version: 66.02
glider: 16
mission: 6
dive: 381
start: 1 25 108 3 9 13
data:
$ID,16
$MISSION,6
$DIVE,381
$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,-2086216.2
$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,12
$R_STBD_OVSHOOT,21
$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
$GPS1,030148,6214.504,-323.834,42,4.8,61,-6.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-38.0
$GPS2,030823,6214.501,-323.627,12,3.9,31,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.132,-0.178
$KALMAN_X,7179.4,894.9,1198.2,291556.8,-19376.5
$KALMAN_Y,-20622.4,-859.5,151.2,88557.8,8907.4
$MHEAD_RNG_PITCHd_Wd,153.3,153616,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,127,0.00,0.00,-99.07,0.000,2,0.000,0.000,66,2408,2858
$GC,130,-0.85,-146.6,3.3,-2.6,5,165,12.30,2.65,-15.43,0.000,4,0.176,0.087,2223,3766,3416
$GC,311,-0.85,-146.6,15.0,-5.3,13,315,0.00,2.58,0.00,0.000,6,0.000,0.064,2223,2393,3416
$GC,632,-0.85,-146.6,46.3,-11.6,29,636,0.00,2.70,0.00,0.000,4,0.000,0.075,2223,978,3416
$GC,686,-0.85,-146.6,50.5,-7.7,31,693,0.00,2.60,0.00,0.000,6,0.000,0.059,2223,2393,3417
$GC,1005,-0.85,-146.6,83.6,-12.6,47,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2394,3417
$GC,1312,-0.85,-146.6,116.4,-11.2,62,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2394,3417
$GC,1621,-0.85,-146.6,148.2,-9.0,77,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2394,3417
$GC,1930,-0.85,-146.6,180.1,-9.0,92,1935,0.00,2.70,0.00,0.000,4,0.000,0.074,2224,976,3417
$GC,2008,-0.85,-146.6,186.8,-8.4,95,2014,0.00,2.62,0.00,0.000,6,0.000,0.060,2223,2400,3417
$GC,2324,-0.85,-146.6,210.4,-7.6,111,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3417
$GC,2633,-0.85,-146.6,234.8,-8.1,126,2638,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,979,3417
$GC,2683,-0.85,-146.6,239.3,-8.9,128,2687,0.00,2.62,0.00,0.000,6,0.000,0.062,2223,2401,3417
$GC,2999,-0.85,-146.6,264.5,-8.4,143,3004,0.00,2.70,0.00,0.000,4,0.000,0.076,2223,974,3418
$GC,3062,-0.85,-146.6,270.2,-9.2,146,3066,0.00,2.65,0.00,0.000,6,0.000,0.063,2223,2401,3418
$GC,3388,-0.85,-146.6,295.8,-7.0,162,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3418
$GC,3698,-0.85,-146.6,317.1,-6.8,177,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3418
$GC,4006,-0.85,-146.6,337.4,-6.5,192,4011,0.00,2.72,0.00,0.000,4,0.000,0.079,2223,977,3417
$GC,4079,-0.85,-146.6,342.4,-6.8,195,4083,0.00,2.67,0.00,0.000,6,0.000,0.066,2223,2405,3418
$GC,4395,-0.85,-146.6,363.5,-7.4,210,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3418
$GC,4703,-0.85,-146.6,385.1,-6.6,225,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3418
$GC,5013,-0.85,-146.6,406.1,-6.8,240,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3418
$GC,5323,-0.85,-146.6,426.9,-6.7,255,5327,0.00,2.75,0.00,0.000,4,0.000,0.081,2223,979,3418
$GC,5411,-0.85,-146.6,433.5,-6.6,259,5416,0.00,2.67,0.00,0.000,6,0.000,0.069,2223,2402,3418
$GC,5732,-0.85,-146.6,456.3,-7.4,275,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3417
$GC,6042,-0.85,-146.6,477.8,-6.7,290,6047,0.00,2.75,0.00,0.000,4,0.000,0.082,2223,979,3417
$GC,6127,-0.85,-146.6,483.9,-7.7,294,6131,0.00,2.70,0.00,0.000,6,0.000,0.070,2223,2407,3416
$GC,6454,-0.85,-146.6,505.7,-6.9,310,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2407,3416
$GC,6762,-0.85,-146.6,528.6,-7.6,325,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2407,3415
$GC,7076,-0.85,-146.6,550.9,-6.9,340,7080,0.00,2.75,0.00,0.000,4,0.000,0.082,2223,982,3413
$GC,7143,-0.85,-146.6,556.0,-7.8,343,7147,0.00,2.67,0.00,0.000,6,0.000,0.071,2223,2403,3413
$GC,7463,-0.85,-146.6,577.8,-7.0,359,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2403,3413
$GC,7772,-0.85,-146.6,599.7,-7.1,374,7777,0.00,2.75,0.00,0.000,4,0.000,0.084,2223,982,3412
$GC,7840,-0.85,-146.6,604.6,-7.2,377,7844,0.00,2.70,0.00,0.000,6,0.000,0.072,2223,2400,3412
$GC,8160,-0.85,-146.6,626.3,-6.8,393,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3411
$GC,8469,-0.85,-146.6,647.0,-6.6,408,8474,0.00,2.75,0.00,0.000,4,0.000,0.084,2223,979,3410
$STATE,8506,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8506,begin apogee
$GC,8516,-0.31,0.0,649.9,7.1,410,8642,0.60,0.00,122.72,1.192,6,0.120,0.000,2338,2202,2817
$STATE,8643,end apogee,CONTROL_FINISHED_OK
$STATE,8643,begin climb
$GC,8645,0.85,146.6,654.4,0.0,416,8776,1.23,2.85,121.65,1.167,4,0.087,0.081,2588,789,2219
$GC,8791,0.85,146.6,650.6,6.5,423,8795,0.00,2.70,0.00,0.000,6,0.000,0.064,2588,2203,2219
$GC,9117,0.86,158.6,631.5,5.7,439,9130,0.00,0.00,11.55,1.038,6,0.000,0.000,2588,2203,2170
$GC,9425,0.86,158.6,613.4,6.0,454,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2203,2169
$GC,9736,0.87,169.6,595.7,5.7,469,9751,0.00,2.83,10.45,1.029,4,0.000,0.091,2588,3613,2125
$GC,9779,0.87,169.6,592.9,6.6,470,9784,0.00,2.75,0.00,0.000,6,0.000,0.075,2588,2200,2125
$GC,10101,0.89,190.2,575.1,5.4,486,10121,0.00,0.00,18.55,1.085,6,0.000,0.000,2588,2200,2042
$GC,10430,0.91,209.2,557.1,5.5,502,10450,0.00,0.00,16.92,1.068,6,0.000,0.000,2588,2200,1963
$GC,10759,0.96,251.3,540.2,4.8,518,10799,0.15,0.00,35.65,1.105,6,0.075,0.000,2622,2200,1792
$GC,11109,0.96,251.3,515.5,7.5,535,11113,0.00,2.78,0.00,0.000,4,0.000,0.087,2622,781,1791
$GC,11135,0.96,251.3,513.2,8.1,536,11140,0.00,2.65,0.00,0.000,6,0.000,0.062,2622,2204,1790
$GC,11451,0.96,251.3,488.1,8.2,551,11453,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2205,1791
$GC,11761,0.96,251.3,463.3,8.2,566,11766,0.00,2.78,0.00,0.000,4,0.000,0.082,2622,776,1790
$GC,11805,0.96,251.3,459.2,8.5,568,11810,0.00,2.70,0.00,0.000,6,0.000,0.064,2622,2206,1789
$GC,12126,0.96,251.3,434.8,7.4,584,12130,0.00,2.78,0.00,0.000,4,0.000,0.081,2622,779,1789
$GC,12158,0.96,251.3,432.1,7.8,585,12165,0.00,2.67,0.00,0.000,6,0.000,0.064,2622,2204,1788
$GC,12475,0.96,251.3,407.3,7.7,601,12479,0.00,2.75,0.00,0.000,4,0.000,0.082,2622,784,1788
$GC,12507,0.96,251.3,404.6,7.7,602,12514,0.00,2.62,0.00,0.000,6,0.000,0.062,2622,2200,1788
$GC,12823,0.96,251.3,380.8,7.6,618,12827,0.00,2.72,0.00,0.000,4,0.000,0.082,2622,784,1788
$GC,12856,0.96,251.3,378.3,7.8,619,12862,0.00,2.65,0.00,0.000,6,0.000,0.062,2622,2201,1788
$GC,13171,0.96,251.3,352.3,8.5,635,13175,0.00,2.75,0.00,0.000,4,0.000,0.081,2622,782,1788
$GC,13198,0.96,251.3,350.0,8.5,636,13202,0.00,2.67,0.00,0.000,6,0.000,0.062,2622,2204,1788
$GC,13514,0.96,251.3,325.7,7.3,651,13516,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2204,1787
$GC,13823,0.96,251.3,301.0,8.3,666,13827,0.00,2.75,0.00,0.000,4,0.000,0.080,2622,782,1788
$GC,13872,0.96,251.3,296.6,8.1,668,13876,0.00,2.65,0.00,0.000,6,0.000,0.061,2622,2200,1788
$GC,14188,0.96,251.3,269.9,8.8,683,14189,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2200,1788
$GC,14497,0.96,251.3,241.7,8.9,698,14498,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2200,1788
$GC,14806,0.96,251.3,213.7,8.7,713,14810,0.00,2.70,0.00,0.000,4,0.000,0.075,2622,778,1788
$GC,14856,0.96,251.3,209.3,8.5,715,14861,0.00,2.65,0.00,0.000,6,0.000,0.057,2622,2209,1788
$GC,15172,0.96,251.3,183.7,7.8,730,15173,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2209,1788
$GC,15481,0.96,251.3,155.8,9.0,745,15482,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2209,1788
$GC,15791,0.96,251.3,130.7,7.6,760,15792,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2209,1790
$GC,16100,0.96,251.3,106.7,8.1,775,16101,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2209,1791
$GC,16409,0.96,251.3,81.9,9.1,790,16410,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2209,1792
$GC,16719,0.96,251.3,53.0,9.4,805,16723,0.00,2.72,0.00,0.000,4,0.000,0.074,2622,776,1792
$GC,16759,0.96,251.3,48.9,9.2,807,16763,0.00,2.60,0.00,0.000,6,0.000,0.052,2622,2203,1792
$GC,17085,0.96,251.3,14.0,10.9,823,17086,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2203,1793
$STATE,17227,end climb,SURFACE_DEPTH_REACHED
$STATE,17227,begin surface coast
$FINISH,0.7,1.026413
$STATE,17249,end surface coast,CONTROL_FINISHED_OK
$STATE,17249,begin surface
$SM_CCo,17271,33.58,0.630,2,0,1593,300.00
$SM_GC,1.58,0.00,0.00,33.58,0.000,0.000,0.630,77,2406,1593,-10.73,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2119
$TCM_TEMP,16.20
$XPDR_PINGS,88
$ALTIM_BOTTOM_PING,550.9,108.8
$24V_AH,23.3,59.265
$10V_AH,10.1,31.445
$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,25.750,118.875,337.500,33.575,0.000,32.588,34.259,174.030,26.500,0.000,0.000,32.375,1483.982,13447.376,549.183,1705.083,527.542,33.365,1389.695,0.000,1653.153,0.000,31.641
$DEVICE_MAMPS,175.643,90.506,1191.918,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,618.321,569.660,505.646,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41071,831
$CFSIZE,260165632,237944832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
$GPS,250108,075928,6212.418,-321.559,43,3.5,62,-6.4