version: 66.03
glider: 16
mission: 9
dive: 78
start: 6 23 108 22 45 32
data:
$ID,16
$MISSION,9
$DIVE,78
$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,557.32159
$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,-2094449.1
$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,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,16
$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
$GPS1,223857,6124.672,-806.782,36,2.7,56,-8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-57.7
$GPS2,224441,6124.675,-806.743,13,2.6,32,-8.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_3
$TGT_LATLONG,6130.000,-828.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.162,0.151
$KALMAN_X,-119899.3,853.1,-7693.4,-26716.4,-24971.3
$KALMAN_Y,-43033.8,561.4,-6108.0,117131.9,4494.8
$MHEAD_RNG_PITCHd_Wd,306.4,21216,-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,26,-0.85,-146.6,0.0,0.0,0,148,0.00,0.00,-120.80,0.000,2,0.000,0.000,73,2307,2926
$GC,152,-0.85,-146.6,3.3,-2.5,6,179,11.52,0.00,-11.75,0.000,6,0.169,0.000,2111,2307,3380
$GC,479,-0.66,-146.6,43.1,-11.6,22,481,0.22,0.00,0.00,0.000,6,0.093,0.000,2155,2307,3380
$GC,787,-0.62,-146.6,69.9,-8.8,37,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2308,3380
$GC,1096,-0.62,-146.6,93.2,-6.9,52,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2307,3381
$GC,1405,-0.62,-146.6,112.3,-6.0,67,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2308,3381
$GC,1714,-0.62,-146.6,132.5,-6.7,82,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2307,3381
$GC,2023,-0.62,-146.6,153.1,-6.5,97,2028,0.00,2.67,0.00,0.000,4,0.000,0.069,2155,874,3382
$GC,2108,-0.62,-146.6,158.9,-6.3,101,2112,0.00,2.60,0.00,0.000,6,0.000,0.055,2155,2302,3381
$GC,2434,-0.62,-146.6,184.5,-8.7,117,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2302,3381
$GC,2743,-0.62,-146.6,208.8,-7.3,132,2748,0.00,2.67,0.00,0.000,4,0.000,0.069,2155,874,3381
$GC,2794,-0.62,-146.6,212.5,-7.1,134,2798,0.00,2.65,0.00,0.000,6,0.000,0.056,2155,2307,3381
$GC,3109,-0.62,-146.6,234.9,-6.9,149,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2307,3382
$GC,3419,-0.62,-146.6,254.5,-5.5,164,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2308,3381
$GC,3728,-0.62,-146.6,274.9,-8.1,179,3733,0.00,2.70,0.00,0.000,4,0.000,0.071,2155,876,3381
$GC,3789,-0.62,-146.6,280.1,-8.7,181,3795,0.00,2.60,0.00,0.000,6,0.000,0.058,2155,2301,3381
$GC,4105,-0.62,-146.6,309.3,-9.7,197,4109,0.00,2.67,0.00,0.000,4,0.000,0.071,2155,879,3381
$GC,4144,-0.62,-146.6,313.1,-10.1,199,4148,0.00,2.62,0.00,0.000,6,0.000,0.058,2154,2304,3381
$GC,4470,-0.62,-146.6,337.8,-7.2,215,4474,0.00,2.67,0.00,0.000,4,0.000,0.071,2155,879,3381
$GC,4542,-0.62,-146.6,343.1,-8.6,218,4546,0.00,2.62,0.00,0.000,6,0.000,0.058,2155,2300,3381
$GC,4857,-0.62,-146.6,371.1,-8.5,233,4862,0.00,2.67,0.00,0.000,4,0.000,0.072,2155,879,3381
$GC,4902,-0.62,-146.6,374.7,-8.3,235,4906,0.00,2.62,0.00,0.000,6,0.000,0.059,2155,2302,3381
$GC,5223,-0.62,-146.6,398.6,-6.6,251,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2302,3381
$GC,5532,-0.62,-146.6,420.5,-8.7,266,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2302,3381
$GC,5841,-0.62,-146.6,445.7,-6.9,281,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2302,3380
$GC,6151,-0.62,-146.6,466.7,-7.3,296,6155,0.00,2.70,0.00,0.000,4,0.000,0.074,2155,877,3380
$GC,6195,-0.67,-146.6,470.2,-7.7,298,6200,0.00,2.65,0.00,0.000,6,0.000,0.062,2155,2298,3380
$GC,6516,-0.67,-146.6,494.2,-7.2,314,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2298,3379
$GC,6826,-0.67,-146.6,514.0,-6.2,329,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2298,3378
$GC,7135,-0.67,-146.6,532.0,-5.8,344,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2298,3378
$GC,7445,-0.67,-146.6,549.6,-5.6,359,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2298,3376
$GC,7754,-0.67,-146.6,566.8,-6.6,374,7758,0.00,2.72,0.00,0.000,4,0.000,0.080,2155,876,3375
$GC,7794,-0.74,-146.6,569.6,-7.5,376,7799,0.00,2.67,0.00,0.000,6,0.000,0.066,2155,2305,3375
$GC,8120,-0.74,-146.6,594.5,-6.8,392,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2306,3373
$GC,8430,-0.74,-146.6,615.7,-8.0,407,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2305,3373
$GC,8739,-0.74,-146.6,634.9,-5.2,422,8744,0.00,2.75,0.00,0.000,4,0.000,0.084,2155,884,3372
$GC,8825,-0.81,-146.6,638.5,-4.4,426,8830,0.15,2.65,0.00,0.000,6,0.055,0.069,2115,2298,3371
$GC,9155,-0.72,-146.6,664.3,-4.7,442,9156,0.15,0.00,0.00,0.000,6,0.107,0.000,2142,2300,3369
$GC,9461,-0.72,-146.6,684.5,-10.4,457,9465,0.00,2.70,0.00,0.000,4,0.000,0.074,2142,880,3369
$GC,9505,-0.77,-146.6,688.4,-8.7,459,9510,0.00,2.70,0.00,0.000,6,0.000,0.069,2143,2310,3368
$STATE,9555,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9556,begin apogee
$GC,9563,-0.31,0.0,694.3,11.7,462,9698,0.45,0.00,131.18,1.157,6,0.114,0.000,2229,2190,2781
$STATE,9699,end apogee,CONTROL_FINISHED_OK
$STATE,9699,begin climb
$GC,9702,0.85,146.6,700.0,0.0,469,9838,1.20,0.00,132.02,1.136,6,0.089,0.000,2477,2190,2183
$GC,10134,1.02,307.4,684.2,1.6,490,10281,0.20,0.00,144.07,1.124,6,0.061,0.000,2521,2190,1528
$GC,10583,1.02,307.4,647.0,8.1,512,10584,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2190,1527
$GC,10892,1.02,307.4,626.9,7.7,527,10897,0.00,2.83,0.00,0.000,4,0.000,0.094,2521,3616,1527
$GC,10964,1.02,307.4,618.8,13.4,530,10969,0.00,2.72,0.00,0.000,6,0.000,0.077,2521,2203,1526
$GC,11280,1.02,307.4,596.1,6.8,545,11284,0.00,2.75,0.00,0.000,4,0.000,0.087,2521,781,1526
$GC,11323,1.02,307.4,592.8,7.4,547,11328,0.00,2.67,0.00,0.000,6,0.000,0.066,2521,2197,1526
$GC,11644,1.02,307.4,568.7,8.0,563,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2197,1526
$GC,11954,1.02,307.4,543.7,8.5,578,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2197,1525
$GC,12263,1.02,307.4,518.7,8.0,593,12264,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2197,1524
$GC,12572,1.02,307.4,496.0,7.5,608,12576,0.00,2.78,0.00,0.000,4,0.000,0.094,2521,3613,1523
$GC,12611,1.02,307.4,493.7,6.1,610,12616,0.00,2.72,0.00,0.000,6,0.000,0.076,2521,2193,1523
$GC,12938,1.02,307.4,471.2,8.3,626,12942,0.00,2.80,0.00,0.000,4,0.000,0.090,2521,3620,1523
$GC,13045,1.02,307.4,460.7,9.5,631,13050,0.00,2.70,0.00,0.000,6,0.000,0.072,2521,2202,1522
$GC,13371,1.02,307.4,431.2,7.6,647,13373,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2201,1523
$GC,13680,1.02,307.4,410.1,7.0,662,13682,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2201,1523
$GC,13990,1.02,307.4,387.2,7.5,677,13994,0.00,2.75,0.00,0.000,4,0.000,0.085,2522,3618,1523
$GC,14022,1.02,307.4,384.5,8.4,678,14028,0.00,2.67,0.00,0.000,6,0.000,0.071,2522,2199,1523
$GC,14338,1.02,307.4,361.1,7.6,694,14342,0.00,2.67,0.00,0.000,4,0.000,0.074,2522,779,1524
$GC,14370,1.02,307.4,358.6,7.8,695,14377,0.00,2.62,0.00,0.000,6,0.000,0.056,2522,2201,1523
$GC,14686,1.02,307.4,334.1,7.3,711,14691,0.00,2.70,0.00,0.000,4,0.000,0.082,2522,3615,1525
$GC,14753,1.02,307.4,328.5,8.0,714,14757,0.00,2.67,0.00,0.000,6,0.000,0.068,2521,2198,1526
$GC,15073,1.09,366.6,310.2,4.4,730,15130,0.00,2.80,50.80,0.866,4,0.000,0.079,2521,3616,1285
$GC,15164,1.19,400.6,305.9,5.1,733,15200,0.17,2.70,30.02,0.838,6,0.052,0.067,2568,2201,1147
$GC,15525,1.14,400.6,278.0,7.9,751,15530,0.12,2.70,0.00,0.000,4,0.086,0.074,2544,782,1146
$GC,15575,1.14,400.6,273.4,8.3,753,15579,0.00,2.62,0.00,0.000,6,0.000,0.054,2544,2203,1146
$GC,15890,1.14,400.6,248.2,8.6,768,15891,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2203,1148
$GC,16199,1.14,400.6,218.3,10.0,783,16201,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2203,1148
$GC,16509,1.14,400.6,190.6,8.6,798,16513,0.00,2.67,0.00,0.000,4,0.000,0.070,2544,781,1149
$GC,16564,1.14,400.6,185.9,8.0,800,16570,0.00,2.62,0.00,0.000,6,0.000,0.054,2544,2208,1150
$GC,16880,1.14,400.6,149.6,14.5,816,16881,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2208,1150
$GC,17191,1.14,400.6,115.9,9.8,831,17195,0.00,2.70,0.00,0.000,4,0.000,0.070,2544,781,1150
$GC,17263,1.14,400.6,107.0,11.5,834,17267,0.00,2.60,0.00,0.000,6,0.000,0.052,2544,2203,1150
$GC,17579,1.14,400.6,74.2,8.7,849,17580,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2203,1151
$GC,17888,1.14,400.6,43.2,10.3,864,17889,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2203,1151
$GC,18197,1.14,400.6,14.0,9.3,879,18202,0.00,2.67,0.00,0.000,4,0.000,0.069,2544,782,1152
$GC,18253,1.14,400.6,7.8,11.5,881,18259,0.00,2.58,0.00,0.000,6,0.000,0.052,2544,2200,1152
$STATE,18319,end climb,SURFACE_DEPTH_REACHED
$STATE,18319,begin surface coast
$FINISH,0.6,1.013473
$STATE,18341,end surface coast,CONTROL_FINISHED_OK
$STATE,18341,begin surface
$SM_CCo,18363,78.05,0.614,0,0,508,557.32
$SM_GC,1.36,0.00,0.00,78.05,0.000,0.000,0.614,66,2308,508,-10.28,0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1832
$TCM_TEMP,17.60
$XPDR_PINGS,42
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,651.0,52.2
$24V_AH,23.5,15.956
$10V_AH,10.1,8.115
$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,24.875,118.525,488.100,78.050,0.000,18.335,26.336,158.568,16.750,0.000,0.000,33.138,1571.108,14186.438,735.230,1806.013,484.508,33.360,1627.719,0.000,1749.262,0.000,45.491
$DEVICE_MAMPS,168.740,94.341,1156.636,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,659.536,602.947,534.582,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44215,886
$CAP_FILE_SIZE,121787,0
$CFSIZE,260165632,253313024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,240608,035408,6126.234,-817.704,36,1.9,36,-8.8