version: 66.02
glider: 16
mission: 6
dive: 344
start: 1 16 108 1 26 13
data:
$ID,16
$MISSION,6
$DIVE,344
$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,-2085237.9
$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,12
$R_STBD_OVSHOOT,19
$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
$GPS1,011857,6246.288,-525.362,38,2.3,57,-7.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-58.3
$GPS2,012523,6246.285,-525.390,17,2.6,36,-7.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.218,0.040
$KALMAN_X,76539.5,-764.9,-201.3,118196.4,-1589.3
$KALMAN_Y,-7312.7,520.0,1427.0,131416.0,-10400.7
$MHEAD_RNG_PITCHd_Wd,96.4,59637,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-59.78,0.000,2,0.000,0.000,67,2404,3050
$GC,89,-0.85,-146.6,3.5,-4.7,3,116,12.12,2.70,-8.77,0.000,4,0.170,0.080,2223,979,3417
$GC,201,-0.85,-146.6,16.5,-7.9,8,205,0.00,2.62,0.00,0.000,6,0.000,0.058,2223,2398,3417
$GC,523,-0.85,-146.6,44.9,-6.4,24,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2398,3417
$GC,831,-0.85,-146.6,74.0,-12.0,39,835,0.00,2.67,0.00,0.000,4,0.000,0.070,2223,976,3417
$GC,854,-0.85,-146.6,75.8,-7.9,40,858,0.00,2.65,0.00,0.000,6,0.000,0.060,2223,2403,3417
$GC,1174,-0.85,-146.6,90.8,-6.6,56,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2403,3417
$GC,1485,-0.85,-146.6,111.8,-7.4,71,1490,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,979,3417
$GC,1525,-0.85,-146.6,114.8,-7.4,73,1529,0.00,2.62,0.00,0.000,6,0.000,0.060,2223,2403,3417
$GC,1852,-0.85,-146.6,134.7,-5.1,89,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2403,3417
$GC,2160,-0.85,-146.6,153.0,-6.2,104,2164,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,979,3417
$GC,2210,-0.85,-146.6,155.6,-4.3,106,2214,0.00,2.62,0.00,0.000,6,0.000,0.060,2223,2400,3417
$GC,2528,-0.85,-146.6,175.8,-8.0,121,2532,0.00,2.60,0.00,0.000,4,0.000,0.081,2223,3766,3417
$GC,2583,-0.85,-146.6,180.6,-9.7,123,2590,0.00,2.53,0.00,0.000,6,0.000,0.058,2223,2396,3418
$GC,2899,-0.85,-146.6,206.9,-6.5,139,2903,0.00,2.67,0.00,0.000,4,0.000,0.074,2223,976,3418
$GC,2953,-0.85,-146.6,211.0,-8.3,141,2960,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2405,3417
$GC,3269,-0.85,-146.6,232.8,-7.1,157,3273,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,983,3417
$GC,3308,-0.85,-146.6,235.7,-7.6,159,3313,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2407,3418
$GC,3635,-0.85,-146.6,261.9,-7.7,175,3639,0.00,2.67,0.00,0.000,4,0.000,0.073,2223,980,3418
$GC,3674,-0.85,-146.6,265.0,-8.0,177,3678,0.00,2.62,0.00,0.000,6,0.000,0.062,2223,2402,3418
$GC,4001,-0.85,-146.6,284.9,-4.4,193,4005,0.00,2.65,0.00,0.000,4,0.000,0.073,2223,982,3417
$GC,4039,-0.85,-146.6,287.3,-6.5,195,4044,0.00,2.62,0.00,0.000,6,0.000,0.063,2223,2407,3417
$GC,4366,-0.85,-146.6,323.4,-12.6,211,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2407,3417
$GC,4676,-0.85,-146.6,355.3,-7.1,226,4681,0.00,2.70,0.00,0.000,4,0.000,0.073,2223,975,3418
$GC,4708,-0.85,-146.6,357.2,-6.0,227,4715,0.00,2.62,0.00,0.000,6,0.000,0.062,2223,2400,3418
$GC,5024,-0.85,-146.6,376.2,-6.2,243,5028,0.00,2.67,0.00,0.000,4,0.000,0.072,2223,976,3418
$GC,5057,-0.85,-146.6,378.3,-6.4,244,5063,0.00,2.65,0.00,0.000,6,0.000,0.062,2223,2402,3417
$GC,5374,-0.85,-146.6,400.1,-7.1,260,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2404,3417
$GC,5681,-0.85,-146.6,422.2,-7.1,275,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2403,3418
$GC,5991,-0.85,-146.6,444.6,-7.1,290,5995,0.00,2.62,0.00,0.000,4,0.000,0.083,2224,3776,3417
$GC,6079,-0.85,-146.6,452.4,-9.2,294,6084,0.00,2.55,0.00,0.000,6,0.000,0.059,2223,2395,3417
$GC,6400,-0.85,-146.6,476.8,-7.5,310,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2395,3418
$GC,6711,-0.85,-146.6,496.2,-5.6,325,6715,0.00,2.67,0.00,0.000,4,0.000,0.076,2223,980,3418
$GC,6811,-0.85,-146.6,501.8,-5.6,329,6817,0.00,2.65,0.00,0.000,6,0.000,0.061,2223,2409,3418
$GC,7127,-0.85,-146.6,517.6,-5.2,345,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2410,3418
$GC,7436,-0.85,-146.6,534.5,-5.7,360,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2410,3418
$GC,7745,-0.85,-146.6,552.4,-6.0,375,7749,0.00,2.67,0.00,0.000,4,0.000,0.074,2224,983,3418
$GC,7788,-0.85,-146.6,555.3,-6.3,377,7793,0.00,2.62,0.00,0.000,6,0.000,0.064,2223,2406,3418
$GC,8111,-0.85,-146.6,575.8,-6.2,393,8115,0.00,2.62,0.00,0.000,4,0.000,0.089,2223,3768,3418
$GC,8165,-0.85,-146.6,579.4,-6.3,395,8172,0.00,2.53,0.00,0.000,6,0.000,0.063,2223,2400,3418
$GC,8482,-0.85,-146.6,598.0,-6.3,411,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2401,3418
$GC,8791,-0.85,-146.6,616.3,-6.4,426,8795,0.00,2.70,0.00,0.000,4,0.000,0.081,2223,985,3418
$GC,8840,-0.85,-146.6,620.0,-8.1,428,8844,0.00,2.65,0.00,0.000,6,0.000,0.068,2223,2401,3417
$GC,9156,-0.85,-146.6,639.6,-5.9,443,9161,0.00,2.70,0.00,0.000,4,0.000,0.080,2223,985,3416
$GC,9223,-0.85,-146.6,644.1,-7.4,446,9227,0.00,2.65,0.00,0.000,6,0.000,0.069,2223,2404,3416
$GC,9544,-0.85,-146.6,662.6,-5.0,462,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3415
$STATE,9562,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9562,begin apogee
$GC,9569,-0.31,0.0,663.8,5.4,463,9694,0.60,0.00,122.47,1.173,6,0.114,0.000,2341,2200,2817
$STATE,9695,end apogee,CONTROL_FINISHED_OK
$STATE,9695,begin climb
$GC,9698,0.85,146.6,665.4,0.0,469,9827,1.20,2.78,121.28,1.146,4,0.085,0.077,2588,787,2218
$GC,10081,0.85,146.6,644.2,7.3,487,10085,0.00,2.65,0.00,0.000,6,0.000,0.062,2588,2195,2215
$GC,10401,0.87,169.2,625.4,5.4,503,10422,0.00,0.00,19.48,1.073,6,0.000,0.000,2588,2195,2126
$GC,10731,0.87,173.0,606.2,5.9,519,10737,0.00,0.00,4.72,0.798,6,0.000,0.000,2588,2195,2111
$GC,11039,0.87,173.0,585.9,7.5,534,11044,0.00,2.78,0.00,0.000,4,0.000,0.092,2588,3612,2110
$GC,11080,0.87,173.0,582.5,9.1,536,11084,0.00,2.70,0.00,0.000,6,0.000,0.071,2588,2200,2110
$GC,11406,0.87,173.0,558.1,7.3,552,11411,0.00,2.80,0.00,0.000,4,0.000,0.093,2588,3619,2108
$GC,11528,0.87,173.0,547.9,7.9,557,11534,0.00,2.70,0.00,0.000,6,0.000,0.071,2588,2199,2107
$GC,11844,0.87,173.0,526.5,7.0,573,11849,0.00,2.80,0.00,0.000,4,0.000,0.093,2588,3619,2106
$GC,11883,0.87,173.0,523.6,7.8,575,11888,0.00,2.70,0.00,0.000,6,0.000,0.070,2588,2200,2107
$GC,12210,0.87,173.0,500.1,6.7,591,12214,0.00,2.72,0.00,0.000,4,0.000,0.081,2588,782,2106
$GC,12272,0.87,173.0,495.8,7.1,594,12276,0.00,2.65,0.00,0.000,6,0.000,0.061,2588,2200,2105
$GC,12598,0.88,177.1,475.5,5.9,610,12604,0.00,0.00,4.07,0.708,6,0.000,0.000,2586,2200,2094
$GC,12907,0.88,177.1,457.1,6.1,625,12912,0.00,2.75,0.00,0.000,4,0.000,0.089,2588,3619,2094
$GC,12941,0.88,177.1,454.8,7.2,626,12947,0.00,2.67,0.00,0.000,6,0.000,0.067,2588,2200,2094
$GC,13257,0.88,177.1,433.2,6.7,642,13261,0.00,2.70,0.00,0.000,4,0.000,0.076,2588,781,2093
$GC,13289,0.88,177.1,431.1,6.6,643,13295,0.00,2.62,0.00,0.000,6,0.000,0.056,2588,2201,2093
$GC,13604,0.88,177.1,412.6,6.1,659,13609,0.00,2.72,0.00,0.000,4,0.000,0.088,2588,3613,2093
$GC,13648,0.88,177.1,409.4,6.8,661,13653,0.00,2.65,0.00,0.000,6,0.000,0.066,2587,2200,2092
$GC,13969,0.88,177.1,388.5,6.4,677,13974,0.00,2.75,0.00,0.000,4,0.000,0.086,2588,3617,2093
$GC,14036,0.88,177.1,383.2,7.5,680,14041,0.00,2.67,0.00,0.000,6,0.000,0.066,2588,2194,2093
$GC,14357,0.88,177.1,358.6,9.7,696,14359,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2194,2093
$GC,14667,0.88,177.1,332.7,6.9,711,14668,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2194,2094
$GC,14977,0.88,177.1,310.8,6.6,726,14978,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2194,2094
$GC,15285,0.92,211.1,296.6,5.1,741,15320,0.00,2.78,28.77,0.874,4,0.000,0.073,2588,790,1956
$GC,15343,0.96,247.4,293.8,5.0,743,15379,0.15,2.62,30.25,0.871,6,0.068,0.053,2621,2203,1808
$GC,15697,0.96,247.4,265.1,11.0,761,15698,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2203,1806
$GC,16004,0.96,247.4,227.8,12.0,776,16008,0.00,2.67,0.00,0.000,4,0.000,0.068,2621,783,1807
$GC,16059,0.96,247.4,221.2,11.2,778,16065,0.00,2.60,0.00,0.000,6,0.000,0.052,2621,2201,1807
$GC,16375,0.96,247.4,185.4,11.0,794,16376,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2202,1807
$GC,16683,0.96,247.4,152.9,9.7,809,16688,0.00,2.67,0.00,0.000,4,0.000,0.070,2621,780,1807
$GC,16710,0.96,247.4,150.1,10.0,810,16715,0.00,2.60,0.00,0.000,6,0.000,0.051,2621,2203,1807
$GC,17029,0.96,247.4,118.9,10.1,825,17030,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2203,1808
$GC,17336,0.96,247.4,87.5,10.1,840,17337,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2203,1808
$GC,17645,0.96,255.8,63.7,5.8,855,17659,0.00,2.72,8.52,0.637,4,0.000,0.068,2621,782,1774
$GC,17706,0.96,255.8,59.3,7.0,857,17712,0.00,2.60,0.00,0.000,6,0.000,0.052,2621,2201,1774
$GC,18021,0.96,255.8,33.6,7.9,873,18026,0.00,2.67,0.00,0.000,4,0.000,0.067,2621,774,1774
$GC,18042,0.96,255.8,31.7,8.4,874,18046,0.00,2.60,0.00,0.000,6,0.000,0.051,2621,2201,1773
$GC,18365,0.96,255.8,2.8,9.3,890,18369,0.00,2.67,0.00,0.000,4,0.000,0.070,2621,782,1774
$STATE,18372,end climb,SURFACE_DEPTH_REACHED
$STATE,18372,begin surface coast
$FINISH,1.1,1.027459
$STATE,18380,end surface coast,CONTROL_FINISHED_OK
$STATE,18380,begin surface
$SM_CCo,18405,29.92,0.609,2,0,1594,300.00
$SM_GC,1.49,0.00,0.00,29.92,0.000,0.000,0.609,71,2398,1594,-10.76,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2100
$TCM_TEMP,16.60
$XPDR_PINGS,59
$ALTIM_BOTTOM_PING,600.6,72.1
$24V_AH,23.4,53.954
$10V_AH,10.2,28.040
$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,25.525,171.325,339.575,29.925,0.000,32.588,34.761,179.345,19.750,0.000,0.000,37.165,1632.502,14189.971,535.487,1948.389,527.483,33.371,1501.452,0.000,1885.067,0.000,34.797
$DEVICE_MAMPS,170.274,92.807,1172.743,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,653.615,614.851,557.401,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44382,891
$CFSIZE,260165632,240345088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
$GPS,160108,063507,6244.736,-520.905,51,1.6,51,-7.6