version: 66.02
glider: 16
mission: 6
dive: 95
start: 11 27 107 1 21 25
data:
$ID,16
$MISSION,6
$DIVE,95
$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,550
$T_MISSION,580
$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,-2077240.2
$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,10
$R_STBD_OVSHOOT,14
$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
$GPS1,011637,6128.441,-913.104,41,1.9,41,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-59.1
$GPS2,012033,6128.434,-913.119,13,1.9,13,-9.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.075,0.208
$KALMAN_X,17084.7,-828.3,-740.2,-22079.1,14522.8
$KALMAN_Y,93332.0,1449.3,138.6,-113048.8,-14439.5
$MHEAD_RNG_PITCHd_Wd,349.6,30725,-11.0,-6.000
$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,-0.85,-146.6,0.0,0.0,0,83,0.00,0.00,-62.55,0.000,2,0.000,0.000,73,2410,3273
$GC,85,-0.85,-146.6,4.4,-6.9,3,108,12.10,2.70,-2.95,0.000,4,0.173,0.081,2220,979,3416
$GC,359,-0.85,-146.6,34.4,-8.9,15,364,0.00,2.62,0.00,0.000,6,0.000,0.057,2221,2404,3417
$GC,686,-0.85,-146.6,59.6,-7.2,31,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3418
$GC,995,-0.85,-146.6,83.6,-7.4,46,1000,0.00,2.67,0.00,0.000,4,0.000,0.069,2221,975,3418
$GC,1057,-0.85,-146.6,87.9,-6.8,49,1061,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2400,3418
$GC,1382,-0.85,-146.6,110.4,-7.8,65,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,1691,-0.85,-146.6,136.0,-9.2,80,1696,0.00,2.65,0.00,0.000,4,0.000,0.070,2220,977,3418
$GC,1741,-0.85,-146.6,140.8,-9.4,82,1745,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2401,3418
$GC,2061,-0.85,-146.6,172.8,-10.7,98,2066,0.00,2.67,0.00,0.000,4,0.000,0.070,2221,973,3418
$GC,2083,-0.85,-146.6,175.3,-11.3,99,2087,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2400,3418
$GC,2403,-0.85,-146.6,212.9,-12.1,115,2408,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,969,3418
$GC,2435,-0.85,-146.6,216.9,-11.9,116,2442,0.00,2.65,0.00,0.000,6,0.000,0.059,2221,2392,3418
$GC,2750,-0.85,-146.6,255.4,-12.5,132,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2392,3418
$GC,3060,-0.85,-146.6,288.9,-10.1,147,3064,0.00,2.65,0.00,0.000,4,0.000,0.071,2221,975,3417
$GC,3114,-0.85,-146.6,294.0,-9.5,149,3121,0.00,2.65,0.00,0.000,6,0.000,0.059,2221,2400,3418
$GC,3429,-0.85,-146.6,317.2,-6.0,165,3433,0.00,2.65,0.00,0.000,4,0.000,0.072,2220,976,3418
$GC,3473,-0.85,-146.6,320.0,-6.6,167,3477,0.00,2.65,0.00,0.000,6,0.000,0.059,2221,2401,3418
$GC,3799,-0.85,-146.6,340.1,-6.1,183,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3418
$GC,4109,-0.85,-146.6,358.1,-5.6,198,4113,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,969,3418
$GC,4141,-0.85,-146.6,360.0,-6.1,199,4147,0.00,2.62,0.00,0.000,6,0.000,0.060,2220,2400,3418
$GC,4456,-0.85,-146.6,378.0,-5.7,215,4460,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,970,3418
$GC,4499,-0.85,-146.6,380.5,-5.9,217,4503,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2405,3418
$GC,4826,-0.85,-146.6,398.2,-5.6,233,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3418
$GC,5134,-0.85,-146.6,416.5,-6.6,248,5139,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,972,3418
$GC,5196,-0.85,-146.6,420.7,-6.6,251,5200,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2404,3417
$GC,5521,-0.85,-146.6,446.4,-8.5,267,5525,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,971,3418
$GC,5546,-0.85,-146.6,448.6,-8.4,268,5551,0.00,2.65,0.00,0.000,6,0.000,0.059,2221,2395,3418
$GC,5868,-0.85,-146.6,474.0,-7.3,284,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3418
$GC,6177,-0.85,-146.6,496.4,-8.3,299,6181,0.00,2.65,0.00,0.000,4,0.000,0.071,2221,976,3418
$GC,6203,-0.85,-146.6,498.8,-8.9,300,6208,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2392,3418
$GC,6529,-0.85,-146.6,526.3,-8.5,316,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2392,3418
$GC,6834,-0.85,-146.6,550.8,-7.4,331,6838,0.00,2.65,0.00,0.000,4,0.000,0.071,2221,970,3418
$GC,6876,-0.85,-146.6,553.9,-6.7,333,6881,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2396,3418
$GC,7203,-0.85,-146.6,572.9,-6.2,349,7207,0.00,2.65,0.00,0.000,4,0.000,0.072,2221,976,3418
$GC,7242,-0.85,-146.6,575.6,-6.8,351,7247,0.00,2.60,0.00,0.000,6,0.000,0.060,2221,2400,3418
$GC,7568,-0.85,-146.6,596.9,-7.3,367,7572,0.00,2.65,0.00,0.000,4,0.000,0.073,2221,978,3418
$GC,7633,-0.85,-146.6,602.1,-8.4,370,7637,0.00,2.65,0.00,0.000,6,0.000,0.060,2221,2400,3418
$STATE,7753,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7753,begin apogee
$GC,7757,-0.31,0.0,611.6,7.9,376,7881,0.60,0.00,120.30,1.066,6,0.105,0.000,2341,2194,2816
$STATE,7881,end apogee,CONTROL_FINISHED_OK
$STATE,7881,begin climb
$GC,7883,0.85,146.6,616.0,0.0,382,8006,1.25,0.00,118.78,1.050,6,0.097,0.000,2591,2194,2219
$GC,8304,0.85,150.3,596.1,5.9,403,8310,0.00,0.00,4.62,0.694,6,0.000,0.000,2591,2194,2204
$GC,8613,0.86,158.3,578.4,5.8,418,8623,0.00,0.00,8.18,0.854,6,0.000,0.000,2591,2194,2171
$GC,8922,0.86,158.3,559.4,6.5,433,8926,0.00,2.62,0.00,0.000,4,0.000,0.070,2591,785,2170
$GC,8983,0.86,158.3,554.6,7.8,436,8987,0.00,2.60,0.00,0.000,6,0.000,0.051,2591,2204,2170
$GC,9308,0.86,158.3,530.5,7.4,452,9309,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2204,2170
$GC,9617,0.86,158.3,508.2,7.5,467,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2204,2170
$GC,9927,0.86,158.3,485.2,7.2,482,9931,0.00,2.67,0.00,0.000,4,0.000,0.081,2591,3618,2170
$GC,9975,0.86,158.3,481.1,8.5,484,9980,0.00,2.65,0.00,0.000,6,0.000,0.064,2591,2199,2170
$GC,10296,0.86,158.3,457.9,7.6,500,10297,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2199,2169
$GC,10605,0.87,169.0,437.5,5.7,515,10617,0.00,0.00,10.10,0.838,6,0.000,0.000,2591,2198,2126
$GC,10914,0.87,169.0,418.2,6.2,530,10915,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2198,2126
$GC,11223,0.87,169.0,397.5,7.0,545,11225,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2199,2126
$GC,11533,0.91,204.3,379.8,5.0,560,11564,0.00,0.00,28.77,0.889,6,0.000,0.000,2591,2198,1984
$GC,11863,0.99,281.6,366.5,3.9,576,11927,0.17,0.00,61.05,0.897,6,0.055,0.000,2644,2198,1669
$GC,12233,0.99,281.6,331.6,10.9,594,12234,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2198,1667
$GC,12542,0.99,281.6,294.6,12.3,609,12546,0.00,2.67,0.00,0.000,4,0.000,0.073,2644,773,1667
$GC,12607,0.99,281.6,286.7,11.9,612,12612,0.00,2.62,0.00,0.000,6,0.000,0.049,2644,2198,1667
$GC,12934,0.99,281.6,251.0,10.4,628,12938,0.00,2.65,0.00,0.000,4,0.000,0.070,2644,779,1667
$GC,12971,0.99,281.6,247.0,10.9,630,12976,0.00,2.58,0.00,0.000,6,0.000,0.051,2644,2200,1667
$GC,13298,0.99,281.6,218.0,8.5,646,13299,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2200,1667
$GC,13607,0.99,281.6,191.6,8.5,661,13611,0.00,2.67,0.00,0.000,4,0.000,0.070,2644,770,1667
$GC,13655,0.99,281.6,187.0,9.0,663,13660,0.00,2.62,0.00,0.000,6,0.000,0.050,2644,2199,1667
$GC,13976,0.99,281.6,156.4,10.3,679,13977,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2199,1667
$GC,14286,0.99,281.6,122.7,11.1,694,14290,0.00,2.65,0.00,0.000,4,0.000,0.069,2644,779,1667
$GC,14339,0.99,281.6,116.5,11.2,696,14347,0.00,2.60,0.00,0.000,6,0.000,0.049,2644,2202,1667
$GC,14655,0.99,281.6,83.0,10.8,712,14656,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2202,1667
$GC,14964,0.99,281.6,50.2,10.5,727,14969,0.00,2.65,0.00,0.000,4,0.000,0.068,2644,778,1667
$GC,15013,0.99,281.6,44.9,10.5,729,15018,0.00,2.60,0.00,0.000,6,0.000,0.050,2644,2198,1667
$GC,15335,0.99,281.6,13.8,9.2,745,15339,0.00,2.65,0.00,0.000,4,0.000,0.070,2644,776,1667
$GC,15383,0.99,281.6,9.0,10.3,747,15387,0.00,2.60,0.00,0.000,6,0.000,0.051,2644,2193,1667
$STATE,15476,end climb,SURFACE_DEPTH_REACHED
$STATE,15476,begin surface coast
$FINISH,0.6,1.014448
$STATE,15498,end surface coast,CONTROL_FINISHED_OK
$STATE,15498,begin surface
$SM_CCo,15517,13.57,0.552,1,0,1594,300.00
$SM_GC,1.33,0.00,0.00,13.57,0.000,0.000,0.552,70,2405,1594,-10.76,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2088
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,526.3,95.3
$24V_AH,23.6,18.805
$10V_AH,10.2,8.246
$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,25.400,122.325,351.800,13.575,0.000,32.652,26.267,99.636,4.750,0.000,0.000,13.765,1367.688,12052.418,510.490,1580.270,271.512,33.366,1288.379,0.000,1550.560,0.000,29.994
$DEVICE_MAMPS,172.575,81.302,1066.130,552.240,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,522.468,543.714,478.171,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37937,753
$CFSIZE,260165632,254119936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,271107,054132,6129.655,-915.448,38,2.0,38,-9.4