version: 66.02
glider: 16
mission: 6
dive: 378
start: 1 24 108 14 21 18
data:
$ID,16
$MISSION,6
$DIVE,378
$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,-2086151.2
$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
$GPS1,140725,6217.640,-329.802,35,1.2,52,-6.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-55.8
$GPS2,142026,6217.666,-329.668,11,1.3,16,-6.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.129,-0.180
$KALMAN_X,11789.3,391.9,1341.3,282018.6,-18663.2
$KALMAN_Y,-20130.1,-1457.9,-214.9,94914.2,14152.7
$MHEAD_RNG_PITCHd_Wd,152.9,161484,-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,-61.15,0.000,2,0.000,0.000,66,2413,3072
$GC,90,-0.85,-146.6,3.9,-5.6,3,117,12.25,2.62,-8.38,0.000,4,0.174,0.089,2221,3767,3417
$GC,370,-0.85,-146.6,31.1,-7.4,15,376,0.00,2.55,0.00,0.000,6,0.000,0.060,2220,2400,3417
$GC,686,-0.85,-146.6,58.7,-9.5,31,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,996,-0.85,-146.6,85.0,-8.5,46,1001,0.00,2.70,0.00,0.000,4,0.000,0.076,2221,983,3418
$GC,1060,-0.85,-146.6,90.4,-8.7,49,1065,0.00,2.65,0.00,0.000,6,0.000,0.063,2220,2404,3418
$GC,1390,-0.85,-146.6,116.9,-8.0,65,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,1697,-0.85,-146.6,141.9,-8.0,80,1701,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,982,3419
$GC,1759,-0.85,-146.6,146.8,-8.0,83,1764,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2403,3418
$GC,2087,-0.85,-146.6,172.7,-8.0,99,2091,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,983,3419
$GC,2130,-0.85,-146.6,176.7,-8.7,101,2135,0.00,2.65,0.00,0.000,6,0.000,0.065,2221,2406,3419
$GC,2451,-0.85,-146.6,202.9,-8.2,117,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3419
$GC,2761,-0.85,-146.6,226.8,-7.7,132,2766,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,977,3419
$GC,2811,-0.85,-146.6,230.8,-7.6,134,2815,0.00,2.65,0.00,0.000,6,0.000,0.066,2221,2401,3420
$GC,3127,-0.85,-146.6,253.3,-6.8,149,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3419
$GC,3437,-0.85,-146.6,273.0,-6.3,164,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3420
$GC,3745,-0.85,-146.6,293.5,-6.5,179,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2402,3420
$GC,4054,-0.85,-146.6,313.9,-6.6,194,4059,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,984,3421
$GC,4140,-0.85,-146.6,319.5,-6.7,198,4144,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2401,3421
$GC,4466,-0.85,-146.6,341.7,-6.9,214,4470,0.00,2.75,0.00,0.000,4,0.000,0.082,2221,979,3421
$GC,4520,-0.85,-146.6,345.6,-6.7,216,4526,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2399,3421
$GC,4837,-0.85,-146.6,365.3,-6.0,232,4841,0.00,2.75,0.00,0.000,4,0.000,0.082,2221,977,3421
$GC,4892,-0.85,-146.6,368.9,-7.0,234,4898,0.00,2.70,0.00,0.000,6,0.000,0.072,2220,2404,3420
$GC,5208,-0.85,-146.6,388.3,-6.2,250,5212,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,985,3420
$GC,5257,-0.85,-146.6,391.7,-6.7,252,5262,0.00,2.67,0.00,0.000,6,0.000,0.074,2221,2402,3420
$GC,5573,-0.85,-146.6,411.4,-6.4,267,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3419
$GC,5883,-0.85,-146.6,430.7,-6.4,282,5887,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,985,3418
$GC,5960,-0.85,-146.6,436.0,-6.6,285,5966,0.00,2.67,0.00,0.000,6,0.000,0.074,2221,2400,3418
$GC,6276,-0.85,-146.6,455.4,-5.9,301,6281,0.00,2.72,0.00,0.000,4,0.000,0.085,2221,985,3417
$GC,6323,-0.85,-146.6,458.2,-6.5,303,6327,0.00,2.70,0.00,0.000,6,0.000,0.074,2221,2401,3416
$GC,6643,-0.85,-146.6,476.7,-5.6,319,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3416
$GC,6952,-0.85,-146.6,495.7,-6.3,334,6957,0.00,2.75,0.00,0.000,4,0.000,0.085,2220,987,3415
$GC,7042,-0.85,-146.6,501.7,-7.0,338,7047,0.00,2.70,0.00,0.000,6,0.000,0.075,2220,2403,3415
$STATE,7319,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7319,begin apogee
$GC,7325,-0.31,0.0,520.3,6.7,352,7451,0.62,0.00,122.25,1.099,6,0.123,0.000,2340,2195,2817
$STATE,7452,end apogee,CONTROL_FINISHED_OK
$STATE,7452,begin climb
$GC,7454,0.85,146.6,524.5,0.0,358,7585,1.27,2.85,121.03,1.070,4,0.112,0.082,2589,782,2217
$GC,7627,0.85,150.9,519.4,5.9,366,7637,0.00,2.70,5.07,0.767,6,0.000,0.067,2589,2195,2201
$GC,7948,0.85,150.9,499.9,6.1,381,7953,0.00,2.83,0.00,0.000,4,0.000,0.098,2589,3618,2199
$GC,7987,0.85,150.9,497.2,6.8,383,7992,0.00,2.72,0.00,0.000,6,0.000,0.076,2589,2204,2199
$GC,8313,0.85,150.9,477.5,6.2,399,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2199
$GC,8624,0.85,152.1,458.9,6.0,414,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2199
$GC,8932,0.85,152.1,440.0,6.4,429,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2198
$GC,9241,0.85,152.1,420.2,6.1,444,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2197
$GC,9551,0.87,165.3,402.6,5.6,459,9572,0.00,2.90,12.65,0.966,4,0.000,0.098,2589,3607,2142
$GC,9624,0.87,165.3,397.7,6.7,462,9629,0.00,2.75,0.00,0.000,6,0.000,0.078,2589,2196,2141
$GC,9945,0.87,166.2,377.6,6.0,478,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2196,2141
$GC,10255,0.87,166.2,358.7,6.1,493,10256,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2196,2140
$GC,10564,0.90,199.7,341.6,5.1,508,10598,0.00,2.88,28.70,0.986,4,0.000,0.085,2589,784,2002
$GC,10628,0.92,211.8,338.3,5.7,511,10648,0.00,2.70,11.20,0.901,6,0.000,0.066,2589,2203,1952
$GC,10958,0.92,218.2,319.5,5.8,527,10973,0.10,2.83,6.88,0.825,4,0.088,0.081,2610,785,1926
$GC,10995,0.92,218.2,316.8,7.9,528,11001,0.00,2.70,0.00,0.000,6,0.000,0.064,2611,2203,1925
$GC,11311,0.92,218.2,295.2,7.3,544,11315,0.00,2.75,0.00,0.000,4,0.000,0.081,2611,783,1925
$GC,11344,0.92,218.2,292.5,8.3,545,11351,0.00,2.67,0.00,0.000,6,0.000,0.064,2610,2205,1924
$GC,11660,0.92,218.2,267.2,7.8,561,11664,0.00,2.78,0.00,0.000,4,0.000,0.095,2611,3618,1925
$GC,11692,0.92,218.2,264.4,8.3,562,11698,0.00,2.72,0.00,0.000,6,0.000,0.074,2611,2201,1924
$GC,12009,0.92,218.2,241.6,7.0,578,12013,0.00,2.72,0.00,0.000,4,0.000,0.080,2610,784,1924
$GC,12048,0.92,218.2,238.9,7.4,580,12052,0.00,2.65,0.00,0.000,6,0.000,0.061,2611,2202,1924
$GC,12374,0.93,226.9,219.2,5.8,596,12388,0.00,2.75,8.40,0.796,4,0.000,0.075,2611,791,1891
$GC,12418,0.93,226.9,216.3,6.4,598,12423,0.00,2.65,0.00,0.000,6,0.000,0.059,2611,2202,1890
$GC,12745,0.93,226.9,196.5,6.0,614,12746,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2201,1891
$GC,13054,0.93,226.9,175.8,6.5,629,13058,0.00,2.75,0.00,0.000,4,0.000,0.086,2611,3618,1890
$GC,13098,0.93,226.9,172.7,7.5,631,13103,0.00,2.70,0.00,0.000,6,0.000,0.068,2611,2201,1890
$GC,13419,0.93,226.9,151.2,6.9,647,13420,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2200,1891
$GC,13729,0.93,226.9,129.2,6.5,662,13730,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2200,1892
$GC,14039,0.93,226.9,107.2,8.1,677,14040,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2200,1892
$GC,14347,0.93,226.9,82.5,9.0,692,14352,0.00,2.70,0.00,0.000,4,0.000,0.077,2611,784,1893
$GC,14387,0.93,226.9,78.7,9.9,694,14392,0.00,2.60,0.00,0.000,6,0.000,0.054,2611,2201,1893
$GC,14715,0.97,256.6,56.9,5.2,710,14743,0.00,0.00,25.62,0.732,6,0.000,0.000,2611,2201,1771
$GC,15045,0.97,256.6,33.2,8.0,726,15046,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2201,1769
$GC,15353,0.97,256.6,15.5,6.3,741,15354,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2201,1770
$STATE,15517,end climb,SURFACE_DEPTH_REACHED
$STATE,15517,begin surface coast
$FINISH,1.0,1.027533
$STATE,15537,end surface coast,CONTROL_FINISHED_OK
$STATE,15537,begin surface
$SM_CCo,15560,31.73,0.605,3,0,1593,300.00
$SM_GC,1.44,0.00,0.00,31.73,0.000,0.000,0.605,74,2403,1593,-10.75,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2112
$TCM_TEMP,16.20
$XPDR_PINGS,89
$ALTIM_BOTTOM_PING,425.4,103.5
$24V_AH,23.4,58.814
$10V_AH,10.1,31.221
$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,25.675,125.675,341.800,31.725,0.000,97.821,105.423,328.752,25.500,0.000,0.000,16.025,1375.831,12092.574,509.599,1618.576,797.597,33.364,1323.051,0.000,1586.549,0.000,23.510
$DEVICE_MAMPS,174.109,98.176,1099.111,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,557.651,513.428,515.878,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37967,750
$CFSIZE,260165632,238100480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,3,0
$GPS,240108,184258,6215.545,-328.186,36,2.3,55,-6.5