version: 66.03
glider: 16
mission: 9
dive: 96
start: 6 28 108 2 53 28
data:
$ID,16
$MISSION,9
$DIVE,96
$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,-2094906.9
$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,18
$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
$GPS1,023707,6152.808,-900.367,42,1.1,48,-9.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-58.0
$GPS2,025235,6153.115,-900.168,11,3.9,30,-9.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.043,-0.217
$KALMAN_X,-154251.5,-524.7,2510.8,-49477.4,-10236.3
$KALMAN_Y,-60900.8,577.2,-179.0,181714.5,21868.5
$MHEAD_RNG_PITCHd_Wd,204.7,12702,-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,24,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.82,0.000,2,0.000,0.000,67,2302,2933
$GC,150,-0.85,-146.6,3.6,-2.8,6,180,11.30,2.72,-11.15,0.000,4,0.163,0.074,2107,874,3380
$GC,405,-0.71,-146.6,33.5,-10.9,17,410,0.17,2.65,0.00,0.000,6,0.091,0.058,2141,2299,3380
$GC,721,-0.62,-146.6,60.9,-8.5,32,726,0.12,2.67,0.00,0.000,4,0.096,0.063,2166,872,3380
$GC,807,-0.62,-146.6,68.3,-8.5,36,811,0.00,2.62,0.00,0.000,6,0.000,0.055,2166,2300,3381
$GC,1134,-0.62,-146.6,91.2,-6.0,52,1138,0.00,2.70,0.00,0.000,4,0.000,0.077,2166,3713,3381
$GC,1178,-0.62,-146.6,94.0,-6.0,54,1182,0.00,2.60,0.00,0.000,6,0.000,0.053,2166,2294,3382
$GC,1499,-0.62,-146.6,114.5,-7.0,70,1503,0.00,2.62,0.00,0.000,4,0.000,0.066,2166,886,3381
$GC,1548,-0.62,-146.6,118.6,-8.1,72,1553,0.00,2.62,0.00,0.000,6,0.000,0.057,2166,2298,3381
$GC,1864,-0.62,-146.6,144.2,-7.9,87,1869,0.00,2.65,0.00,0.000,4,0.000,0.064,2166,884,3381
$GC,1898,-0.62,-146.6,146.6,-7.0,88,1904,0.00,2.62,0.00,0.000,6,0.000,0.058,2166,2302,3381
$GC,2213,-0.62,-146.6,168.2,-6.5,104,2217,0.00,2.67,0.00,0.000,4,0.000,0.066,2166,879,3381
$GC,2257,-0.66,-146.6,171.3,-6.9,106,2262,0.00,2.65,0.00,0.000,6,0.000,0.058,2166,2305,3381
$GC,2578,-0.66,-146.6,194.9,-7.5,122,2583,0.00,2.67,0.00,0.000,4,0.000,0.066,2165,881,3381
$GC,2611,-0.66,-146.6,197.6,-7.6,123,2617,0.00,2.65,0.00,0.000,6,0.000,0.057,2166,2307,3381
$GC,2927,-0.66,-146.6,221.1,-7.4,139,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2307,3381
$GC,3236,-0.66,-146.6,243.8,-7.2,154,3241,0.00,2.67,0.00,0.000,4,0.000,0.067,2165,883,3381
$GC,3299,-0.70,-146.6,248.6,-8.2,157,3303,0.00,2.62,0.00,0.000,6,0.000,0.056,2166,2303,3381
$GC,3625,-0.70,-146.6,271.2,-6.7,173,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2303,3381
$GC,3935,-0.70,-146.6,290.0,-5.9,188,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2303,3381
$GC,4243,-0.70,-146.6,309.1,-6.2,203,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2303,3381
$GC,4553,-0.70,-146.6,329.6,-7.3,218,4557,0.00,2.65,0.00,0.000,4,0.000,0.068,2166,887,3380
$GC,4608,-0.77,-146.6,333.7,-7.2,220,4615,0.15,2.60,0.00,0.000,6,0.043,0.058,2118,2302,3381
$GC,4925,-0.65,-146.6,365.7,-10.3,236,4930,0.15,2.67,0.00,0.000,4,0.086,0.067,2153,881,3380
$GC,4965,-0.65,-146.6,369.5,-9.4,238,4969,0.00,2.62,0.00,0.000,6,0.000,0.057,2153,2302,3381
$GC,5291,-0.65,-146.6,396.7,-8.5,254,5296,0.00,2.70,0.00,0.000,4,0.000,0.081,2153,3717,3380
$GC,5346,-0.65,-146.6,401.3,-7.8,256,5353,0.00,2.62,0.00,0.000,6,0.000,0.058,2153,2294,3380
$GC,5662,-0.65,-146.6,422.7,-6.6,272,5667,0.00,2.62,0.00,0.000,4,0.000,0.070,2153,886,3380
$GC,5707,-0.65,-146.6,425.9,-7.3,274,5711,0.00,2.62,0.00,0.000,6,0.000,0.059,2153,2307,3380
$GC,6027,-0.65,-146.6,448.8,-7.7,290,6032,0.00,2.72,0.00,0.000,4,0.000,0.084,2153,3716,3380
$GC,6101,-0.65,-146.6,454.4,-7.3,293,6105,0.00,2.62,0.00,0.000,6,0.000,0.058,2153,2294,3380
$GC,6420,-0.65,-146.6,476.0,-6.9,308,6425,0.00,2.67,0.00,0.000,4,0.000,0.074,2153,883,3379
$GC,6442,-0.65,-146.6,478.4,-8.6,309,6447,0.00,2.62,0.00,0.000,6,0.000,0.064,2153,2300,3379
$GC,6764,-0.65,-146.6,498.4,-5.4,325,6768,0.00,2.70,0.00,0.000,4,0.000,0.073,2153,883,3379
$GC,6831,-0.69,-146.6,502.5,-6.5,328,6835,0.00,2.67,0.00,0.000,6,0.000,0.063,2153,2305,3378
$GC,7151,-0.69,-146.6,522.2,-7.5,344,7156,0.00,2.67,0.00,0.000,4,0.000,0.066,2153,885,3377
$GC,7202,-0.75,-146.6,523.7,-2.4,346,7207,0.00,2.67,0.00,0.000,6,0.000,0.064,2153,2310,3377
$STATE,7330,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7330,begin apogee
$GC,7337,-0.31,0.0,532.7,7.5,352,7472,0.38,0.00,129.35,1.024,6,0.085,0.000,2230,2199,2781
$STATE,7473,end apogee,CONTROL_FINISHED_OK
$STATE,7473,begin climb
$GC,7476,0.85,146.6,538.9,0.0,359,7612,1.17,2.88,128.15,1.000,4,0.073,0.087,2482,3612,2183
$GC,7714,0.85,146.6,528.9,10.5,370,7718,0.00,2.65,0.00,0.000,6,0.000,0.059,2481,2198,2183
$GC,8035,0.98,266.1,514.2,2.7,386,8143,0.15,0.00,104.47,0.991,6,0.054,0.000,2523,2198,1697
$GC,8450,0.98,266.1,485.8,7.6,406,8455,0.00,2.80,0.00,0.000,4,0.000,0.088,2523,3618,1696
$GC,8489,0.98,266.1,482.7,7.6,408,8494,0.00,2.70,0.00,0.000,6,0.000,0.066,2523,2196,1696
$GC,8816,0.98,266.1,459.5,7.7,424,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2196,1694
$GC,9125,0.98,266.1,436.7,7.5,439,9130,0.00,2.78,0.00,0.000,4,0.000,0.089,2523,3610,1693
$GC,9147,0.98,266.1,434.8,8.1,440,9152,0.00,2.67,0.00,0.000,6,0.000,0.066,2523,2197,1693
$GC,9469,0.98,266.1,413.2,6.6,456,9474,0.00,2.78,0.00,0.000,4,0.000,0.088,2523,3610,1693
$GC,9524,0.98,266.1,409.3,7.2,458,9530,0.00,2.67,0.00,0.000,6,0.000,0.067,2523,2196,1693
$GC,9840,0.98,266.1,387.8,7.4,474,9845,0.00,2.78,0.00,0.000,4,0.000,0.087,2523,3616,1692
$GC,9880,0.98,266.1,384.6,7.9,476,9885,0.00,2.67,0.00,0.000,6,0.000,0.065,2523,2202,1692
$GC,10207,0.98,266.1,362.6,7.4,492,10212,0.00,2.75,0.00,0.000,4,0.000,0.084,2523,3612,1692
$GC,10234,0.98,266.1,360.5,7.7,493,10238,0.00,2.65,0.00,0.000,6,0.000,0.064,2523,2199,1692
$GC,10550,0.98,266.1,334.7,9.1,508,10554,0.00,2.75,0.00,0.000,4,0.000,0.083,2523,3614,1692
$GC,10571,0.98,266.1,332.6,9.0,509,10576,0.00,2.65,0.00,0.000,6,0.000,0.063,2523,2198,1692
$GC,10892,0.98,266.1,302.7,9.3,525,10897,0.00,2.75,0.00,0.000,4,0.000,0.082,2523,3618,1692
$GC,10932,0.98,266.1,298.9,10.4,527,10937,0.00,2.65,0.00,0.000,6,0.000,0.062,2523,2200,1692
$GC,11259,0.98,266.1,271.6,7.8,543,11264,0.00,2.72,0.00,0.000,4,0.000,0.081,2523,3611,1692
$GC,11298,0.98,266.1,268.4,8.9,545,11303,0.00,2.62,0.00,0.000,6,0.000,0.061,2523,2200,1692
$GC,11626,0.98,266.1,245.4,6.1,561,11630,0.00,2.65,0.00,0.000,4,0.000,0.070,2523,782,1692
$GC,11665,0.98,266.1,242.3,7.6,563,11669,0.00,2.60,0.00,0.000,6,0.000,0.054,2523,2199,1692
$GC,11991,0.98,266.1,221.7,7.2,579,11995,0.00,2.70,0.00,0.000,4,0.000,0.080,2523,3613,1693
$GC,12024,0.98,266.1,219.2,6.8,580,12030,0.00,2.62,0.00,0.000,6,0.000,0.061,2523,2197,1693
$GC,12340,0.98,266.1,195.5,7.9,596,12341,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2197,1692
$GC,12649,0.98,266.1,167.7,9.2,611,12650,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2197,1694
$GC,12958,0.98,266.1,140.2,8.3,626,12963,0.00,2.72,0.00,0.000,4,0.000,0.079,2523,3616,1694
$GC,13008,0.98,266.1,136.0,8.2,628,13012,0.00,2.62,0.00,0.000,6,0.000,0.058,2523,2195,1695
$GC,13324,0.98,266.1,114.0,6.8,643,13328,0.00,2.72,0.00,0.000,4,0.000,0.077,2523,3619,1694
$GC,13363,0.98,266.1,111.0,7.8,645,13368,0.00,2.60,0.00,0.000,6,0.000,0.059,2523,2201,1695
$GC,13691,0.98,266.1,88.8,6.4,661,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2201,1695
$GC,14000,0.98,266.1,69.6,6.4,676,14004,0.00,2.65,0.00,0.000,4,0.000,0.067,2523,776,1695
$GC,14021,0.98,266.1,68.0,6.6,677,14025,0.00,2.62,0.00,0.000,6,0.000,0.052,2523,2205,1695
$GC,14343,0.98,266.1,47.0,6.7,693,14348,0.00,2.67,0.00,0.000,4,0.000,0.077,2523,3614,1696
$GC,14365,0.98,266.1,45.4,6.6,694,14370,0.00,2.60,0.00,0.000,6,0.000,0.058,2523,2202,1696
$GC,14687,0.98,266.1,23.1,6.9,710,14688,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2201,1697
$STATE,14994,end climb,SURFACE_DEPTH_REACHED
$STATE,14994,begin surface coast
$FINISH,0.5,1.019116
$STATE,15015,end surface coast,CONTROL_FINISHED_OK
$STATE,15015,begin surface
$SM_CCo,15038,141.25,0.624,0,0,509,557.32
$SM_GC,1.18,0.00,0.00,141.25,0.000,0.000,0.624,68,2309,509,-10.27,0.25,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1814
$TCM_TEMP,17.80
$XPDR_PINGS,33
$ALTIM_TOP_PING,18.8,18.2
$ALTIM_BOTTOM_PING,476.0,66.6
$24V_AH,23.6,19.076
$10V_AH,10.1,9.739
$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,24.200,166.075,361.975,141.250,0.000,105.823,438.528,0.000,12.500,0.000,0.000,33.364,1349.340,11587.813,694.964,1660.661,818.185,33.366,1539.254,0.000,1607.105,0.000,31.225
$DEVICE_MAMPS,163.371,88.972,1023.945,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,534.047,493.240,520.685,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37960,726
$CAP_FILE_SIZE,114359,0
$CFSIZE,260165632,252080128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,280608,070737,6154.858,-900.071,30,1.4,30,-9.4