version: 66.03
glider: 16
mission: 9
dive: 82
start: 6 24 108 21 51 37
data:
$ID,16
$MISSION,9
$DIVE,82
$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,-2094521
$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,16
$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,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
$GPS1,214431,6127.247,-832.896,40,1.1,40,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-57.1
$GPS2,215045,6127.207,-832.884,17,1.3,17,-9.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_4
$TGT_LATLONG,6140.000,-845.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.069,0.210
$KALMAN_X,-153991.2,3614.2,-251.3,-26714.2,-17257.9
$KALMAN_Y,-52727.4,-274.2,-4324.8,130571.0,3780.3
$MHEAD_RNG_PITCHd_Wd,344.8,25977,-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,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.50,0.000,2,0.000,0.000,70,2306,3033
$GC,150,-0.85,-146.6,4.4,-3.8,6,175,11.43,2.75,-7.47,0.000,4,0.170,0.088,2109,3713,3380
$GC,367,-0.67,-146.6,35.6,-10.3,15,374,0.22,2.60,0.00,0.000,6,0.094,0.055,2153,2294,3380
$GC,685,-0.63,-146.6,59.6,-7.2,31,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2294,3380
$GC,992,-0.58,-146.6,81.3,-6.8,46,997,0.00,2.62,0.00,0.000,4,0.000,0.066,2153,881,3379
$GC,1037,-0.58,-146.6,84.7,-7.1,48,1041,0.00,2.65,0.00,0.000,6,0.000,0.058,2151,2304,3380
$GC,1359,-0.54,-146.6,110.1,-8.1,64,1361,0.15,0.00,0.00,0.000,6,0.095,0.000,2182,2304,3380
$GC,1668,-0.59,-146.6,129.7,-6.3,79,1672,0.00,2.65,0.00,0.000,4,0.000,0.064,2182,881,3381
$GC,1724,-0.70,-146.6,133.4,-5.9,81,1731,0.15,2.62,0.00,0.000,6,0.041,0.058,2132,2299,3380
$GC,2040,-0.59,-146.6,163.5,-10.3,97,2045,0.15,2.67,0.00,0.000,4,0.087,0.065,2166,873,3381
$GC,2107,-0.63,-146.6,169.6,-8.7,100,2111,0.00,2.65,0.00,0.000,6,0.000,0.059,2166,2300,3380
$GC,2428,-0.63,-146.6,197.3,-8.6,116,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2300,3381
$GC,2737,-0.63,-146.6,222.7,-7.7,131,2741,0.00,2.65,0.00,0.000,4,0.000,0.065,2166,880,3381
$GC,2804,-0.68,-146.6,227.9,-7.7,134,2808,0.00,2.65,0.00,0.000,6,0.000,0.059,2166,2306,3380
$GC,3125,-0.68,-146.6,248.3,-5.4,150,3129,0.00,2.67,0.00,0.000,4,0.000,0.067,2166,878,3381
$GC,3180,-0.73,-146.6,251.7,-5.4,152,3187,0.12,2.65,0.00,0.000,6,0.046,0.059,2124,2304,3381
$GC,3497,-0.61,-146.6,276.7,-7.4,168,3502,0.17,2.67,0.00,0.000,4,0.088,0.068,2162,881,3381
$GC,3547,-0.66,-146.6,280.0,-6.1,170,3551,0.00,2.65,0.00,0.000,6,0.000,0.059,2162,2307,3380
$GC,3862,-0.66,-146.6,298.6,-6.3,185,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2307,3380
$GC,4172,-0.66,-146.6,320.8,-7.3,200,4176,0.00,2.67,0.00,0.000,4,0.000,0.068,2163,881,3380
$GC,4240,-0.70,-146.6,325.9,-7.6,203,4244,0.00,2.65,0.00,0.000,6,0.000,0.060,2162,2307,3380
$GC,4560,-0.70,-146.6,349.8,-7.8,219,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2307,3380
$GC,4870,-0.70,-146.6,373.2,-7.4,234,4874,0.00,2.67,0.00,0.000,4,0.000,0.069,2162,877,3380
$GC,4936,-0.74,-146.6,378.3,-7.6,237,4941,0.12,2.65,0.00,0.000,6,0.046,0.059,2121,2304,3380
$GC,5258,-0.61,-146.6,408.6,-9.6,253,5260,0.22,0.00,0.00,0.000,6,0.085,0.000,2165,2305,3380
$GC,5566,-0.61,-146.6,432.2,-7.8,268,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2304,3380
$GC,5876,-0.61,-146.6,454.2,-6.6,283,5880,0.00,2.65,0.00,0.000,4,0.000,0.068,2165,883,3380
$GC,5961,-0.68,-146.6,460.3,-6.8,287,5965,0.00,2.60,0.00,0.000,6,0.000,0.060,2165,2302,3380
$GC,6287,-0.68,-146.6,483.6,-7.2,303,6291,0.00,2.65,0.00,0.000,4,0.000,0.067,2165,881,3380
$GC,6326,-0.74,-146.6,486.1,-6.4,305,6331,0.12,2.62,0.00,0.000,6,0.047,0.058,2123,2300,3380
$GC,6654,-0.62,-146.6,512.3,-7.6,321,6656,0.20,0.00,0.00,0.000,6,0.087,0.000,2163,2300,3379
$GC,6963,-0.62,-146.6,528.4,-4.8,336,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2300,3379
$GC,7272,-0.62,-146.6,541.4,-4.7,351,7277,0.00,2.65,0.00,0.000,4,0.000,0.066,2163,880,3379
$GC,7335,-0.69,-146.6,544.7,-5.0,354,7340,0.00,2.65,0.00,0.000,6,0.000,0.058,2163,2307,3379
$GC,7663,-0.69,-146.6,561.1,-5.7,370,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2307,3379
$GC,7972,-0.69,-146.6,581.1,-7.6,385,7976,0.00,2.65,0.00,0.000,4,0.000,0.067,2163,882,3379
$GC,8034,-0.76,-146.6,586.2,-8.4,388,8039,0.12,2.60,0.00,0.000,6,0.048,0.058,2121,2300,3379
$GC,8361,-0.63,-146.6,619.6,-9.7,404,8366,0.17,2.65,0.00,0.000,4,0.090,0.068,2158,883,3377
$GC,8402,-0.68,-146.6,622.8,-7.7,406,8406,0.00,2.62,0.00,0.000,6,0.000,0.058,2158,2300,3378
$GC,8728,-0.68,-146.6,647.1,-7.8,422,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2300,3378
$STATE,8870,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8870,begin apogee
$GC,8877,-0.31,0.0,655.3,4.5,429,9013,0.35,0.00,129.95,1.031,6,0.107,0.000,2226,2194,2780
$STATE,9013,end apogee,CONTROL_FINISHED_OK
$STATE,9013,begin climb
$GC,9016,0.85,146.6,660.3,0.0,436,9153,1.20,2.72,128.82,1.011,4,0.088,0.065,2476,786,2182
$GC,9221,0.92,216.5,655.2,4.1,445,9291,0.12,2.65,62.03,0.992,6,0.073,0.054,2502,2200,1898
$GC,9613,0.92,216.5,626.9,7.7,464,9617,0.00,2.72,0.00,0.000,4,0.000,0.081,2502,3612,1898
$GC,9730,0.92,216.5,617.1,9.3,469,9735,0.00,2.62,0.00,0.000,6,0.000,0.060,2503,2204,1898
$GC,10045,0.92,216.5,595.2,6.9,484,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2204,1898
$GC,10355,0.92,216.5,574.8,7.0,499,10359,0.00,2.67,0.00,0.000,4,0.000,0.070,2503,785,1897
$GC,10399,0.92,216.5,571.6,6.8,501,10403,0.00,2.62,0.00,0.000,6,0.000,0.054,2503,2201,1897
$GC,10719,0.92,216.5,548.1,7.5,517,10724,0.00,2.72,0.00,0.000,4,0.000,0.082,2503,3614,1897
$GC,10763,0.92,216.5,544.5,8.5,519,10767,0.00,2.65,0.00,0.000,6,0.000,0.059,2503,2193,1896
$GC,11084,0.92,216.5,521.1,7.1,535,11085,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2193,1896
$GC,11393,0.92,216.5,500.1,6.6,550,11394,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2193,1896
$GC,11702,0.92,216.5,479.8,6.1,565,11706,0.00,2.75,0.00,0.000,4,0.000,0.082,2503,3613,1896
$GC,11746,0.92,216.5,476.7,7.4,567,11750,0.00,2.60,0.00,0.000,6,0.000,0.060,2503,2200,1895
$GC,12067,0.96,249.6,458.6,5.1,583,12098,0.00,0.00,29.38,0.887,6,0.000,0.000,2503,2200,1763
$GC,12396,0.98,270.7,442.5,5.4,599,12418,0.00,0.00,19.60,0.856,6,0.000,0.000,2503,2200,1677
$GC,12725,1.03,270.7,422.3,6.1,615,12730,0.00,2.75,0.00,0.000,4,0.000,0.083,2503,3618,1677
$GC,12765,1.08,270.7,419.6,7.3,617,12770,0.15,2.65,0.00,0.000,6,0.059,0.060,2546,2196,1677
$GC,13092,1.00,270.7,391.1,8.9,633,13094,0.15,0.00,0.00,0.000,6,0.083,0.000,2514,2196,1677
$GC,13401,1.00,270.7,369.1,7.1,648,13402,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2196,1677
$GC,13710,1.00,270.7,347.5,6.9,663,13715,0.00,2.75,0.00,0.000,4,0.000,0.083,2515,3619,1677
$GC,13766,1.00,270.7,343.1,7.9,665,13772,0.00,2.62,0.00,0.000,6,0.000,0.061,2515,2200,1677
$GC,14082,1.00,270.7,322.3,6.6,681,14083,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2200,1677
$GC,14391,1.00,270.7,301.7,6.6,696,14392,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2200,1677
$GC,14701,1.00,270.7,281.4,6.9,711,14705,0.00,2.72,0.00,0.000,4,0.000,0.081,2515,3619,1677
$GC,14750,1.00,270.7,277.4,8.5,713,14755,0.00,2.62,0.00,0.000,6,0.000,0.060,2515,2199,1677
$GC,15066,1.00,270.7,255.4,7.3,728,15067,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2199,1677
$GC,15375,1.00,270.7,233.5,6.5,743,15376,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2199,1677
$GC,15684,1.00,270.7,213.4,6.7,758,15685,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2199,1677
$GC,15994,1.00,270.7,192.1,6.9,773,15998,0.00,2.70,0.00,0.000,4,0.000,0.081,2515,3614,1677
$GC,16043,1.00,270.7,188.0,7.9,775,16048,0.00,2.60,0.00,0.000,6,0.000,0.059,2515,2200,1677
$GC,16359,1.00,270.7,165.6,7.2,790,16360,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2200,1678
$GC,16669,1.00,270.7,142.0,8.3,805,16673,0.00,2.70,0.00,0.000,4,0.000,0.080,2515,3613,1677
$GC,16731,1.00,270.7,136.0,8.7,808,16736,0.00,2.60,0.00,0.000,6,0.000,0.059,2515,2198,1678
$GC,17060,1.00,270.7,106.0,9.1,824,17061,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2199,1678
$GC,17368,1.00,270.7,81.0,8.0,839,17369,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2199,1678
$GC,17677,1.00,270.7,55.1,8.2,854,17682,0.00,2.70,0.00,0.000,4,0.000,0.080,2515,3614,1678
$GC,17727,1.00,270.7,50.5,9.5,856,17732,0.00,2.60,0.00,0.000,6,0.000,0.058,2515,2199,1678
$GC,18043,1.00,270.7,30.5,6.2,871,18044,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2199,1678
$GC,18353,1.00,270.7,11.2,6.6,886,18354,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2198,1678
$STATE,18494,end climb,SURFACE_DEPTH_REACHED
$STATE,18494,begin surface coast
$FINISH,0.6,1.027203
$STATE,18516,end surface coast,CONTROL_FINISHED_OK
$STATE,18516,begin surface
$SM_CCo,18538,136.70,0.597,0,0,509,557.57
$SM_GC,1.21,0.00,0.00,136.70,0.000,0.000,0.597,73,2308,509,-10.24,0.23,557.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1836
$TCM_TEMP,17.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.0,18.2
$ALTIM_BOTTOM_PING,625.6,38.9
$24V_AH,23.6,16.613
$10V_AH,10.2,8.485
$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,25.875,133.325,369.775,136.700,0.000,18.083,29.856,200.338,7.000,0.000,0.000,17.617,1627.004,14317.604,679.597,1898.277,526.112,33.358,1618.283,0.000,1850.054,0.000,43.802
$DEVICE_MAMPS,169.507,88.205,1030.848,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,646.421,620.010,561.477,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44334,894
$CAP_FILE_SIZE,131315,0
$CFSIZE,260165632,253026304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,250608,030428,6125.967,-830.529,36,2.8,55,-8.9