version: 66.02
glider: 16
mission: 6
dive: 345
start: 1 16 108 6 44 49
data:
$ID,16
$MISSION,6
$DIVE,345
$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,-2085254.4
$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,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
$GPS1,063507,6244.736,-520.905,51,1.6,51,-7.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-61.4
$GPS2,064356,6244.655,-520.955,15,1.4,15,-7.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.215,0.053
$KALMAN_X,72748.3,-885.1,203.4,125615.2,-3625.9
$KALMAN_Y,-10148.1,589.6,720.1,131891.0,-10705.5
$MHEAD_RNG_PITCHd_Wd,93.2,56034,-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,23,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-61.42,0.000,2,0.000,0.000,70,2400,3136
$GC,90,-0.85,-146.6,4.1,-5.7,3,115,12.07,2.72,-6.10,0.000,4,0.170,0.083,2219,980,3418
$GC,217,-0.85,-146.6,18.6,-5.6,8,224,0.00,2.65,0.00,0.000,6,0.000,0.059,2219,2410,3419
$GC,534,-0.85,-146.6,42.0,-6.8,24,539,0.00,2.70,0.00,0.000,4,0.000,0.068,2219,975,3419
$GC,584,-0.85,-146.6,46.1,-8.5,26,588,0.00,2.65,0.00,0.000,6,0.000,0.059,2219,2400,3419
$GC,902,-0.85,-146.6,71.8,-7.1,41,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3419
$GC,1209,-0.85,-146.6,94.6,-8.4,56,1213,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,979,3419
$GC,1241,-0.85,-146.6,97.7,-8.5,57,1248,0.00,2.60,0.00,0.000,6,0.000,0.061,2219,2400,3419
$GC,1559,-0.85,-146.6,125.4,-10.7,73,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3419
$GC,1866,-0.85,-146.6,159.2,-12.3,88,1870,0.00,2.67,0.00,0.000,4,0.000,0.069,2219,976,3419
$GC,1898,-0.85,-146.6,162.8,-11.0,89,1904,0.00,2.65,0.00,0.000,6,0.000,0.060,2219,2405,3419
$GC,2215,-0.85,-146.6,184.9,-4.7,105,2219,0.00,2.70,0.00,0.000,4,0.000,0.072,2219,974,3419
$GC,2232,-0.85,-146.6,185.9,-5.1,106,2236,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2397,3419
$GC,2559,-0.85,-146.6,206.2,-5.5,122,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2397,3419
$GC,2868,-0.85,-146.6,227.1,-6.4,137,2872,0.00,2.67,0.00,0.000,4,0.000,0.070,2219,974,3419
$GC,2906,-0.85,-146.6,230.2,-8.0,139,2911,0.00,2.65,0.00,0.000,6,0.000,0.062,2219,2405,3419
$GC,3233,-0.85,-146.6,256.4,-7.8,155,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3419
$GC,3543,-0.85,-146.6,280.1,-6.7,170,3547,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,980,3419
$GC,3582,-0.85,-146.6,282.9,-7.2,172,3586,0.00,2.62,0.00,0.000,6,0.000,0.062,2219,2400,3419
$GC,3907,-0.85,-146.6,309.1,-7.8,188,3912,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,979,3419
$GC,3952,-0.85,-146.6,312.6,-8.2,190,3957,0.00,2.65,0.00,0.000,6,0.000,0.062,2219,2402,3419
$GC,4273,-0.85,-146.6,338.3,-7.6,206,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3419
$GC,4582,-0.85,-146.6,360.8,-7.0,221,4586,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,979,3419
$GC,4644,-0.85,-146.6,364.9,-6.2,224,4648,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2405,3419
$GC,4970,-0.85,-146.6,386.6,-7.2,240,4974,0.00,2.62,0.00,0.000,4,0.000,0.084,2219,3771,3419
$GC,5009,-0.85,-146.6,389.7,-8.4,242,5013,0.00,2.55,0.00,0.000,6,0.000,0.060,2219,2396,3419
$GC,5335,-0.85,-146.6,413.9,-7.6,258,5340,0.00,2.67,0.00,0.000,4,0.000,0.076,2219,980,3419
$GC,5435,-0.85,-146.6,421.0,-6.5,262,5442,0.00,2.62,0.00,0.000,6,0.000,0.062,2219,2401,3419
$GC,5752,-0.85,-146.6,439.5,-6.0,278,5756,0.00,2.67,0.00,0.000,4,0.000,0.073,2219,980,3419
$GC,5840,-0.85,-146.6,445.6,-6.9,282,5844,0.00,2.62,0.00,0.000,6,0.000,0.063,2219,2400,3420
$GC,6161,-0.85,-146.6,466.0,-6.4,298,6165,0.00,2.62,0.00,0.000,4,0.000,0.086,2219,3771,3420
$GC,6246,-0.85,-146.6,471.8,-6.9,302,6250,0.00,2.53,0.00,0.000,6,0.000,0.060,2219,2399,3420
$GC,6572,-0.85,-146.6,493.2,-6.7,318,6576,0.00,2.70,0.00,0.000,4,0.000,0.079,2219,979,3420
$GC,6627,-0.85,-146.6,497.3,-7.7,320,6633,0.00,2.65,0.00,0.000,6,0.000,0.066,2219,2406,3419
$GC,6943,-0.85,-146.6,518.0,-6.1,336,6948,0.00,2.65,0.00,0.000,4,0.000,0.090,2219,3768,3420
$GC,6976,-0.85,-146.6,520.4,-7.2,337,6982,0.00,2.55,0.00,0.000,6,0.000,0.062,2219,2396,3420
$GC,7292,-0.85,-146.6,537.4,-5.1,353,7296,0.00,2.70,0.00,0.000,4,0.000,0.081,2219,980,3420
$GC,7332,-0.85,-146.6,539.5,-5.7,355,7336,0.00,2.67,0.00,0.000,6,0.000,0.068,2219,2406,3420
$GC,7658,-0.85,-146.6,558.2,-6.3,371,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2406,3419
$GC,7967,-0.85,-146.6,579.9,-7.3,386,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2406,3418
$GC,8277,-0.85,-146.6,601.1,-6.8,401,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2406,3417
$GC,8586,-0.85,-146.6,617.5,-4.4,416,8591,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,982,3416
$GC,8614,-0.85,-146.6,619.1,-5.4,417,8618,0.00,2.67,0.00,0.000,6,0.000,0.070,2219,2403,3416
$STATE,8907,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8907,begin apogee
$GC,8914,-0.31,0.0,640.7,5.3,431,9039,0.62,0.00,122.60,1.167,6,0.124,0.000,2339,2192,2818
$STATE,9040,end apogee,CONTROL_FINISHED_OK
$STATE,9040,begin climb
$GC,9043,0.85,146.6,642.9,0.0,437,9172,1.27,2.80,121.20,1.134,4,0.112,0.077,2588,789,2219
$GC,9424,0.85,149.6,623.5,5.9,455,9434,0.00,2.67,3.80,0.685,6,0.000,0.063,2588,2204,2207
$GC,9751,0.86,155.7,599.4,5.8,471,9764,0.00,2.78,6.72,0.913,4,0.000,0.078,2588,789,2181
$GC,9794,0.86,155.7,596.7,6.1,473,9799,0.00,2.67,0.00,0.000,6,0.000,0.065,2588,2205,2180
$GC,10121,0.86,155.7,574.2,6.8,489,10125,0.00,2.78,0.00,0.000,4,0.000,0.094,2588,3614,2180
$GC,10161,0.86,155.7,571.5,7.7,491,10165,0.00,2.70,0.00,0.000,6,0.000,0.072,2588,2204,2180
$GC,10487,0.86,155.7,549.7,6.5,507,10491,0.00,2.78,0.00,0.000,4,0.000,0.094,2588,3612,2179
$GC,10526,0.86,155.7,547.0,7.4,509,10530,0.00,2.70,0.00,0.000,6,0.000,0.071,2588,2199,2179
$GC,10852,0.86,155.7,525.2,6.6,525,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,2178
$GC,11161,0.86,155.7,505.2,6.5,540,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,2177
$GC,11470,0.86,155.7,485.8,6.4,555,11475,0.00,2.78,0.00,0.000,4,0.000,0.094,2588,3613,2176
$GC,11543,0.86,155.7,480.6,7.4,558,11548,0.00,2.67,0.00,0.000,6,0.000,0.071,2588,2200,2176
$GC,11859,0.87,168.5,461.0,5.7,573,11879,0.00,2.78,11.15,0.974,4,0.000,0.081,2588,782,2129
$GC,11907,0.89,185.1,458.0,5.5,575,11927,0.00,2.67,15.00,0.996,6,0.000,0.061,2588,2200,2062
$GC,12249,0.89,185.1,437.1,6.6,592,12254,0.00,2.78,0.00,0.000,4,0.000,0.093,2588,3615,2062
$GC,12298,0.89,185.1,433.2,7.1,594,12303,0.00,2.70,0.00,0.000,6,0.000,0.071,2588,2196,2061
$GC,12614,0.89,185.1,412.2,6.0,609,12615,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2196,2060
$GC,12924,0.90,197.6,395.0,5.7,624,12937,0.00,0.00,11.52,0.927,6,0.000,0.000,2588,2196,2011
$GC,13232,0.90,197.6,375.8,6.3,639,13236,0.00,2.70,0.00,0.000,4,0.000,0.078,2588,778,2009
$GC,13281,0.90,197.6,372.5,6.5,641,13285,0.00,2.65,0.00,0.000,6,0.000,0.058,2588,2200,2010
$GC,13597,0.90,197.6,351.5,6.4,656,13601,0.00,2.75,0.00,0.000,4,0.000,0.089,2588,3615,2008
$GC,13636,0.90,197.6,348.3,8.5,658,13640,0.00,2.67,0.00,0.000,6,0.000,0.068,2588,2200,2009
$GC,13962,0.90,197.6,326.7,7.2,674,13963,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,2010
$GC,14271,0.90,197.6,306.9,6.3,689,14275,0.00,2.67,0.00,0.000,4,0.000,0.074,2588,784,2010
$GC,14303,0.90,199.4,304.7,5.9,690,14310,0.00,2.62,0.00,0.000,6,0.000,0.055,2588,2207,2009
$GC,14619,0.90,199.4,285.8,6.1,706,14620,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2207,2010
$GC,14929,0.92,210.3,267.8,5.7,721,14947,0.00,0.00,12.23,0.807,6,0.000,0.000,2588,2207,1958
$GC,15257,1.01,293.3,254.2,3.7,737,15331,0.20,2.78,66.62,0.861,4,0.061,0.071,2641,787,1621
$GC,15370,1.01,293.3,246.2,9.5,742,15375,0.00,2.62,0.00,0.000,6,0.000,0.054,2641,2206,1619
$GC,15685,1.01,293.3,214.1,10.3,757,15687,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2206,1619
$GC,15995,1.01,293.3,187.9,8.3,772,15999,0.00,2.70,0.00,0.000,4,0.000,0.070,2641,779,1619
$GC,16039,1.01,293.3,184.3,7.4,774,16043,0.00,2.62,0.00,0.000,6,0.000,0.054,2641,2206,1619
$GC,16359,1.01,293.3,151.1,8.6,790,16363,0.00,2.70,0.00,0.000,4,0.000,0.071,2641,778,1619
$GC,16386,1.01,293.3,148.3,9.7,791,16390,0.00,2.60,0.00,0.000,6,0.000,0.053,2641,2201,1619
$GC,16708,1.01,293.3,116.6,10.0,807,16712,0.00,2.67,0.00,0.000,4,0.000,0.071,2641,784,1620
$GC,16729,1.01,293.3,114.1,10.6,808,16733,0.00,2.60,0.00,0.000,6,0.000,0.053,2641,2201,1620
$GC,17050,1.01,293.3,81.8,8.8,824,17051,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1621
$GC,17360,1.07,349.2,55.9,4.5,839,17410,0.00,2.75,44.15,0.715,4,0.000,0.070,2641,790,1393
$GC,17450,1.07,349.2,49.0,11.0,843,17454,0.00,2.60,0.00,0.000,6,0.000,0.052,2641,2201,1392
$GC,17771,1.07,349.2,14.9,8.9,859,17775,0.00,2.70,0.00,0.000,4,0.000,0.073,2641,781,1391
$GC,17803,1.07,349.2,12.0,9.0,860,17810,0.00,2.60,0.00,0.000,6,0.000,0.052,2641,2201,1391
$STATE,17910,end climb,SURFACE_DEPTH_REACHED
$STATE,17911,begin surface coast
$FINISH,0.9,1.027460
$STATE,17934,end surface coast,CONTROL_FINISHED_OK
$STATE,17934,begin surface
$SM_CCo,18016,0.00,0.000,0,0,1389,350.29
$SM_GC,1.59,11.43,0.00,0.00,0.046,0.000,0.000,70,2406,1389,-10.69,0.17,350.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2107
$TCM_TEMP,16.60
$XPDR_PINGS,68
$ALTIM_BOTTOM_PING,575.5,73.3
$24V_AH,23.4,54.096
$10V_AH,10.2,28.124
$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,25.600,177.200,415.000,0.000,0.000,65.218,112.510,160.800,21.750,0.000,0.000,15.923,1596.790,13871.242,557.717,1897.599,619.718,33.378,1530.389,0.000,1856.046,0.000,33.176
$DEVICE_MAMPS,169.507,94.341,1167.374,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,642.111,594.407,521.148,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44262,867
$CFSIZE,260165632,240275456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,160108,114617,6243.532,-519.242,29,2.0,38,-7.6