version: 66.03
glider: 16
mission: 9
dive: 11
start: 6 8 108 20 21 25
data:
$ID,16
$MISSION,9
$DIVE,11
$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,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
$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,-2092557.1
$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,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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,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
$GPS1,201607,6044.867,-539.228,41,1.6,41,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-61.9
$GPS2,202033,6044.817,-539.168,14,1.4,14,-7.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.011,0.263
$KALMAN_X,3603.4,687.3,-1072.8,-23293.7,2221.5
$KALMAN_Y,-24730.9,261.9,-288.1,19485.0,-8438.5
$MHEAD_RNG_PITCHd_Wd,330.1,23638,-18.1,-10.000
$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,-1.29,-146.6,0.0,0.0,0,86,0.00,0.00,-61.47,0.000,2,0.000,0.000,68,2504,2767
$GC,90,-1.29,-146.6,3.1,-3.9,3,125,10.75,2.80,-18.27,0.000,4,0.163,0.068,2010,986,3379
$GC,247,-1.21,-146.6,27.1,-15.7,10,252,0.12,2.58,0.00,0.000,6,0.123,0.050,2031,2400,3380
$GC,575,-1.14,-146.6,74.5,-14.5,26,580,0.10,2.60,0.00,0.000,4,0.133,0.057,2047,986,3380
$GC,648,-1.14,-146.6,85.0,-13.3,29,652,0.00,2.60,0.00,0.000,6,0.000,0.051,2047,2406,3380
$GC,964,-1.14,-146.6,127.1,-13.2,44,968,0.00,2.62,0.00,0.000,4,0.000,0.059,2047,985,3382
$GC,1030,-1.14,-146.6,136.0,-12.9,47,1034,0.00,2.58,0.00,0.000,6,0.000,0.053,2047,2401,3382
$GC,1351,-1.14,-146.6,176.2,-12.5,63,1355,0.00,2.62,0.00,0.000,4,0.000,0.061,2047,985,3382
$GC,1406,-1.14,-146.6,183.2,-12.7,65,1413,0.00,2.58,0.00,0.000,6,0.000,0.054,2047,2401,3382
$GC,1722,-1.14,-146.6,223.7,-13.3,81,1727,0.00,2.62,0.00,0.000,4,0.000,0.061,2047,984,3382
$GC,1778,-1.14,-146.6,231.2,-13.0,83,1784,0.00,2.60,0.00,0.000,6,0.000,0.053,2047,2401,3383
$GC,2093,-1.14,-146.6,273.2,-13.3,99,2098,0.00,2.62,0.00,0.000,4,0.000,0.062,2046,986,3382
$GC,2179,-1.18,-146.6,284.3,-13.4,103,2183,0.00,2.58,0.00,0.000,6,0.000,0.054,2047,2400,3382
$GC,2505,-1.18,-146.6,327.9,-13.5,119,2509,0.00,2.62,0.00,0.000,4,0.000,0.063,2047,985,3382
$GC,2589,-1.18,-146.6,338.8,-13.2,123,2594,0.00,2.60,0.00,0.000,6,0.000,0.056,2046,2405,3382
$GC,2916,-1.18,-146.6,380.5,-12.5,139,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2405,3382
$GC,3225,-1.18,-146.6,420.8,-13.3,154,3230,0.00,2.65,0.00,0.000,4,0.000,0.064,2047,979,3383
$GC,3310,-1.23,-146.6,431.7,-12.8,158,3315,0.00,2.60,0.00,0.000,6,0.000,0.055,2047,2400,3382
$GC,3637,-1.23,-146.6,472.7,-11.9,174,3642,0.00,2.62,0.00,0.000,4,0.000,0.064,2047,987,3382
$GC,3767,-1.29,-146.6,487.5,-11.4,180,3772,0.12,2.60,0.00,0.000,6,0.053,0.057,2011,2404,3383
$GC,4097,-1.19,-146.6,531.5,-13.4,196,4098,0.15,0.00,0.00,0.000,6,0.104,0.000,2039,2404,3382
$GC,4403,-1.19,-146.6,569.4,-12.7,211,4408,0.00,2.67,0.00,0.000,4,0.000,0.069,2039,980,3382
$GC,4628,-1.24,-146.6,597.0,-11.8,221,4633,0.00,2.65,0.00,0.000,6,0.000,0.063,2039,2398,3381
$GC,4949,-1.24,-146.6,636.9,-12.2,237,4954,0.00,2.67,0.00,0.000,4,0.000,0.071,2039,982,3380
$GC,5045,-1.24,-146.6,648.5,-11.7,241,5050,0.00,2.65,0.00,0.000,6,0.000,0.064,2039,2400,3379
$STATE,5111,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5111,begin apogee
$GC,5118,-0.31,0.0,656.9,12.5,244,5254,0.98,0.00,131.50,1.103,6,0.119,0.000,2226,2295,2781
$STATE,5255,end apogee,CONTROL_FINISHED_OK
$STATE,5255,begin climb
$GC,5258,1.29,146.6,663.5,0.0,251,5398,1.73,2.75,130.65,1.072,4,0.091,0.072,2577,899,2183
$GC,5506,1.30,201.9,653.0,7.5,263,5561,0.00,2.65,49.65,1.045,6,0.000,0.060,2577,2306,1957
$GC,5875,1.32,219.2,619.6,9.2,280,5899,0.00,2.78,16.73,0.985,4,0.000,0.073,2576,889,1886
$GC,5939,1.32,219.2,612.8,10.3,283,5943,0.00,2.65,0.00,0.000,6,0.000,0.060,2577,2303,1886
$GC,6259,1.32,219.2,582.1,10.1,299,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2303,1886
$GC,6569,1.39,235.4,554.8,9.3,314,6589,0.12,0.00,15.32,0.979,6,0.063,0.000,2608,2303,1821
$GC,6898,1.39,235.4,516.1,12.2,330,6902,0.00,2.70,0.00,0.000,4,0.000,0.071,2608,888,1820
$GC,6938,1.34,235.4,511.1,13.0,332,6942,0.00,2.65,0.00,0.000,6,0.000,0.061,2608,2301,1820
$GC,7264,1.34,235.4,470.9,12.1,348,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2301,1819
$GC,7573,1.34,235.4,433.5,12.4,363,7577,0.00,2.72,0.00,0.000,4,0.000,0.084,2608,3710,1818
$GC,7613,1.27,235.4,428.6,13.2,365,7618,0.17,2.62,0.00,0.000,6,0.109,0.059,2576,2304,1818
$GC,7940,1.40,274.3,398.9,8.2,381,7979,0.12,0.00,34.10,0.952,6,0.064,0.000,2608,2304,1662
$GC,8289,1.40,274.3,361.7,10.8,398,8293,0.00,2.70,0.00,0.000,4,0.000,0.077,2608,3711,1662
$GC,8344,1.40,274.3,355.1,12.0,400,8350,0.00,2.60,0.00,0.000,6,0.000,0.054,2608,2298,1662
$GC,8659,1.40,274.3,317.5,12.4,416,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2298,1662
$GC,8969,1.40,274.3,279.4,12.4,431,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2298,1662
$GC,9279,1.44,274.3,239.5,12.8,446,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2298,1663
$GC,9587,1.44,274.3,200.4,12.5,461,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2298,1663
$GC,9897,1.48,274.3,165.1,10.8,476,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2298,1665
$GC,10206,1.48,274.3,133.3,10.3,491,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2298,1665
$GC,10517,1.53,274.3,98.8,11.9,506,10519,0.12,0.00,0.00,0.000,6,0.052,0.000,2645,2298,1665
$GC,10825,1.48,274.3,55.6,13.8,521,10827,0.12,0.00,0.00,0.000,6,0.095,0.000,2621,2298,1666
$GC,11135,1.48,274.3,18.0,11.8,536,11139,0.00,2.65,0.00,0.000,4,0.000,0.066,2621,3713,1667
$GC,11189,1.48,274.3,10.8,13.1,538,11196,0.00,2.55,0.00,0.000,6,0.000,0.049,2621,2298,1666
$STATE,11276,end climb,SURFACE_DEPTH_REACHED
$STATE,11276,begin surface coast
$FINISH,0.6,1.027107
$STATE,11298,end surface coast,CONTROL_FINISHED_OK
$STATE,11298,begin surface
$SM_CCo,11321,12.77,0.593,0,0,1557,300.00
$SM_GC,1.84,0.00,0.00,12.77,0.000,0.000,0.593,75,2406,1557,-10.23,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1919
$TCM_TEMP,17.20
$XPDR_PINGS,32
$ALTIM_TOP_PING,18.0,16.9
$ALTIM_BOTTOM_PING,626.8,39.8
$24V_AH,23.4,5.709
$10V_AH,10.1,2.281
$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,25.700,90.150,377.950,12.775,0.000,18.134,27.540,117.723,14.000,0.000,0.000,14.464,1039.206,8447.401,497.051,1269.506,354.255,33.346,1141.560,0.000,1233.857,0.000,43.801
$DEVICE_MAMPS,162.604,83.603,1102.946,592.891,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.276,369.012,343.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28588,544
$CAP_FILE_SIZE,87196,0
$CFSIZE,260165632,257658880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,080608,233137,6045.832,-540.112,39,1.5,39,-7.2