version: 66.03
glider: 16
mission: 9
dive: 292
start: 8 3 108 8 51 58
data:
$ID,16
$MISSION,9
$DIVE,292
$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,-2099586.8
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2330
$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,24
$R_STBD_OVSHOOT,22
$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
$GPS1,084608,6409.829,-1109.171,40,1.3,40,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-51.3
$GPS2,085139,6409.861,-1109.085,14,1.9,14,-11.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WV
$TGT_LATLONG,6427.000,-1150.000
$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,325.6,45558,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,148,0.00,0.00,-120.57,0.000,2,0.000,0.000,70,2249,2946
$GC,152,-0.85,-146.6,3.6,-3.0,6,182,11.57,2.60,-10.05,0.000,4,0.166,0.078,2142,3637,3380
$GC,316,-0.73,-146.6,28.5,-11.6,13,321,0.15,2.55,0.00,0.000,6,0.094,0.050,2170,2231,3380
$GC,633,-0.73,-146.6,47.4,-4.4,28,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2231,3380
$GC,943,-0.73,-146.6,68.1,-6.0,43,947,0.00,2.65,0.00,0.000,4,0.000,0.067,2170,3642,3380
$GC,993,-0.73,-146.6,71.4,-6.6,45,997,0.00,2.55,0.00,0.000,6,0.000,0.048,2170,2229,3380
$GC,1311,-0.73,-146.6,91.9,-6.8,60,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2229,3380
$GC,1618,-0.73,-146.6,114.5,-7.4,75,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2229,3380
$GC,1928,-0.73,-146.6,139.0,-8.3,90,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2229,3380
$GC,2236,-0.73,-146.6,164.8,-8.4,105,2241,0.00,2.58,0.00,0.000,4,0.000,0.060,2170,819,3380
$GC,2277,-0.80,-146.6,168.2,-8.8,107,2281,0.00,2.58,0.00,0.000,6,0.000,0.048,2170,2235,3381
$GC,2604,-0.80,-146.6,195.4,-8.4,123,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2235,3380
$GC,2912,-0.80,-146.6,220.3,-7.5,138,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2236,3381
$GC,3221,-0.80,-146.6,241.5,-6.4,153,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2236,3380
$GC,3531,-0.80,-146.6,263.8,-7.4,168,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2235,3380
$GC,3840,-0.80,-146.6,285.9,-6.7,183,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2235,3380
$GC,4149,-0.80,-146.6,308.8,-8.2,198,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2235,3380
$GC,4459,-0.80,-146.6,332.4,-7.4,213,4463,0.00,2.62,0.00,0.000,4,0.000,0.060,2171,818,3380
$GC,4503,-0.89,-146.6,335.8,-7.7,215,4508,0.17,2.58,0.00,0.000,6,0.041,0.050,2117,2237,3380
$STATE,4657,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4657,begin apogee
$GC,4663,-0.31,0.0,350.2,9.2,223,4792,0.70,0.00,125.35,0.841,6,0.088,0.000,2260,2237,2781
$STATE,4793,end apogee,CONTROL_FINISHED_OK
$STATE,4793,begin climb
$GC,4796,0.85,146.6,354.1,0.0,229,4928,1.15,2.75,123.32,0.831,4,0.067,0.069,2509,3644,2183
$GC,5032,0.80,146.6,346.1,6.6,240,5039,0.00,2.58,0.00,0.000,6,0.000,0.054,2509,2240,2183
$GC,5349,0.78,186.6,329.7,4.9,256,5390,0.00,2.70,34.58,0.802,4,0.000,0.063,2509,826,2019
$GC,5537,0.82,220.6,319.5,5.1,264,5572,0.00,2.60,29.52,0.796,6,0.000,0.049,2508,2240,1881
$GC,5903,0.83,231.7,299.0,5.7,282,5919,0.00,0.00,11.07,0.730,6,0.000,0.000,2508,2240,1835
$GC,6230,0.87,262.6,280.6,5.2,298,6264,0.00,2.75,26.88,0.779,4,0.000,0.070,2508,3645,1710
$GC,6299,0.92,262.6,276.7,6.0,301,6303,0.00,2.60,0.00,0.000,6,0.000,0.054,2508,2237,1710
$GC,6620,1.01,347.4,262.7,3.7,317,6696,0.15,2.67,70.50,0.788,4,0.055,0.062,2549,828,1363
$GC,6745,1.01,347.4,255.1,7.6,322,6749,0.00,2.60,0.00,0.000,6,0.000,0.049,2550,2242,1363
$GC,7071,1.01,347.4,228.9,8.4,338,7072,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2242,1363
$GC,7380,1.01,347.4,201.1,9.1,353,7385,0.00,2.65,0.00,0.000,4,0.000,0.063,2549,823,1363
$GC,7444,1.01,347.4,195.6,8.7,356,7448,0.00,2.58,0.00,0.000,6,0.000,0.048,2549,2240,1363
$GC,7770,1.01,347.4,167.6,7.9,372,7775,0.00,2.62,0.00,0.000,4,0.000,0.062,2549,829,1363
$GC,7803,1.01,347.4,164.9,7.8,373,7809,0.00,2.58,0.00,0.000,6,0.000,0.048,2549,2249,1363
$GC,8120,1.01,347.4,141.4,7.5,389,8124,0.00,2.65,0.00,0.000,4,0.000,0.062,2549,824,1363
$GC,8160,1.01,347.4,138.4,7.6,391,8164,0.00,2.58,0.00,0.000,6,0.000,0.048,2549,2243,1363
$GC,8486,1.01,347.4,112.6,8.1,407,8491,0.00,2.62,0.00,0.000,4,0.000,0.062,2549,828,1363
$GC,8537,1.01,347.4,108.7,8.0,409,8541,0.00,2.55,0.00,0.000,6,0.000,0.048,2549,2240,1363
$GC,8853,1.01,347.4,83.4,8.6,424,8857,0.00,2.62,0.00,0.000,4,0.000,0.062,2549,827,1363
$GC,8885,1.01,347.4,80.4,8.8,425,8892,0.00,2.55,0.00,0.000,6,0.000,0.049,2549,2241,1363
$GC,9203,1.01,347.4,48.8,10.3,441,9208,0.00,2.62,0.00,0.000,4,0.000,0.062,2549,826,1363
$GC,9237,1.01,347.4,44.9,10.8,442,9243,0.00,2.55,0.00,0.000,6,0.000,0.049,2549,2240,1363
$GC,9554,1.01,347.4,13.1,8.5,458,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2239,1363
$STATE,9694,end climb,SURFACE_DEPTH_REACHED
$STATE,9694,begin surface coast
$FINISH,0.6,1.027085
$STATE,9717,end surface coast,CONTROL_FINISHED_OK
$STATE,9718,begin surface
$SM_CCo,9740,102.12,0.602,0,0,509,557.32
$SM_GC,1.19,0.00,0.00,102.12,0.000,0.000,0.602,69,2241,509,-10.40,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1878
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.5,17.7
$ALTIM_BOTTOM_PING,276.2,83.7
$24V_AH,23.7,48.311
$10V_AH,10.2,24.216
$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,24.625,73.125,421.225,102.125,0.000,18.071,27.384,179.943,2.250,0.000,0.000,14.028,855.317,7181.635,629.219,1084.411,424.780,0.000,1204.129,0.000,1064.390,0.000,15.345
$DEVICE_MAMPS,166.439,78.234,840.632,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.321,315.934,406.560,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22290,466
$CAP_FILE_SIZE,71466,0
$CFSIZE,260165632,241704960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030808,113708,6411.910,-1106.642,35,1.9,35,-11.4