version: 66.03
glider: 16
mission: 9
dive: 117
start: 7 1 108 8 6 11
data:
$ID,16
$MISSION,9
$DIVE,117
$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,-2095393.8
$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,13
$R_STBD_OVSHOOT,23
$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
$GPS1,080028,6217.890,-859.964,42,2.3,61,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-52.5
$GPS2,080520,6217.973,-859.877,13,2.0,30,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.003,-0.221
$KALMAN_X,-167400.4,1112.7,-84.1,-35119.5,-5104.7
$KALMAN_Y,6930.4,-1416.9,-1728.7,163561.3,50709.9
$MHEAD_RNG_PITCHd_Wd,193.0,58399,-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,-121.03,0.000,2,0.000,0.000,67,2315,2844
$GC,150,-0.85,-146.6,3.3,-2.6,6,182,11.30,2.70,-14.73,0.000,4,0.164,0.074,2108,876,3379
$GC,317,-0.69,-146.6,22.8,-10.8,13,324,0.20,2.62,0.00,0.000,6,0.097,0.057,2147,2298,3378
$GC,635,-0.61,-146.6,51.3,-8.6,29,639,0.00,2.67,0.00,0.000,4,0.000,0.063,2148,870,3379
$GC,675,-0.61,-146.6,55.3,-9.4,31,679,0.00,2.65,0.00,0.000,6,0.000,0.055,2148,2305,3378
$GC,1002,-0.55,-146.6,85.8,-9.7,47,1004,0.15,0.00,0.00,0.000,6,0.095,0.000,2177,2305,3378
$GC,1310,-0.55,-146.6,115.2,-9.9,62,1315,0.00,2.67,0.00,0.000,4,0.000,0.064,2177,877,3379
$GC,1366,-0.62,-146.6,120.9,-10.2,64,1373,0.00,2.62,0.00,0.000,6,0.000,0.056,2177,2301,3379
$GC,1682,-0.62,-146.6,152.4,-10.2,80,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2301,3379
$GC,1991,-0.62,-146.6,184.1,-10.2,95,1995,0.00,2.67,0.00,0.000,4,0.000,0.064,2177,868,3379
$GC,2046,-0.69,-146.6,189.7,-10.4,97,2053,0.12,2.65,0.00,0.000,6,0.046,0.056,2134,2303,3379
$GC,2363,-0.60,-146.6,225.2,-10.9,113,2365,0.17,0.00,0.00,0.000,6,0.082,0.000,2169,2304,3379
$GC,2672,-0.60,-146.6,250.4,-7.7,128,2676,0.00,2.67,0.00,0.000,4,0.000,0.065,2169,872,3379
$GC,2712,-0.65,-146.6,253.4,-7.9,130,2716,0.00,2.65,0.00,0.000,6,0.000,0.058,2169,2300,3379
$GC,3039,-0.65,-146.6,275.0,-6.1,146,3044,0.00,2.67,0.00,0.000,4,0.000,0.067,2170,877,3379
$GC,3073,-0.70,-146.6,277.1,-6.0,147,3079,0.00,2.62,0.00,0.000,6,0.000,0.057,2169,2300,3379
$GC,3389,-0.70,-146.6,294.3,-5.2,163,3393,0.00,2.67,0.00,0.000,4,0.000,0.067,2169,877,3379
$GC,3417,-0.74,-146.6,295.8,-5.0,164,3422,0.15,2.62,0.00,0.000,6,0.043,0.057,2120,2299,3379
$GC,3733,-0.62,-146.6,320.6,-8.5,179,3738,0.17,2.67,0.00,0.000,4,0.086,0.067,2158,877,3379
$GC,3796,-0.62,-146.6,325.2,-7.5,182,3800,0.00,2.65,0.00,0.000,6,0.000,0.058,2159,2304,3379
$GC,4123,-0.62,-146.6,350.5,-7.8,198,4127,0.00,2.70,0.00,0.000,4,0.000,0.067,2159,872,3379
$GC,4185,-0.62,-146.6,355.8,-8.7,201,4190,0.00,2.62,0.00,0.000,6,0.000,0.058,2159,2305,3379
$GC,4512,-0.62,-146.6,383.3,-8.3,217,4516,0.00,2.70,0.00,0.000,4,0.000,0.081,2159,3716,3379
$GC,4551,-0.62,-146.6,387.2,-11.9,219,4556,0.00,2.62,0.00,0.000,6,0.000,0.058,2159,2295,3379
$GC,4878,-0.62,-146.6,414.5,-6.9,235,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2294,3379
$GC,5187,-0.62,-146.6,440.5,-6.4,250,5192,0.00,2.65,0.00,0.000,4,0.000,0.072,2159,880,3379
$STATE,5196,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5196,begin apogee
$GC,5205,-0.31,0.0,441.3,5.3,250,5335,0.32,0.00,127.20,0.928,6,0.086,0.000,2229,2197,2781
$STATE,5336,end apogee,CONTROL_FINISHED_OK
$STATE,5336,begin climb
$GC,5339,0.85,146.6,446.4,0.0,257,5475,1.17,2.88,125.78,0.911,4,0.075,0.080,2479,3621,2182
$GC,5601,0.85,153.9,435.7,5.8,269,5617,0.00,2.65,7.90,0.752,6,0.000,0.061,2478,2203,2153
$GC,5927,0.94,233.9,419.7,3.8,285,5999,0.12,0.00,68.78,0.897,6,0.055,0.000,2514,2203,1827
$GC,6314,0.94,233.9,397.3,8.3,304,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2203,1826
$GC,6624,0.94,233.9,376.5,12.2,319,6628,0.00,2.75,0.00,0.000,4,0.000,0.082,2514,3622,1826
$GC,6686,0.94,233.9,370.0,8.4,322,6690,0.00,2.67,0.00,0.000,6,0.000,0.063,2514,2194,1826
$GC,7012,0.94,233.9,346.1,7.9,338,7016,0.00,2.67,0.00,0.000,4,0.000,0.072,2514,783,1826
$GC,7067,0.94,233.9,341.4,8.7,340,7074,0.00,2.62,0.00,0.000,6,0.000,0.056,2514,2204,1824
$GC,7383,0.94,233.9,317.1,8.0,356,7387,0.00,2.70,0.00,0.000,4,0.000,0.079,2514,3614,1824
$GC,7410,0.94,233.9,314.4,9.1,357,7414,0.00,2.65,0.00,0.000,6,0.000,0.062,2514,2194,1824
$GC,7726,0.94,233.9,289.7,7.6,372,7730,0.00,2.65,0.00,0.000,4,0.000,0.067,2514,782,1824
$GC,7747,0.94,233.9,288.0,7.4,373,7751,0.00,2.62,0.00,0.000,6,0.000,0.055,2514,2203,1823
$GC,8068,0.94,233.9,265.5,7.0,389,8072,0.00,2.70,0.00,0.000,4,0.000,0.077,2514,3618,1822
$GC,8100,0.94,233.9,262.9,7.9,390,8107,0.00,2.65,0.00,0.000,6,0.000,0.060,2513,2194,1823
$GC,8416,0.94,233.9,240.3,7.3,406,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2194,1823
$GC,8725,0.94,233.9,217.7,7.5,421,8730,0.00,2.72,0.00,0.000,4,0.000,0.077,2514,3617,1823
$GC,8758,0.94,233.9,214.8,8.2,422,8764,0.00,2.62,0.00,0.000,6,0.000,0.058,2515,2196,1823
$GC,9074,0.94,233.9,189.7,8.1,438,9078,0.00,2.70,0.00,0.000,4,0.000,0.075,2513,3621,1823
$GC,9101,0.94,233.9,187.4,8.6,439,9105,0.00,2.62,0.00,0.000,6,0.000,0.058,2514,2199,1823
$GC,9416,0.94,233.9,162.5,7.7,454,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2199,1823
$GC,9726,0.94,233.9,139.5,7.3,469,9727,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2199,1823
$GC,10037,0.94,233.9,116.1,7.5,484,10041,0.00,2.67,0.00,0.000,4,0.000,0.074,2514,3614,1824
$GC,10080,0.94,233.9,112.3,8.2,486,10085,0.00,2.60,0.00,0.000,6,0.000,0.058,2514,2200,1824
$GC,10402,0.94,233.9,87.1,8.0,502,10407,0.00,2.65,0.00,0.000,4,0.000,0.065,2514,778,1824
$GC,10435,0.94,233.9,84.3,8.8,503,10441,0.00,2.60,0.00,0.000,6,0.000,0.053,2514,2202,1824
$GC,10752,0.94,233.9,60.2,7.3,519,10757,0.00,2.67,0.00,0.000,4,0.000,0.074,2514,3620,1824
$GC,10780,0.94,233.9,57.8,8.6,520,10785,0.00,2.62,0.00,0.000,6,0.000,0.058,2514,2200,1824
$GC,11096,0.94,233.9,34.8,7.5,535,11101,0.00,2.65,0.00,0.000,4,0.000,0.065,2514,780,1824
$GC,11117,0.94,233.9,33.0,7.5,536,11122,0.00,2.60,0.00,0.000,6,0.000,0.051,2514,2203,1824
$GC,11439,0.94,233.9,10.9,7.1,552,11443,0.00,2.65,0.00,0.000,4,0.000,0.072,2514,3613,1824
$GC,11539,0.98,233.9,3.9,7.7,556,11545,0.00,2.60,0.00,0.000,6,0.000,0.061,2514,2201,1825
$STATE,11584,end climb,SURFACE_DEPTH_REACHED
$STATE,11584,begin surface coast
$FINISH,0.4,1.027151
$STATE,11606,end surface coast,CONTROL_FINISHED_OK
$STATE,11606,begin surface
$SM_CCo,11629,154.55,0.622,0,0,508,557.32
$SM_GC,1.05,0.00,0.00,154.55,0.000,0.000,0.622,69,2304,508,-10.26,0.11,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1832
$TCM_TEMP,17.80
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.6,19.7
$ALTIM_BOTTOM_PING,376.5,74.6
$24V_AH,23.7,22.103
$10V_AH,10.2,11.114
$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,24.475,127.700,329.650,154.550,0.000,18.002,32.728,115.606,4.250,0.000,0.000,30.571,1050.627,8690.742,652.315,1300.777,386.606,33.361,1331.262,0.000,1257.933,0.000,21.820
$DEVICE_MAMPS,164.138,82.069,928.070,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.136,379.860,435.890,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28471,560
$CAP_FILE_SIZE,91830,0
$CFSIZE,260165632,251084800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,010708,112416,6218.320,-857.987,42,2.5,61,-9.5