version: 66.03
glider: 16
mission: 9
dive: 205
start: 7 19 108 22 11 7
data:
$ID,16
$MISSION,9
$DIVE,205
$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,-2097387.8
$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,2230
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,21
$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
$GPS1,220355,6356.371,-1327.163,25,1.6,42,-12.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-56.3
$GPS2,221050,6356.438,-1327.009,16,1.6,33,-12.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,default
$TGT_LATLONG,62.000,-6.800
$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,143.3,18307,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.85,-146.6,0.0,0.0,0,151,0.00,0.00,-120.78,0.000,2,0.000,0.000,66,2250,2921
$GC,155,-0.85,-146.6,3.9,-2.9,6,185,11.50,2.67,-11.02,0.000,4,0.170,0.079,2113,3643,3381
$GC,356,-0.67,-146.6,29.0,-9.6,15,361,0.20,2.58,0.00,0.000,6,0.094,0.051,2153,2227,3381
$GC,684,-0.60,-146.6,53.4,-7.5,31,688,0.00,2.60,0.00,0.000,4,0.000,0.060,2153,810,3380
$GC,716,-0.60,-146.6,55.9,-7.3,32,723,0.00,2.58,0.00,0.000,6,0.000,0.048,2153,2230,3380
$GC,1033,-0.55,-146.6,81.6,-7.7,48,1038,0.12,2.62,0.00,0.000,4,0.097,0.068,2176,3638,3381
$GC,1061,-0.55,-146.6,83.8,-7.4,49,1065,0.00,2.55,0.00,0.000,6,0.000,0.050,2176,2228,3381
$GC,1378,-0.55,-146.6,106.9,-7.8,64,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2228,3381
$GC,1686,-0.55,-146.6,131.0,-7.9,79,1690,0.00,2.60,0.00,0.000,4,0.000,0.061,2176,811,3381
$GC,1726,-0.63,-146.6,134.2,-7.8,81,1731,0.00,2.58,0.00,0.000,6,0.000,0.050,2176,2228,3381
$GC,2053,-0.63,-146.6,158.4,-7.4,97,2057,0.00,2.62,0.00,0.000,4,0.000,0.071,2176,3641,3381
$GC,2092,-0.63,-146.6,161.6,-8.3,99,2097,0.00,2.55,0.00,0.000,6,0.000,0.051,2176,2228,3381
$GC,2419,-0.63,-146.6,186.6,-7.7,115,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2228,3381
$GC,2728,-0.63,-146.6,209.6,-7.2,130,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2229,3381
$GC,3038,-0.63,-146.6,231.5,-7.1,145,3042,0.00,2.67,0.00,0.000,4,0.000,0.073,2176,3643,3381
$GC,3071,-0.63,-146.6,234.3,-8.9,146,3077,0.00,2.55,0.00,0.000,6,0.000,0.049,2176,2230,3381
$GC,3386,-0.63,-146.6,260.1,-8.3,162,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2229,3381
$GC,3695,-0.63,-146.6,284.2,-7.6,177,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2229,3380
$GC,4005,-0.63,-146.6,305.9,-6.6,192,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2229,3381
$GC,4314,-0.63,-146.6,324.6,-5.9,207,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2229,3380
$GC,4623,-0.63,-146.6,342.1,-5.3,222,4628,0.00,2.67,0.00,0.000,4,0.000,0.074,2176,3646,3380
$GC,4651,-0.63,-146.6,343.8,-6.2,223,4655,0.00,2.55,0.00,0.000,6,0.000,0.050,2176,2230,3380
$GC,4967,-0.67,-146.6,360.2,-5.3,238,4969,0.12,0.00,0.00,0.000,6,0.048,0.000,2135,2230,3380
$GC,5277,-0.58,-146.6,383.7,-7.7,253,5278,0.17,0.00,0.00,0.000,6,0.084,0.000,2170,2230,3380
$GC,5585,-0.58,-146.6,401.3,-5.4,268,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3380
$GC,5895,-0.58,-146.6,417.5,-5.5,283,5899,0.00,2.65,0.00,0.000,4,0.000,0.074,2170,3640,3380
$GC,5922,-0.58,-146.6,419.1,-5.9,284,5927,0.00,2.55,0.00,0.000,6,0.000,0.051,2170,2228,3380
$GC,6238,-0.58,-146.6,434.3,-4.3,299,6243,0.00,2.67,0.00,0.000,4,0.000,0.074,2170,3638,3380
$GC,6268,-0.58,-146.6,435.7,-5.2,300,6272,0.00,2.55,0.00,0.000,6,0.000,0.050,2170,2227,3379
$GC,6584,-0.58,-146.6,449.3,-4.6,315,6588,0.00,2.67,0.00,0.000,4,0.000,0.074,2170,3640,3380
$GC,6630,-0.58,-146.6,451.5,-4.8,317,6634,0.00,2.55,0.00,0.000,6,0.000,0.051,2170,2229,3379
$GC,6951,-0.58,-146.6,466.5,-5.3,333,6955,0.00,2.67,0.00,0.000,4,0.000,0.074,2170,3644,3379
$GC,6996,-0.63,-146.6,469.0,-5.7,335,7000,0.00,2.55,0.00,0.000,6,0.000,0.050,2170,2230,3379
$GC,7317,-0.63,-146.6,485.8,-6.1,351,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3379
$GC,7626,-0.63,-146.6,507.2,-7.0,366,7630,0.00,2.67,0.00,0.000,4,0.000,0.076,2170,3641,3379
$GC,7666,-0.63,-146.6,510.0,-7.8,368,7670,0.00,2.58,0.00,0.000,6,0.000,0.051,2170,2223,3378
$GC,7992,-0.63,-146.6,527.5,-5.4,384,7997,0.00,2.70,0.00,0.000,4,0.000,0.074,2170,3644,3378
$GC,8025,-0.68,-146.6,530.2,-7.9,385,8032,0.00,2.55,0.00,0.000,6,0.000,0.051,2170,2230,3378
$GC,8342,-0.64,-146.6,556.4,-8.9,401,8347,0.00,2.67,0.00,0.000,4,0.000,0.077,2170,3644,3378
$GC,8415,-0.68,-146.6,566.0,-12.9,404,8420,0.00,2.55,0.00,0.000,6,0.000,0.050,2170,2229,3378
$GC,8732,-0.74,-146.6,603.7,-9.4,419,8737,0.15,2.60,0.00,0.000,4,0.046,0.061,2119,816,3378
$GC,8772,-0.68,-146.6,608.5,-12.6,421,8777,0.15,2.60,0.00,0.000,6,0.090,0.053,2149,2237,3378
$GC,9101,-0.68,-146.6,655.2,-12.9,437,9105,0.00,2.67,0.00,0.000,4,0.000,0.080,2149,3644,3377
$GC,9128,-0.68,-146.6,659.0,-12.7,438,9132,0.00,2.58,0.00,0.000,6,0.000,0.054,2149,2230,3378
$GC,9443,-0.68,-146.6,688.6,-10.2,453,9448,0.00,2.60,0.00,0.000,4,0.000,0.064,2149,820,3376
$GC,9488,-0.76,-146.6,691.5,-6.2,455,9493,0.00,2.60,0.00,0.000,6,0.000,0.058,2149,2232,3376
$GC,9811,-0.76,-146.6,712.3,-5.8,471,9815,0.00,2.67,0.00,0.000,4,0.000,0.081,2148,3640,3376
$GC,9890,-0.83,-146.6,718.5,-7.4,474,9897,0.15,2.58,0.00,0.000,6,0.048,0.057,2108,2230,3375
$STATE,10079,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10079,begin apogee
$GC,10086,-0.31,0.0,736.2,11.6,484,10223,0.62,0.00,131.27,1.127,6,0.105,0.000,2230,2230,2781
$STATE,10223,end apogee,CONTROL_FINISHED_OK
$STATE,10224,begin climb
$GC,10226,0.85,146.6,741.3,0.0,491,10371,1.17,2.83,130.32,1.104,4,0.080,0.086,2477,3647,2182
$GC,10512,0.85,146.6,707.2,20.1,504,10517,0.00,2.62,0.00,0.000,6,0.000,0.057,2477,2233,2182
$GC,10833,0.85,146.6,673.5,10.0,520,10835,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2233,2180
$GC,11143,1.06,346.5,661.6,0.5,535,11330,0.22,2.83,173.10,1.081,4,0.055,0.083,2533,3642,1368
$GC,11364,1.06,346.5,648.8,10.0,545,11368,0.00,2.62,0.00,0.000,6,0.000,0.061,2534,2243,1368
$GC,11680,1.06,346.5,619.0,8.2,560,11684,0.00,2.70,0.00,0.000,4,0.000,0.074,2533,824,1367
$GC,11701,1.06,346.5,617.6,6.1,561,11705,0.00,2.62,0.00,0.000,6,0.000,0.054,2533,2241,1367
$GC,12022,1.06,346.5,588.5,9.2,577,12026,0.00,2.70,0.00,0.000,4,0.000,0.079,2533,3650,1366
$GC,12061,1.06,346.5,584.4,12.4,579,12066,0.00,2.62,0.00,0.000,6,0.000,0.057,2533,2236,1367
$GC,12388,1.06,346.5,551.9,8.8,595,12393,0.00,2.72,0.00,0.000,4,0.000,0.081,2533,3647,1366
$GC,12450,1.06,346.5,545.3,11.6,598,12454,0.00,2.62,0.00,0.000,6,0.000,0.057,2533,2232,1366
$GC,12777,1.06,346.5,510.3,10.6,614,12781,0.00,2.70,0.00,0.000,4,0.000,0.074,2533,3650,1365
$GC,12803,1.06,346.5,507.0,11.6,615,12808,0.00,2.60,0.00,0.000,6,0.000,0.055,2533,2239,1365
$GC,13119,1.06,346.5,472.9,10.3,630,13123,0.00,2.67,0.00,0.000,4,0.000,0.074,2533,3648,1365
$GC,13152,1.06,346.5,469.5,10.1,631,13158,0.00,2.60,0.00,0.000,6,0.000,0.055,2533,2235,1365
$GC,13468,1.06,346.5,439.9,9.1,647,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2235,1365
$GC,13777,1.06,346.5,410.6,9.8,662,13778,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2235,1366
$GC,14087,1.06,346.5,380.3,9.4,677,14091,0.00,2.62,0.00,0.000,4,0.000,0.066,2533,826,1366
$GC,14130,1.06,346.5,375.7,10.4,679,14135,0.00,2.58,0.00,0.000,6,0.000,0.050,2533,2242,1366
$GC,14451,1.06,346.5,344.3,9.5,695,14456,0.00,2.65,0.00,0.000,4,0.000,0.073,2533,3650,1367
$GC,14473,1.06,346.5,341.8,10.0,696,14478,0.00,2.58,0.00,0.000,6,0.000,0.054,2533,2239,1367
$GC,14795,1.06,346.5,311.6,9.1,712,14796,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2239,1368
$GC,15104,1.06,346.5,283.7,9.0,727,15108,0.00,2.62,0.00,0.000,4,0.000,0.064,2533,822,1368
$GC,15136,1.06,346.5,280.7,8.6,728,15142,0.00,2.60,0.00,0.000,6,0.000,0.049,2533,2252,1368
$GC,15452,1.06,346.5,252.9,8.4,744,15453,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2250,1368
$GC,15761,1.06,346.5,227.3,8.2,759,15765,0.00,2.65,0.00,0.000,4,0.000,0.062,2533,820,1368
$GC,15782,1.06,346.5,225.4,8.0,760,15787,0.00,2.58,0.00,0.000,6,0.000,0.048,2533,2241,1368
$GC,16104,1.06,346.5,199.8,7.4,776,16105,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2241,1368
$GC,16413,1.06,346.5,175.3,8.3,791,16414,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2241,1369
$GC,16722,1.06,346.5,150.4,7.8,806,16727,0.00,2.62,0.00,0.000,4,0.000,0.061,2533,826,1369
$GC,16745,1.06,346.5,148.6,9.2,807,16749,0.00,2.58,0.00,0.000,6,0.000,0.048,2533,2247,1369
$GC,17067,1.06,346.5,124.2,7.4,823,17068,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2247,1369
$GC,17375,1.06,346.5,101.5,7.5,838,17376,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2247,1369
$GC,17685,1.06,346.5,78.6,6.9,853,17689,0.00,2.65,0.00,0.000,4,0.000,0.061,2533,817,1370
$GC,17712,1.06,346.5,76.6,7.2,854,17716,0.00,2.58,0.00,0.000,6,0.000,0.048,2533,2241,1370
$GC,18028,1.06,346.5,53.1,7.3,869,18029,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2241,1370
$GC,18339,1.06,346.5,29.5,7.2,884,18343,0.00,2.62,0.00,0.000,4,0.000,0.061,2533,824,1370
$GC,18362,1.11,346.5,27.6,8.2,885,18366,0.00,2.55,0.00,0.000,6,0.000,0.048,2533,2241,1371
$GC,18685,1.15,346.5,3.8,7.4,901,18686,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2241,1370
$STATE,18722,end climb,SURFACE_DEPTH_REACHED
$STATE,18722,begin surface coast
$FINISH,0.7,1.015544
$STATE,18744,end surface coast,CONTROL_FINISHED_OK
$STATE,18744,begin surface
$SM_CCo,18765,102.55,0.605,0,0,508,557.32
$SM_GC,1.36,0.00,0.00,102.55,0.000,0.000,0.605,72,2242,508,-10.25,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1880
$TCM_TEMP,17.70
$XPDR_PINGS,29
$ALTIM_TOP_PING,19.1,17.8
$ALTIM_BOTTOM_PING,652.7,91.8
$24V_AH,23.5,36.054
$10V_AH,10.1,18.293
$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,25.250,167.850,434.700,102.550,0.000,18.124,29.997,220.077,13.000,0.000,0.000,33.411,1643.669,14404.507,702.217,1934.139,597.774,0.000,1697.146,0.000,1874.829,0.000,39.722
$DEVICE_MAMPS,170.274,85.904,1127.490,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,669.540,615.673,571.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47442,904
$CAP_FILE_SIZE,137105,0
$CFSIZE,260165632,245846016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200708,032707,6355.780,-1323.726,51,1.3,51,-12.6