version: 66.03
glider: 16
mission: 9
dive: 88
start: 6 26 108 4 35 2
data:
$ID,16
$MISSION,9
$DIVE,88
$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,-2094691.5
$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,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
$GPS1,042837,6136.758,-842.537,37,2.0,42,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-48.2
$GPS2,043411,6136.663,-842.532,12,2.5,31,-9.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_4
$TGT_LATLONG,6140.000,-845.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.045,0.217
$KALMAN_X,-144816.3,-447.6,-3965.4,-36525.3,502.0
$KALMAN_Y,-71077.1,553.7,-2.8,161236.4,-4457.2
$MHEAD_RNG_PITCHd_Wd,349.8,6550,-12.9,-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,-0.93,-113.8,0.0,0.0,0,148,0.00,0.00,-120.80,0.000,2,0.000,0.000,66,2315,2853
$GC,152,-0.96,-146.6,3.6,-3.0,6,183,11.27,2.67,-13.65,0.000,4,0.170,0.088,2080,3711,3380
$GC,292,-0.76,-146.6,26.1,-12.3,12,297,0.28,2.62,0.00,0.000,6,0.100,0.058,2134,2297,3380
$GC,610,-0.71,-146.6,60.0,-10.3,27,614,0.00,2.65,0.00,0.000,4,0.000,0.068,2133,881,3380
$GC,677,-0.71,-146.6,67.0,-9.1,30,681,0.00,2.62,0.00,0.000,6,0.000,0.056,2133,2297,3380
$GC,998,-0.67,-146.6,90.9,-6.2,46,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2297,3380
$GC,1309,-0.67,-146.6,111.7,-5.5,61,1313,0.00,2.67,0.00,0.000,4,0.000,0.067,2133,880,3380
$GC,1373,-0.67,-146.6,113.0,-1.7,64,1377,0.00,2.62,0.00,0.000,6,0.000,0.057,2133,2300,3380
$GC,1701,-0.67,-146.6,136.3,-2.8,80,1706,0.00,2.65,0.00,0.000,4,0.000,0.064,2133,878,3380
$GC,1757,-0.67,-146.6,139.2,-6.2,82,1763,0.00,2.65,0.00,0.000,6,0.000,0.057,2134,2307,3380
$GC,2073,-0.67,-146.6,169.5,-11.0,98,2077,0.00,2.67,0.00,0.000,4,0.000,0.066,2133,881,3380
$GC,2128,-0.67,-146.6,175.0,-9.5,100,2135,0.00,2.62,0.00,0.000,6,0.000,0.057,2134,2300,3381
$GC,2444,-0.67,-146.6,202.0,-7.0,116,2449,0.00,2.67,0.00,0.000,4,0.000,0.067,2133,879,3380
$GC,2512,-0.67,-146.6,206.2,-6.0,119,2516,0.00,2.62,0.00,0.000,6,0.000,0.057,2133,2299,3380
$GC,2832,-0.67,-146.6,224.9,-5.9,135,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2300,3380
$GC,3144,-0.67,-146.6,250.2,-9.3,150,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2299,3380
$GC,3451,-0.67,-146.6,282.9,-10.8,165,3455,0.00,2.67,0.00,0.000,4,0.000,0.067,2133,878,3380
$GC,3545,-0.67,-146.6,292.9,-10.5,169,3549,0.00,2.65,0.00,0.000,6,0.000,0.058,2134,2306,3380
$GC,3861,-0.67,-146.6,325.0,-9.8,184,3865,0.00,2.65,0.00,0.000,4,0.000,0.067,2134,884,3380
$GC,3955,-0.67,-146.6,334.5,-11.4,188,3959,0.00,2.62,0.00,0.000,6,0.000,0.058,2134,2300,3381
$GC,4276,-0.67,-146.6,370.0,-12.3,204,4280,0.00,2.67,0.00,0.000,4,0.000,0.067,2133,876,3381
$GC,4354,-0.71,-146.6,379.9,-13.4,207,4360,0.00,2.65,0.00,0.000,6,0.000,0.057,2133,2305,3380
$GC,4669,-0.71,-146.6,414.5,-11.8,223,4674,0.00,2.67,0.00,0.000,4,0.000,0.066,2133,879,3380
$GC,4741,-0.71,-146.6,421.8,-9.2,226,4746,0.00,2.65,0.00,0.000,6,0.000,0.058,2133,2308,3380
$GC,5057,-0.71,-146.6,449.0,-7.9,241,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2308,3380
$GC,5367,-0.71,-146.6,467.8,-5.3,256,5371,0.00,2.67,0.00,0.000,4,0.000,0.066,2133,881,3380
$GC,5446,-0.76,-146.6,472.0,-5.4,259,5451,0.00,2.62,0.00,0.000,6,0.000,0.058,2134,2300,3380
$GC,5761,-0.76,-146.6,492.5,-6.7,275,5765,0.00,2.67,0.00,0.000,4,0.000,0.067,2133,877,3380
$GC,5805,-0.81,-146.6,495.9,-7.6,277,5810,0.00,2.65,0.00,0.000,6,0.000,0.057,2133,2307,3380
$GC,6127,-0.81,-146.6,526.9,-10.9,293,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2307,3380
$GC,6436,-0.81,-146.6,561.2,-11.2,308,6440,0.00,2.67,0.00,0.000,4,0.000,0.067,2135,883,3380
$GC,6530,-0.85,-146.6,573.4,-13.3,312,6535,0.00,2.62,0.00,0.000,6,0.000,0.058,2134,2302,3380
$GC,6847,-0.85,-146.6,604.0,-5.1,327,6851,0.00,2.67,0.00,0.000,4,0.000,0.068,2134,882,3380
$GC,6981,-0.91,-146.6,607.8,-2.4,333,6986,0.15,2.62,0.00,0.000,6,0.045,0.060,2088,2299,3380
$GC,7303,-0.80,-146.6,627.7,-7.1,349,7305,0.17,0.00,0.00,0.000,6,0.094,0.000,2122,2299,3379
$GC,7612,-0.80,-146.6,648.2,-7.4,364,7616,0.00,2.67,0.00,0.000,4,0.000,0.069,2122,881,3379
$GC,7662,-0.80,-146.6,652.2,-8.1,366,7666,0.00,2.65,0.00,0.000,6,0.000,0.062,2122,2298,3379
$GC,7977,-0.80,-146.6,678.2,-10.1,381,7982,0.00,2.67,0.00,0.000,4,0.000,0.071,2122,884,3378
$GC,8095,-0.80,-146.6,690.4,-10.7,386,8099,0.00,2.67,0.00,0.000,6,0.000,0.064,2122,2307,3378
$GC,8411,-0.80,-146.6,719.6,-8.9,401,8415,0.00,2.72,0.00,0.000,4,0.000,0.075,2122,883,3377
$GC,8450,-0.87,-146.6,723.4,-8.8,403,8455,0.00,2.70,0.00,0.000,6,0.000,0.067,2122,2305,3377
$GC,8778,-0.87,-146.6,745.4,-4.5,419,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2305,3376
$GC,9086,-0.87,-146.6,766.2,-7.2,434,9091,0.00,2.72,0.00,0.000,4,0.000,0.078,2122,884,3374
$GC,9109,-0.87,-146.6,767.5,-5.6,435,9113,0.00,2.70,0.00,0.000,6,0.000,0.070,2122,2304,3374
$GC,9430,-0.87,-146.6,798.5,-7.9,451,9434,0.00,2.75,0.00,0.000,4,0.000,0.078,2122,877,3372
$GC,9480,-0.92,-146.6,804.1,-10.6,453,9484,0.00,2.72,0.00,0.000,6,0.000,0.070,2122,2307,3372
$GC,9796,-0.87,-146.6,834.9,-7.3,468,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2307,3371
$GC,10105,-0.87,-146.6,858.2,-10.9,483,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2307,3369
$STATE,10205,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10205,begin apogee
$GC,10212,-0.31,0.0,868.0,9.5,488,10348,0.55,0.00,132.62,1.250,6,0.104,0.000,2230,2196,2781
$STATE,10349,end apogee,CONTROL_FINISHED_OK
$STATE,10349,begin climb
$GC,10352,0.96,146.6,874.5,0.0,495,10495,1.33,2.92,132.45,1.241,4,0.084,0.094,2507,3615,2183
$GC,10753,0.92,146.6,852.0,7.0,513,10757,0.00,2.67,0.00,0.000,6,0.000,0.068,2507,2204,2183
$GC,11074,0.85,146.6,833.6,8.2,529,11079,0.12,2.75,0.00,0.000,4,0.106,0.081,2484,786,2182
$GC,11115,0.91,146.6,829.9,8.3,531,11119,0.00,2.67,0.00,0.000,6,0.000,0.064,2484,2202,2181
$GC,11441,0.96,198.3,813.6,4.2,547,11497,0.12,2.88,47.12,1.218,4,0.060,0.091,2517,3603,1972
$GC,11577,0.96,198.3,803.4,9.0,553,11581,0.00,2.67,0.00,0.000,6,0.000,0.067,2517,2200,1972
$GC,11898,0.92,198.3,777.3,7.7,569,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2200,1971
$GC,12207,0.92,198.3,749.6,6.1,584,12211,0.00,2.80,0.00,0.000,4,0.000,0.092,2517,3613,1971
$GC,12275,0.92,198.3,745.2,7.5,587,12279,0.00,2.67,0.00,0.000,6,0.000,0.068,2517,2199,1971
$GC,12595,0.92,198.3,722.1,7.3,603,12600,0.00,2.78,0.00,0.000,4,0.000,0.091,2517,3612,1970
$GC,12644,0.92,198.3,718.3,8.2,605,12649,0.00,2.67,0.00,0.000,6,0.000,0.067,2517,2193,1970
$GC,12960,0.92,198.3,695.6,7.6,620,12965,0.00,2.80,0.00,0.000,4,0.000,0.093,2518,3611,1970
$GC,13015,0.92,198.3,690.5,8.5,622,13021,0.00,2.67,0.00,0.000,6,0.000,0.066,2518,2192,1970
$GC,13331,0.92,198.3,667.4,7.1,638,13335,0.00,2.70,0.00,0.000,4,0.000,0.081,2518,785,1969
$GC,13397,0.92,198.3,662.4,7.5,641,13401,0.00,2.67,0.00,0.000,6,0.000,0.064,2518,2203,1968
$GC,13718,0.92,198.3,641.4,6.3,657,13722,0.00,2.78,0.00,0.000,4,0.000,0.092,2518,3617,1968
$GC,13790,0.92,198.3,636.2,6.9,660,13794,0.00,2.67,0.00,0.000,6,0.000,0.064,2517,2194,1968
$GC,14105,0.92,198.3,614.2,6.7,675,14110,0.00,2.78,0.00,0.000,4,0.000,0.088,2518,3613,1968
$GC,14161,0.92,198.3,610.3,6.6,677,14167,0.00,2.65,0.00,0.000,6,0.000,0.063,2518,2194,1968
$GC,14476,0.98,260.1,595.8,3.8,693,14538,0.00,0.00,54.90,1.109,6,0.000,0.000,2517,2193,1720
$GC,14848,1.04,260.1,572.1,7.8,711,14849,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2194,1720
$GC,15157,1.10,260.1,550.3,7.2,726,15162,0.00,2.67,0.00,0.000,4,0.000,0.073,2517,785,1720
$GC,15198,1.16,260.1,547.5,7.7,728,15203,0.15,2.65,0.00,0.000,6,0.055,0.058,2558,2206,1719
$GC,15525,1.09,260.1,516.7,9.0,744,15526,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2206,1720
$GC,15834,1.04,260.1,489.0,9.1,759,15839,0.17,2.72,0.00,0.000,4,0.091,0.081,2521,3621,1720
$GC,15896,1.04,260.1,483.7,8.7,762,15901,0.00,2.65,0.00,0.000,6,0.000,0.060,2521,2198,1720
$GC,16223,1.09,260.1,459.7,7.6,778,16227,0.00,2.75,0.00,0.000,4,0.000,0.080,2521,3622,1721
$GC,16267,1.15,260.1,455.9,8.6,780,16272,0.12,2.65,0.00,0.000,6,0.052,0.058,2557,2194,1721
$GC,16589,1.10,260.1,426.9,9.0,796,16590,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2194,1721
$GC,16898,1.05,260.1,398.9,8.7,811,16900,0.15,0.00,0.00,0.000,6,0.087,0.000,2527,2193,1722
$GC,17207,1.05,260.1,379.3,6.3,826,17208,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2194,1723
$GC,17517,1.10,260.1,360.0,6.7,841,17518,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2193,1724
$GC,17826,1.16,260.1,335.5,8.8,856,17831,0.12,2.72,0.00,0.000,4,0.051,0.078,2565,3616,1725
$GC,17904,1.09,260.1,326.6,11.0,859,17911,0.15,2.62,0.00,0.000,6,0.091,0.058,2535,2196,1725
$GC,18220,1.09,260.1,302.3,7.6,875,18221,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2196,1725
$GC,18529,1.09,260.1,274.7,9.7,890,18533,0.00,2.72,0.00,0.000,4,0.000,0.077,2535,3620,1726
$GC,18568,1.09,260.1,270.6,10.6,892,18572,0.00,2.62,0.00,0.000,6,0.000,0.057,2535,2198,1726
$GC,18894,1.09,260.1,238.1,10.8,908,18896,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2198,1727
$GC,19204,1.14,260.1,205.8,10.0,923,19208,0.00,2.70,0.00,0.000,4,0.000,0.077,2535,3616,1727
$GC,19266,1.14,260.1,199.2,9.7,926,19271,0.00,2.62,0.00,0.000,6,0.000,0.057,2535,2192,1728
$GC,19592,1.14,260.1,169.1,8.7,942,19594,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2192,1728
$GC,19902,1.14,260.1,144.4,7.1,957,19903,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2192,1728
$GC,20211,1.14,260.1,122.6,7.0,972,20216,0.00,2.72,0.00,0.000,4,0.000,0.075,2535,3622,1728
$GC,20252,1.14,260.1,119.6,7.6,974,20256,0.00,2.60,0.00,0.000,6,0.000,0.056,2535,2201,1729
$GC,20579,1.18,260.1,96.6,7.3,990,20580,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2201,1728
$GC,20888,1.22,260.1,72.6,8.2,1005,20894,0.15,0.00,3.90,0.463,6,0.044,0.000,2581,2202,1720
$GC,21199,1.15,260.1,41.6,10.6,1020,21200,0.15,0.00,0.00,0.000,6,0.086,0.000,2551,2202,1720
$GC,21506,1.15,260.1,14.7,9.3,1035,21510,0.00,2.70,0.00,0.000,4,0.000,0.074,2551,3624,1720
$GC,21573,1.11,260.1,7.2,9.4,1038,21577,0.00,2.60,0.00,0.000,6,0.000,0.054,2552,2200,1721
$STATE,21644,end climb,SURFACE_DEPTH_REACHED
$STATE,21644,begin surface coast
$FINISH,0.5,1.014095
$STATE,21666,end surface coast,CONTROL_FINISHED_OK
$STATE,21666,begin surface
$SM_CCo,21688,143.20,0.620,0,0,508,557.32
$SM_GC,1.10,0.00,0.00,143.20,0.000,0.000,0.620,71,2313,508,-10.25,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1823
$TCM_TEMP,17.80
$XPDR_PINGS,50
$ALTIM_TOP_PING,19.0,18.1
$ALTIM_BOTTOM_PING,826.8,50.2
$24V_AH,23.5,17.676
$10V_AH,10.1,9.006
$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,25.900,193.625,371.000,143.200,0.000,18.184,25.947,147.821,20.500,0.000,0.000,32.683,1935.353,16610.426,729.175,2362.227,526.915,33.364,1898.643,0.000,2287.952,0.000,56.867
$DEVICE_MAMPS,170.274,94.341,1250.210,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,775.814,711.640,607.078,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53705,1043
$CAP_FILE_SIZE,160398,0
$CFSIZE,260165632,252596224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,260608,104008,6135.849,-847.154,34,1.7,35,-9.1