version: 66.03
glider: 16
mission: 9
dive: 150
start: 7 6 108 6 16 49
data:
$ID,16
$MISSION,9
$DIVE,150
$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,412.5
$T_MISSION,440
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,270
$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,-2096102.5
$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,14
$R_STBD_OVSHOOT,24
$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
$GPS1,061137,6212.834,-955.846,40,1.3,40,-10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-53.8
$GPS2,061633,6212.800,-955.992,13,1.3,13,-10.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,6212.800,-1001.027
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.063,-0.212
$KALMAN_X,-156115.9,12.1,3.6,-35086.5,18146.7
$KALMAN_Y,22619.4,-3049.0,-1719.4,156073.3,43365.0
$MHEAD_RNG_PITCHd_Wd,280.0,20000,-14.8,-8.000
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.08,-146.6,0.0,0.0,0,152,0.00,0.00,-121.43,0.000,2,0.000,0.000,69,2309,3027
$GC,156,-1.08,-146.6,4.1,-3.5,6,181,11.10,2.67,-7.88,0.000,4,0.167,0.081,2055,3699,3380
$GC,434,-0.89,-146.6,48.9,-14.1,18,440,0.25,2.58,0.00,0.000,6,0.094,0.054,2105,2296,3380
$GC,750,-0.89,-146.6,82.9,-10.9,33,755,0.00,2.67,0.00,0.000,4,0.000,0.072,2105,3706,3382
$GC,795,-0.83,-146.6,88.3,-12.4,35,799,0.00,2.58,0.00,0.000,6,0.000,0.054,2105,2299,3381
$GC,1116,-0.83,-146.6,128.8,-13.9,51,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2299,3382
$GC,1425,-0.83,-146.6,164.8,-9.9,66,1429,0.00,2.62,0.00,0.000,4,0.000,0.067,2105,881,3382
$GC,1481,-0.83,-146.6,170.0,-8.9,68,1487,0.00,2.60,0.00,0.000,6,0.000,0.054,2105,2295,3381
$GC,1797,-0.83,-146.6,201.9,-10.3,84,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2295,3382
$GC,2105,-0.83,-146.6,233.3,-10.2,99,2110,0.00,2.65,0.00,0.000,4,0.000,0.066,2105,882,3382
$GC,2184,-0.83,-146.6,241.4,-10.3,102,2190,0.00,2.60,0.00,0.000,6,0.000,0.054,2105,2302,3382
$GC,2499,-0.83,-146.6,273.2,-10.0,118,2503,0.00,2.67,0.00,0.000,4,0.000,0.067,2105,877,3382
$GC,2532,-0.83,-146.6,276.7,-10.1,119,2538,0.00,2.60,0.00,0.000,6,0.000,0.054,2105,2299,3382
$GC,2847,-0.83,-146.6,307.2,-9.5,135,2852,0.00,2.67,0.00,0.000,4,0.000,0.067,2105,880,3382
$GC,2887,-0.83,-146.6,311.0,-9.3,137,2892,0.00,2.60,0.00,0.000,6,0.000,0.055,2105,2300,3382
$GC,3214,-0.83,-146.6,342.0,-9.9,153,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2300,3382
$GC,3523,-0.83,-146.6,373.3,-10.4,168,3528,0.00,2.67,0.00,0.000,4,0.000,0.067,2105,875,3382
$GC,3608,-0.83,-146.6,382.0,-9.7,172,3612,0.00,2.62,0.00,0.000,6,0.000,0.054,2105,2299,3382
$GC,3934,-0.83,-146.6,414.9,-9.7,188,3939,0.00,2.67,0.00,0.000,4,0.000,0.067,2105,875,3381
$GC,3973,-0.83,-146.6,418.7,-9.2,190,3978,0.00,2.60,0.00,0.000,6,0.000,0.054,2105,2299,3381
$GC,4301,-0.83,-146.6,449.8,-9.5,206,4305,0.00,2.65,0.00,0.000,4,0.000,0.067,2105,881,3381
$GC,4346,-0.87,-146.6,454.2,-9.5,208,4351,0.00,2.62,0.00,0.000,6,0.000,0.054,2105,2304,3381
$GC,4673,-0.87,-146.6,485.8,-9.6,224,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2305,3381
$GC,4982,-0.87,-146.6,515.7,-9.6,239,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2304,3381
$GC,5292,-0.87,-146.6,547.0,-10.3,254,5296,0.00,2.67,0.00,0.000,4,0.000,0.065,2105,877,3380
$GC,5376,-0.87,-146.6,555.5,-10.2,258,5380,0.00,2.62,0.00,0.000,6,0.000,0.055,2105,2301,3380
$GC,5702,-0.87,-146.6,589.5,-10.2,274,5707,0.00,2.65,0.00,0.000,4,0.000,0.064,2105,883,3380
$GC,5792,-0.87,-146.6,598.4,-10.1,278,5796,0.00,2.60,0.00,0.000,6,0.000,0.056,2104,2300,3380
$GC,6112,-0.87,-146.6,631.4,-10.4,294,6117,0.00,2.67,0.00,0.000,4,0.000,0.077,2105,3710,3380
$GC,6168,-0.87,-146.6,637.5,-11.3,296,6174,0.00,2.60,0.00,0.000,6,0.000,0.054,2105,2291,3380
$GC,6484,-0.87,-146.6,666.3,-8.0,312,6488,0.00,2.72,0.00,0.000,4,0.000,0.078,2105,3708,3380
$GC,6511,-0.87,-146.6,668.7,-8.5,313,6515,0.00,2.60,0.00,0.000,6,0.000,0.055,2104,2294,3380
$GC,6827,-0.87,-146.6,695.8,-8.8,328,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2294,3380
$GC,7135,-0.87,-146.6,722.5,-9.5,343,7140,0.00,2.67,0.00,0.000,4,0.000,0.073,2105,883,3380
$GC,7198,-0.87,-146.6,728.4,-9.6,346,7203,0.00,2.62,0.00,0.000,6,0.000,0.061,2105,2304,3379
$STATE,7295,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7296,begin apogee
$GC,7303,-0.31,0.0,737.1,8.6,351,7438,0.62,0.00,132.48,1.122,6,0.094,0.000,2231,2187,2781
$STATE,7439,end apogee,CONTROL_FINISHED_OK
$STATE,7439,begin climb
$GC,7442,1.08,146.6,743.4,0.0,358,7580,1.48,0.00,131.15,1.104,6,0.085,0.000,2534,2186,2183
$GC,7892,1.11,171.3,719.5,7.1,380,7921,0.00,2.75,23.02,1.041,4,0.000,0.069,2534,801,2081
$GC,7968,1.11,171.3,712.9,8.2,383,7972,0.00,2.62,0.00,0.000,6,0.000,0.057,2534,2198,2082
$GC,8284,1.14,194.8,690.1,7.1,398,8313,0.00,2.88,21.98,1.039,4,0.000,0.081,2534,3618,1986
$GC,8366,1.14,194.8,683.7,8.1,401,8372,0.00,2.67,0.00,0.000,6,0.000,0.062,2534,2209,1986
$GC,8682,1.19,200.0,659.6,7.8,417,8691,0.12,0.00,6.35,0.847,6,0.056,0.000,2569,2208,1964
$GC,8991,1.13,200.0,630.5,9.3,432,8996,0.12,2.72,0.00,0.000,4,0.099,0.079,2547,3614,1964
$GC,9126,1.13,200.0,617.9,9.0,438,9130,0.00,2.65,0.00,0.000,6,0.000,0.061,2546,2200,1964
$GC,9446,1.13,200.0,591.7,8.0,454,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2200,1962
$GC,9756,1.15,218.9,568.5,7.3,469,9776,0.00,0.00,17.62,0.970,6,0.000,0.000,2547,2200,1888
$GC,10085,1.19,218.9,542.3,8.1,485,10090,0.00,2.70,0.00,0.000,4,0.000,0.074,2547,3613,1888
$GC,10141,1.19,218.9,537.3,8.7,487,10147,0.00,2.65,0.00,0.000,6,0.000,0.058,2547,2196,1888
$GC,10457,1.23,218.9,512.1,8.1,503,10462,0.00,2.72,0.00,0.000,4,0.000,0.073,2547,3622,1888
$GC,10535,1.23,218.9,505.0,9.3,506,10541,0.00,2.67,0.00,0.000,6,0.000,0.059,2546,2194,1888
$GC,10850,1.23,218.9,478.1,8.7,522,10855,0.10,2.72,0.00,0.000,4,0.059,0.073,2578,3617,1888
$GC,10918,1.15,218.9,470.8,11.4,525,10923,0.12,2.65,0.00,0.000,6,0.097,0.060,2555,2200,1888
$GC,11240,1.15,218.9,440.0,9.5,541,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2201,1888
$GC,11549,1.15,218.9,410.2,9.8,556,11554,0.00,2.70,0.00,0.000,4,0.000,0.074,2555,3614,1888
$GC,11621,1.15,218.9,402.8,9.8,559,11625,0.00,2.62,0.00,0.000,6,0.000,0.061,2554,2200,1889
$GC,11937,1.15,218.9,374.5,8.8,574,11941,0.00,2.67,0.00,0.000,4,0.000,0.074,2555,3614,1889
$GC,11977,1.15,218.9,370.7,9.8,576,11981,0.00,2.62,0.00,0.000,6,0.000,0.062,2554,2201,1889
$GC,12303,1.15,218.9,341.3,9.0,592,12304,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2201,1889
$GC,12612,1.15,218.9,313.3,9.0,607,12616,0.00,2.67,0.00,0.000,4,0.000,0.074,2555,3614,1889
$GC,12674,1.15,218.9,307.2,9.8,610,12679,0.00,2.62,0.00,0.000,6,0.000,0.062,2554,2202,1889
$GC,13001,1.15,218.9,278.2,8.7,626,13005,0.00,2.67,0.00,0.000,4,0.000,0.074,2555,3616,1889
$GC,13050,1.15,218.9,273.4,9.8,628,13054,0.00,2.62,0.00,0.000,6,0.000,0.062,2554,2199,1890
$GC,13366,1.16,221.0,247.2,7.9,643,13375,0.00,2.67,3.95,0.529,4,0.000,0.074,2554,3615,1880
$GC,13427,1.16,221.0,241.8,8.6,645,13433,0.00,2.62,0.00,0.000,6,0.000,0.061,2554,2198,1880
$GC,13743,1.16,221.0,216.1,8.1,661,13747,0.00,2.67,0.00,0.000,4,0.000,0.073,2556,3615,1880
$GC,13793,1.16,221.0,211.7,8.3,663,13797,0.00,2.62,0.00,0.000,6,0.000,0.061,2554,2199,1880
$GC,14108,1.17,232.6,187.2,7.6,678,14129,0.00,2.75,11.60,0.703,4,0.000,0.072,2554,3615,1832
$GC,14168,1.17,232.6,182.0,8.4,680,14175,0.00,2.65,0.00,0.000,6,0.000,0.061,2554,2192,1831
$GC,14485,1.21,232.6,156.6,8.2,696,14490,0.00,2.70,0.00,0.000,4,0.000,0.072,2554,3622,1832
$GC,14530,1.21,232.6,152.6,8.4,698,14535,0.00,2.65,0.00,0.000,6,0.000,0.061,2554,2196,1832
$GC,14853,1.25,260.9,128.4,7.0,714,14879,0.00,0.00,24.35,0.706,6,0.000,0.000,2554,2196,1716
$GC,15184,1.32,274.8,103.7,7.5,730,15206,0.15,2.75,12.65,0.658,4,0.047,0.072,2603,3614,1660
$GC,15293,1.25,274.8,91.2,12.1,734,15300,0.17,2.65,0.00,0.000,6,0.087,0.062,2568,2196,1660
$GC,15609,1.25,274.8,58.0,10.0,750,15613,0.00,2.65,0.00,0.000,4,0.000,0.068,2568,777,1659
$GC,15653,1.25,274.8,53.1,10.2,752,15658,0.00,2.60,0.00,0.000,6,0.000,0.049,2568,2207,1660
$GC,15974,1.25,274.8,20.5,10.2,768,15982,0.00,2.62,0.00,0.000,4,0.000,0.072,2568,3619,1660
$GC,16023,1.25,274.8,15.4,10.6,770,16027,0.00,2.62,0.00,0.000,6,0.000,0.061,2568,2201,1660
$STATE,16161,end climb,SURFACE_DEPTH_REACHED
$STATE,16161,begin surface coast
$FINISH,0.6,1.017098
$STATE,16183,end surface coast,CONTROL_FINISHED_OK
$STATE,16183,begin surface
$SM_CCo,16205,138.35,0.627,0,0,509,557.32
$SM_GC,1.18,0.00,0.00,138.35,0.000,0.000,0.627,73,2305,509,-10.24,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1866
$TCM_TEMP,17.70
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,701.1,44.7
$24V_AH,23.6,26.850
$10V_AH,10.2,13.214
$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,25.075,165.100,385.150,138.350,0.000,18.004,27.969,142.374,8.750,0.000,0.000,13.623,1463.629,12198.741,736.719,1784.509,460.243,0.000,1645.758,0.000,1738.458,0.000,45.814
$DEVICE_MAMPS,167.206,81.302,1122.121,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,571.198,529.781,458.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41067,778
$CAP_FILE_SIZE,123863,0
$CFSIZE,260165632,249495552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,060708,105052,6213.210,-1000.784,40,3.6,59,-10.0