version: 66.03
glider: 16
mission: 9
dive: 110
start: 6 30 108 6 57 58
data:
$ID,16
$MISSION,9
$DIVE,110
$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,-2095214.1
$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,17
$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
$GPS1,065208,6214.914,-904.709,29,1.4,29,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-54.6
$GPS2,065707,6214.982,-904.631,17,1.6,27,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.015,-0.221
$KALMAN_X,-167162.5,-291.7,419.5,-38741.9,-6668.7
$KALMAN_Y,-4733.4,-3884.4,-1738.5,172208.3,53905.5
$MHEAD_RNG_PITCHd_Wd,188.9,52752,-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,-121.10,0.000,2,0.000,0.000,69,2310,2923
$GC,150,-0.85,-146.6,3.5,-3.0,6,175,11.30,0.00,-11.10,0.000,6,0.165,0.000,2106,2310,3379
$GC,483,-0.65,-146.6,49.3,-13.9,22,488,0.20,2.70,0.00,0.000,4,0.094,0.064,2150,877,3380
$GC,511,-0.60,-146.6,53.2,-12.0,23,515,0.00,2.65,0.00,0.000,6,0.000,0.055,2150,2303,3380
$GC,827,-0.54,-146.6,90.2,-11.4,38,832,0.15,2.67,0.00,0.000,4,0.095,0.062,2183,877,3380
$GC,913,-0.63,-146.6,98.7,-9.8,42,918,0.00,2.65,0.00,0.000,6,0.000,0.054,2183,2307,3380
$GC,1242,-0.68,-146.6,128.5,-9.2,58,1247,0.15,2.67,0.00,0.000,4,0.041,0.062,2129,881,3380
$GC,1282,-0.60,-146.6,133.5,-12.3,60,1288,0.20,2.65,0.00,0.000,6,0.080,0.057,2170,2303,3380
$GC,1610,-0.60,-146.6,163.5,-8.5,76,1614,0.00,2.67,0.00,0.000,4,0.000,0.066,2171,880,3381
$GC,1659,-0.65,-146.6,167.9,-8.4,78,1664,0.00,2.62,0.00,0.000,6,0.000,0.056,2170,2302,3381
$GC,1975,-0.65,-146.6,192.9,-7.8,93,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2302,3381
$GC,2284,-0.65,-146.6,216.6,-7.4,108,2289,0.00,2.67,0.00,0.000,4,0.000,0.066,2171,880,3381
$GC,2348,-0.71,-146.6,221.3,-7.4,111,2353,0.12,2.62,0.00,0.000,6,0.046,0.058,2128,2300,3381
$GC,2675,-0.60,-146.6,248.7,-8.0,127,2677,0.20,0.00,0.00,0.000,6,0.083,0.000,2168,2300,3380
$GC,2984,-0.60,-146.6,264.3,-4.7,142,2988,0.00,2.67,0.00,0.000,4,0.000,0.067,2168,880,3381
$GC,3040,-0.65,-146.6,267.2,-5.5,144,3046,0.00,2.65,0.00,0.000,6,0.000,0.058,2168,2305,3381
$GC,3356,-0.65,-146.6,282.3,-4.7,160,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2305,3381
$GC,3665,-0.65,-146.6,297.5,-5.0,175,3669,0.00,2.67,0.00,0.000,4,0.000,0.067,2169,881,3380
$GC,3715,-0.70,-146.6,300.2,-5.2,177,3720,0.00,2.62,0.00,0.000,6,0.000,0.058,2170,2301,3381
$GC,4031,-0.70,-146.6,316.7,-5.4,192,4036,0.00,2.67,0.00,0.000,4,0.000,0.068,2168,880,3380
$GC,4072,-0.75,-146.6,319.0,-5.9,194,4077,0.15,2.62,0.00,0.000,6,0.043,0.058,2121,2304,3380
$GC,4399,-0.63,-146.6,346.4,-8.8,210,4404,0.17,2.67,0.00,0.000,4,0.084,0.068,2159,881,3380
$GC,4467,-0.63,-146.6,351.5,-7.1,213,4472,0.00,2.62,0.00,0.000,6,0.000,0.058,2159,2300,3380
$GC,4789,-0.63,-146.6,374.3,-7.7,229,4793,0.00,2.67,0.00,0.000,4,0.000,0.069,2159,877,3380
$GC,4843,-0.67,-146.6,378.5,-7.6,231,4849,0.00,2.62,0.00,0.000,6,0.000,0.057,2159,2299,3380
$GC,5159,-0.67,-146.6,403.4,-8.1,247,5163,0.00,2.70,0.00,0.000,4,0.000,0.081,2157,3710,3380
$GC,5226,-0.67,-146.6,409.2,-8.7,250,5230,0.00,2.60,0.00,0.000,6,0.000,0.058,2159,2298,3380
$GC,5547,-0.67,-146.6,433.5,-7.0,266,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2298,3380
$STATE,5688,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5688,begin apogee
$GC,5695,-0.31,0.0,444.7,7.9,273,5826,0.35,0.00,127.68,0.923,6,0.092,0.000,2230,2189,2781
$STATE,5826,end apogee,CONTROL_FINISHED_OK
$STATE,5827,begin climb
$GC,5830,0.85,146.6,451.3,0.0,279,5965,1.17,2.85,125.72,0.916,4,0.073,0.081,2480,3616,2183
$GC,6046,0.85,146.6,447.8,6.1,289,6050,0.00,2.67,0.00,0.000,6,0.000,0.060,2480,2199,2183
$GC,6367,0.86,155.4,432.6,5.8,305,6381,0.00,2.75,9.30,0.787,4,0.000,0.072,2480,782,2147
$GC,6398,0.93,222.5,431.1,4.2,305,6466,0.10,2.65,58.20,0.900,6,0.075,0.057,2502,2197,1872
$GC,6775,0.93,222.5,407.4,6.5,324,6780,0.00,2.75,0.00,0.000,4,0.000,0.082,2502,3613,1872
$GC,6825,0.93,222.5,403.8,7.5,326,6830,0.00,2.67,0.00,0.000,6,0.000,0.062,2502,2200,1872
$GC,7141,0.93,222.5,384.7,6.1,341,7146,0.00,2.78,0.00,0.000,4,0.000,0.083,2502,3619,1871
$GC,7192,0.93,222.5,381.3,7.0,343,7196,0.00,2.67,0.00,0.000,6,0.000,0.064,2502,2200,1871
$GC,7507,0.93,222.5,361.4,6.1,358,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2200,1870
$GC,7817,0.94,236.1,343.3,5.6,373,7835,0.00,0.00,12.48,0.799,6,0.000,0.000,2503,2200,1818
$GC,8145,0.94,236.1,321.3,7.2,389,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2200,1818
$GC,8455,0.99,236.1,297.1,8.1,404,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2200,1818
$GC,8763,0.99,236.1,272.3,8.1,419,8768,0.00,2.75,0.00,0.000,4,0.000,0.079,2502,3621,1818
$GC,8804,0.99,236.1,268.7,9.2,421,8809,0.00,2.65,0.00,0.000,6,0.000,0.060,2502,2199,1818
$GC,9131,1.03,236.1,241.4,8.5,437,9133,0.10,0.00,0.00,0.000,6,0.074,0.000,2525,2198,1818
$GC,9440,1.03,236.1,212.9,9.2,452,9445,0.00,2.72,0.00,0.000,4,0.000,0.079,2525,3623,1818
$GC,9474,0.99,236.1,209.6,9.7,453,9480,0.00,2.65,0.00,0.000,6,0.000,0.061,2526,2190,1818
$GC,9790,0.99,236.1,179.8,9.3,469,9794,0.00,2.72,0.00,0.000,4,0.000,0.078,2526,3616,1818
$GC,9811,0.99,236.1,177.7,9.6,470,9815,0.00,2.62,0.00,0.000,6,0.000,0.060,2526,2200,1818
$GC,10132,0.99,236.1,147.8,9.2,486,10133,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2200,1818
$GC,10441,0.99,236.1,120.4,8.6,501,10446,0.00,2.70,0.00,0.000,4,0.000,0.077,2526,3616,1818
$GC,10469,0.99,236.1,117.7,9.5,502,10473,0.00,2.62,0.00,0.000,6,0.000,0.059,2526,2195,1818
$GC,10786,0.99,236.1,91.2,8.4,517,10788,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2195,1818
$GC,11094,0.99,236.1,67.0,7.3,532,11098,0.00,2.72,0.00,0.000,4,0.000,0.077,2526,3622,1818
$GC,11160,0.99,236.1,61.6,8.3,535,11165,0.00,2.62,0.00,0.000,6,0.000,0.058,2526,2201,1819
$GC,11483,0.99,236.1,39.1,6.8,551,11488,0.00,2.65,0.00,0.000,4,0.000,0.067,2526,782,1818
$GC,11539,0.99,236.1,34.9,7.2,553,11546,0.00,2.62,0.00,0.000,6,0.000,0.054,2526,2204,1818
$GC,11855,0.99,236.1,12.6,7.0,569,11859,0.00,2.67,0.00,0.000,4,0.000,0.077,2526,3621,1818
$GC,11882,0.99,236.1,10.3,8.4,570,11887,0.00,2.62,0.00,0.000,6,0.000,0.059,2526,2199,1819
$STATE,11989,end climb,SURFACE_DEPTH_REACHED
$STATE,11989,begin surface coast
$FINISH,0.7,1.027235
$STATE,12013,end surface coast,CONTROL_FINISHED_OK
$STATE,12013,begin surface
$SM_CCo,12034,153.75,0.626,0,0,508,557.32
$SM_GC,1.04,0.00,0.00,153.75,0.000,0.000,0.626,66,2307,508,-10.27,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1856
$TCM_TEMP,17.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,18.5,17.8
$ALTIM_BOTTOM_PING,375.1,79.6
$24V_AH,23.7,21.122
$10V_AH,10.2,10.659
$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,24.925,118.000,333.375,153.750,0.000,18.034,27.138,126.174,3.750,0.000,0.000,27.511,1086.951,9071.566,650.565,1293.173,390.131,33.354,1320.838,0.000,1254.448,0.000,21.830
$DEVICE_MAMPS,164.905,82.836,923.468,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.150,391.241,418.575,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28649,576
$CAP_FILE_SIZE,94138,0
$CFSIZE,260165632,251424768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,300608,102226,6215.013,-902.224,40,2.0,40,-9.5