version: 66.03
glider: 16
mission: 9
dive: 101
start: 6 28 108 22 51 5
data:
$ID,16
$MISSION,9
$DIVE,101
$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,-2095042.5
$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,15
$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
$GPS1,224508,6201.828,-910.452,28,1.8,28,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-54.9
$GPS2,225014,6201.871,-910.573,14,1.8,31,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.078,-0.207
$KALMAN_X,-169428.7,1444.0,648.0,-43831.6,-26201.1
$KALMAN_Y,-26646.4,-4609.0,-1614.2,170450.6,56827.2
$MHEAD_RNG_PITCHd_Wd,178.1,29044,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-121.12,0.000,2,0.000,0.000,71,2304,2950
$GC,150,-0.85,-146.6,3.8,-3.2,6,180,11.25,2.67,-10.25,0.000,4,0.163,0.074,2109,880,3380
$GC,427,-0.72,-146.6,38.8,-11.0,18,433,0.17,2.65,0.00,0.000,6,0.092,0.058,2142,2302,3381
$GC,744,-0.64,-146.6,68.1,-9.3,33,748,0.00,2.67,0.00,0.000,4,0.000,0.063,2142,874,3380
$GC,810,-0.64,-146.6,74.6,-9.6,36,814,0.00,2.65,0.00,0.000,6,0.000,0.057,2142,2300,3381
$GC,1131,-0.58,-146.6,100.4,-7.7,52,1136,0.15,2.67,0.00,0.000,4,0.093,0.064,2175,877,3381
$GC,1204,-0.64,-146.6,105.1,-6.1,55,1209,0.00,2.65,0.00,0.000,6,0.000,0.056,2175,2304,3381
$GC,1522,-0.64,-146.6,124.3,-5.9,70,1526,0.00,2.67,0.00,0.000,4,0.000,0.065,2175,879,3381
$GC,1555,-0.70,-146.6,126.4,-5.6,71,1562,0.12,2.62,0.00,0.000,6,0.044,0.058,2131,2301,3382
$GC,1871,-0.61,-146.6,154.5,-9.8,87,1877,0.15,2.67,0.00,0.000,4,0.083,0.066,2167,877,3382
$GC,1956,-0.61,-146.6,161.6,-7.9,91,1961,0.00,2.62,0.00,0.000,6,0.000,0.058,2167,2300,3382
$GC,2283,-0.61,-146.6,187.8,-7.8,107,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2300,3382
$GC,2593,-0.61,-146.6,211.8,-7.9,122,2597,0.00,2.67,0.00,0.000,4,0.000,0.067,2166,876,3382
$GC,2620,-0.65,-146.6,214.1,-8.4,123,2624,0.00,2.65,0.00,0.000,6,0.000,0.058,2167,2302,3382
$GC,2936,-0.65,-146.6,237.3,-7.3,138,2940,0.00,2.67,0.00,0.000,4,0.000,0.069,2167,878,3382
$GC,2976,-0.71,-146.6,240.2,-7.4,140,2980,0.00,2.62,0.00,0.000,6,0.000,0.059,2167,2300,3382
$GC,3302,-0.71,-146.6,267.8,-8.9,156,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2300,3382
$GC,3612,-0.71,-146.6,294.5,-8.7,171,3616,0.00,2.67,0.00,0.000,4,0.000,0.069,2167,879,3382
$GC,3639,-0.75,-146.6,296.9,-8.4,172,3645,0.15,2.62,0.00,0.000,6,0.043,0.060,2119,2301,3382
$GC,3955,-0.62,-146.6,329.8,-10.1,187,3960,0.17,2.67,0.00,0.000,4,0.083,0.070,2159,880,3382
$GC,4023,-0.66,-146.6,335.3,-7.8,190,4027,0.00,2.65,0.00,0.000,6,0.000,0.061,2159,2302,3382
$GC,4344,-0.66,-146.6,359.3,-7.8,206,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2303,3382
$GC,4653,-0.66,-146.6,381.7,-6.8,221,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2303,3381
$GC,4966,-0.66,-146.6,401.1,-5.9,236,4970,0.00,2.70,0.00,0.000,4,0.000,0.073,2159,881,3381
$GC,5028,-0.74,-146.6,405.4,-6.0,239,5033,0.00,2.65,0.00,0.000,6,0.000,0.063,2160,2301,3381
$GC,5354,-0.74,-146.6,429.0,-8.1,255,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2302,3381
$GC,5663,-0.74,-146.6,452.2,-7.1,270,5668,0.00,2.72,0.00,0.000,4,0.000,0.076,2159,881,3380
$GC,5713,-0.80,-146.6,455.8,-6.1,272,5718,0.15,2.67,0.00,0.000,6,0.046,0.066,2115,2300,3380
$STATE,6006,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6006,begin apogee
$GC,6013,-0.31,0.0,482.3,9.5,286,6148,0.57,0.00,128.88,0.977,6,0.089,0.000,2232,2192,2781
$STATE,6149,end apogee,CONTROL_FINISHED_OK
$STATE,6149,begin climb
$GC,6152,0.85,146.6,490.4,0.0,293,6288,1.15,2.80,127.20,0.965,4,0.067,0.076,2481,792,2183
$GC,6340,0.92,259.2,489.5,2.9,302,6446,0.00,2.67,97.95,0.955,6,0.000,0.063,2481,2202,1724
$GC,6774,1.04,280.8,459.9,5.4,323,6800,0.17,2.78,19.55,0.898,4,0.054,0.077,2531,785,1636
$GC,6904,1.04,280.8,450.9,8.2,329,6909,0.00,2.67,0.00,0.000,6,0.000,0.064,2531,2199,1634
$GC,7231,1.06,297.9,430.8,5.5,345,7251,0.00,0.00,15.95,0.890,6,0.000,0.000,2531,2198,1566
$GC,7561,1.06,297.9,407.9,7.0,361,7565,0.00,2.72,0.00,0.000,4,0.000,0.081,2531,789,1565
$GC,7582,1.06,297.9,406.3,7.2,362,7586,0.00,2.67,0.00,0.000,6,0.000,0.066,2531,2199,1564
$GC,7903,1.07,309.2,385.7,5.7,378,7919,0.00,2.85,10.80,0.856,4,0.000,0.094,2531,3619,1520
$GC,7943,1.08,320.6,383.7,5.7,379,7963,0.00,2.72,11.45,0.854,6,0.000,0.073,2531,2206,1473
$GC,8272,1.08,320.6,363.5,7.5,395,8277,0.00,2.75,0.00,0.000,4,0.000,0.079,2531,778,1472
$GC,8294,1.08,320.6,361.6,8.7,396,8298,0.00,2.70,0.00,0.000,6,0.000,0.062,2531,2205,1471
$GC,8615,1.08,320.6,334.6,8.0,412,8619,0.00,2.75,0.00,0.000,4,0.000,0.074,2531,777,1471
$GC,8647,1.08,320.6,331.9,8.2,413,8653,0.00,2.67,0.00,0.000,6,0.000,0.061,2531,2203,1471
$GC,8963,1.08,320.6,302.1,10.1,429,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2203,1471
$GC,9272,1.08,320.6,273.5,8.7,444,9277,0.00,2.75,0.00,0.000,4,0.000,0.086,2531,3619,1471
$GC,9317,1.08,320.6,269.4,9.6,446,9321,0.00,2.70,0.00,0.000,6,0.000,0.068,2531,2199,1471
$GC,9637,1.08,320.6,243.4,8.0,462,9642,0.00,2.70,0.00,0.000,4,0.000,0.072,2531,773,1471
$GC,9665,1.08,320.6,241.1,7.7,463,9669,0.00,2.65,0.00,0.000,6,0.000,0.057,2531,2201,1471
$GC,9980,1.08,320.6,216.8,7.6,478,9982,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2201,1471
$GC,10289,1.08,320.6,191.4,8.7,493,10294,0.00,2.70,0.00,0.000,4,0.000,0.069,2531,772,1472
$GC,10329,1.12,320.6,187.9,9.0,495,10334,0.00,2.65,0.00,0.000,6,0.000,0.055,2531,2205,1472
$GC,10656,1.12,320.6,157.8,9.2,511,10660,0.00,2.70,0.00,0.000,4,0.000,0.081,2531,3614,1472
$GC,10696,1.17,320.6,154.3,9.7,513,10701,0.10,2.65,0.00,0.000,6,0.054,0.064,2564,2199,1473
$GC,11023,1.11,320.6,124.5,8.1,529,11028,0.12,2.67,0.00,0.000,4,0.084,0.068,2538,772,1473
$GC,11063,1.11,320.6,121.2,7.5,531,11068,0.00,2.65,0.00,0.000,6,0.000,0.054,2538,2206,1473
$GC,11390,1.11,320.6,92.2,9.6,547,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2205,1473
$GC,11700,1.11,320.6,60.2,10.6,562,11704,0.00,2.67,0.00,0.000,4,0.000,0.067,2538,779,1473
$GC,11732,1.11,320.6,56.5,10.5,563,11739,0.00,2.60,0.00,0.000,6,0.000,0.054,2538,2202,1474
$GC,12050,1.11,320.6,28.9,7.8,579,12054,0.00,2.67,0.00,0.000,4,0.000,0.064,2538,773,1475
$GC,12105,1.11,320.6,24.6,7.1,581,12112,0.00,2.60,0.00,0.000,6,0.000,0.054,2538,2201,1475
$STATE,12356,end climb,SURFACE_DEPTH_REACHED
$STATE,12357,begin surface coast
$FINISH,0.4,1.027201
$STATE,12378,end surface coast,CONTROL_FINISHED_OK
$STATE,12379,begin surface
$SM_CCo,12400,115.55,0.631,0,0,508,557.32
$SM_GC,1.03,0.00,0.00,115.55,0.000,0.000,0.631,66,2307,508,-10.28,0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1882
$TCM_TEMP,17.60
$XPDR_PINGS,33
$ALTIM_TOP_PING,18.5,17.0
$ALTIM_BOTTOM_PING,425.6,65.9
$24V_AH,23.6,19.808
$10V_AH,10.1,10.083
$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,25.075,129.125,411.775,115.550,0.000,18.152,27.920,130.310,12.000,0.000,0.000,31.081,1121.135,9221.210,676.207,1407.501,400.305,33.354,1407.857,0.000,1356.273,0.000,27.974
$DEVICE_MAMPS,162.604,93.574,977.158,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.602,403.288,432.895,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31716,595
$CAP_FILE_SIZE,98358,0
$CFSIZE,260165632,251854848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,290608,022102,6203.527,-911.470,41,1.8,41,-9.5