version: 66.03
glider: 16
mission: 9
dive: 218
start: 7 23 108 10 57 37
data:
$ID,16
$MISSION,9
$DIVE,218
$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,-2097710.8
$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,20
$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,0
$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
$GPS1,105137,6355.847,-1324.133,26,2.0,26,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-57.6
$GPS2,105720,6355.958,-1324.120,16,2.0,33,-12.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BT1
$TGT_LATLONG,6401.000,-1331.000
$TGT_RADIUS,3000.000
$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,341.7,10879,-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,-146.6,0.0,0.0,0,150,0.00,0.00,-121.03,0.000,2,0.000,0.000,74,2243,2945
$GC,154,-0.85,-146.6,4.1,-3.2,6,184,11.40,2.65,-10.07,0.000,4,0.169,0.071,2107,810,3380
$GC,369,-0.72,-146.6,33.0,-11.1,15,376,0.17,2.55,0.00,0.000,6,0.099,0.047,2140,2231,3380
$GC,685,-0.61,-146.6,62.6,-9.1,31,690,0.12,2.60,0.00,0.000,4,0.104,0.066,2164,3638,3380
$GC,758,-0.61,-146.6,68.9,-8.2,34,762,0.00,2.55,0.00,0.000,6,0.000,0.049,2164,2225,3380
$GC,1074,-0.61,-146.6,94.4,-8.3,49,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2224,3380
$GC,1383,-0.61,-146.6,119.4,-7.7,64,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2225,3380
$GC,1694,-0.61,-146.6,141.0,-6.7,79,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2225,3380
$GC,2001,-0.61,-146.6,159.4,-6.0,94,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2225,3380
$GC,2310,-0.61,-146.6,180.0,-6.4,109,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2225,3380
$GC,2620,-0.61,-146.6,199.2,-6.5,124,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2225,3380
$GC,2929,-0.61,-146.6,223.2,-8.3,139,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2225,3379
$GC,3238,-0.61,-146.6,249.4,-8.0,154,3243,0.00,2.65,0.00,0.000,4,0.000,0.070,2164,3640,3380
$GC,3279,-0.61,-146.6,252.6,-8.2,156,3283,0.00,2.55,0.00,0.000,6,0.000,0.050,2164,2227,3380
$GC,3606,-0.61,-146.6,275.1,-6.3,172,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2227,3380
$GC,3914,-0.61,-146.6,295.0,-7.0,187,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2227,3380
$GC,4224,-0.61,-146.6,318.3,-8.5,202,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2227,3380
$GC,4533,-0.61,-146.6,343.1,-7.9,217,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2226,3380
$GC,4843,-0.61,-146.6,361.6,-5.0,232,4847,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,813,3380
$GC,4938,-0.67,-146.6,366.8,-5.2,236,4943,0.00,2.55,0.00,0.000,6,0.000,0.050,2164,2230,3380
$GC,5254,-0.67,-146.6,387.6,-7.6,251,5259,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,817,3380
$GC,5328,-0.74,-146.6,393.8,-7.4,254,5333,0.12,2.55,0.00,0.000,6,0.048,0.051,2123,2232,3380
$GC,5644,-0.62,-146.6,422.1,-7.9,269,5649,0.17,2.62,0.00,0.000,4,0.086,0.064,2160,813,3380
$GC,5689,-0.68,-146.6,424.9,-5.6,271,5694,0.00,2.58,0.00,0.000,6,0.000,0.053,2160,2231,3380
$GC,6016,-0.68,-146.6,445.9,-7.4,287,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2230,3380
$GC,6325,-0.68,-146.6,467.2,-5.4,302,6329,0.00,2.65,0.00,0.000,4,0.000,0.076,2160,3641,3379
$GC,6364,-0.68,-146.6,470.2,-8.4,304,6368,0.00,2.58,0.00,0.000,6,0.000,0.055,2160,2228,3379
$GC,6691,-0.68,-146.6,491.7,-6.3,320,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2228,3379
$GC,6999,-0.68,-146.6,516.1,-8.9,335,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2228,3378
$GC,7309,-0.68,-146.6,540.4,-7.3,350,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2228,3378
$GC,7618,-0.68,-146.6,558.3,-6.2,365,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2228,3376
$GC,7927,-0.68,-146.6,578.7,-7.1,380,7932,0.00,2.62,0.00,0.000,4,0.000,0.069,2160,815,3375
$GC,7973,-0.76,-146.6,581.9,-6.3,382,7978,0.12,2.60,0.00,0.000,6,0.054,0.058,2123,2233,3375
$GC,8295,-0.62,-146.6,601.1,-2.7,398,8300,0.17,2.65,0.00,0.000,4,0.091,0.071,2161,813,3374
$GC,8358,-0.72,-146.6,605.1,-6.7,401,8363,0.00,2.60,0.00,0.000,6,0.000,0.059,2162,2229,3373
$GC,8685,-0.72,-146.6,628.4,-9.9,417,8689,0.00,2.65,0.00,0.000,4,0.000,0.083,2161,3635,3373
$GC,8751,-0.72,-146.6,633.1,-6.7,420,8756,0.00,2.60,0.00,0.000,6,0.000,0.063,2161,2228,3373
$GC,9073,-0.72,-146.6,652.5,-3.3,436,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2228,3372
$STATE,9276,end dive,NO_VERTICAL_VELOCITY
$STATE,9276,begin apogee
$GC,9282,-0.31,0.0,652.9,0.0,446,9418,0.35,0.00,128.90,1.106,6,0.094,0.000,2232,2229,2781
$STATE,9419,end apogee,CONTROL_FINISHED_OK
$STATE,9419,begin climb
$GC,9422,0.85,146.6,655.0,0.0,453,9559,1.20,2.78,130.32,1.081,4,0.075,0.071,2484,823,2183
$GC,9646,1.02,307.2,657.5,1.6,463,9796,0.17,2.65,140.57,1.072,6,0.058,0.060,2523,2241,1528
$GC,10104,1.05,337.9,636.1,5.2,486,10134,0.00,0.00,28.15,1.028,6,0.000,0.000,2523,2241,1403
$GC,10433,1.05,337.9,620.3,6.2,502,10437,0.00,2.70,0.00,0.000,4,0.000,0.074,2523,825,1401
$GC,10522,1.05,337.9,613.9,6.2,506,10526,0.00,2.62,0.00,0.000,6,0.000,0.059,2523,2240,1400
$GC,10843,1.15,426.4,600.0,3.6,522,10923,0.12,0.00,77.35,1.065,6,0.074,0.000,2550,2240,1042
$GC,11232,1.15,426.4,573.6,8.8,541,11236,0.00,2.70,0.00,0.000,4,0.000,0.075,2550,821,1041
$GC,11304,1.15,426.4,565.6,10.6,544,11308,0.00,2.65,0.00,0.000,6,0.000,0.059,2550,2246,1041
$GC,11620,1.15,426.4,533.1,9.6,559,11624,0.00,2.72,0.00,0.000,4,0.000,0.077,2550,822,1041
$GC,11682,1.15,426.4,526.7,10.7,562,11686,0.00,2.65,0.00,0.000,6,0.000,0.059,2550,2244,1041
$GC,12008,1.15,426.4,494.4,8.7,578,12013,0.00,2.70,0.00,0.000,4,0.000,0.076,2550,828,1041
$GC,12058,1.15,426.4,490.1,8.5,580,12063,0.00,2.62,0.00,0.000,6,0.000,0.058,2551,2247,1040
$GC,12374,1.15,426.4,459.5,11.0,595,12378,0.00,2.70,0.00,0.000,4,0.000,0.074,2550,823,1040
$GC,12407,1.15,426.4,455.6,11.7,596,12414,0.00,2.58,0.00,0.000,6,0.000,0.056,2550,2231,1040
$GC,12722,1.15,426.4,416.0,12.2,612,12727,0.00,2.65,0.00,0.000,4,0.000,0.071,2550,827,1040
$GC,12789,1.15,426.4,407.4,11.4,615,12794,0.00,2.60,0.00,0.000,6,0.000,0.055,2550,2240,1040
$GC,13111,1.15,426.4,370.6,10.0,631,13116,0.00,2.65,0.00,0.000,4,0.000,0.069,2550,827,1040
$GC,13207,1.17,439.4,364.3,5.6,635,13226,0.00,2.60,12.35,0.856,6,0.000,0.054,2550,2244,989
$GC,13549,1.17,439.4,344.1,7.0,652,13553,0.00,2.67,0.00,0.000,4,0.000,0.072,2550,828,989
$GC,13615,1.17,439.4,339.6,7.1,655,13620,0.00,2.60,0.00,0.000,6,0.000,0.054,2550,2245,989
$GC,13936,1.17,439.4,312.0,9.2,671,13941,0.00,2.67,0.00,0.000,4,0.000,0.067,2550,823,989
$GC,14009,1.17,439.4,305.0,9.1,674,14014,0.00,2.58,0.00,0.000,6,0.000,0.051,2550,2239,990
$GC,14325,1.17,439.4,272.8,9.8,689,14329,0.00,2.65,0.00,0.000,4,0.000,0.068,2550,825,990
$GC,14409,1.17,439.4,264.5,10.4,693,14413,0.00,2.58,0.00,0.000,6,0.000,0.050,2550,2241,990
$GC,14736,1.17,439.4,230.5,10.7,709,14740,0.00,2.65,0.00,0.000,4,0.000,0.067,2550,824,991
$GC,14791,1.21,439.4,224.3,10.9,711,14797,0.00,2.58,0.00,0.000,6,0.000,0.049,2550,2243,991
$GC,15107,1.21,439.4,193.0,9.5,727,15111,0.00,2.65,0.00,0.000,4,0.000,0.066,2550,821,991
$GC,15163,1.25,439.4,187.9,9.8,729,15169,0.00,2.58,0.00,0.000,6,0.000,0.048,2550,2243,991
$GC,15478,1.25,439.4,159.1,9.1,745,15483,0.00,2.65,0.00,0.000,4,0.000,0.065,2550,821,992
$GC,15534,1.30,439.4,153.8,9.0,747,15541,0.15,2.58,0.00,0.000,6,0.066,0.048,2585,2247,992
$GC,15851,1.22,439.4,115.8,12.5,763,15856,0.00,2.65,0.00,0.000,4,0.000,0.064,2585,823,993
$GC,15896,1.17,439.4,109.7,12.0,765,15901,0.15,2.55,0.00,0.000,6,0.090,0.048,2554,2239,993
$GC,16218,1.17,439.4,69.4,12.1,781,16222,0.00,2.62,0.00,0.000,4,0.000,0.065,2554,826,993
$GC,16258,1.17,439.4,65.3,9.6,783,16262,0.00,2.55,0.00,0.000,6,0.000,0.048,2554,2242,994
$GC,16584,1.17,439.4,37.8,8.5,799,16589,0.00,2.62,0.00,0.000,4,0.000,0.064,2555,826,994
$GC,16657,1.17,439.4,31.3,7.8,802,16662,0.00,2.55,0.00,0.000,6,0.000,0.047,2554,2242,994
$STATE,16971,end climb,SURFACE_DEPTH_REACHED
$STATE,16971,begin surface coast
$FINISH,0.7,1.026545
$STATE,16995,end surface coast,CONTROL_FINISHED_OK
$STATE,16995,begin surface
$SM_CCo,17016,58.47,0.611,0,0,508,557.32
$SM_GC,1.35,0.00,0.00,58.47,0.000,0.000,0.611,70,2243,508,-10.25,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1926
$TCM_TEMP,17.50
$XPDR_PINGS,48
$ALTIM_TOP_PING,18.6,16.9
$ALTIM_BOTTOM_PING,626.5,97.3
$24V_AH,23.5,38.432
$10V_AH,10.1,19.590
$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,25.200,141.525,517.650,58.475,0.000,18.062,30.304,148.280,17.500,0.000,0.000,33.070,1493.329,12854.992,745.501,1833.450,488.751,0.000,1666.672,0.000,1773.209,0.000,38.120
$DEVICE_MAMPS,168.740,82.836,1106.014,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,604.223,555.385,494.521,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41113,818
$CAP_FILE_SIZE,122552,0
$CFSIZE,260165632,244899840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230708,154331,6358.655,-1329.147,39,1.2,39,-12.7