version: 66.02
glider: 16
mission: 6
dive: 379
start: 1 24 108 18 54 44
data:
$ID,16
$MISSION,6
$DIVE,379
$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,-2086169.6
$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,17
$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
$GPS1,184258,6215.545,-328.186,36,2.3,55,-6.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-54.9
$GPS2,185350,6215.566,-328.308,12,1.6,17,-6.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.214,0.056
$KALMAN_X,10397.2,1819.1,265.3,284253.1,-16226.5
$KALMAN_Y,-20011.4,-310.9,-974.0,90533.6,11998.5
$MHEAD_RNG_PITCHd_Wd,152.5,157575,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,85,0.00,0.00,-59.90,0.000,2,0.000,0.000,72,2406,3015
$GC,89,-0.85,-146.6,3.1,-3.3,3,119,12.25,2.70,-11.38,0.000,4,0.175,0.097,2220,3763,3417
$GC,334,-0.85,-146.6,29.7,-11.2,14,339,0.00,2.55,0.00,0.000,6,0.000,0.059,2220,2398,3417
$GC,661,-0.85,-146.6,54.3,-7.3,30,665,0.00,2.70,0.00,0.000,4,0.000,0.076,2220,984,3417
$GC,705,-0.85,-146.6,57.9,-8.3,32,709,0.00,2.62,0.00,0.000,6,0.000,0.063,2220,2398,3418
$GC,1026,-0.85,-146.6,88.7,-10.5,48,1031,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,978,3418
$GC,1071,-0.85,-146.6,92.6,-8.0,50,1075,0.00,2.65,0.00,0.000,6,0.000,0.062,2220,2406,3418
$GC,1391,-0.85,-146.6,120.5,-8.5,66,1396,0.00,2.70,0.00,0.000,4,0.000,0.072,2220,980,3418
$GC,1442,-0.85,-146.6,125.1,-9.6,68,1446,0.00,2.65,0.00,0.000,6,0.000,0.062,2220,2400,3418
$GC,1757,-0.85,-146.6,159.4,-11.2,83,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3418
$GC,2067,-0.85,-146.6,180.8,-5.4,98,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3418
$GC,2376,-0.85,-146.6,203.6,-7.1,113,2381,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,979,3418
$GC,2449,-0.85,-146.6,209.1,-8.2,116,2453,0.00,2.65,0.00,0.000,6,0.000,0.063,2220,2404,3418
$GC,2765,-0.85,-146.6,231.6,-7.0,131,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3418
$GC,3075,-0.85,-146.6,252.3,-6.6,146,3079,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,982,3419
$GC,3159,-0.85,-146.6,258.5,-7.6,150,3163,0.00,2.62,0.00,0.000,6,0.000,0.064,2220,2401,3419
$GC,3485,-0.85,-146.6,279.3,-6.1,166,3490,0.00,2.70,0.00,0.000,4,0.000,0.076,2220,983,3419
$GC,3571,-0.85,-146.6,284.9,-6.9,170,3575,0.00,2.65,0.00,0.000,6,0.000,0.065,2220,2401,3420
$GC,3897,-0.85,-146.6,306.0,-6.4,186,3901,0.00,2.70,0.00,0.000,4,0.000,0.091,2220,3776,3421
$GC,3958,-0.85,-146.6,310.6,-7.7,189,3963,0.00,2.60,0.00,0.000,6,0.000,0.066,2220,2401,3421
$GC,4285,-0.85,-146.6,333.6,-7.3,205,4290,0.00,2.75,0.00,0.000,4,0.000,0.083,2220,978,3421
$GC,4374,-0.85,-146.6,340.6,-7.8,209,4378,0.00,2.67,0.00,0.000,6,0.000,0.069,2220,2402,3421
$GC,4695,-0.85,-146.6,364.7,-7.5,225,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3421
$GC,5003,-0.85,-146.6,389.6,-7.5,240,5008,0.00,2.75,0.00,0.000,4,0.000,0.082,2220,976,3420
$GC,5053,-0.85,-146.6,393.2,-7.2,242,5057,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2403,3420
$GC,5369,-0.85,-146.6,413.3,-6.5,257,5373,0.00,2.75,0.00,0.000,4,0.000,0.082,2220,980,3419
$GC,5418,-0.85,-146.6,417.0,-7.2,259,5423,0.00,2.70,0.00,0.000,6,0.000,0.071,2220,2406,3419
$GC,5734,-0.85,-146.6,439.2,-6.9,274,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3418
$GC,6044,-0.85,-146.6,462.3,-7.6,289,6048,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,983,3417
$GC,6115,-0.85,-146.6,468.2,-8.1,292,6120,0.00,2.67,0.00,0.000,6,0.000,0.073,2220,2400,3417
$GC,6431,-0.85,-146.6,491.6,-7.8,307,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3416
$GC,6741,-0.85,-146.6,513.6,-7.0,322,6745,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,976,3415
$STATE,6765,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6765,begin apogee
$GC,6774,-0.31,0.0,515.6,7.5,323,6899,0.57,0.00,122.22,1.085,6,0.119,0.000,2335,2200,2817
$STATE,6900,end apogee,CONTROL_FINISHED_OK
$STATE,6900,begin climb
$GC,6902,0.85,146.6,519.5,0.0,329,7028,1.23,0.00,121.38,1.061,6,0.086,0.000,2587,2199,2219
$GC,7334,0.85,146.6,498.5,6.6,350,7338,0.00,2.83,0.00,0.000,4,0.000,0.097,2587,3616,2217
$GC,7360,0.85,146.6,496.5,6.7,351,7365,0.00,2.72,0.00,0.000,6,0.000,0.074,2587,2198,2217
$GC,7677,0.85,146.6,476.2,6.3,366,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2197,2215
$GC,7986,0.85,146.6,456.0,6.4,381,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2197,2214
$GC,8295,0.87,165.4,437.7,5.5,396,8317,0.00,2.95,16.38,0.992,4,0.000,0.097,2587,3616,2140
$GC,8364,0.87,165.4,433.7,6.0,399,8368,0.00,2.78,0.00,0.000,6,0.000,0.076,2587,2192,2139
$GC,8690,0.87,165.4,415.1,6.2,415,8691,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2193,2138
$GC,8999,0.95,241.3,399.9,3.9,430,9064,0.15,0.00,61.92,1.025,6,0.069,0.000,2623,2192,1833
$GC,9369,0.95,241.3,372.6,7.3,448,9374,0.00,2.72,0.00,0.000,4,0.000,0.086,2623,788,1830
$GC,9408,0.95,241.3,369.7,7.8,450,9413,0.00,2.67,0.00,0.000,6,0.000,0.066,2623,2200,1829
$GC,9735,0.95,241.3,346.0,7.8,466,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2200,1829
$GC,10045,0.95,241.3,321.1,7.9,481,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2200,1829
$GC,10353,0.95,241.3,298.3,7.1,496,10357,0.00,2.72,0.00,0.000,4,0.000,0.081,2623,785,1828
$GC,10398,0.95,241.3,294.8,7.8,498,10403,0.00,2.67,0.00,0.000,6,0.000,0.064,2624,2206,1828
$GC,10719,0.95,241.3,270.4,8.0,514,10724,0.00,2.75,0.00,0.000,4,0.000,0.080,2623,781,1828
$GC,10752,0.95,241.3,267.5,9.0,515,10759,0.00,2.67,0.00,0.000,6,0.000,0.063,2623,2204,1828
$GC,11068,0.95,241.3,242.5,7.7,531,11073,0.00,2.72,0.00,0.000,4,0.000,0.078,2623,784,1827
$GC,11101,0.95,241.3,239.7,8.1,532,11107,0.00,2.65,0.00,0.000,6,0.000,0.061,2623,2202,1827
$GC,11416,0.95,241.3,214.3,7.9,548,11421,0.00,2.78,0.00,0.000,4,0.000,0.091,2623,3619,1827
$GC,11478,0.95,241.3,208.7,8.9,551,11483,0.00,2.72,0.00,0.000,6,0.000,0.072,2623,2196,1827
$GC,11805,0.95,241.3,182.0,8.6,567,11809,0.00,2.70,0.00,0.000,4,0.000,0.076,2623,781,1827
$GC,11849,0.95,241.3,177.9,9.2,569,11853,0.00,2.65,0.00,0.000,6,0.000,0.058,2623,2205,1826
$GC,12169,0.95,241.3,150.5,9.2,585,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2204,1827
$GC,12480,0.95,241.3,124.5,8.0,600,12481,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2205,1828
$GC,12788,0.95,241.3,104.6,7.0,615,12789,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2205,1829
$GC,13098,0.97,260.2,84.2,5.5,630,13117,0.00,0.00,15.98,0.733,6,0.000,0.000,2623,2205,1756
$GC,13429,0.97,260.2,54.7,9.3,646,13433,0.00,2.70,0.00,0.000,4,0.000,0.072,2624,782,1756
$GC,13468,0.97,260.2,50.2,11.1,648,13473,0.00,2.62,0.00,0.000,6,0.000,0.055,2624,2203,1756
$GC,13795,0.97,260.2,20.3,9.1,664,13799,0.00,2.70,0.00,0.000,4,0.000,0.071,2623,778,1755
$GC,13817,0.97,260.2,18.5,7.6,665,13821,0.00,2.62,0.00,0.000,6,0.000,0.054,2623,2203,1757
$STATE,14032,end climb,SURFACE_DEPTH_REACHED
$STATE,14032,begin surface coast
$FINISH,0.5,1.027641
$STATE,14054,end surface coast,CONTROL_FINISHED_OK
$STATE,14054,begin surface
$SM_CCo,14076,27.70,0.627,2,0,1594,300.00
$SM_GC,1.62,0.00,0.00,27.70,0.000,0.000,0.627,66,2401,1594,-10.78,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2129
$TCM_TEMP,16.00
$XPDR_PINGS,80
$ALTIM_BOTTOM_PING,451.2,74.1
$24V_AH,23.4,58.948
$10V_AH,10.1,31.292
$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,25.650,124.175,337.875,27.700,0.000,65.227,78.994,320.173,23.500,0.000,0.000,17.689,1254.857,10827.860,514.625,1465.336,708.969,33.366,1241.019,0.000,1433.105,0.000,25.055
$DEVICE_MAMPS,174.876,97.409,1085.305,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,506.181,463.378,467.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34868,677
$CFSIZE,260165632,238063616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,2,1
$GPS,240108,225127,6214.907,-326.691,32,2.8,51,-6.5