,415.7,-9.0,195,4068,0.00,2.60,0.00,0.000,6,0.000,0.055,2169,2400,3418
$GC,4391,-1.08,-146.6,448.4,-10.6,211,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3417
$GC,4700,-1.08,-146.6,482.7,-11.8,226,4704,0.00,2.55,0.00,0.000,4,0.000,0.077,2169,3769,3418
$GC,4764,-1.08,-146.6,490.8,-12.8,229,4769,0.00,2.53,0.00,0.000,6,0.000,0.054,2169,2396,3417
$GC,5092,-1.08,-146.6,526.6,-11.1,245,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2396,3418
$GC,5400,-1.08,-146.6,557.7,-10.0,260,5405,0.00,2.62,0.00,0.000,4,0.000,0.068,2169,979,3418
$GC,5484,-1.08,-146.6,566.1,-9.5,264,5489,0.00,2.60,0.00,0.000,6,0.000,0.055,2169,2404,3418
$GC,5810,-1.08,-146.6,595.3,-9.1,280,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2404,3418
$GC,6119,-1.08,-146.6,624.6,-9.6,295,6123,0.00,2.62,0.00,0.000,4,0.000,0.065,2169,983,3418
$GC,6185,-1.08,-146.6,630.9,-9.8,298,6189,0.00,2.60,0.00,0.000,6,0.000,0.054,2169,2392,3418
$GC,6511,-1.08,-146.6,660.7,-9.3,314,6515,0.00,2.60,0.00,0.000,4,0.000,0.065,2168,976,3418
$GC,6556,-1.08,-146.6,664.8,-9.0,316,6561,0.00,2.60,0.00,0.000,6,0.000,0.054,2169,2401,3418
$GC,6881,-1.08,-146.6,695.0,-9.8,332,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3418
$GC,7190,-1.08,-146.6,724.3,-9.5,347,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3418
$GC,7499,-1.08,-146.6,759.8,-12.0,362,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3417
$GC,7809,-1.08,-146.6,797.6,-11.7,377,7813,0.00,2.62,0.00,0.000,4,0.000,0.065,2169,980,3417
$GC,8065,-1.08,-146.6,823.9,-9.8,388,8072,0.00,2.60,0.00,0.000,6,0.000,0.057,2169,2396,3418
$STATE,8112,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8112,begin apogee
$GC,8116,-0.31,0.0,827.8,8.6,391,8242,0.85,0.00,122.80,1.226,6,0.111,0.000,2339,2188,2817
$STATE,8243,end apogee,CONTROL_FINISHED_OK
$STATE,8243,begin climb
$GC,8244,1.08,146.6,832.7,0.0,397,8376,1.45,2.72,121.12,1.193,4,0.067,0.070,2648,784,2218
$GC,8421,1.08,146.6,824.2,8.3,406,8426,0.00,2.62,0.00,0.000,6,0.000,0.053,2647,2202,2218
$GC,8746,1.09,148.7,801.7,7.9,422,8751,0.00,2.75,0.00,0.000,4,0.000,0.092,2648,3612,2218
$GC,8771,1.09,148.7,798.9,10.4,423,8777,0.00,2.70,0.00,0.000,6,0.000,0.073,2647,2216,2217
$GC,9093,1.09,150.1,771.2,7.9,439,9102,0.00,2.75,4.03,0.724,4,0.000,0.076,2648,784,2204
$GC,9158,1.09,150.1,766.0,8.2,442,9163,0.00,2.62,0.00,0.000,6,0.000,0.054,2648,2205,2205
$GC,9484,1.09,150.1,736.4,8.8,458,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2205,2203
$GC,9794,1.10,161.4,712.4,7.6,473,9809,0.00,2.70,10.25,1.010,4,0.000,0.075,2648,3614,2158
$GC,9864,1.10,161.4,706.9,8.1,475,9869,0.00,2.65,0.00,0.000,6,0.000,0.058,2648,2200,2158
$GC,10185,1.10,161.4,679.8,9.2,491,10189,0.00,2.67,0.00,0.000,4,0.000,0.077,2648,3614,2158
$GC,10216,1.10,161.4,676.6,10.3,492,10223,0.00,2.65,0.00,0.000,6,0.000,0.060,2648,2200,2158
$GC,10532,1.10,161.4,647.4,9.4,508,10536,0.00,2.67,0.00,0.000,4,0.000,0.076,2648,3614,2158
$GC,10563,1.10,161.4,644.2,9.9,509,10570,0.00,2.65,0.00,0.000,6,0.000,0.060,2648,2197,2158
$GC,10879,1.10,161.4,616.2,8.3,525,10883,0.00,2.65,0.00,0.000,4,0.000,0.074,2648,3614,2158
$GC,10917,1.10,161.4,612.7,9.6,527,10921,0.00,2.60,0.00,0.000,6,0.000,0.058,2648,2199,2158
$GC,11242,1.10,163.0,586.0,7.9,543,11243,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2199,2158
$GC,11551,1.12,176.4,563.0,7.5,558,11571,0.00,0.00,13.80,0.958,6,0.000,0.000,2647,2199,2097
$GC,11880,1.15,208.8,538.7,6.8,574,11909,0.00,0.00,27.12,0.995,6,0.000,0.000,2648,2198,1965
$GC,12209,1.17,223.9,513.9,7.4,590,12231,0.00,2.72,13.43,0.918,4,0.000,0.067,2648,786,1904
$GC,12253,1.18,235.5,510.6,7.6,592,12274,0.00,2.60,11.38,0.890,6,0.000,0.047,2648,2208,1856
$GC,12582,1.19,246.2,484.1,7.6,608,12597,0.00,2.70,9.80,0.860,4,0.000,0.066,2648,778,1812
$GC,12619,1.21,266.0,481.3,7.3,609,12644,0.12,2.60,17.65,0.923,6,0.048,0.047,2686,2201,1731
$GC,12970,1.21,266.0,448.0,9.3,626,12971,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2202,1731
$GC,13279,1.21,266.0,419.0,9.7,641,13280,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2201,1730
$GC,13588,1.21,266.0,387.2,10.0,656,13593,0.00,2.65,0.00,0.000,4,0.000,0.065,2686,782,1732
$GC,13637,1.21,266.0,381.6,11.4,658,13642,0.00,2.58,0.00,0.000,6,0.000,0.046,2686,2192,1731
$GC,13958,1.21,266.0,345.9,11.3,674,13959,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2193,1731
$GC,14268,1.21,266.0,310.9,11.0,689,14269,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2194,1731
$GC,14577,1.21,266.0,273.1,12.6,704,14578,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2194,1731
$GC,14886,1.21,266.0,236.9,11.0,719,14890,0.00,2.62,0.00,0.000,4,0.000,0.064,2687,778,1731
$GC,14925,1.21,266.0,232.6,11.2,721,14929,0.00,2.58,0.00,0.000,6,0.000,0.046,2686,2208,1732
$GC,15250,1.21,266.0,199.3,10.6,737,15254,0.00,2.62,0.00,0.000,4,0.000,0.063,2686,783,1731
$GC,15276,1.21,266.0,196.5,10.3,738,15280,0.00,2.58,0.00,0.000,6,0.000,0.044,2686,2202,1731
$GC,15597,1.21,266.0,164.1,10.8,754,15601,0.00,2.62,0.00,0.000,4,0.000,0.064,2686,783,1731
$GC,15628,1.21,266.0,160.3,11.6,755,15636,0.00,2.58,0.00,0.000,6,0.000,0.044,2687,2205,1731
$GC,15944,1.21,266.0,123.4,12.9,771,15945,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2205,1731
$GC,16253,1.21,266.0,81.3,15.2,786,16258,0.00,2.62,0.00,0.000,4,0.000,0.064,2686,782,1731
$GC,16285,1.21,266.0,76.5,14.5,787,16293,0.00,2.58,0.00,0.000,6,0.000,0.044,2686,2204,1731
$GC,16602,1.21,266.0,30.3,14.6,803,16604,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2204,1732
$STATE,16806,end climb,SURFACE_DEPTH_REACHED
$STATE,16806,begin surface coast
$FINISH,0.6,1.026325
$STATE,16828,end surface coast,CONTROL_FINISHED_OK
$STATE,16828,begin surface
$SM_CCo,16846,23.52,0.574,2,0,1593,300.00
$SM_GC,1.46,0.00,0.00,23.52,0.000,0.000,0.574,71,2401,1593,-10.76,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2096
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,726.5,110.3
$24V_AH,23.2,15.906
$10V_AH,10.2,6.855
$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,25.675,131.750,351.375,23.525,0.000,32.589,29.504,136.366,6.500,0.000,0.000,30.781,1474.574,13101.955,543.349,1756.645,306.762,33.359,1408.880,0.000,1698.821,0.000,43.026
$DEVICE_MAMPS,171.808,92.040,1225.666,573.716,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,567.285,583.184,443.838,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41162,814
$CFSIZE,260165632,255127552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,231107,210028,6136.637,-913.839,32,4.0,51,-9.4