version: 66.02
glider: 16
mission: 6
dive: 371
start: 1 23 108 5 58 49
data:
$ID,16
$MISSION,6
$DIVE,371
$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,-2085965.9
$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
$GPS1,055128,6227.053,-341.224,40,2.4,59,-6.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-58.8
$GPS2,055759,6227.084,-341.194,15,2.1,34,-6.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.088,-0.203
$KALMAN_X,29518.3,235.6,-409.0,256082.9,-4088.4
$KALMAN_Y,-32220.4,434.1,1219.1,121096.9,9372.5
$MHEAD_RNG_PITCHd_Wd,163.4,24374,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,88,0.00,0.00,-61.08,0.000,2,0.000,0.000,71,2410,3076
$GC,92,-0.85,-146.6,4.0,-6.0,3,118,12.23,2.62,-7.93,0.000,4,0.174,0.091,2221,3772,3416
$GC,371,-0.85,-146.6,36.2,-11.0,15,378,0.00,2.58,0.00,0.000,6,0.000,0.059,2221,2393,3417
$GC,687,-0.85,-146.6,61.5,-7.6,31,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2393,3418
$GC,999,-0.85,-146.6,87.6,-8.6,46,1003,0.00,2.67,0.00,0.000,4,0.000,0.074,2221,980,3418
$GC,1048,-0.85,-146.6,92.6,-10.1,48,1052,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2400,3418
$GC,1365,-0.85,-146.6,119.4,-9.2,63,1370,0.00,2.65,0.00,0.000,4,0.000,0.084,2221,3772,3418
$GC,1410,-0.85,-146.6,124.0,-9.9,65,1414,0.00,2.55,0.00,0.000,6,0.000,0.060,2221,2398,3419
$GC,1731,-0.85,-146.6,152.2,-8.3,81,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3419
$GC,2041,-0.85,-146.6,176.1,-7.6,96,2046,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,982,3418
$GC,2097,-0.85,-146.6,180.6,-7.9,98,2103,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2399,3419
$GC,2413,-0.85,-146.6,203.3,-7.1,114,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3419
$GC,2723,-0.85,-146.6,225.7,-7.0,129,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3419
$GC,3032,-0.85,-146.6,248.8,-7.6,144,3036,0.00,2.65,0.00,0.000,4,0.000,0.087,2221,3768,3419
$GC,3103,-0.85,-146.6,255.1,-8.8,147,3108,0.00,2.55,0.00,0.000,6,0.000,0.063,2221,2400,3419
$GC,3425,-0.85,-146.6,279.2,-7.5,163,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,3735,-0.85,-146.6,300.7,-7.0,178,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3420
$GC,4043,-0.85,-146.6,319.8,-5.6,193,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3421
$GC,4352,-0.85,-146.6,340.7,-7.0,208,4357,0.00,2.75,0.00,0.000,4,0.000,0.083,2221,977,3421
$GC,4416,-0.85,-146.6,344.9,-7.0,211,4420,0.00,2.67,0.00,0.000,6,0.000,0.070,2221,2398,3421
$GC,4742,-0.85,-146.6,365.5,-5.9,227,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3421
$GC,5052,-0.85,-146.6,382.8,-5.4,242,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3421
$GC,5360,-0.85,-146.6,398.3,-4.9,257,5365,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,978,3421
$GC,5422,-0.85,-146.6,401.6,-5.8,260,5427,0.00,2.70,0.00,0.000,6,0.000,0.073,2221,2400,3421
$GC,5750,-0.85,-146.6,419.8,-5.7,276,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3419
$GC,6059,-0.85,-146.6,438.1,-5.9,291,6064,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,978,3419
$GC,6109,-0.85,-146.6,441.4,-6.8,293,6113,0.00,2.70,0.00,0.000,6,0.000,0.074,2221,2402,3419
$GC,6425,-0.85,-146.6,461.3,-6.5,308,6430,0.00,2.70,0.00,0.000,4,0.000,0.098,2221,3768,3417
$GC,6474,-0.85,-146.6,465.0,-7.3,310,6479,0.00,2.58,0.00,0.000,6,0.000,0.071,2221,2401,3416
$GC,6790,-0.85,-146.6,486.2,-6.7,325,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3416
$GC,7100,-0.85,-146.6,507.4,-6.6,340,7104,0.00,2.72,0.00,0.000,4,0.000,0.089,2221,984,3415
$GC,7155,-0.85,-146.6,511.2,-7.0,342,7161,0.00,2.70,0.00,0.000,6,0.000,0.075,2221,2406,3415
$GC,7470,-0.85,-146.6,530.9,-6.1,358,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3414
$GC,7783,-0.85,-146.6,550.1,-6.4,373,7787,0.00,2.78,0.00,0.000,4,0.000,0.086,2221,980,3412
$GC,7826,-0.85,-146.6,553.4,-6.9,375,7831,0.00,2.70,0.00,0.000,6,0.000,0.074,2221,2409,3412
$GC,8150,-0.85,-146.6,575.1,-6.9,391,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2410,3411
$GC,8457,-0.85,-146.6,596.7,-7.1,406,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2410,3410
$GC,8766,-0.85,-146.6,609.5,0.0,421,8771,0.00,2.75,0.00,0.000,4,0.000,0.082,2221,983,3409
$GC,8822,-0.85,-146.6,609.6,-0.0,423,8828,0.00,2.70,0.00,0.000,6,0.000,0.073,2221,2405,3409
$STATE,9033,end dive,NO_VERTICAL_VELOCITY
$STATE,9033,begin apogee
$GC,9041,-0.31,0.0,609.7,0.0,434,9166,0.60,0.00,122.70,1.176,6,0.105,0.000,2342,2197,2816
$STATE,9167,end apogee,CONTROL_FINISHED_OK
$STATE,9167,begin climb
$GC,9170,0.85,146.6,609.5,0.0,440,9302,1.20,2.90,122.22,1.142,4,0.084,0.094,2589,3600,2219
$GC,9414,0.85,146.6,600.0,6.9,452,9418,0.00,2.72,0.00,0.000,6,0.000,0.076,2589,2200,2218
$GC,9735,0.87,165.5,581.9,5.5,468,9755,0.00,0.00,16.83,1.065,6,0.000,0.000,2589,2200,2142
$GC,10065,0.87,169.2,562.6,5.9,484,10072,0.00,0.00,4.70,0.808,6,0.000,0.000,2589,2200,2127
$GC,10374,0.87,169.2,543.2,6.4,499,10375,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,2125
$GC,10683,0.87,169.8,524.4,6.0,514,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,2125
$GC,10993,0.87,172.4,506.3,5.9,529,10999,0.00,0.00,4.32,0.771,6,0.000,0.000,2589,2200,2114
$GC,11302,0.88,176.3,488.1,5.9,544,11312,0.00,2.80,4.78,0.806,4,0.000,0.087,2589,782,2098
$GC,11341,0.88,182.1,485.7,5.8,546,11355,0.00,2.70,6.55,0.896,6,0.000,0.067,2588,2199,2074
$GC,11672,0.89,183.8,465.6,6.0,562,11674,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2074
$GC,11981,0.93,219.5,449.2,5.0,577,12016,0.10,0.00,32.17,1.063,6,0.077,0.000,2614,2198,1921
$GC,12312,0.93,219.5,428.7,6.3,593,12313,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2198,1919
$GC,12621,0.93,219.5,409.1,6.4,608,12625,0.00,2.75,0.00,0.000,4,0.000,0.086,2614,784,1919
$GC,12664,0.93,219.5,406.0,6.9,610,12669,0.00,2.67,0.00,0.000,6,0.000,0.065,2614,2199,1918
$GC,12986,0.93,219.5,385.7,6.4,626,12988,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2199,1919
$GC,13295,0.93,219.5,365.0,6.9,641,13299,0.00,2.75,0.00,0.000,4,0.000,0.084,2614,780,1918
$GC,13340,0.93,219.5,361.7,7.3,643,13345,0.00,2.70,0.00,0.000,6,0.000,0.067,2614,2205,1918
$GC,13661,0.93,219.5,337.9,7.7,659,13665,0.00,2.78,0.00,0.000,4,0.000,0.083,2614,782,1918
$GC,13693,0.93,219.5,335.0,8.2,660,13700,0.00,2.67,0.00,0.000,6,0.000,0.065,2614,2202,1918
$GC,14011,0.93,219.5,309.8,7.7,676,14015,0.00,2.75,0.00,0.000,4,0.000,0.083,2614,784,1918
$GC,14050,0.93,219.5,306.8,7.7,678,14055,0.00,2.65,0.00,0.000,6,0.000,0.064,2614,2199,1918
$GC,14376,0.93,219.5,281.5,7.6,694,14381,0.00,2.80,0.00,0.000,4,0.000,0.097,2614,3615,1918
$GC,14416,0.93,219.5,278.1,9.0,696,14421,0.00,2.72,0.00,0.000,6,0.000,0.077,2614,2200,1918
$GC,14744,0.93,219.5,250.2,8.3,712,14748,0.00,2.72,0.00,0.000,4,0.000,0.081,2614,783,1917
$GC,14821,0.93,219.5,243.5,8.2,715,14828,0.00,2.67,0.00,0.000,6,0.000,0.064,2614,2208,1917
$GC,15137,0.93,219.5,221.2,6.8,731,15138,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2208,1917
$GC,15447,0.93,219.5,199.8,7.3,746,15451,0.00,2.75,0.00,0.000,4,0.000,0.090,2614,3615,1917
$GC,15479,0.93,219.5,196.9,7.9,747,15485,0.00,2.72,0.00,0.000,6,0.000,0.072,2614,2192,1917
$GC,15795,0.93,219.5,172.4,7.4,763,15799,0.00,2.78,0.00,0.000,4,0.000,0.087,2614,3615,1917
$GC,15828,0.93,219.5,169.7,7.9,764,15834,0.00,2.70,0.00,0.000,6,0.000,0.070,2614,2196,1918
$GC,16143,0.93,219.5,146.2,7.9,780,16144,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2196,1918
$GC,16454,0.93,219.5,122.8,7.1,795,16455,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2194,1919
$GC,16763,0.93,219.5,101.4,7.3,810,16764,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2196,1920
$GC,17071,0.93,219.5,76.4,8.0,825,17072,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2196,1921
$GC,17380,0.93,219.5,55.2,6.4,840,17381,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2196,1922
$GC,17690,0.93,219.5,32.5,7.9,855,17691,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2196,1923
$GC,18000,0.93,219.5,9.0,7.1,870,18001,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2196,1923
$STATE,18099,end climb,SURFACE_DEPTH_REACHED
$STATE,18099,begin surface coast
$FINISH,0.8,1.003386
$STATE,18123,end surface coast,CONTROL_FINISHED_OK
$STATE,18123,begin surface
$SM_CCo,18145,48.92,0.668,1,0,1594,300.00
$SM_GC,1.61,0.00,0.00,48.92,0.000,0.000,0.668,68,2406,1594,-10.77,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2101
$TCM_TEMP,16.30
$XPDR_PINGS,93
$24V_AH,23.3,57.937
$10V_AH,10.1,30.700
$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,25.625,119.725,314.275,48.925,0.000,32.606,34.227,175.896,28.750,0.000,0.000,35.615,1576.649,14173.753,505.354,1811.236,525.369,33.356,1382.515,0.000,1754.580,0.000,40.144
$DEVICE_MAMPS,174.109,98.176,1175.811,668.057,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,651.691,602.621,546.847,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44345,876
$CFSIZE,260165632,238444544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,230108,110326,6226.945,-337.978,40,1.8,40,-6.6