version: 66.03
glider: 16
mission: 9
dive: 95
start: 6 27 108 22 8 14
data:
$ID,16
$MISSION,9
$DIVE,95
$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,-2094872.9
$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,19
$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
$GPS1,215907,6150.248,-900.644,39,1.4,39,-9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-57.6
$GPS2,220720,6150.334,-900.614,12,1.7,17,-9.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.071,-0.210
$KALMAN_X,-153657.3,132.5,2567.9,-51181.8,-8038.6
$KALMAN_Y,-74748.0,972.2,726.2,189101.0,7632.8
$MHEAD_RNG_PITCHd_Wd,212.0,7696,-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,20,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.97,0.000,2,0.000,0.000,70,2307,2975
$GC,150,-0.85,-146.6,4.0,-3.3,6,177,11.30,2.70,-9.50,0.000,4,0.163,0.076,2109,877,3379
$GC,430,-0.72,-146.6,37.3,-10.1,18,437,0.15,2.62,0.00,0.000,6,0.093,0.057,2139,2298,3379
$GC,748,-0.64,-146.6,65.6,-8.7,34,753,0.10,2.67,0.00,0.000,4,0.098,0.062,2157,871,3379
$GC,812,-0.64,-146.6,70.8,-7.7,37,816,0.00,2.65,0.00,0.000,6,0.000,0.056,2157,2300,3379
$GC,1140,-0.64,-146.6,95.8,-8.2,53,1144,0.00,2.65,0.00,0.000,4,0.000,0.064,2157,880,3380
$GC,1195,-0.64,-146.6,100.7,-8.8,55,1201,0.00,2.62,0.00,0.000,6,0.000,0.057,2157,2301,3379
$GC,1511,-0.64,-146.6,126.7,-7.6,71,1515,0.00,2.67,0.00,0.000,4,0.000,0.064,2157,873,3379
$GC,1543,-0.64,-146.6,129.1,-6.8,72,1550,0.00,2.65,0.00,0.000,6,0.000,0.056,2158,2304,3379
$GC,1862,-0.64,-146.6,150.9,-7.4,88,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2303,3379
$GC,2169,-0.64,-146.6,176.5,-8.7,103,2174,0.00,2.67,0.00,0.000,4,0.000,0.066,2157,878,3380
$GC,2232,-0.64,-146.6,181.9,-8.5,106,2236,0.00,2.62,0.00,0.000,6,0.000,0.057,2157,2300,3379
$GC,2558,-0.64,-146.6,205.9,-7.2,122,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2300,3379
$GC,2867,-0.64,-146.6,227.3,-6.8,137,2872,0.00,2.67,0.00,0.000,4,0.000,0.067,2157,874,3379
$GC,2917,-0.64,-146.6,230.9,-6.9,139,2922,0.00,2.65,0.00,0.000,6,0.000,0.057,2157,2303,3379
$GC,3233,-0.64,-146.6,252.2,-7.0,154,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2303,3379
$GC,3542,-0.64,-146.6,274.5,-7.4,169,3547,0.00,2.65,0.00,0.000,4,0.000,0.067,2158,880,3379
$GC,3582,-0.64,-146.6,277.5,-8.0,171,3587,0.00,2.62,0.00,0.000,6,0.000,0.058,2158,2303,3379
$GC,3909,-0.64,-146.6,302.1,-7.3,187,3913,0.00,2.65,0.00,0.000,4,0.000,0.067,2156,879,3379
$GC,3975,-0.64,-146.6,306.8,-7.1,190,3980,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2300,3379
$GC,4297,-0.64,-146.6,330.5,-8.4,206,4301,0.00,2.70,0.00,0.000,4,0.000,0.083,2158,3712,3379
$GC,4330,-0.64,-146.6,333.5,-9.2,207,4335,0.00,2.62,0.00,0.000,6,0.000,0.059,2158,2291,3378
$GC,4645,-0.64,-146.6,356.7,-7.4,223,4650,0.00,2.62,0.00,0.000,4,0.000,0.068,2158,881,3379
$GC,4678,-0.64,-146.6,359.6,-7.8,224,4685,0.00,2.65,0.00,0.000,6,0.000,0.059,2158,2303,3379
$GC,4994,-0.64,-146.6,383.4,-7.6,240,4998,0.00,2.72,0.00,0.000,4,0.000,0.084,2158,3715,3379
$GC,5033,-0.64,-146.6,386.7,-8.3,242,5038,0.00,2.62,0.00,0.000,6,0.000,0.057,2158,2291,3379
$GC,5359,-0.64,-146.6,410.2,-6.8,258,5364,0.00,2.62,0.00,0.000,4,0.000,0.068,2158,884,3379
$GC,5392,-0.64,-146.6,412.4,-6.7,259,5398,0.00,2.65,0.00,0.000,6,0.000,0.059,2158,2307,3379
$GC,5708,-0.64,-146.6,430.9,-6.2,275,5712,0.00,2.67,0.00,0.000,4,0.000,0.068,2158,885,3379
$GC,5735,-0.64,-146.6,432.9,-6.9,276,5739,0.00,2.62,0.00,0.000,6,0.000,0.058,2158,2303,3379
$GC,6053,-0.64,-146.6,450.9,-5.1,291,6058,0.00,2.72,0.00,0.000,4,0.000,0.087,2158,3713,3379
$GC,6087,-0.64,-146.6,453.0,-5.9,292,6093,0.00,2.62,0.00,0.000,6,0.000,0.059,2157,2292,3379
$GC,6403,-0.64,-146.6,468.2,-5.0,308,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2292,3378
$GC,6711,-0.64,-146.6,487.6,-6.5,323,6716,0.00,2.67,0.00,0.000,4,0.000,0.075,2158,879,3378
$GC,6745,-0.70,-146.6,489.7,-6.1,324,6751,0.00,2.67,0.00,0.000,6,0.000,0.064,2158,2305,3378
$GC,7061,-0.70,-146.6,516.9,-11.7,340,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2305,3378
$GC,7370,-0.70,-146.6,534.1,-4.1,355,7374,0.00,2.72,0.00,0.000,4,0.000,0.074,2158,878,3376
$GC,7410,-0.76,-146.6,537.4,-8.6,357,7415,0.12,2.67,0.00,0.000,6,0.053,0.067,2120,2300,3376
$GC,7737,-0.67,-146.6,564.1,-9.7,373,7739,0.17,0.00,0.00,0.000,6,0.091,0.000,2154,2300,3374
$STATE,7940,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7940,begin apogee
$GC,7947,-0.31,0.0,581.1,6.1,383,8083,0.38,0.00,130.23,1.061,6,0.091,0.000,2230,2193,2780
$STATE,8083,end apogee,CONTROL_FINISHED_OK
$STATE,8083,begin climb
$GC,8087,0.85,146.6,581.4,0.0,390,8223,1.17,2.78,129.00,1.040,4,0.077,0.074,2479,787,2183
$GC,8437,0.99,279.5,575.7,2.4,406,8562,0.17,2.67,116.40,1.042,6,0.066,0.064,2517,2199,1643
$GC,8884,0.99,279.5,548.8,7.3,428,8888,0.00,2.80,0.00,0.000,4,0.000,0.096,2517,3611,1641
$GC,8911,1.05,279.5,546.1,9.0,429,8916,0.00,2.70,0.00,0.000,6,0.000,0.069,2517,2200,1641
$GC,9227,1.05,279.5,520.0,8.2,444,9231,0.00,2.75,0.00,0.000,4,0.000,0.084,2517,785,1640
$GC,9248,1.05,279.5,518.1,9.6,445,9253,0.00,2.70,0.00,0.000,6,0.000,0.066,2517,2202,1639
$GC,9569,1.05,279.5,495.2,9.8,461,9574,0.00,2.80,0.00,0.000,4,0.000,0.095,2517,3619,1639
$GC,9597,1.05,279.5,492.9,8.4,462,9601,0.00,2.70,0.00,0.000,6,0.000,0.070,2517,2200,1639
$GC,9912,1.05,279.5,473.6,7.2,477,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2200,1636
$GC,10222,1.05,279.5,447.4,8.1,492,10226,0.00,2.83,0.00,0.000,4,0.000,0.097,2517,3621,1637
$GC,10277,1.05,279.5,442.5,9.0,494,10283,0.00,2.70,0.00,0.000,6,0.000,0.072,2517,2199,1637
$GC,10592,1.05,279.5,419.4,7.2,510,10597,0.00,2.72,0.00,0.000,4,0.000,0.080,2517,779,1635
$GC,10620,1.05,279.5,417.1,8.5,511,10624,0.00,2.70,0.00,0.000,6,0.000,0.064,2517,2207,1635
$GC,10936,1.05,279.5,389.6,8.8,526,10940,0.00,2.75,0.00,0.000,4,0.000,0.091,2517,3615,1635
$GC,11008,1.05,279.5,382.7,9.6,529,11012,0.00,2.67,0.00,0.000,6,0.000,0.067,2517,2199,1635
$GC,11323,1.05,279.5,354.2,9.0,544,11324,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2199,1635
$GC,11633,1.05,279.5,329.6,8.1,559,11637,0.00,2.75,0.00,0.000,4,0.000,0.085,2517,3616,1635
$GC,11673,1.05,279.5,326.2,9.1,561,11677,0.00,2.67,0.00,0.000,6,0.000,0.064,2517,2189,1635
$GC,11999,1.05,279.5,299.9,7.9,577,12003,0.00,2.65,0.00,0.000,4,0.000,0.071,2517,785,1634
$GC,12043,1.05,279.5,296.3,7.7,579,12047,0.00,2.62,0.00,0.000,6,0.000,0.056,2517,2203,1635
$GC,12363,1.05,279.5,272.4,6.6,595,12368,0.00,2.72,0.00,0.000,4,0.000,0.084,2517,3621,1636
$GC,12408,1.05,279.5,268.9,7.9,597,12412,0.00,2.67,0.00,0.000,6,0.000,0.062,2517,2194,1636
$GC,12728,1.05,279.5,247.0,6.6,613,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2194,1636
$GC,13037,1.05,279.5,225.9,7.0,628,13042,0.00,2.75,0.00,0.000,4,0.000,0.081,2517,3622,1637
$GC,13077,1.05,279.5,222.9,8.3,630,13081,0.00,2.65,0.00,0.000,6,0.000,0.060,2517,2190,1637
$GC,13403,1.05,279.5,197.9,8.1,646,13408,0.00,2.75,0.00,0.000,4,0.000,0.079,2517,3620,1638
$GC,13430,1.05,279.5,195.6,8.7,647,13435,0.00,2.62,0.00,0.000,6,0.000,0.059,2517,2202,1638
$GC,13746,1.05,279.5,169.0,7.9,662,13750,0.00,2.65,0.00,0.000,4,0.000,0.068,2517,782,1639
$GC,13773,1.10,279.5,166.8,8.1,663,13778,0.10,2.60,0.00,0.000,6,0.074,0.054,2540,2201,1638
$GC,14090,1.06,279.5,141.3,7.5,678,14091,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2201,1639
$GC,14399,1.06,279.5,117.7,8.2,693,14400,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2201,1640
$GC,14708,1.06,279.5,90.2,9.5,708,14712,0.00,2.70,0.00,0.000,4,0.000,0.081,2540,3615,1641
$GC,14757,1.06,279.5,85.2,10.0,710,14762,0.00,2.62,0.00,0.000,6,0.000,0.058,2541,2199,1641
$GC,15073,1.06,279.5,57.7,7.7,725,15078,0.00,2.72,0.00,0.000,4,0.000,0.079,2540,3616,1641
$GC,15106,1.06,279.5,55.2,7.2,726,15113,0.00,2.60,0.00,0.000,6,0.000,0.058,2540,2198,1641
$GC,15424,1.06,279.5,34.9,6.9,742,15428,0.00,2.65,0.00,0.000,4,0.000,0.067,2541,773,1642
$GC,15464,1.06,279.5,32.0,7.1,744,15468,0.00,2.62,0.00,0.000,6,0.000,0.054,2541,2203,1642
$GC,15790,1.06,279.5,6.9,8.3,760,15795,0.00,2.70,0.00,0.000,4,0.000,0.080,2541,3616,1642
$GC,15831,1.06,279.5,3.5,9.4,762,15835,0.00,2.62,0.00,0.000,6,0.000,0.060,2541,2194,1642
$STATE,15867,end climb,SURFACE_DEPTH_REACHED
$STATE,15867,begin surface coast
$FINISH,0.4,1.013789
$STATE,15888,end surface coast,CONTROL_FINISHED_OK
$STATE,15888,begin surface
$SM_CCo,15910,135.27,0.627,0,0,508,557.32
$SM_GC,1.15,0.00,0.00,135.27,0.000,0.000,0.627,68,2301,508,-10.27,0.00,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1831
$TCM_TEMP,17.70
$XPDR_PINGS,39
$ALTIM_TOP_PING,18.5,17.7
$ALTIM_BOTTOM_PING,500.3,90.6
$24V_AH,23.6,18.923
$10V_AH,10.1,9.659
$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,24.375,177.100,375.625,135.275,0.000,38.498,57.037,204.956,14.000,0.000,0.000,17.151,1432.409,12079.657,704.869,1740.400,585.891,33.344,1605.033,0.000,1696.326,0.000,32.040
$DEVICE_MAMPS,163.371,96.642,1060.761,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,561.732,519.461,512.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37997,765
$CAP_FILE_SIZE,124660,0
$CFSIZE,260165632,252157952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,280608,023707,6152.808,-900.367,42,1.1,48,-9.4