version: 66.03
glider: 16
mission: 9
dive: 38
start: 6 12 108 12 8 55
data:
$ID,16
$MISSION,9
$DIVE,38
$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,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,-2093313
$T_RSLEEP,12
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,20
$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
$GPS1,120258,6025.624,-551.089,38,2.4,57,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-57.9
$GPS2,120804,6025.608,-550.882,8,2.1,27,-7.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_1
$TGT_LATLONG,6010.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.076,-0.208
$KALMAN_X,-6260.3,660.4,254.7,-25327.6,-844.4
$KALMAN_Y,-20550.4,-1145.8,-398.4,-18713.6,10633.7
$MHEAD_RNG_PITCHd_Wd,211.4,31698,-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,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,106,0.00,0.00,-80.75,0.000,2,0.000,0.000,73,2297,3291
$GC,110,-0.85,-146.6,5.5,-5.9,4,132,11.27,2.72,-1.60,0.000,4,0.165,0.086,2107,3709,3382
$GC,385,-0.65,-146.6,44.8,-10.6,16,391,0.25,2.58,0.00,0.000,6,0.092,0.051,2157,2289,3382
$GC,707,-0.65,-146.6,70.4,-8.5,32,711,0.00,2.58,0.00,0.000,4,0.000,0.064,2157,887,3382
$GC,739,-0.65,-146.6,73.3,-8.3,33,746,0.00,2.60,0.00,0.000,6,0.000,0.056,2157,2304,3382
$GC,1057,-0.65,-146.6,94.9,-6.2,49,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2304,3383
$GC,1364,-0.65,-146.6,117.4,-7.2,64,1369,0.00,2.62,0.00,0.000,4,0.000,0.062,2157,886,3383
$GC,1398,-0.65,-146.6,120.0,-7.8,65,1404,0.00,2.60,0.00,0.000,6,0.000,0.056,2157,2308,3383
$GC,1715,-0.65,-146.6,143.0,-6.6,81,1719,0.00,2.65,0.00,0.000,4,0.000,0.064,2157,880,3384
$GC,1747,-0.65,-146.6,145.4,-6.2,82,1754,0.00,2.60,0.00,0.000,6,0.000,0.057,2157,2297,3384
$GC,2063,-0.65,-146.6,165.1,-6.5,98,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2297,3383
$GC,2372,-0.65,-146.6,188.6,-8.2,113,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2297,3384
$GC,2682,-0.65,-146.6,213.8,-7.7,128,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2297,3383
$GC,2991,-0.65,-146.6,234.5,-6.4,143,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2297,3384
$GC,3300,-0.65,-146.6,257.1,-8.1,158,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2297,3384
$GC,3609,-0.65,-146.6,283.9,-8.3,173,3614,0.00,2.67,0.00,0.000,4,0.000,0.077,2157,3714,3384
$GC,3642,-0.65,-146.6,286.8,-8.2,174,3649,0.00,2.58,0.00,0.000,6,0.000,0.055,2157,2304,3384
$GC,3958,-0.65,-146.6,310.3,-7.9,190,3962,0.00,2.62,0.00,0.000,4,0.000,0.066,2157,880,3383
$GC,4002,-0.65,-146.6,314.1,-8.6,192,4006,0.00,2.60,0.00,0.000,6,0.000,0.056,2156,2300,3384
$GC,4323,-0.65,-146.6,340.1,-7.2,208,4327,0.00,2.67,0.00,0.000,4,0.000,0.079,2157,3712,3383
$GC,4385,-0.65,-146.6,344.7,-7.6,211,4389,0.00,2.60,0.00,0.000,6,0.000,0.056,2157,2294,3384
$GC,4711,-0.65,-146.6,367.0,-6.9,227,4715,0.00,2.60,0.00,0.000,4,0.000,0.067,2157,881,3384
$GC,4743,-0.65,-146.6,369.5,-7.3,228,4749,0.00,2.60,0.00,0.000,6,0.000,0.058,2157,2298,3383
$GC,5059,-0.65,-146.6,392.6,-7.2,244,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2298,3383
$GC,5368,-0.65,-146.6,414.8,-7.3,259,5372,0.00,2.65,0.00,0.000,4,0.000,0.066,2157,875,3383
$GC,5412,-0.70,-146.6,418.1,-7.4,261,5417,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2300,3383
$GC,5733,-0.70,-146.6,439.9,-6.3,277,5738,0.00,2.62,0.00,0.000,4,0.000,0.066,2157,881,3383
$GC,5774,-0.75,-146.6,442.5,-6.7,279,5778,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2301,3383
$GC,6100,-0.75,-146.6,465.2,-7.1,295,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2301,3382
$GC,6409,-0.75,-146.6,487.5,-7.2,310,6413,0.00,2.67,0.00,0.000,4,0.000,0.081,2157,3712,3382
$GC,6475,-0.75,-146.6,492.4,-7.4,313,6480,0.00,2.58,0.00,0.000,6,0.000,0.057,2157,2302,3382
$GC,6796,-0.75,-146.6,512.4,-5.6,329,6800,0.00,2.65,0.00,0.000,4,0.000,0.071,2157,880,3382
$GC,6836,-0.82,-146.6,514.8,-6.6,331,6842,0.17,2.60,0.00,0.000,6,0.044,0.059,2106,2299,3382
$GC,7164,-0.71,-146.6,543.7,-9.6,347,7169,0.15,2.72,0.00,0.000,4,0.093,0.086,2140,3715,3382
$GC,7191,-0.65,-146.6,546.2,-8.0,348,7196,0.00,2.60,0.00,0.000,6,0.000,0.060,2140,2301,3382
$GC,7507,-0.65,-146.6,569.0,-7.0,363,7511,0.00,2.65,0.00,0.000,4,0.000,0.074,2140,882,3381
$GC,7534,-0.65,-146.6,571.0,-7.7,364,7538,0.00,2.65,0.00,0.000,6,0.000,0.064,2140,2299,3381
$GC,7849,-0.65,-146.6,594.7,-7.4,379,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2300,3380
$STATE,7929,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7929,begin apogee
$GC,7935,-0.31,0.0,600.7,7.3,383,8072,0.45,0.00,131.30,1.045,6,0.092,0.000,2231,2299,2781
$STATE,8073,end apogee,CONTROL_FINISHED_OK
$STATE,8073,begin climb
$GC,8075,0.85,146.6,606.3,0.0,390,8210,1.17,0.00,130.43,1.020,6,0.079,0.000,2480,2299,2184
$GC,8509,0.94,188.5,590.6,4.9,411,8553,0.12,2.88,38.15,0.999,4,0.071,0.091,2507,3706,2012
$GC,8711,0.88,188.5,578.4,6.1,420,8715,0.00,2.67,0.00,0.000,6,0.000,0.068,2507,2301,2012
$GC,9032,0.88,188.5,559.5,6.3,436,9036,0.00,2.72,0.00,0.000,4,0.000,0.081,2508,884,2011
$GC,9072,0.83,188.5,556.9,7.1,438,9077,0.12,2.67,0.00,0.000,6,0.099,0.064,2484,2301,2010
$GC,9399,0.88,231.9,539.8,4.8,454,9443,0.00,2.80,38.65,1.011,4,0.000,0.075,2483,889,1834
$GC,9501,0.97,259.6,534.3,5.2,458,9533,0.12,2.67,25.60,0.987,6,0.061,0.064,2513,2300,1722
$GC,9857,0.97,259.6,507.8,7.7,476,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2299,1722
$GC,10164,0.97,259.6,483.4,8.8,491,10168,0.00,2.75,0.00,0.000,4,0.000,0.089,2514,3711,1720
$GC,10219,0.97,259.6,478.1,9.3,493,10225,0.00,2.67,0.00,0.000,6,0.000,0.069,2514,2301,1720
$GC,10534,0.97,259.6,452.7,8.0,509,10539,0.00,2.70,0.00,0.000,4,0.000,0.075,2514,879,1719
$GC,10561,0.97,259.6,450.5,8.8,510,10566,0.00,2.67,0.00,0.000,6,0.000,0.061,2514,2304,1719
$GC,10877,0.97,259.6,426.0,7.5,525,10881,0.00,2.70,0.00,0.000,4,0.000,0.073,2514,876,1719
$GC,10904,0.97,259.6,424.0,7.2,526,10908,0.00,2.67,0.00,0.000,6,0.000,0.058,2514,2308,1719
$GC,11220,0.97,259.6,400.5,7.4,541,11224,0.00,2.70,0.00,0.000,4,0.000,0.070,2514,881,1719
$GC,11275,0.97,259.6,395.9,7.9,543,11281,0.00,2.62,0.00,0.000,6,0.000,0.057,2514,2303,1719
$GC,11591,0.97,259.6,371.1,8.6,559,11595,0.00,2.67,0.00,0.000,4,0.000,0.080,2514,3707,1719
$GC,11617,0.97,259.6,368.4,9.9,560,11622,0.00,2.62,0.00,0.000,6,0.000,0.060,2514,2296,1719
$GC,11933,0.97,259.6,340.2,8.7,575,11937,0.00,2.65,0.00,0.000,4,0.000,0.069,2514,878,1719
$GC,11990,0.97,259.6,335.1,9.3,577,11995,0.00,2.62,0.00,0.000,6,0.000,0.054,2514,2304,1719
$GC,12305,0.97,259.6,311.6,7.0,593,12306,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2304,1720
$GC,12614,0.97,259.6,288.5,7.4,608,12619,0.00,2.67,0.00,0.000,4,0.000,0.066,2514,873,1720
$GC,12642,0.97,259.6,286.3,7.6,609,12646,0.00,2.62,0.00,0.000,6,0.000,0.053,2514,2301,1721
$GC,12957,0.97,259.6,265.2,6.4,624,12958,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2301,1721
$GC,13267,0.97,259.6,244.8,6.9,639,13271,0.00,2.65,0.00,0.000,4,0.000,0.066,2514,880,1721
$GC,13306,0.97,259.6,242.1,7.6,641,13311,0.00,2.60,0.00,0.000,6,0.000,0.053,2514,2301,1722
$GC,13633,0.97,259.6,217.7,7.6,657,13637,0.00,2.65,0.00,0.000,4,0.000,0.064,2514,873,1722
$GC,13666,0.97,259.6,215.1,7.5,658,13672,0.00,2.60,0.00,0.000,6,0.000,0.052,2514,2301,1722
$GC,13981,0.97,259.6,190.7,8.3,674,13986,0.00,2.65,0.00,0.000,4,0.000,0.064,2514,874,1723
$GC,14008,0.97,259.6,188.3,8.7,675,14013,0.00,2.62,0.00,0.000,6,0.000,0.052,2514,2306,1723
$GC,14324,0.97,259.6,163.7,7.8,690,14328,0.00,2.65,0.00,0.000,4,0.000,0.065,2514,880,1724
$GC,14351,0.97,259.6,161.6,7.8,691,14355,0.00,2.58,0.00,0.000,6,0.000,0.050,2514,2302,1724
$GC,14667,0.97,259.6,138.7,7.2,706,14671,0.00,2.65,0.00,0.000,4,0.000,0.064,2513,874,1724
$GC,14688,0.97,259.6,137.0,7.0,707,14692,0.00,2.60,0.00,0.000,6,0.000,0.049,2514,2306,1725
$GC,15009,0.97,259.6,114.6,6.9,723,15014,0.00,2.65,0.00,0.000,4,0.000,0.063,2514,877,1724
$GC,15037,0.97,259.6,112.5,7.2,724,15041,0.00,2.58,0.00,0.000,6,0.000,0.050,2514,2301,1724
$GC,15353,0.98,271.7,92.8,5.7,739,15375,0.00,2.70,12.10,0.634,4,0.000,0.064,2514,880,1672
$GC,15392,1.00,289.3,90.5,5.5,740,15413,0.00,2.60,15.82,0.641,6,0.000,0.049,2514,2303,1601
$GC,15724,1.00,289.3,69.5,6.6,756,15729,0.00,2.65,0.00,0.000,4,0.000,0.064,2514,880,1601
$GC,15779,1.00,289.3,65.7,6.8,758,15786,0.00,2.58,0.00,0.000,6,0.000,0.052,2514,2303,1601
$GC,16096,1.05,289.3,43.5,7.8,774,16101,0.00,2.65,0.00,0.000,4,0.000,0.064,2514,877,1601
$GC,16169,1.11,289.3,37.8,7.7,777,16174,0.12,2.60,0.00,0.000,6,0.069,0.053,2540,2301,1601
$GC,16486,1.04,289.3,12.0,7.4,792,16490,0.00,2.65,0.00,0.000,4,0.000,0.066,2541,880,1601
$GC,16525,1.04,289.3,8.9,6.9,794,16530,0.00,2.60,0.00,0.000,6,0.000,0.053,2541,2305,1601
$STATE,16624,end climb,SURFACE_DEPTH_REACHED
$STATE,16624,begin surface coast
$FINISH,0.6,1.027141
$STATE,16645,end surface coast,CONTROL_FINISHED_OK
$STATE,16645,begin surface
$SM_CCo,16666,5.72,0.490,0,0,1558,300.00
$SM_GC,2.09,0.00,0.00,5.72,0.000,0.000,0.490,69,2305,1558,-10.26,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1875
$TCM_TEMP,18.00
$XPDR_PINGS,36
$ALTIM_TOP_PING,19.7,18.3
$ALTIM_BOTTOM_PING,576.1,34.2
$24V_AH,23.5,8.787
$10V_AH,10.1,3.876
$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,24.625,179.850,392.050,5.725,0.000,18.043,27.208,134.601,14.000,0.000,0.000,28.814,1487.754,12675.207,548.505,1814.405,456.275,33.356,1478.828,0.000,1759.671,0.000,34.699
$DEVICE_MAMPS,164.905,90.506,1044.654,490.113,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,581.704,542.774,533.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41041,800
$CAP_FILE_SIZE,127121,0
$CFSIZE,260165632,256380928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,120608,164831,6023.698,-545.861,58,1.2,64,-7.1