version: 66.02
glider: 16
mission: 6
dive: 368
start: 1 22 108 14 33 5
data:
$ID,16
$MISSION,6
$DIVE,368
$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,-2085902.8
$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
$GPS1,142557,6231.432,-350.213,34,1.8,54,-6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-53.4
$GPS2,143213,6231.473,-350.259,13,1.7,17,-6.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.182,-0.126
$KALMAN_X,2430.7,-93.7,31397.4,243749.4,-24067.0
$KALMAN_Y,-41425.0,914.5,3476.3,135682.7,-1476.6
$MHEAD_RNG_PITCHd_Wd,157.0,35156,-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,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,85,0.00,0.00,-58.75,0.000,2,0.000,0.000,73,2403,3026
$GC,88,-0.85,-146.6,4.2,-6.2,3,118,12.25,2.67,-9.23,0.000,4,0.176,0.094,2222,3773,3416
$GC,163,-0.85,-146.6,14.0,-8.5,6,168,0.00,2.58,0.00,0.000,6,0.000,0.060,2222,2398,3416
$GC,479,-0.85,-146.6,46.1,-12.4,21,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3417
$GC,788,-0.85,-146.6,77.7,-10.0,36,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3417
$GC,1100,-0.85,-146.6,104.4,-7.8,51,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3417
$GC,1407,-0.85,-146.6,127.0,-7.8,66,1411,0.00,2.70,0.00,0.000,4,0.000,0.077,2223,983,3417
$GC,1456,-0.85,-146.6,131.1,-8.5,68,1460,0.00,2.65,0.00,0.000,6,0.000,0.065,2222,2405,3417
$GC,1772,-0.85,-146.6,155.5,-7.4,83,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3418
$GC,2080,-0.85,-146.6,177.2,-7.1,98,2085,0.00,2.70,0.00,0.000,4,0.000,0.075,2223,982,3418
$GC,2142,-0.85,-146.6,181.6,-7.3,101,2147,0.00,2.65,0.00,0.000,6,0.000,0.065,2222,2403,3418
$GC,2470,-0.85,-146.6,205.1,-7.5,117,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2403,3418
$GC,2778,-0.85,-146.6,227.5,-7.5,132,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3418
$GC,3088,-0.85,-146.6,250.8,-7.4,147,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3419
$GC,3397,-0.85,-146.6,272.8,-6.9,162,3402,0.00,2.72,0.00,0.000,4,0.000,0.078,2223,976,3420
$GC,3431,-0.85,-146.6,275.2,-6.2,163,3437,0.00,2.67,0.00,0.000,6,0.000,0.067,2222,2400,3420
$GC,3747,-0.85,-146.6,295.3,-5.9,179,3751,0.00,2.67,0.00,0.000,4,0.000,0.091,2222,3766,3420
$GC,3786,-0.85,-146.6,298.0,-6.8,181,3790,0.00,2.60,0.00,0.000,6,0.000,0.067,2223,2393,3420
$GC,4113,-0.85,-146.6,317.8,-6.0,197,4118,0.00,2.72,0.00,0.000,4,0.000,0.083,2222,977,3420
$GC,4179,-0.85,-146.6,322.5,-7.3,200,4184,0.00,2.67,0.00,0.000,6,0.000,0.071,2222,2398,3420
$GC,4501,-0.85,-146.6,344.8,-7.0,216,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3420
$GC,4810,-0.85,-146.6,365.8,-6.7,231,4814,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,979,3420
$GC,4871,-0.85,-146.6,370.1,-7.3,234,4876,0.00,2.67,0.00,0.000,6,0.000,0.073,2222,2400,3420
$GC,5199,-0.85,-146.6,390.4,-5.9,250,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3420
$GC,5507,-0.85,-146.6,410.2,-6.7,265,5512,0.00,2.72,0.00,0.000,4,0.000,0.085,2222,985,3420
$GC,5562,-0.85,-146.6,414.4,-8.0,267,5568,0.00,2.67,0.00,0.000,6,0.000,0.074,2223,2402,3419
$GC,5878,-0.85,-146.6,437.7,-7.6,283,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3419
$GC,6187,-0.85,-146.6,459.3,-7.0,298,6191,0.00,2.75,0.00,0.000,4,0.000,0.086,2222,986,3418
$GC,6230,-0.85,-146.6,462.4,-7.5,300,6235,0.00,2.67,0.00,0.000,6,0.000,0.074,2222,2399,3418
$GC,6552,-0.85,-146.6,484.3,-6.8,316,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3416
$GC,6861,-0.85,-146.6,505.0,-6.6,331,6865,0.00,2.75,0.00,0.000,4,0.000,0.087,2222,985,3415
$GC,6933,-0.85,-146.6,510.0,-6.7,334,6937,0.00,2.70,0.00,0.000,6,0.000,0.076,2222,2407,3415
$GC,7249,-0.85,-146.6,530.2,-6.3,349,7253,0.00,2.78,0.00,0.000,4,0.000,0.085,2222,983,3414
$GC,7298,-0.85,-146.6,533.5,-6.7,351,7303,0.00,2.67,0.00,0.000,6,0.000,0.074,2222,2406,3414
$GC,7614,-0.85,-146.6,552.9,-6.3,366,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3412
$GC,7924,-0.85,-146.6,571.8,-6.0,381,7928,0.00,2.78,0.00,0.000,4,0.000,0.086,2222,979,3411
$GC,7974,-0.85,-146.6,575.2,-6.4,383,7978,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2406,3411
$GC,8289,-0.85,-146.6,595.5,-6.4,398,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3410
$GC,8599,-0.85,-146.6,614.3,-6.2,413,8604,0.00,2.75,0.00,0.000,4,0.000,0.086,2222,986,3409
$GC,8654,-0.85,-146.6,618.0,-7.0,415,8660,0.00,2.67,0.00,0.000,6,0.000,0.076,2222,2402,3409
$GC,8970,-0.85,-146.6,638.7,-6.4,431,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3409
$STATE,9111,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9112,begin apogee
$GC,9119,-0.31,0.0,648.2,6.2,438,9245,0.60,0.00,122.90,1.203,6,0.122,0.000,2338,2195,2817
$STATE,9245,end apogee,CONTROL_FINISHED_OK
$STATE,9245,begin climb
$GC,9248,0.85,146.6,651.7,0.0,444,9379,1.27,2.92,122.28,1.180,4,0.109,0.097,2586,3601,2218
$GC,9415,0.85,146.6,646.2,6.3,452,9421,0.00,2.72,0.00,0.000,6,0.000,0.076,2586,2203,2218
$GC,9730,0.85,146.6,627.7,6.2,468,9735,0.00,2.78,0.00,0.000,4,0.000,0.090,2587,783,2217
$GC,9780,0.85,146.6,624.6,6.6,470,9785,0.00,2.67,0.00,0.000,6,0.000,0.068,2585,2198,2215
$GC,10096,0.85,146.6,605.6,6.1,485,10101,0.00,2.83,0.00,0.000,4,0.000,0.098,2587,3616,2215
$GC,10140,0.85,146.6,602.6,7.2,487,10145,0.00,2.72,0.00,0.000,6,0.000,0.076,2587,2200,2215
$GC,10461,0.85,146.6,582.5,6.3,503,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2200,2215
$GC,10771,0.85,146.6,563.6,6.1,518,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2215
$GC,11080,0.86,162.8,545.6,5.6,533,11099,0.00,0.00,14.10,1.058,6,0.000,0.000,2586,2200,2153
$GC,11409,0.87,171.9,526.6,5.8,549,11423,0.00,2.88,8.95,0.986,4,0.000,0.097,2586,3613,2116
$GC,11454,0.87,171.9,523.8,7.1,551,11459,0.00,2.78,0.00,0.000,6,0.000,0.077,2587,2192,2116
$GC,11780,0.89,186.6,504.8,5.6,567,11800,0.00,0.00,14.05,1.038,6,0.000,0.000,2586,2192,2055
$GC,12110,0.89,186.6,485.1,6.0,583,12111,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2192,2054
$GC,12419,0.90,196.7,466.8,5.7,598,12430,0.00,0.00,9.65,0.972,6,0.000,0.000,2586,2192,2015
$GC,12729,0.91,208.4,449.6,5.7,613,12747,0.10,0.00,11.25,0.980,6,0.087,0.000,2610,2192,1967
$GC,13057,0.91,208.4,427.4,6.9,629,13061,0.00,2.75,0.00,0.000,4,0.000,0.089,2609,782,1965
$GC,13100,0.91,208.4,424.3,7.0,631,13105,0.00,2.70,0.00,0.000,6,0.000,0.066,2610,2202,1965
$GC,13422,0.91,208.4,403.6,6.8,647,13423,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2203,1965
$GC,13732,0.91,208.4,382.0,7.0,662,13736,0.00,2.75,0.00,0.000,4,0.000,0.084,2610,785,1965
$GC,13771,0.91,208.4,379.0,8.2,664,13775,0.00,2.67,0.00,0.000,6,0.000,0.066,2609,2206,1965
$GC,14096,0.91,208.4,356.5,6.8,680,14098,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2206,1965
$GC,14406,0.91,208.4,334.3,7.7,695,14408,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2206,1965
$GC,14715,0.91,208.4,310.8,7.1,710,14716,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2206,1964
$GC,15025,0.93,227.0,291.4,5.5,725,15045,0.00,0.00,16.30,0.921,6,0.000,0.000,2609,2206,1891
$GC,15355,0.93,227.0,272.1,6.8,741,15359,0.00,2.75,0.00,0.000,4,0.000,0.081,2610,781,1890
$GC,15409,0.93,227.0,268.1,7.0,743,15416,0.00,2.67,0.00,0.000,6,0.000,0.062,2610,2203,1890
$GC,15725,0.96,249.0,251.3,5.4,759,15746,0.00,0.00,19.12,0.895,6,0.000,0.000,2610,2203,1802
$GC,16055,0.96,249.0,227.1,7.7,775,16056,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2203,1801
$GC,16365,0.96,249.0,203.4,6.8,790,16369,0.00,2.72,0.00,0.000,4,0.000,0.077,2610,784,1801
$GC,16409,0.96,249.0,199.9,8.5,792,16413,0.00,2.65,0.00,0.000,6,0.000,0.059,2610,2202,1801
$GC,16730,0.96,249.0,175.7,7.5,808,16731,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2202,1801
$GC,17038,0.96,249.0,152.0,7.8,823,17043,0.00,2.70,0.00,0.000,4,0.000,0.074,2609,782,1801
$GC,17078,0.96,249.0,148.6,8.6,825,17082,0.00,2.62,0.00,0.000,6,0.000,0.058,2609,2206,1801
$GC,17405,0.96,249.0,123.1,7.6,841,17406,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2206,1802
$GC,17714,0.96,249.0,99.3,9.9,856,17718,0.00,2.70,0.00,0.000,4,0.000,0.071,2610,782,1802
$GC,17763,0.96,249.0,93.8,10.0,858,17767,0.00,2.62,0.00,0.000,6,0.000,0.055,2609,2202,1802
$GC,18079,0.96,249.0,65.1,11.1,873,18084,0.00,2.70,0.00,0.000,4,0.000,0.072,2610,777,1803
$GC,18112,0.96,249.0,60.9,11.8,874,18119,0.00,2.62,0.00,0.000,6,0.000,0.055,2610,2209,1803
$GC,18430,0.96,249.0,33.0,9.6,890,18434,0.00,2.70,0.00,0.000,4,0.000,0.082,2610,3615,1804
$GC,18457,0.96,249.0,31.0,6.7,891,18462,0.00,2.72,0.00,0.000,6,0.000,0.075,2610,2199,1804
$GC,18773,0.96,249.0,4.0,8.1,906,18774,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2198,1805
$STATE,18811,end climb,SURFACE_DEPTH_REACHED
$STATE,18811,begin surface coast
$FINISH,0.7,1.013788
$STATE,18833,end surface coast,CONTROL_FINISHED_OK
$STATE,18833,begin surface
$SM_CCo,18855,35.25,0.644,2,0,1594,300.00
$SM_GC,1.42,0.00,0.00,35.25,0.000,0.000,0.644,69,2402,1594,-10.77,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2106
$TCM_TEMP,16.00
$XPDR_PINGS,101
$ALTIM_BOTTOM_PING,600.6,56.9
$24V_AH,23.3,57.542
$10V_AH,10.1,30.459
$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,25.600,136.225,338.600,35.250,0.000,32.606,43.177,168.709,30.250,0.000,0.000,17.715,1623.189,14771.104,540.706,1808.646,534.238,33.342,1435.818,0.000,1769.557,0.000,34.743
$DEVICE_MAMPS,175.643,98.176,1202.656,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,674.624,623.878,538.238,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47460,909
$CFSIZE,260165632,238612480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
$GPS,220108,194938,6229.068,-348.509,53,1.4,54,-6.7