version: 66.02
glider: 16
mission: 6
dive: 86
start: 11 25 107 22 51 45
data:
$ID,16
$MISSION,6
$DIVE,86
$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,-2077061.6
$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,17
$R_STBD_OVSHOOT,17
$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
$GPS1,224007,6118.262,-910.413,40,1.9,46,-9.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-66.0
$GPS2,225057,6118.275,-910.321,14,1.8,14,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.042,-0.242
$KALMAN_X,17201.1,-1510.4,-463.7,-19314.2,22318.3
$KALMAN_Y,112321.5,-23.7,-722.6,-148457.7,14177.2
$MHEAD_RNG_PITCHd_Wd,179.3,9710,-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,-62.22,0.000,2,0.000,0.000,71,2405,3313
$GC,85,-1.08,-146.6,5.0,-7.9,3,108,11.77,2.67,-2.03,0.000,4,0.171,0.077,2168,989,3418
$GC,264,-1.08,-146.6,30.4,-10.7,11,268,0.00,2.58,0.00,0.000,6,0.000,0.052,2168,2401,3420
$GC,589,-1.08,-146.6,64.8,-9.3,27,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3420
$GC,899,-1.08,-146.6,95.0,-9.4,42,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3420
$GC,1208,-1.08,-146.6,126.0,-10.4,57,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3420
$GC,1517,-1.08,-146.6,161.9,-11.6,72,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3420
$GC,1826,-1.08,-146.6,195.4,-10.9,87,1830,0.00,2.62,0.00,0.000,4,0.000,0.064,2168,979,3420
$GC,1874,-1.08,-146.6,200.8,-10.3,89,1879,0.00,2.58,0.00,0.000,6,0.000,0.052,2168,2392,3420
$GC,2195,-1.08,-146.6,232.8,-9.4,105,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2392,3420
$GC,2505,-1.08,-146.6,261.7,-9.6,120,2509,0.00,2.58,0.00,0.000,4,0.000,0.074,2168,3766,3420
$GC,2589,-1.08,-146.6,270.2,-10.7,124,2593,0.00,2.47,0.00,0.000,6,0.000,0.051,2168,2395,3420
$GC,2914,-1.08,-146.6,303.2,-10.3,140,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2395,3420
$GC,3223,-1.08,-146.6,334.4,-9.7,155,3228,0.00,2.60,0.00,0.000,4,0.000,0.068,2168,986,3420
$GC,3262,-1.08,-146.6,338.1,-9.5,157,3267,0.00,2.55,0.00,0.000,6,0.000,0.054,2168,2398,3420
$GC,3588,-1.08,-146.6,369.4,-10.0,173,3592,0.00,2.58,0.00,0.000,4,0.000,0.078,2168,3768,3420
$GC,3641,-1.08,-146.6,375.6,-12.0,175,3649,0.00,2.50,0.00,0.000,6,0.000,0.053,2170,2405,3420
$STATE,3894,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3894,begin apogee
$GC,3898,-0.31,0.0,401.8,9.8,188,4020,0.88,0.00,118.00,0.924,6,0.114,0.000,2342,2193,2817
$STATE,4020,end apogee,CONTROL_FINISHED_OK
$STATE,4021,begin climb
$GC,4022,1.08,146.6,406.6,0.0,194,4146,1.40,2.78,115.65,0.908,4,0.072,0.074,2642,3614,2219
$GC,4190,1.08,146.6,398.3,8.4,202,4195,0.00,2.62,0.00,0.000,6,0.000,0.060,2642,2203,2219
$GC,4522,1.08,146.6,370.6,8.8,218,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2203,2218
$GC,4831,1.08,146.6,344.4,8.1,233,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2203,2218
$GC,5140,1.09,151.7,320.9,7.8,248,5151,0.00,2.67,5.62,0.653,4,0.000,0.073,2642,3614,2197
$GC,5202,1.09,151.7,315.7,8.6,251,5206,0.00,2.65,0.00,0.000,6,0.000,0.061,2642,2192,2197
$GC,5527,1.09,154.4,290.6,7.9,267,5533,0.00,0.00,3.92,0.538,6,0.000,0.000,2642,2192,2187
$GC,5836,1.10,158.4,266.1,7.9,282,5843,0.00,0.00,4.82,0.597,6,0.000,0.000,2642,2192,2171
$GC,6145,1.13,189.1,243.3,6.9,297,6176,0.00,2.75,24.92,0.791,4,0.000,0.072,2642,3622,2046
$GC,6219,1.13,189.1,237.1,8.2,300,6227,0.00,2.67,0.00,0.000,6,0.000,0.061,2642,2204,2045
$GC,6535,1.17,224.8,215.1,6.7,316,6566,0.10,0.00,28.92,0.777,6,0.052,0.000,2677,2204,1899
$GC,6864,1.17,224.8,184.6,10.3,332,6868,0.00,2.65,0.00,0.000,4,0.000,0.073,2677,3614,1899
$GC,6940,1.17,224.8,175.7,11.8,335,6947,0.00,2.65,0.00,0.000,6,0.000,0.061,2677,2200,1898
$GC,7256,1.17,224.8,143.6,10.1,351,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2200,1898
$GC,7565,1.17,224.8,112.1,9.9,366,7570,0.00,2.65,0.00,0.000,4,0.000,0.069,2678,776,1898
$GC,7605,1.17,224.8,108.2,10.5,368,7609,0.00,2.58,0.00,0.000,6,0.000,0.048,2677,2202,1898
$GC,7930,1.17,224.8,71.9,12.0,384,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2202,1898
$GC,8239,1.17,224.8,39.8,9.6,399,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2202,1898
$GC,8549,1.17,224.8,8.4,10.5,414,8553,0.00,2.65,0.00,0.000,4,0.000,0.067,2677,778,1898
$GC,8587,1.17,224.8,4.0,11.3,416,8591,0.00,2.58,0.00,0.000,6,0.000,0.048,2677,2204,1897
$STATE,8622,end climb,SURFACE_DEPTH_REACHED
$STATE,8622,begin surface coast
$FINISH,1.0,1.010734
$STATE,8644,end surface coast,CONTROL_FINISHED_OK
$STATE,8644,begin surface
$SM_CCo,8663,45.85,0.615,2,0,1593,300.00
$SM_GC,1.83,0.00,0.00,45.85,0.000,0.000,0.615,69,2408,1593,-10.77,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2095
$TCM_TEMP,17.40
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,351.1,59.7
$24V_AH,23.7,17.863
$10V_AH,10.2,7.763
$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,25.475,58.400,301.875,45.850,0.000,97.876,96.717,250.994,4.000,0.000,0.000,14.654,776.866,6707.250,438.479,930.893,526.542,33.354,909.517,0.000,915.348,0.000,18.528
$DEVICE_MAMPS,171.041,78.234,924.235,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,288.813,296.380,333.549,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19073,419
$CFSIZE,260165632,254513152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,261107,011807,6116.561,-909.326,30,1.4,30,-9.2