version: 66.03
glider: 16
mission: 9
dive: 4
start: 6 7 108 19 34 17
data:
$ID,16
$MISSION,9
$DIVE,4
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-6
$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
$KERMIT,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,-2092431
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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,2781
$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,-20.434687
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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,4
$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,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,192950,6045.884,-518.216,6,1.5,12,-7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-61.6
$GPS2,193238,6045.854,-518.223,14,2.0,20,-7.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.083,0.250
$KALMAN_X,445.3,1088.6,442.2,-3130.1,-1394.4
$KALMAN_Y,-1933.9,-2593.4,586.3,656.2,-2485.7
$MHEAD_RNG_PITCHd_Wd,304.1,37189,-18.1,-10.000
$D_GRID,767
$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,-1.29,-146.6,0.0,0.0,0,101,0.00,0.00,-76.22,0.000,2,0.000,0.000,68,2502,3167
$GC,105,-1.29,-146.6,4.3,-4.8,4,127,10.77,2.60,-4.32,0.000,4,0.163,0.067,2012,1081,3380
$GC,354,-1.21,-146.6,47.9,-14.5,15,359,0.12,2.58,0.00,0.000,6,0.123,0.048,2033,2499,3380
$GC,681,-1.14,-146.6,93.4,-14.4,31,685,0.00,2.60,0.00,0.000,4,0.000,0.056,2033,1085,3380
$GC,811,-1.14,-146.6,111.5,-13.7,37,815,0.00,2.58,0.00,0.000,6,0.000,0.050,2033,2499,3380
$GC,1137,-1.08,-146.6,157.4,-14.0,53,1142,0.15,2.60,0.00,0.000,4,0.122,0.058,2063,1085,3379
$GC,1222,-1.16,-146.6,167.7,-11.5,57,1226,0.00,2.58,0.00,0.000,6,0.000,0.051,2063,2499,3379
$GC,1548,-1.16,-146.6,205.1,-11.1,73,1552,0.00,2.60,0.00,0.000,4,0.000,0.058,2063,1083,3379
$GC,1693,-1.24,-146.6,220.6,-10.7,79,1700,0.15,2.58,0.00,0.000,6,0.048,0.052,2019,2498,3379
$GC,2009,-1.14,-146.6,264.3,-14.9,95,2014,0.15,2.60,0.00,0.000,4,0.102,0.061,2051,1083,3378
$GC,2104,-1.18,-146.6,276.7,-12.7,99,2108,0.00,2.60,0.00,0.000,6,0.000,0.054,2051,2503,3378
$GC,2419,-1.18,-146.6,318.6,-13.3,114,2424,0.00,2.62,0.00,0.000,4,0.000,0.061,2050,1085,3377
$GC,2543,-1.23,-146.6,334.2,-11.9,119,2549,0.00,2.60,0.00,0.000,6,0.000,0.055,2051,2503,3377
$GC,2858,-1.23,-146.6,372.0,-11.5,135,2863,0.00,2.62,0.00,0.000,4,0.000,0.061,2050,1079,3376
$GC,2982,-1.28,-146.6,386.5,-11.6,140,2989,0.15,2.62,0.00,0.000,6,0.050,0.057,2009,2506,3376
$GC,3298,-1.16,-146.6,432.9,-15.1,156,3303,0.15,2.65,0.00,0.000,4,0.106,0.063,2041,1079,3375
$GC,3382,-1.16,-146.6,444.6,-13.5,160,3387,0.00,2.60,0.00,0.000,6,0.000,0.058,2041,2501,3375
$GC,3710,-1.16,-146.6,485.8,-12.5,176,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2501,3374
$GC,4019,-1.16,-146.6,524.2,-12.1,191,4023,0.00,2.62,0.00,0.000,4,0.000,0.065,2041,1085,3373
$GC,4215,-1.16,-146.6,547.7,-12.0,200,4219,0.00,2.62,0.00,0.000,6,0.000,0.063,2041,2504,3373
$GC,4541,-1.16,-146.6,586.6,-11.6,216,4546,0.00,2.65,0.00,0.000,4,0.000,0.069,2041,1089,3371
$GC,4631,-1.16,-146.6,596.8,-11.3,220,4635,0.00,2.62,0.00,0.000,6,0.000,0.064,2041,2503,3371
$GC,4952,-1.16,-146.6,634.0,-12.1,236,4956,0.00,2.67,0.00,0.000,4,0.000,0.070,2041,1080,3368
$GC,5041,-1.20,-146.6,644.8,-11.1,240,5045,0.00,2.67,0.00,0.000,6,0.000,0.067,2041,2504,3368
$GC,5362,-1.20,-146.6,685.0,-12.4,256,5366,0.00,2.67,0.00,0.000,4,0.000,0.072,2041,1088,3366
$GC,5495,-1.20,-146.6,701.4,-10.2,262,5500,0.00,2.65,0.00,0.000,6,0.000,0.068,2041,2500,3365
$GC,5816,-1.20,-146.6,743.0,-12.9,278,5821,0.00,2.67,0.00,0.000,4,0.000,0.072,2041,1081,3363
$GC,5962,-1.25,-146.6,760.5,-12.6,284,5968,0.00,2.67,0.00,0.000,6,0.000,0.069,2041,2501,3363
$STATE,6028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6028,begin apogee
$GC,6035,-0.31,0.0,769.1,13.0,288,6171,0.95,0.00,129.57,1.201,6,0.110,0.000,2228,2293,2781
$STATE,6171,end apogee,CONTROL_FINISHED_OK
$STATE,6171,begin climb
$GC,6174,1.29,146.6,776.8,0.0,295,6318,1.67,2.72,133.10,1.162,4,0.083,0.073,2578,889,2183
$GC,6344,1.30,226.2,773.5,6.4,303,6426,0.00,2.67,72.25,1.138,6,0.000,0.061,2578,2301,1857
$GC,6737,1.30,229.7,736.4,9.8,322,6743,0.00,0.00,4.62,0.782,6,0.000,0.000,2578,2301,1845
$GC,7045,1.38,252.0,708.6,9.0,337,7074,0.10,2.80,21.40,1.088,4,0.069,0.073,2604,889,1753
$GC,7102,1.38,252.0,702.3,11.7,339,7109,0.00,2.67,0.00,0.000,6,0.000,0.061,2604,2307,1753
$GC,7418,1.38,252.0,667.3,12.6,355,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2306,1752
$GC,7727,1.38,252.0,630.3,11.0,370,7732,0.00,2.70,0.00,0.000,4,0.000,0.086,2604,3710,1751
$GC,7766,1.38,252.0,625.5,12.3,372,7771,0.00,2.65,0.00,0.000,6,0.000,0.064,2604,2300,1751
$GC,8093,1.38,252.0,586.5,12.3,388,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2300,1750
$GC,8402,1.38,252.0,547.9,12.0,403,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2300,1749
$GC,8712,1.38,252.0,513.3,11.6,418,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2300,1749
$GC,9021,1.38,252.0,476.7,12.1,433,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2300,1749
$GC,9330,1.38,252.0,441.6,11.2,448,9335,0.00,2.72,0.00,0.000,4,0.000,0.081,2604,3716,1748
$GC,9469,1.38,252.0,424.0,12.7,454,9474,0.00,2.62,0.00,0.000,6,0.000,0.060,2604,2299,1748
$GC,9785,1.38,252.0,389.6,10.8,469,9789,0.00,2.72,0.00,0.000,4,0.000,0.079,2604,3716,1748
$GC,9840,1.38,252.0,382.8,12.5,471,9846,0.00,2.62,0.00,0.000,6,0.000,0.058,2604,2299,1748
$GC,10155,1.38,252.0,345.5,12.0,487,10160,0.00,2.65,0.00,0.000,4,0.000,0.070,2604,887,1748
$GC,10205,1.38,252.0,339.3,12.0,489,10210,0.00,2.60,0.00,0.000,6,0.000,0.054,2604,2301,1748
$GC,10521,1.38,252.0,302.6,11.5,504,10525,0.00,2.65,0.00,0.000,4,0.000,0.075,2604,3711,1748
$GC,10576,1.38,252.0,295.5,13.6,506,10582,0.00,2.60,0.00,0.000,6,0.000,0.054,2604,2293,1748
$GC,10891,1.38,252.0,256.4,12.8,522,10892,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2294,1748
$GC,11200,1.38,252.0,218.2,11.9,537,11205,0.00,2.67,0.00,0.000,4,0.000,0.071,2604,3711,1749
$GC,11272,1.38,252.0,209.0,13.2,540,11277,0.00,2.58,0.00,0.000,6,0.000,0.052,2604,2298,1749
$GC,11588,1.38,252.0,173.5,11.2,555,11592,0.00,2.60,0.00,0.000,4,0.000,0.064,2604,889,1750
$GC,11632,1.38,252.0,168.4,11.5,557,11636,0.00,2.58,0.00,0.000,6,0.000,0.048,2604,2311,1750
$GC,11953,1.38,252.0,132.8,11.3,573,11954,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2311,1751
$GC,12262,1.38,252.0,98.1,11.2,588,12263,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2311,1752
$GC,12572,1.38,252.4,65.9,10.0,603,12576,0.00,2.60,0.00,0.000,4,0.000,0.067,2604,3709,1753
$GC,12621,1.38,252.4,60.4,11.1,605,12625,0.00,2.55,0.00,0.000,6,0.000,0.048,2604,2295,1752
$GC,12937,1.38,252.4,28.1,10.8,620,12938,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2296,1754
$STATE,13161,end climb,SURFACE_DEPTH_REACHED
$STATE,13161,begin surface coast
$FINISH,0.6,1.025477
$STATE,13183,end surface coast,CONTROL_FINISHED_OK
$STATE,13183,begin surface
$SM_CCo,13205,22.92,0.618,0,0,1558,300.00
$SM_GC,1.02,0.00,0.00,22.92,0.000,0.000,0.618,72,2505,1558,-10.25,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1973
$TCM_TEMP,17.20
$XPDR_PINGS,409
$ALTIM_TOP_PING,18.9,17.4
$ALTIM_BOTTOM_PING,726.6,57.8
$24V_AH,23.4,4.804
$10V_AH,10.1,1.853
$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,25.400,121.925,360.950,22.925,0.000,0.000,0.000,0.000,108.750,0.000,0.000,20.038,1225.664,9813.554,504.979,1600.695,208.708,32.332,1304.580,0.000,1548.774,0.000,44.506
$DEVICE_MAMPS,162.604,85.904,1201.122,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.193,429.370,379.123,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31693,632
$CAP_FILE_SIZE,159569,0
$CFSIZE,260165632,257921024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,070608,231607,6045.877,-520.659,38,2.0,43,-7.0