version: 66.02
glider: 16
mission: 6
dive: 308
start: 1 10 108 20 0 57
data:
$ID,16
$MISSION,6
$DIVE,308
$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,0
$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,-2084221.4
$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,16
$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
$GPS1,194708,6248.044,-601.933,30,1.3,30,-8.0
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-62.2
$GPS2,200007,6248.104,-601.917,14,1.7,31,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.030,0.219
$KALMAN_X,49379.7,-576.0,158.8,112687.4,4352.8
$KALMAN_Y,29822.7,2872.0,1147.6,95516.9,-49487.6
$MHEAD_RNG_PITCHd_Wd,247.9,2452,-27.3,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.74,-28.8,0.0,0.0,0,81,0.00,0.00,-55.05,0.000,6,0.000,0.000,72,2396,2936
$GC,84,-1.76,-53.8,2.3,-2.5,3,106,11.02,2.65,-2.78,0.000,4,0.173,0.090,2019,3766,3038
$GC,112,-1.76,-53.8,8.0,-16.2,4,117,0.00,2.55,0.00,0.000,6,0.000,0.060,2019,2399,3038
$GC,433,-1.76,-53.8,57.5,-14.2,20,438,0.00,2.62,0.00,0.000,4,0.000,0.079,2019,3768,3038
$GC,691,-1.76,-53.8,97.9,-15.1,31,697,0.00,2.55,0.00,0.000,6,0.000,0.062,2019,2396,3038
$GC,1007,-1.76,-53.8,139.3,-12.0,47,1011,0.00,2.62,0.00,0.000,4,0.000,0.078,2019,3769,3038
$GC,1157,-1.76,-53.8,161.0,-14.3,54,1161,0.00,2.55,0.00,0.000,6,0.000,0.062,2019,2400,3039
$GC,1483,-1.76,-53.8,205.2,-13.8,70,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2400,3039
$GC,1792,-1.76,-53.8,248.0,-13.5,85,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2400,3039
$GC,2102,-1.76,-53.8,292.7,-14.7,100,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2400,3039
$GC,2411,-1.76,-53.8,338.1,-14.5,115,2415,0.00,2.62,0.00,0.000,4,0.000,0.080,2019,3772,3038
$GC,2450,-1.76,-53.8,344.1,-15.1,117,2454,0.00,2.58,0.00,0.000,6,0.000,0.064,2019,2392,3039
$GC,2776,-1.76,-53.8,395.3,-17.3,133,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2392,3039
$GC,3085,-1.76,-53.8,445.6,-15.9,148,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2392,3039
$GC,3394,-1.76,-53.8,489.6,-13.4,163,3399,0.00,2.67,0.00,0.000,6,0.000,0.080,2019,976,3039
$STATE,3399,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3399,begin apogee
$GC,3407,-0.31,0.0,490.4,13.3,163,3458,1.60,0.00,46.53,0.976,6,0.127,0.000,2336,2204,2817
$STATE,3459,end apogee,CONTROL_FINISHED_OK
$STATE,3459,begin climb
$GC,3461,1.76,53.8,493.0,0.0,165,3516,2.12,2.83,45.05,0.970,4,0.078,0.081,2792,3613,2597
$GC,3741,1.76,53.8,477.3,6.3,178,3745,0.00,2.67,0.00,0.000,6,0.000,0.067,2792,2199,2597
$GC,4056,1.77,58.0,460.7,5.4,193,4066,0.00,2.70,5.35,0.719,4,0.000,0.074,2792,779,2579
$GC,4150,1.77,58.0,455.0,6.1,197,4154,0.00,2.60,0.00,0.000,6,0.000,0.051,2792,2200,2579
$GC,4466,1.77,59.0,436.6,5.9,212,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2200,2578
$GC,4775,1.78,63.5,420.0,5.4,227,4783,0.00,0.00,6.12,0.749,6,0.000,0.000,2792,2200,2558
$GC,5084,1.78,63.5,397.7,7.7,242,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2200,2558
$GC,5394,1.78,63.5,373.4,7.7,257,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2200,2558
$GC,5702,1.78,63.5,350.6,7.5,272,5707,0.00,2.67,0.00,0.000,4,0.000,0.072,2792,776,2557
$GC,5848,1.78,64.9,340.8,5.8,278,5854,0.00,2.60,0.00,0.000,6,0.000,0.053,2792,2201,2557
$GC,6163,1.78,64.9,320.5,7.0,294,6168,0.00,2.70,0.00,0.000,4,0.000,0.084,2792,3615,2556
$GC,6274,1.78,64.9,312.4,7.0,299,6278,0.00,2.67,0.00,0.000,6,0.000,0.071,2792,2199,2556
$GC,6596,1.78,64.9,290.6,6.6,315,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2199,2556
$GC,6904,1.78,64.9,270.9,6.1,330,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2199,2555
$GC,7213,1.78,64.9,251.2,6.8,345,7218,0.00,2.70,0.00,0.000,4,0.000,0.081,2792,3615,2556
$GC,7285,1.78,64.9,245.7,7.9,348,7290,0.00,2.65,0.00,0.000,6,0.000,0.067,2792,2197,2555
$GC,7600,1.78,64.9,223.9,6.6,363,7605,0.00,2.70,0.00,0.000,4,0.000,0.080,2792,3615,2555
$GC,7685,1.78,64.9,218.1,7.0,367,7689,0.00,2.67,0.00,0.000,6,0.000,0.070,2792,2194,2555
$GC,8011,1.78,68.0,198.6,5.6,383,8018,0.00,0.00,5.00,0.619,6,0.000,0.000,2792,2195,2539
$GC,8320,1.79,74.6,181.9,5.1,398,8328,0.00,0.00,6.85,0.672,6,0.000,0.000,2792,2194,2513
$GC,8629,1.79,74.6,163.7,6.1,413,8633,0.00,2.70,0.00,0.000,4,0.000,0.080,2792,3618,2512
$GC,8830,1.79,74.6,150.5,6.9,422,8834,0.00,2.67,0.00,0.000,6,0.000,0.068,2792,2196,2513
$GC,9151,1.79,77.9,130.0,5.5,438,9160,0.00,2.70,4.62,0.563,4,0.000,0.079,2792,3615,2499
$GC,9261,1.79,77.9,122.3,7.9,443,9266,0.00,2.67,0.00,0.000,6,0.000,0.068,2792,2198,2499
$GC,9583,1.80,81.9,101.6,5.4,459,9589,0.00,0.00,4.95,0.565,6,0.000,0.000,2792,2197,2483
$GC,9894,1.80,81.9,79.6,7.8,474,9898,0.00,2.70,0.00,0.000,4,0.000,0.079,2792,3616,2482
$GC,9987,1.80,81.9,71.9,7.3,478,9992,0.00,2.65,0.00,0.000,6,0.000,0.067,2792,2202,2482
$GC,10305,1.80,84.9,56.6,5.6,493,10311,0.00,0.00,4.32,0.516,6,0.000,0.000,2792,2202,2470
$GC,10615,1.80,85.3,36.0,5.9,508,10616,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2202,2470
$GC,10922,1.80,85.3,17.2,9.7,523,10926,0.00,2.70,0.00,0.000,4,0.000,0.079,2792,3625,2470
$GC,10965,1.80,85.3,12.8,10.1,525,10970,0.00,2.67,0.00,0.000,6,0.000,0.068,2792,2199,2471
$STATE,11119,end climb,SURFACE_DEPTH_REACHED
$STATE,11120,begin surface coast
$FINISH,0.5,1.027424
$STATE,11143,end surface coast,CONTROL_FINISHED_OK
$STATE,11143,begin surface
$SM_CCo,11165,127.18,0.634,4,0,1593,300.00
$SM_GC,1.34,0.00,0.00,127.18,0.000,0.000,0.634,72,2405,1593,-10.75,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2051
$TCM_TEMP,16.80
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,402.0,97.7
$24V_AH,23.6,50.652
$10V_AH,10.2,25.779
$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,26.925,79.775,128.800,127.175,0.000,97.826,273.749,131.949,5.250,0.000,0.000,31.039,1032.458,8668.786,402.856,1285.562,710.248,33.364,1000.778,0.000,1245.157,0.000,21.870
$DEVICE_MAMPS,173.342,89.739,976.391,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.439,381.757,405.806,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25392,534
$CFSIZE,260165632,241967104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,4,0
$GPS,100108,231047,6248.859,-601.022,32,1.6,41,-8.0