version: 66.02
glider: 16
mission: 6
dive: 339
start: 1 15 108 6 16 1
data:
$ID,16
$MISSION,6
$DIVE,339
$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,-2085079.5
$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,12
$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
$GPS1,060938,6245.247,-556.805,31,1.3,31,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-56.5
$GPS2,061509,6245.186,-556.806,16,1.7,16,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.197,0.101
$KALMAN_X,85659.8,-1533.0,-543.7,82631.5,15564.0
$KALMAN_Y,-12866.9,1785.4,422.3,134651.3,-34520.2
$MHEAD_RNG_PITCHd_Wd,95.8,86298,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.85,-146.6,0.0,0.0,0,85,0.00,0.00,-61.05,0.000,2,0.000,0.000,72,2402,3068
$GC,88,-0.85,-146.6,3.1,-4.0,3,115,12.07,2.70,-8.35,0.000,4,0.170,0.081,2220,979,3417
$GC,242,-0.85,-146.6,19.9,-8.6,10,247,0.00,2.65,0.00,0.000,6,0.000,0.060,2220,2407,3417
$GC,570,-0.85,-146.6,51.5,-7.4,26,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3417
$GC,879,-0.85,-146.6,72.9,-5.9,41,883,0.00,2.70,0.00,0.000,4,0.000,0.072,2220,978,3417
$GC,919,-0.85,-146.6,75.8,-7.7,43,923,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2398,3417
$GC,1245,-0.85,-146.6,98.4,-6.7,59,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3417
$GC,1554,-0.85,-146.6,122.3,-9.4,74,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3417
$GC,1865,-0.85,-146.6,150.7,-7.8,89,1869,0.00,2.67,0.00,0.000,4,0.000,0.074,2220,974,3417
$GC,1914,-0.85,-146.6,154.8,-8.0,91,1918,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2401,3417
$GC,2230,-0.85,-146.6,181.6,-8.9,106,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3417
$GC,2541,-0.85,-146.6,209.2,-8.4,121,2546,0.00,2.70,0.00,0.000,4,0.000,0.076,2220,974,3418
$GC,2576,-0.85,-146.6,212.4,-8.1,122,2582,0.00,2.65,0.00,0.000,6,0.000,0.064,2220,2401,3417
$GC,2891,-0.85,-146.6,239.0,-8.0,138,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3417
$GC,3201,-0.85,-146.6,262.5,-7.7,153,3205,0.00,2.67,0.00,0.000,4,0.000,0.075,2220,975,3417
$GC,3284,-0.85,-146.6,269.1,-6.9,157,3289,0.00,2.65,0.00,0.000,6,0.000,0.064,2220,2404,3417
$GC,3611,-0.85,-146.6,292.1,-7.2,173,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3417
$GC,3921,-0.85,-146.6,314.9,-7.1,188,3925,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,975,3417
$GC,3970,-0.85,-146.6,318.6,-7.7,190,3974,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2411,3417
$GC,4285,-0.85,-146.6,340.3,-6.7,205,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2411,3417
$GC,4595,-0.85,-146.6,358.6,-6.1,220,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2411,3417
$GC,4904,-0.85,-146.6,377.8,-6.7,235,4908,0.00,2.70,0.00,0.000,4,0.000,0.071,2220,970,3417
$GC,4970,-0.85,-146.6,382.7,-7.0,238,4974,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2400,3417
$GC,5291,-0.85,-146.6,407.0,-7.7,254,5295,0.00,2.67,0.00,0.000,4,0.000,0.073,2220,976,3417
$GC,5375,-0.85,-146.6,413.2,-7.5,258,5379,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2400,3417
$STATE,5451,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5451,begin apogee
$GC,5457,-0.31,0.0,419.0,7.1,262,5580,0.60,0.00,119.75,0.961,6,0.107,0.000,2340,2188,2816
$STATE,5581,end apogee,CONTROL_FINISHED_OK
$STATE,5581,begin climb
$GC,5584,0.85,146.6,423.3,0.0,268,5710,1.23,2.75,116.97,0.949,4,0.094,0.071,2589,787,2219
$GC,5728,0.87,165.8,419.4,5.5,275,5750,0.00,2.65,17.02,0.860,6,0.000,0.054,2589,2203,2140
$GC,6060,0.88,181.9,402.0,5.6,291,6081,0.00,2.75,14.07,0.851,4,0.000,0.083,2589,3614,2074
$GC,6114,0.88,181.9,398.5,7.0,293,6119,0.00,2.70,0.00,0.000,6,0.000,0.071,2589,2205,2074
$GC,6430,0.88,181.9,381.3,6.1,308,6434,0.00,2.70,0.00,0.000,4,0.000,0.077,2589,781,2073
$GC,6496,0.88,181.9,376.7,7.5,311,6501,0.00,2.62,0.00,0.000,6,0.000,0.057,2589,2199,2072
$GC,6817,0.88,181.9,356.0,6.6,327,6822,0.00,2.72,0.00,0.000,4,0.000,0.084,2589,3616,2072
$GC,6845,0.88,181.9,354.2,7.1,328,6850,0.00,2.67,0.00,0.000,6,0.000,0.071,2589,2199,2072
$GC,7161,0.88,181.9,333.6,6.1,343,7165,0.00,2.70,0.00,0.000,4,0.000,0.075,2589,775,2071
$GC,7210,0.88,181.9,330.4,6.5,345,7214,0.00,2.62,0.00,0.000,6,0.000,0.056,2589,2200,2071
$GC,7526,0.90,196.0,311.6,5.6,360,7540,0.00,0.00,12.30,0.823,6,0.000,0.000,2589,2200,2017
$GC,7835,0.90,196.0,297.4,9.5,375,7840,0.00,2.70,0.00,0.000,4,0.000,0.076,2589,778,2016
$GC,7867,0.90,196.0,293.8,11.7,376,7874,0.00,2.62,0.00,0.000,6,0.000,0.053,2589,2204,2015
$GC,8183,0.90,196.0,267.4,8.9,392,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,2015
$GC,8493,0.92,213.4,244.4,5.5,407,8513,0.00,2.75,15.05,0.795,4,0.000,0.077,2589,3614,1945
$GC,8524,0.92,213.4,242.1,7.1,408,8529,0.00,2.70,0.00,0.000,6,0.000,0.067,2589,2194,1946
$GC,8840,0.94,229.2,219.7,5.6,423,8860,0.12,0.00,14.00,0.770,6,0.063,0.000,2623,2194,1882
$GC,9170,1.02,310.2,200.7,3.8,439,9239,0.00,2.72,63.95,0.806,4,0.000,0.074,2623,785,1551
$GC,9278,1.02,310.2,194.0,6.2,444,9282,0.00,2.62,0.00,0.000,6,0.000,0.052,2623,2201,1550
$GC,9593,1.02,310.2,173.4,6.3,459,9598,0.00,2.67,0.00,0.000,4,0.000,0.071,2623,779,1550
$GC,9637,1.02,310.2,170.1,7.7,461,9642,0.00,2.60,0.00,0.000,6,0.000,0.051,2623,2202,1548
$GC,9959,1.02,310.2,143.9,8.3,477,9964,0.00,2.70,0.00,0.000,4,0.000,0.076,2623,785,1549
$GC,9986,1.02,310.2,140.8,10.0,478,9991,0.00,2.60,0.00,0.000,6,0.000,0.051,2623,2203,1549
$GC,10303,1.02,310.2,100.4,11.9,493,10307,0.00,2.70,0.00,0.000,4,0.000,0.073,2624,779,1549
$GC,10352,1.02,310.2,96.2,8.0,495,10357,0.00,2.60,0.00,0.000,6,0.000,0.051,2623,2200,1549
$GC,10668,1.02,310.2,65.2,11.5,510,10672,0.00,2.67,0.00,0.000,4,0.000,0.072,2623,784,1549
$GC,10718,1.02,310.2,60.0,9.5,512,10723,0.00,2.58,0.00,0.000,6,0.000,0.051,2623,2199,1549
$GC,11034,1.02,310.2,29.1,12.0,527,11038,0.00,2.67,0.00,0.000,4,0.000,0.072,2623,782,1549
$GC,11083,1.02,310.2,25.0,6.6,529,11087,0.00,2.58,0.00,0.000,6,0.000,0.050,2623,2200,1549
$STATE,11396,end climb,SURFACE_DEPTH_REACHED
$STATE,11397,begin surface coast
$FINISH,0.8,1.027457
$STATE,11418,end surface coast,CONTROL_FINISHED_OK
$STATE,11418,begin surface
$SM_CCo,11501,0.00,0.000,0,0,1548,311.04
$SM_GC,1.43,11.45,0.00,0.00,0.054,0.000,0.000,69,2399,1548,-10.69,0.00,311.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2108
$TCM_TEMP,16.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,326.3,102.7
$24V_AH,23.6,53.359
$10V_AH,10.2,27.685
$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,25.475,112.775,373.125,0.000,0.000,32.586,34.137,156.676,3.000,0.000,0.000,16.202,1025.904,8695.037,475.546,1226.756,413.381,33.366,1110.264,0.000,1202.056,0.000,17.017
$DEVICE_MAMPS,170.274,84.370,961.051,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.157,376.196,407.522,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28526,545
$CFSIZE,260165632,240644096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,150108,092925,6244.905,-554.396,70,1.6,70,-8.0