version: 66.02
glider: 16
mission: 6
dive: 93
start: 11 26 107 18 28 57
data:
$ID,16
$MISSION,6
$DIVE,93
$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,-2077214.2
$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,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
$GPS1,182332,6124.649,-912.505,38,2.0,38,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-63.2
$GPS2,182809,6124.675,-912.515,15,1.7,15,-9.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.192,0.153
$KALMAN_X,12174.2,-469.8,-327.2,-17405.6,5837.2
$KALMAN_Y,89788.5,1854.9,1418.8,-118157.0,-22500.2
$MHEAD_RNG_PITCHd_Wd,318.0,37705,-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,18,begin dive
$GC,19,-1.08,-146.6,0.0,0.0,0,83,0.00,0.00,-61.88,0.000,2,0.000,0.000,74,2411,3272
$GC,86,-1.08,-146.6,4.3,-6.6,3,108,11.77,2.70,-3.05,0.000,4,0.173,0.085,2168,983,3418
$GC,310,-1.08,-146.6,34.5,-11.9,13,315,0.00,2.62,0.00,0.000,6,0.000,0.058,2168,2400,3419
$GC,636,-1.08,-146.6,71.2,-10.6,29,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2400,3419
$GC,945,-1.08,-146.6,103.5,-10.5,44,950,0.00,2.67,0.00,0.000,4,0.000,0.072,2168,979,3419
$GC,988,-1.08,-146.6,108.2,-10.8,46,993,0.00,2.62,0.00,0.000,6,0.000,0.059,2168,2397,3419
$GC,1315,-1.08,-146.6,143.4,-10.7,62,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2397,3419
$GC,1624,-1.08,-146.6,177.3,-10.9,77,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2397,3419
$GC,1933,-1.08,-146.6,211.3,-10.8,92,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2397,3419
$GC,2242,-1.08,-146.6,245.6,-11.3,107,2247,0.00,2.67,0.00,0.000,4,0.000,0.074,2168,976,3419
$GC,2282,-1.08,-146.6,250.0,-10.9,109,2286,0.00,2.62,0.00,0.000,6,0.000,0.060,2168,2401,3419
$GC,2607,-1.08,-146.6,289.0,-12.6,125,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3419
$GC,2917,-1.08,-146.6,326.9,-12.4,140,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3419
$GC,3225,-1.08,-146.6,365.6,-12.4,155,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3419
$GC,3534,-1.08,-146.6,407.2,-13.6,170,3539,0.00,2.65,0.00,0.000,4,0.000,0.074,2168,981,3419
$GC,3566,-1.08,-146.6,411.7,-13.3,171,3573,0.00,2.65,0.00,0.000,6,0.000,0.060,2169,2400,3419
$GC,3883,-1.08,-146.6,451.0,-12.2,187,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2400,3419
$GC,4191,-1.08,-146.6,485.0,-10.6,202,4196,0.00,2.65,0.00,0.000,4,0.000,0.074,2168,981,3419
$GC,4252,-1.08,-146.6,491.4,-10.8,205,4257,0.00,2.60,0.00,0.000,6,0.000,0.060,2168,2404,3419
$GC,4579,-1.08,-146.6,524.8,-10.2,221,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2404,3418
$STATE,4824,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4824,begin apogee
$GC,4829,-0.31,0.0,549.1,9.5,233,4952,0.85,0.00,119.65,1.025,6,0.114,0.000,2337,2190,2817
$STATE,4952,end apogee,CONTROL_FINISHED_OK
$STATE,4952,begin climb
$GC,4954,1.08,146.6,553.3,0.0,239,5076,1.48,0.00,117.88,1.019,6,0.072,0.000,2648,2190,2218
$GC,5375,1.08,146.6,524.4,8.1,260,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2190,2217
$GC,5685,1.09,155.0,500.1,7.7,275,5699,0.00,2.78,8.12,0.815,4,0.000,0.081,2648,3609,2185
$GC,5773,1.09,155.0,492.4,9.6,279,5777,0.00,2.65,0.00,0.000,6,0.000,0.064,2648,2197,2185
$GC,6098,1.10,161.6,466.4,7.8,295,6107,0.00,0.00,7.03,0.782,6,0.000,0.000,2648,2197,2159
$GC,6407,1.14,199.8,443.7,6.6,310,6444,0.00,2.72,31.23,0.925,4,0.000,0.071,2648,781,2001
$GC,6482,1.16,215.5,438.5,7.4,312,6502,0.00,2.62,13.93,0.862,6,0.000,0.051,2648,2203,1937
$GC,6818,1.19,242.3,415.4,7.0,329,6842,0.00,0.00,22.48,0.890,6,0.000,0.000,2648,2203,1829
$GC,7147,1.19,242.3,387.5,9.4,345,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2203,1828
$GC,7456,1.19,242.3,356.2,10.2,360,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2203,1828
$GC,7765,1.19,242.3,326.1,9.2,375,7770,0.00,2.67,0.00,0.000,4,0.000,0.070,2648,774,1828
$GC,7820,1.19,242.3,321.0,9.3,377,7827,0.00,2.62,0.00,0.000,6,0.000,0.050,2648,2196,1827
$GC,8136,1.19,242.3,293.0,9.2,393,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2196,1827
$GC,8445,1.19,242.3,265.5,8.8,408,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2197,1827
$GC,8754,1.19,242.3,239.4,8.3,423,8758,0.00,2.62,0.00,0.000,4,0.000,0.069,2648,780,1827
$GC,8797,1.19,242.3,235.5,8.8,425,8802,0.00,2.60,0.00,0.000,6,0.000,0.050,2648,2196,1827
$GC,9124,1.19,242.3,205.7,9.7,441,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2196,1828
$GC,9433,1.19,242.3,176.2,9.5,456,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2197,1827
$GC,9742,1.19,242.3,146.6,9.6,471,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2196,1827
$GC,10051,1.19,242.3,117.0,9.3,486,10053,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2197,1828
$GC,10361,1.19,242.3,89.4,8.8,501,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2196,1828
$GC,10670,1.19,242.3,62.4,8.7,516,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2196,1827
$GC,10979,1.19,242.3,35.2,8.1,531,10980,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2197,1828
$GC,11288,1.19,242.3,7.6,9.2,546,11290,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2196,1828
$STATE,11370,end climb,SURFACE_DEPTH_REACHED
$STATE,11370,begin surface coast
$FINISH,0.7,1.013374
$STATE,11391,end surface coast,CONTROL_FINISHED_OK
$STATE,11392,begin surface
$SM_CCo,11410,36.22,0.609,2,0,1593,300.00
$SM_GC,1.49,0.00,0.00,36.22,0.000,0.000,0.609,75,2406,1593,-10.75,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2095
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,476.2,82.8
$24V_AH,23.6,18.568
$10V_AH,10.2,8.114
$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,25.300,48.575,320.300,36.225,0.000,32.605,32.225,136.616,3.750,0.000,0.000,15.294,976.580,8925.935,463.620,1093.957,282.544,33.363,990.032,0.000,1075.044,0.000,26.708
$DEVICE_MAMPS,172.575,85.137,1024.712,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.710,395.824,390.416,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25463,551
$CFSIZE,260165632,254246912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$GPS,261107,214127,6126.823,-914.204,40,3.0,59,-9.3