version: 66.03
glider: 16
mission: 9
dive: 113
start: 6 30 108 17 55 49
data:
$ID,16
$MISSION,9
$DIVE,113
$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,-2095299.1
$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,15
$R_STBD_OVSHOOT,22
$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
$GPS1,175025,6215.355,-905.208,30,1.2,47,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-54.9
$GPS2,175457,6215.412,-905.117,14,2.0,14,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.227,-0.049
$KALMAN_X,-167452.7,253.2,901.2,-39916.4,-8378.4
$KALMAN_Y,-591.4,-2990.2,-1442.3,167635.4,47462.8
$MHEAD_RNG_PITCHd_Wd,188.5,53554,-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,-120.93,0.000,2,0.000,0.000,64,2313,2916
$GC,150,-0.85,-146.6,3.2,-2.6,6,180,11.38,2.70,-11.98,0.000,4,0.165,0.085,2109,3697,3380
$GC,265,-0.66,-146.6,19.1,-11.4,11,270,0.22,2.60,0.00,0.000,6,0.107,0.055,2150,2295,3380
$GC,588,-0.60,-146.6,46.5,-8.0,27,593,0.00,2.65,0.00,0.000,4,0.000,0.067,2150,881,3380
$GC,700,-0.60,-146.6,55.8,-8.3,32,705,0.00,2.62,0.00,0.000,6,0.000,0.057,2150,2296,3380
$GC,1024,-0.55,-146.6,82.8,-9.0,48,1029,0.15,2.67,0.00,0.000,4,0.135,0.064,2178,874,3381
$GC,1052,-0.59,-146.6,85.7,-8.6,49,1056,0.00,2.65,0.00,0.000,6,0.000,0.056,2178,2303,3381
$GC,1368,-0.59,-146.6,113.1,-9.1,64,1372,0.00,2.67,0.00,0.000,4,0.000,0.065,2179,879,3381
$GC,1435,-0.65,-146.6,119.5,-9.5,67,1439,0.00,2.62,0.00,0.000,6,0.000,0.056,2179,2302,3381
$GC,1756,-0.65,-146.6,148.0,-8.6,83,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2302,3381
$GC,2065,-0.65,-146.6,170.5,-6.6,98,2069,0.00,2.65,0.00,0.000,4,0.000,0.066,2179,881,3381
$GC,2098,-0.73,-146.6,172.8,-7.0,99,2104,0.17,2.62,0.00,0.000,6,0.045,0.057,2122,2300,3381
$GC,2414,-0.61,-146.6,199.2,-8.1,115,2416,0.22,0.00,0.00,0.000,6,0.084,0.000,2167,2301,3381
$GC,2723,-0.61,-146.6,217.5,-5.6,130,2727,0.00,2.67,0.00,0.000,4,0.000,0.067,2167,874,3381
$GC,2786,-0.65,-146.6,221.0,-5.8,133,2790,0.00,2.65,0.00,0.000,6,0.000,0.057,2167,2305,3381
$GC,3112,-0.65,-146.6,238.1,-5.0,149,3117,0.00,2.67,0.00,0.000,4,0.000,0.067,2167,879,3381
$GC,3154,-0.70,-146.6,240.2,-5.8,151,3158,0.00,2.62,0.00,0.000,6,0.000,0.058,2167,2301,3381
$GC,3480,-0.70,-146.6,257.3,-5.6,167,3485,0.00,2.65,0.00,0.000,4,0.000,0.067,2168,881,3381
$GC,3521,-0.75,-146.6,259.8,-6.1,169,3526,0.15,2.62,0.00,0.000,6,0.042,0.058,2119,2301,3381
$GC,3848,-0.63,-146.6,290.1,-10.1,185,3853,0.17,2.67,0.00,0.000,4,0.087,0.069,2158,881,3381
$GC,3892,-0.63,-146.6,294.3,-8.6,187,3896,0.00,2.62,0.00,0.000,6,0.000,0.058,2158,2300,3381
$GC,4213,-0.63,-146.6,321.0,-8.4,203,4217,0.00,2.67,0.00,0.000,4,0.000,0.069,2158,878,3381
$GC,4252,-0.63,-146.6,324.2,-8.1,205,4256,0.00,2.62,0.00,0.000,6,0.000,0.058,2158,2305,3381
$GC,4578,-0.63,-146.6,349.5,-7.5,221,4583,0.00,2.67,0.00,0.000,4,0.000,0.068,2158,881,3381
$GC,4618,-0.63,-146.6,352.5,-7.4,223,4622,0.00,2.62,0.00,0.000,6,0.000,0.058,2158,2299,3381
$GC,4944,-0.63,-146.6,377.7,-7.5,239,4948,0.00,2.65,0.00,0.000,4,0.000,0.069,2158,881,3380
$GC,4988,-0.63,-146.6,381.0,-7.5,241,4992,0.00,2.62,0.00,0.000,6,0.000,0.058,2158,2302,3381
$GC,5309,-0.63,-146.6,407.0,-8.3,257,5313,0.00,2.70,0.00,0.000,4,0.000,0.080,2158,3717,3380
$GC,5353,-0.63,-146.6,410.5,-7.2,259,5357,0.00,2.62,0.00,0.000,6,0.000,0.058,2158,2294,3380
$GC,5673,-0.63,-146.6,429.9,-6.6,275,5678,0.00,2.72,0.00,0.000,4,0.000,0.082,2158,3709,3380
$GC,5700,-0.63,-146.6,432.2,-8.5,276,5705,0.00,2.60,0.00,0.000,6,0.000,0.059,2158,2297,3381
$STATE,5952,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5952,begin apogee
$GC,5959,-0.31,0.0,447.9,6.6,288,6089,0.38,0.00,127.43,0.928,6,0.107,0.000,2231,2200,2782
$STATE,6090,end apogee,CONTROL_FINISHED_OK
$STATE,6090,begin climb
$GC,6093,0.85,146.6,451.8,0.0,294,6229,1.17,2.78,126.55,0.908,4,0.072,0.070,2483,789,2182
$GC,6270,0.99,280.6,444.4,2.3,303,6391,0.15,2.65,114.30,0.895,6,0.047,0.056,2527,2201,1637
$GC,6718,0.99,280.6,409.3,8.4,325,6723,0.00,2.72,0.00,0.000,4,0.000,0.081,2527,3613,1636
$GC,6774,0.99,280.6,405.0,7.5,327,6780,0.00,2.67,0.00,0.000,6,0.000,0.064,2527,2200,1636
$GC,7090,1.02,306.9,387.7,5.3,343,7119,0.00,2.80,23.55,0.849,4,0.000,0.081,2527,3614,1529
$GC,7155,1.02,306.9,384.3,6.2,346,7159,0.00,2.70,0.00,0.000,6,0.000,0.064,2527,2198,1529
$GC,7481,1.02,306.9,364.9,6.5,362,7485,0.00,2.70,0.00,0.000,4,0.000,0.073,2526,781,1528
$GC,7508,1.02,306.9,363.1,6.6,363,7512,0.00,2.65,0.00,0.000,6,0.000,0.055,2527,2206,1528
$GC,7824,1.02,306.9,339.3,8.1,378,7828,0.00,2.70,0.00,0.000,4,0.000,0.078,2527,3614,1528
$GC,7842,1.02,306.9,337.8,8.5,379,7846,0.00,2.67,0.00,0.000,6,0.000,0.064,2527,2197,1529
$GC,8168,1.02,306.9,309.0,9.1,395,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2197,1528
$GC,8478,1.02,306.9,279.8,9.6,410,8482,0.00,2.65,0.00,0.000,4,0.000,0.069,2527,781,1528
$GC,8499,1.02,306.9,277.7,8.8,411,8503,0.00,2.62,0.00,0.000,6,0.000,0.054,2527,2201,1526
$GC,8819,1.02,306.9,248.6,9.0,427,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2201,1527
$GC,9129,1.02,306.9,222.5,8.4,442,9133,0.00,2.67,0.00,0.000,4,0.000,0.067,2527,774,1528
$GC,9156,1.02,306.9,220.1,8.9,443,9160,0.00,2.62,0.00,0.000,6,0.000,0.053,2527,2203,1527
$GC,9471,1.02,306.9,194.0,8.0,458,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2203,1527
$GC,9781,1.02,306.9,169.7,8.0,473,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2203,1528
$GC,10090,1.02,306.9,144.8,8.3,488,10095,0.00,2.67,0.00,0.000,4,0.000,0.066,2527,780,1528
$GC,10118,1.07,306.9,142.5,8.3,489,10122,0.00,2.62,0.00,0.000,6,0.000,0.053,2527,2206,1528
$GC,10434,1.07,306.9,116.7,8.2,504,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2206,1528
$GC,10743,1.07,306.9,92.5,7.8,519,10747,0.00,2.67,0.00,0.000,4,0.000,0.066,2527,779,1528
$GC,10770,1.11,306.9,90.4,8.0,520,10775,0.00,2.60,0.00,0.000,6,0.000,0.051,2527,2201,1528
$GC,11088,1.11,306.9,66.8,7.1,535,11089,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2202,1528
$GC,11395,1.11,306.9,45.4,7.1,550,11397,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2202,1528
$GC,11705,1.16,306.9,23.9,6.5,565,11710,0.12,2.67,0.00,0.000,4,0.050,0.065,2567,771,1528
$GC,11761,1.11,306.9,18.9,8.7,567,11768,0.12,2.60,0.00,0.000,6,0.085,0.052,2542,2203,1528
$STATE,11971,end climb,SURFACE_DEPTH_REACHED
$STATE,11971,begin surface coast
$FINISH,0.4,1.027164
$STATE,11993,end surface coast,CONTROL_FINISHED_OK
$STATE,11993,begin surface
$SM_CCo,12015,119.95,0.624,0,0,508,557.32
$SM_GC,1.13,0.00,0.00,119.95,0.000,0.000,0.624,71,2300,508,-10.25,0.00,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1849
$TCM_TEMP,17.50
$XPDR_PINGS,6
$ALTIM_TOP_PING,20.0,19.3
$ALTIM_BOTTOM_PING,400.1,56.3
$24V_AH,23.7,21.554
$10V_AH,10.2,10.857
$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,25.000,128.025,391.825,119.950,0.000,18.004,28.662,114.718,4.750,0.000,0.000,14.681,1091.902,8978.693,666.994,1291.596,383.604,33.362,1348.773,0.000,1264.840,0.000,23.395
$DEVICE_MAMPS,164.905,85.137,928.070,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.397,392.501,446.253,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28510,579
$CAP_FILE_SIZE,94311,0
$CFSIZE,260165632,251277312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,300608,211937,6216.158,-902.354,42,1.0,53,-9.5