version: 66.03
glider: 16
mission: 9
dive: 198
start: 7 18 108 3 40 16
data:
$ID,16
$MISSION,9
$DIVE,198
$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,2
$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,-2097212.5
$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,2230
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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
$GPS1,033358,6336.549,-1316.718,39,3.4,59,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-55.9
$GPS2,033959,6336.556,-1316.885,16,3.3,35,-12.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$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,25.1,25526,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-120.50,0.000,2,0.000,0.000,72,2251,2916
$GC,153,-0.85,-146.6,3.2,-2.6,6,183,11.48,2.65,-12.05,0.000,4,0.170,0.080,2108,3635,3380
$GC,341,-0.66,-146.6,27.9,-10.5,14,346,0.22,2.55,0.00,0.000,6,0.092,0.050,2152,2228,3380
$GC,657,-0.60,-146.6,56.1,-9.1,29,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2228,3380
$GC,967,-0.54,-146.6,82.1,-7.7,44,969,0.15,0.00,0.00,0.000,6,0.099,0.000,2181,2228,3380
$GC,1275,-0.54,-146.6,100.7,-6.1,59,1280,0.00,2.67,0.00,0.000,4,0.000,0.071,2181,3646,3381
$GC,1331,-0.58,-146.6,104.6,-7.1,61,1337,0.00,2.55,0.00,0.000,6,0.000,0.046,2181,2220,3381
$GC,1648,-0.62,-146.6,124.5,-6.1,77,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2220,3381
$GC,1958,-0.67,-146.6,143.4,-6.2,92,1960,0.12,0.00,0.00,0.000,6,0.045,0.000,2137,2220,3381
$GC,2266,-0.58,-146.6,169.0,-8.3,107,2268,0.17,0.00,0.00,0.000,6,0.085,0.000,2173,2220,3380
$GC,2575,-0.58,-146.6,187.4,-5.4,122,2580,0.00,2.67,0.00,0.000,4,0.000,0.071,2173,3640,3381
$GC,2626,-0.58,-146.6,190.2,-5.4,124,2630,0.00,2.53,0.00,0.000,6,0.000,0.047,2173,2229,3381
$GC,2942,-0.58,-146.6,210.7,-7.1,139,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2229,3381
$GC,3250,-0.58,-146.6,235.5,-8.2,154,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2229,3381
$GC,3560,-0.58,-146.6,260.8,-7.9,169,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2228,3381
$GC,3869,-0.58,-146.6,282.8,-6.7,184,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2228,3380
$GC,4178,-0.58,-146.6,303.4,-6.7,199,4183,0.00,2.65,0.00,0.000,4,0.000,0.073,2174,3638,3380
$GC,4212,-0.58,-146.6,305.9,-7.2,200,4218,0.00,2.53,0.00,0.000,6,0.000,0.048,2173,2226,3380
$GC,4528,-0.58,-146.6,327.1,-6.8,216,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2226,3380
$GC,4837,-0.58,-146.6,350.0,-7.8,231,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2226,3380
$GC,5146,-0.58,-146.6,374.2,-7.6,246,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2225,3380
$GC,5455,-0.58,-146.6,394.9,-6.1,261,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2226,3380
$GC,5765,-0.58,-146.6,412.1,-5.3,276,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2225,3380
$GC,6074,-0.58,-146.6,427.9,-5.5,291,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2226,3380
$GC,6384,-0.58,-146.6,444.9,-5.7,306,6388,0.00,2.65,0.00,0.000,4,0.000,0.073,2173,3638,3380
$GC,6424,-0.62,-146.6,447.4,-6.2,308,6428,0.00,2.53,0.00,0.000,6,0.000,0.048,2173,2228,3380
$GC,6750,-0.62,-146.6,464.4,-5.2,324,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2228,3379
$GC,7060,-0.62,-146.6,481.1,-5.4,339,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2228,3379
$GC,7369,-0.67,-146.6,497.6,-5.4,354,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2228,3379
$GC,7679,-0.71,-146.6,512.6,-4.5,369,7680,0.12,0.00,0.00,0.000,6,0.047,0.000,2131,2228,3379
$GC,7988,-0.62,-146.6,532.6,-6.8,384,7993,0.15,2.65,0.00,0.000,4,0.090,0.073,2161,3638,3379
$GC,8054,-0.62,-146.6,536.5,-5.6,387,8059,0.00,2.53,0.00,0.000,6,0.000,0.048,2161,2227,3379
$GC,8376,-0.62,-146.6,557.9,-6.9,403,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2227,3379
$GC,8685,-0.62,-146.6,580.6,-7.4,418,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2227,3379
$GC,8994,-0.62,-146.6,602.5,-7.0,433,8995,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2227,3378
$GC,9304,-0.62,-146.6,624.0,-7.4,448,9305,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2227,3378
$GC,9613,-0.62,-146.6,644.7,-7.1,463,9617,0.00,2.65,0.00,0.000,4,0.000,0.074,2161,3638,3378
$GC,9668,-0.62,-146.6,649.7,-9.2,465,9678,0.00,2.50,0.00,0.000,6,0.000,0.048,2161,2228,3378
$GC,9984,-0.62,-146.6,677.1,-8.1,481,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2228,3378
$GC,10297,-0.67,-146.6,701.0,-9.0,496,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2228,3378
$GC,10603,-0.67,-146.6,721.6,-5.7,511,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2228,3378
$GC,10912,-0.67,-146.6,732.8,-3.6,526,10913,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2228,3378
$GC,11221,-0.67,-146.6,748.4,-6.2,541,11225,0.00,2.67,0.00,0.000,4,0.000,0.081,2161,3635,3378
$GC,11248,-0.72,-146.6,749.8,-5.4,542,11253,0.00,2.55,0.00,0.000,6,0.000,0.054,2161,2227,3377
$STATE,11561,end dive,NO_VERTICAL_VELOCITY
$STATE,11561,begin apogee
$GC,11568,-0.31,0.0,757.1,0.0,557,11704,0.32,0.00,132.48,1.111,6,0.071,0.000,2230,2223,2781
$STATE,11705,end apogee,CONTROL_FINISHED_OK
$STATE,11705,begin climb
$GC,11708,0.85,146.6,757.0,0.0,564,11851,1.15,2.67,130.60,1.095,4,0.066,0.061,2480,826,2183
$GC,11900,1.44,735.9,758.4,-10.1,573,12267,0.60,2.65,354.92,1.089,6,0.038,0.054,2625,2245,509
$GC,12576,1.31,735.9,663.9,17.4,606,12582,0.17,2.70,0.35,0.134,4,0.085,0.067,2586,826,509
$GC,12650,1.26,735.9,653.4,12.4,609,12655,0.00,2.62,0.00,0.000,6,0.000,0.052,2586,2250,509
$GC,12966,1.18,735.9,611.3,15.2,624,12975,0.15,2.67,1.65,0.132,4,0.097,0.065,2554,826,510
$GC,13044,1.18,735.9,601.6,11.2,627,13050,0.00,2.60,0.20,0.148,6,0.000,0.051,2554,2244,510
$GC,13360,1.18,735.9,565.5,11.1,642,13369,0.00,2.70,2.25,0.270,4,0.000,0.065,2554,823,508
$GC,13455,1.18,735.9,555.1,11.2,646,13459,0.00,2.60,0.00,0.000,6,0.000,0.050,2554,2245,509
$GC,13776,1.18,735.9,520.1,11.2,662,13784,0.00,2.70,1.67,0.138,4,0.000,0.065,2554,829,510
$GC,13870,1.18,735.9,509.2,11.3,666,13875,0.00,2.58,0.47,0.140,6,0.000,0.050,2554,2241,510
$GC,14191,1.18,735.9,471.6,11.8,682,14200,0.00,2.67,2.25,0.267,4,0.000,0.064,2554,830,509
$GC,14291,1.18,735.9,459.8,11.7,686,14295,0.00,2.58,0.00,0.000,6,0.000,0.051,2554,2240,509
$GC,14607,1.18,735.9,421.6,12.3,701,14613,0.00,2.62,1.00,0.142,4,0.000,0.064,2554,831,510
$GC,14709,1.18,735.9,409.0,12.5,705,14716,0.00,2.58,2.15,0.229,6,0.000,0.051,2554,2244,508
$GC,15025,1.18,735.9,368.6,13.3,721,15029,0.00,2.65,0.00,0.000,4,0.000,0.065,2554,829,509
$GC,15125,1.18,735.9,355.6,12.4,725,15131,0.00,2.58,0.00,0.000,6,0.000,0.051,2554,2243,509
$GC,15441,1.18,735.9,315.4,12.9,741,15446,0.00,2.65,0.05,0.203,4,0.000,0.065,2555,828,509
$GC,15536,1.18,735.9,303.3,11.8,745,15540,0.00,2.58,0.00,0.000,6,0.000,0.051,2554,2239,510
$GC,15852,1.18,735.9,262.1,13.2,760,15860,0.00,2.67,1.83,0.139,4,0.000,0.066,2554,830,510
$GC,15951,1.18,735.9,249.0,12.4,764,15961,0.00,2.58,1.33,0.137,6,0.000,0.052,2554,2240,510
$GC,16271,1.18,735.9,207.2,12.6,780,16279,0.00,2.62,1.50,0.137,4,0.000,0.066,2554,831,510
$GC,16376,1.18,735.9,194.6,12.8,784,16382,0.00,2.58,2.12,0.212,6,0.000,0.052,2555,2241,509
$GC,16691,1.18,735.9,160.0,10.5,800,16695,0.00,2.62,0.00,0.000,4,0.000,0.067,2554,831,509
$GC,16776,1.22,735.9,151.6,9.4,804,16781,0.00,2.58,0.00,0.000,6,0.000,0.052,2554,2241,509
$GC,17103,1.22,735.9,123.1,8.9,820,17107,0.00,2.65,0.00,0.000,4,0.000,0.067,2554,826,509
$GC,17189,1.27,735.9,115.3,10.0,824,17194,0.00,2.58,0.00,0.000,6,0.000,0.051,2554,2241,509
$GC,17517,1.27,735.9,74.6,12.8,840,17521,0.00,2.65,0.00,0.000,4,0.000,0.066,2554,824,509
$GC,17602,1.32,735.9,64.4,11.8,844,17607,0.15,2.58,0.00,0.000,6,0.048,0.051,2594,2241,509
$GC,17932,1.24,735.9,22.6,13.1,860,17937,0.12,2.62,0.20,0.145,4,0.096,0.064,2571,830,510
$GC,18018,1.24,735.9,12.3,10.9,864,18022,0.00,2.58,0.00,0.000,6,0.000,0.050,2571,2243,509
$STATE,18115,end climb,SURFACE_DEPTH_REACHED
$STATE,18115,begin surface coast
$FINISH,0.7,1.027065
$STATE,18137,end surface coast,CONTROL_FINISHED_OK
$STATE,18137,begin surface
$SM_CCo,18219,0.00,0.000,0,0,509,557.32
$SM_GC,1.36,10.82,0.00,0.00,0.034,0.000,0.000,69,2243,509,-10.19,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1894
$TCM_TEMP,16.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,20.0,19.0
$ALTIM_BOTTOM_PING,725.1,66.5
$24V_AH,23.6,34.795
$10V_AH,10.1,17.630
$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,25.925,120.225,637.025,0.000,0.000,33.535,26.564,150.374,8.000,0.000,0.000,36.481,1564.095,13801.280,719.415,1990.469,497.490,0.000,1749.352,0.000,1914.899,0.000,47.506
$DEVICE_MAMPS,169.507,80.535,1111.383,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,634.643,591.834,520.357,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44229,870
$CAP_FILE_SIZE,128028,0
$CFSIZE,260165632,246333440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,180708,084508,6339.679,-1313.954,37,1.0,37,-12.4