version: 66.02
glider: 16
mission: 6
dive: 250
start: 1 4 108 11 5 14
data:
$ID,16
$MISSION,6
$DIVE,250
$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,300
$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,566.1524
$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,-2081717.9
$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,15
$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
$GPS1,105932,6241.995,-558.321,40,1.8,40,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-51.3
$GPS2,110421,6242.009,-558.326,15,1.8,15,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.207,-0.079
$KALMAN_X,42777.3,-1628.2,372.0,123341.3,41807.9
$KALMAN_Y,56661.2,-633.3,-143.8,62317.2,14546.6
$MHEAD_RNG_PITCHd_Wd,257.0,6786,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-101.55,0.000,2,0.000,0.000,72,2406,3141
$GC,127,-0.85,-146.6,4.1,-3.3,5,153,12.15,2.72,-6.05,0.000,4,0.173,0.084,2221,987,3416
$GC,366,-0.85,-146.6,28.5,-7.1,15,372,0.00,2.65,0.00,0.000,6,0.000,0.058,2221,2398,3418
$GC,682,-0.85,-146.6,46.7,-5.9,31,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3418
$GC,993,-0.85,-146.6,61.0,-5.3,46,997,0.00,2.65,0.00,0.000,4,0.000,0.068,2222,981,3418
$GC,1056,-0.85,-146.6,64.9,-6.1,49,1060,0.00,2.62,0.00,0.000,6,0.000,0.060,2222,2400,3418
$GC,1382,-0.85,-146.6,84.9,-7.4,65,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,1693,-0.85,-146.6,111.4,-7.8,80,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,2001,-0.85,-146.6,136.1,-7.7,95,2006,0.00,2.65,0.00,0.000,4,0.000,0.069,2221,982,3418
$GC,2041,-0.85,-146.6,139.7,-9.4,97,2045,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2405,3418
$GC,2366,-0.85,-146.6,168.4,-8.9,113,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3418
$GC,2676,-0.85,-146.6,188.5,-5.5,128,2681,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,982,3418
$GC,2720,-0.85,-146.6,191.6,-6.9,130,2724,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2408,3418
$GC,3047,-0.85,-146.6,215.4,-8.1,146,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2408,3418
$GC,3357,-0.85,-146.6,241.4,-7.8,161,3361,0.00,2.65,0.00,0.000,4,0.000,0.070,2221,982,3418
$GC,3422,-0.85,-146.6,246.3,-7.1,164,3427,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2408,3418
$GC,3749,-0.85,-146.6,269.7,-7.5,180,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2408,3418
$GC,4059,-0.85,-146.6,293.0,-7.2,195,4063,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,976,3418
$GC,4102,-0.85,-146.6,296.3,-7.6,197,4106,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2404,3418
$GC,4429,-0.85,-146.6,315.5,-0.1,213,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3418
$STATE,4736,end dive,NO_VERTICAL_VELOCITY
$STATE,4736,begin apogee
$GC,4742,-0.31,0.0,315.5,0.0,228,4863,0.55,0.00,117.45,0.877,6,0.076,0.000,2341,2197,2817
$STATE,4864,end apogee,CONTROL_FINISHED_OK
$STATE,4864,begin climb
$GC,4866,0.85,146.6,315.4,0.0,234,4989,1.17,2.70,115.57,0.859,4,0.064,0.068,2592,786,2217
$GC,5062,0.85,146.6,308.7,6.2,244,5066,0.00,2.62,0.00,0.000,6,0.000,0.052,2592,2205,2218
$GC,5388,0.85,153.8,290.8,5.8,260,5402,0.00,2.78,7.03,0.685,4,0.000,0.081,2591,3613,2190
$GC,5459,0.86,161.6,286.5,5.8,263,5475,0.00,2.65,7.85,0.701,6,0.000,0.064,2592,2204,2157
$GC,5785,0.87,167.6,268.1,5.8,279,5793,0.00,0.00,6.72,0.675,6,0.000,0.000,2592,2205,2132
$GC,6093,0.88,180.9,249.8,5.6,294,6107,0.00,0.00,11.75,0.749,6,0.000,0.000,2592,2204,2078
$GC,6403,0.90,197.7,232.7,5.5,309,6422,0.00,0.00,14.90,0.760,6,0.000,0.000,2592,2204,2009
$GC,6731,0.91,208.5,214.3,5.7,325,6743,0.00,0.00,9.98,0.717,6,0.000,0.000,2592,2204,1965
$GC,7041,0.92,212.9,195.8,5.9,340,7047,0.00,0.00,4.75,0.578,6,0.000,0.000,2592,2204,1949
$GC,7350,0.93,220.5,183.2,5.8,355,7364,0.00,2.75,7.82,0.673,4,0.000,0.071,2592,782,1918
$GC,7417,0.93,221.8,179.0,6.0,358,7421,0.00,2.62,0.00,0.000,6,0.000,0.053,2592,2206,1916
$GC,7743,0.93,221.8,154.8,7.7,374,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2206,1916
$GC,8052,0.93,221.8,128.9,7.3,389,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2206,1916
$GC,8361,0.93,221.8,106.5,7.8,404,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2206,1916
$GC,8670,0.93,221.8,80.8,8.5,419,8675,0.00,2.67,0.00,0.000,4,0.000,0.067,2592,775,1916
$GC,8703,0.93,221.8,77.6,9.8,420,8710,0.00,2.60,0.00,0.000,6,0.000,0.052,2592,2203,1916
$GC,9020,0.93,221.8,56.1,6.4,436,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2203,1916
$GC,9328,1.07,348.5,37.3,2.5,451,9433,0.20,2.75,96.72,0.692,4,0.057,0.071,2647,785,1395
$GC,9462,1.27,538.5,33.4,0.8,457,9613,0.17,2.62,142.00,0.668,6,0.048,0.056,2698,2198,622
$STATE,9721,end climb,SURFACE_DEPTH_REACHED
$STATE,9722,begin surface coast
$FINISH,0.7,1.027400
$STATE,9742,end surface coast,CONTROL_FINISHED_OK
$STATE,9742,begin surface
$SM_CCo,9763,23.08,0.523,3,0,509,566.15
$SM_GC,1.29,0.00,0.00,23.08,0.000,0.000,0.523,72,2402,509,-10.75,0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.022243
$HUMID,2057
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,226.3,100.2
$24V_AH,23.7,43.977
$10V_AH,10.2,22.672
$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,26.000,59.350,542.550,23.075,0.000,32.587,35.218,126.798,1.500,0.000,0.000,15.736,855.871,7203.162,640.546,1073.228,329.732,33.376,1210.902,0.000,1055.752,0.000,10.515
$DEVICE_MAMPS,173.342,83.603,876.681,523.094,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,338.442,328.318,433.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22257,471
$CFSIZE,260165632,244002816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,3,0
$GPS,040108,134943,6241.623,-600.496,28,1.9,32,-8.0