version: 66.03
glider: 16
mission: 9
dive: 94
start: 6 27 108 17 37 1
data:
$ID,16
$MISSION,9
$DIVE,94
$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,-2094855.1
$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,19
$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
$GPS1,173057,6149.333,-859.381,40,4.3,59,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-53.8
$GPS2,173609,6149.375,-859.278,13,1.8,13,-9.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.146,-0.166
$KALMAN_X,-151966.1,1029.9,5578.0,-55559.2,-9493.1
$KALMAN_Y,-82605.3,-337.4,1791.5,195444.4,622.4
$MHEAD_RNG_PITCHd_Wd,227.1,6743,-12.4,-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,-0.90,-121.7,0.0,0.0,0,148,0.00,0.00,-120.80,0.000,2,0.000,0.000,72,2303,2971
$GC,152,-0.93,-146.6,3.8,-3.1,6,179,11.20,2.67,-9.82,0.000,4,0.164,0.086,2089,3713,3380
$GC,432,-0.76,-146.6,43.0,-11.9,18,439,0.20,2.58,0.00,0.000,6,0.093,0.052,2128,2297,3380
$GC,750,-0.71,-146.6,73.7,-9.9,34,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2297,3380
$GC,1057,-0.66,-146.6,102.3,-8.6,49,1062,0.15,2.65,0.00,0.000,4,0.097,0.064,2161,878,3380
$GC,1113,-0.74,-146.6,106.4,-6.4,51,1120,0.12,2.62,0.00,0.000,6,0.045,0.055,2119,2303,3380
$GC,1430,-0.67,-146.6,134.2,-9.2,67,1435,0.15,2.67,0.00,0.000,4,0.087,0.075,2152,3712,3380
$GC,1457,-0.67,-146.6,136.9,-9.8,68,1462,0.00,2.60,0.00,0.000,6,0.000,0.053,2152,2297,3380
$GC,1773,-0.67,-146.6,162.4,-7.6,83,1777,0.00,2.62,0.00,0.000,4,0.000,0.066,2152,884,3380
$GC,1813,-0.72,-146.6,165.3,-7.9,85,1817,0.00,2.62,0.00,0.000,6,0.000,0.055,2152,2301,3381
$GC,2139,-0.72,-146.6,190.7,-7.5,101,2144,0.00,2.65,0.00,0.000,4,0.000,0.065,2152,884,3381
$GC,2167,-0.77,-146.6,192.9,-7.8,102,2172,0.00,2.60,0.00,0.000,6,0.000,0.054,2152,2304,3380
$GC,2483,-0.77,-146.6,217.9,-8.6,117,2487,0.00,2.65,0.00,0.000,4,0.000,0.066,2152,884,3381
$GC,2516,-0.81,-146.6,220.9,-8.9,118,2522,0.15,2.60,0.00,0.000,6,0.043,0.054,2105,2300,3381
$GC,2832,-0.71,-146.6,252.7,-10.0,134,2837,0.17,2.67,0.00,0.000,4,0.087,0.067,2143,878,3380
$GC,2888,-0.75,-146.6,257.6,-8.4,136,2894,0.00,2.62,0.00,0.000,6,0.000,0.055,2143,2302,3380
$GC,3203,-0.75,-146.6,282.0,-7.9,152,3208,0.00,2.67,0.00,0.000,4,0.000,0.067,2144,880,3380
$GC,3248,-0.80,-146.6,285.8,-8.0,154,3253,0.00,2.62,0.00,0.000,6,0.000,0.054,2144,2303,3381
$GC,3569,-0.80,-146.6,312.7,-8.4,170,3574,0.00,2.65,0.00,0.000,4,0.000,0.068,2143,884,3380
$GC,3602,-0.84,-146.6,315.4,-7.8,171,3609,0.12,2.60,0.00,0.000,6,0.047,0.054,2103,2299,3381
$GC,3919,-0.73,-146.6,343.5,-9.1,187,3924,0.17,2.70,0.00,0.000,4,0.088,0.078,2140,3714,3380
$GC,3974,-0.73,-146.6,348.3,-8.1,189,3980,0.00,2.62,0.00,0.000,6,0.000,0.059,2140,2293,3380
$GC,4290,-0.73,-146.6,373.6,-8.2,205,4294,0.00,2.65,0.00,0.000,4,0.000,0.071,2140,884,3380
$GC,4356,-0.73,-146.6,377.9,-7.7,208,4360,0.00,2.62,0.00,0.000,6,0.000,0.058,2140,2300,3380
$GC,4677,-0.73,-146.6,397.4,-4.9,224,4681,0.00,2.67,0.00,0.000,4,0.000,0.069,2140,881,3380
$GC,4718,-0.81,-146.6,399.8,-5.2,226,4723,0.00,2.62,0.00,0.000,6,0.000,0.057,2140,2302,3380
$GC,5050,-0.81,-146.6,424.8,-5.6,242,5055,0.00,2.70,0.00,0.000,4,0.000,0.084,2140,3710,3380
$GC,5088,-0.81,-146.6,427.4,-6.4,243,5094,0.00,2.60,0.00,0.000,6,0.000,0.058,2140,2299,3380
$GC,5404,-0.81,-146.6,448.3,-7.2,259,5409,0.00,2.72,0.00,0.000,4,0.000,0.084,2140,3709,3379
$GC,5444,-0.81,-146.6,451.6,-8.6,261,5449,0.00,2.58,0.00,0.000,6,0.000,0.058,2140,2298,3379
$GC,5771,-0.81,-146.6,477.5,-8.4,277,5775,0.00,2.75,0.00,0.000,4,0.000,0.086,2140,3713,3380
$GC,5833,-0.85,-146.6,483.3,-9.4,280,5838,0.12,2.60,0.00,0.000,6,0.051,0.061,2103,2301,3379
$GC,6160,-0.75,-146.6,519.3,-10.3,296,6165,0.15,2.67,0.00,0.000,4,0.094,0.073,2131,889,3378
$GC,6188,-0.71,-146.6,522.0,-10.2,297,6193,0.00,2.65,0.00,0.000,6,0.000,0.063,2131,2305,3378
$GC,6504,-0.71,-146.6,547.5,-11.2,312,6508,0.00,2.67,0.00,0.000,4,0.000,0.072,2131,889,3377
$GC,6559,-0.71,-146.6,552.7,-9.2,314,6565,0.00,2.62,0.00,0.000,6,0.000,0.066,2131,2298,3377
$GC,6875,-0.71,-146.6,577.3,-6.5,330,6879,0.00,2.78,0.00,0.000,4,0.000,0.094,2131,3719,3376
$GC,6908,-0.66,-146.6,580.3,-10.3,331,6915,0.12,2.65,0.00,0.000,6,0.097,0.065,2156,2299,3376
$GC,7223,-0.66,-146.6,596.1,-7.6,347,7228,0.00,2.70,0.00,0.000,4,0.000,0.080,2155,883,3374
$GC,7309,-0.75,-146.6,602.1,-6.9,351,7314,0.00,2.65,0.00,0.000,4,0.000,0.067,2155,2300,3374
$STATE,7314,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7315,begin apogee
$GC,7321,-0.31,0.0,602.6,7.1,351,7458,0.35,0.00,130.23,1.085,6,0.093,0.000,2228,2199,2781
$STATE,7458,end apogee,CONTROL_FINISHED_OK
$STATE,7459,begin climb
$GC,7461,0.93,146.6,606.8,0.0,358,7599,1.27,2.78,129.60,1.062,4,0.080,0.077,2496,790,2182
$GC,7856,0.93,146.6,587.9,7.3,375,7860,0.00,2.67,0.00,0.000,6,0.000,0.064,2496,2200,2181
$GC,8177,0.93,146.6,565.5,6.9,391,8182,0.00,2.72,0.00,0.000,4,0.000,0.078,2496,789,2180
$GC,8200,0.97,185.4,564.4,4.7,392,8240,0.00,2.67,34.80,1.033,6,0.000,0.065,2496,2200,2024
$GC,8564,1.09,233.8,538.9,4.4,410,8615,0.17,2.88,43.38,1.037,4,0.056,0.092,2544,3606,1829
$GC,8685,0.98,233.8,530.3,9.1,415,8690,0.15,2.70,0.00,0.000,6,0.105,0.071,2515,2199,1828
$GC,9000,0.98,233.8,507.7,8.0,430,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2199,1827
$GC,9310,0.98,233.8,480.0,8.7,445,9314,0.00,2.80,0.00,0.000,4,0.000,0.092,2515,3613,1826
$GC,9349,0.98,233.8,476.4,9.0,447,9354,0.00,2.70,0.00,0.000,6,0.000,0.069,2515,2193,1826
$GC,9675,0.98,233.8,446.8,8.5,463,9680,0.00,2.80,0.00,0.000,4,0.000,0.092,2515,3613,1825
$GC,9719,0.98,233.8,442.7,9.6,465,9724,0.00,2.67,0.00,0.000,6,0.000,0.068,2515,2202,1825
$GC,10040,0.98,233.8,418.1,7.0,481,10045,0.00,2.78,0.00,0.000,4,0.000,0.091,2515,3614,1824
$GC,10074,0.98,233.8,415.3,8.3,482,10080,0.00,2.67,0.00,0.000,6,0.000,0.067,2515,2196,1823
$GC,10389,0.98,233.8,390.3,8.4,498,10394,0.00,2.78,0.00,0.000,4,0.000,0.088,2515,3619,1822
$GC,10489,0.98,233.8,380.7,9.9,502,10495,0.00,2.67,0.00,0.000,6,0.000,0.065,2515,2194,1823
$GC,10805,1.02,233.8,356.5,7.4,518,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2194,1823
$GC,11115,1.06,233.8,337.0,6.6,533,11119,0.00,2.75,0.00,0.000,4,0.000,0.085,2515,3614,1824
$GC,11187,1.06,233.8,331.1,8.6,536,11191,0.00,2.65,0.00,0.000,6,0.000,0.064,2515,2200,1823
$GC,11503,1.09,255.5,311.7,5.3,551,11528,0.00,2.80,19.17,0.858,4,0.000,0.083,2514,3619,1739
$GC,11568,1.14,255.5,307.2,7.8,554,11573,0.15,2.67,0.00,0.000,6,0.049,0.062,2555,2199,1738
$GC,11890,1.09,255.5,280.3,8.8,570,11894,0.00,2.75,0.00,0.000,4,0.000,0.082,2555,3615,1739
$GC,11952,1.05,255.5,274.1,10.0,573,11957,0.15,2.65,0.00,0.000,6,0.092,0.061,2526,2194,1739
$GC,12279,1.05,255.5,246.5,8.3,589,12283,0.00,2.75,0.00,0.000,4,0.000,0.081,2526,3616,1740
$GC,12334,1.05,255.5,241.3,9.3,591,12340,0.00,2.62,0.00,0.000,6,0.000,0.061,2526,2201,1740
$GC,12649,1.05,255.5,215.2,8.1,607,12651,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2201,1740
$GC,12959,1.05,255.5,190.9,7.9,622,12960,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2201,1741
$GC,13268,1.05,255.5,163.7,8.8,637,13269,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2201,1741
$GC,13578,1.05,255.5,139.4,7.5,652,13582,0.00,2.72,0.00,0.000,4,0.000,0.079,2526,3617,1742
$GC,13599,1.05,255.5,137.5,8.0,653,13603,0.00,2.62,0.00,0.000,6,0.000,0.058,2526,2201,1743
$GC,13920,1.05,255.5,114.8,7.3,669,13925,0.00,2.70,0.00,0.000,4,0.000,0.079,2526,3616,1743
$GC,13953,1.05,255.5,112.2,7.6,670,13959,0.00,2.60,0.00,0.000,6,0.000,0.058,2526,2202,1743
$GC,14270,1.05,255.5,90.1,7.2,686,14271,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2201,1743
$GC,14578,1.05,255.5,69.6,6.3,701,14582,0.00,2.72,0.00,0.000,4,0.000,0.077,2526,3624,1744
$GC,14628,1.05,255.5,65.7,7.8,703,14632,0.00,2.62,0.00,0.000,6,0.000,0.058,2526,2199,1744
$GC,14944,1.05,255.5,41.7,8.0,718,14945,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2199,1744
$GC,15253,1.05,255.5,17.9,7.4,733,15254,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2198,1745
$STATE,15457,end climb,SURFACE_DEPTH_REACHED
$STATE,15457,begin surface coast
$FINISH,0.6,1.011275
$STATE,15478,end surface coast,CONTROL_FINISHED_OK
$STATE,15478,begin surface
$SM_CCo,15500,146.43,0.624,0,0,508,557.32
$SM_GC,1.27,0.00,0.00,146.43,0.000,0.000,0.624,71,2305,508,-10.25,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1840
$TCM_TEMP,17.80
$XPDR_PINGS,42
$ALTIM_TOP_PING,19.6,17.6
$ALTIM_BOTTOM_PING,575.0,37.2
$24V_AH,23.6,18.768
$10V_AH,10.1,9.579
$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,25.700,176.975,357.175,146.425,0.000,23.187,34.525,135.855,15.750,0.000,0.000,13.526,1414.089,11622.511,694.211,1761.951,469.454,33.339,1608.682,0.000,1718.449,0.000,37.623
$DEVICE_MAMPS,164.138,93.574,1085.305,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,546.556,505.050,496.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37979,744
$CAP_FILE_SIZE,126331,0
$CFSIZE,260165632,252215296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,270608,215907,6150.248,-900.644,39,1.4,39,-9.3