version: 66.03
glider: 16
mission: 9
dive: 335
start: 8 9 108 3 57 28
data:
$ID,16
$MISSION,9
$DIVE,335
$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,-2100622.5
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,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,19
$R_STBD_OVSHOOT,23
$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
$GPS1,035201,6452.329,-1034.959,38,1.2,38,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-58.4
$GPS2,035709,6452.351,-1035.031,13,1.4,13,-11.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NS
$TGT_LATLONG,6412.000,-940.000
$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,160.7,86903,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.70,0.000,2,0.000,0.000,72,2252,2974
$GC,150,-0.85,-146.6,4.2,-3.5,6,177,11.75,2.70,-9.00,0.000,4,0.173,0.071,2142,811,3379
$GC,261,-0.85,-146.6,21.1,-10.0,11,265,0.00,2.60,0.00,0.000,6,0.000,0.048,2142,2234,3379
$GC,584,-0.74,-146.6,54.7,-9.6,27,586,0.15,0.00,0.00,0.000,6,0.097,0.000,2169,2233,3379
$GC,891,-0.74,-146.6,80.8,-8.4,42,896,0.00,2.65,0.00,0.000,4,0.000,0.057,2171,808,3380
$GC,937,-0.80,-146.6,84.6,-8.5,44,941,0.00,2.60,0.00,0.000,6,0.000,0.048,2171,2241,3380
$GC,1258,-0.80,-146.6,104.2,-5.3,60,1262,0.00,2.60,0.00,0.000,4,0.000,0.067,2171,3637,3380
$GC,1298,-0.80,-146.6,106.6,-5.7,62,1303,0.00,2.58,0.00,0.000,6,0.000,0.050,2171,2219,3380
$GC,1626,-0.80,-146.6,128.5,-7.3,78,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2219,3381
$GC,1934,-0.80,-146.6,153.3,-8.2,93,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2219,3381
$GC,2244,-0.80,-146.6,176.2,-6.8,108,2248,0.00,2.65,0.00,0.000,4,0.000,0.068,2171,3638,3381
$GC,2295,-0.80,-146.6,179.5,-6.5,110,2299,0.00,2.55,0.00,0.000,6,0.000,0.049,2171,2230,3381
$GC,2610,-0.80,-146.6,195.4,-5.0,125,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3381
$GC,2919,-0.80,-146.6,214.0,-7.0,140,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3381
$GC,3229,-0.80,-146.6,239.6,-8.2,155,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3381
$GC,3538,-0.80,-146.6,259.1,-5.6,170,3543,0.00,2.67,0.00,0.000,4,0.000,0.076,2171,3635,3381
$GC,3579,-0.80,-146.6,261.5,-5.9,172,3583,0.00,2.58,0.00,0.000,6,0.000,0.054,2171,2232,3381
$GC,3905,-0.80,-146.6,282.1,-7.1,188,3910,0.00,2.67,0.00,0.000,4,0.000,0.079,2171,3634,3382
$GC,3939,-0.80,-146.6,284.9,-8.5,189,3945,0.00,2.60,0.00,0.000,6,0.000,0.056,2171,2225,3381
$GC,4254,-0.80,-146.6,311.3,-8.6,205,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2225,3380
$GC,4564,-0.80,-146.6,335.4,-7.5,220,4569,0.00,2.65,0.00,0.000,4,0.000,0.070,2171,813,3379
$GC,4592,-0.87,-146.6,337.7,-8.0,221,4598,0.15,2.60,0.00,0.000,6,0.051,0.057,2129,2225,3379
$GC,4909,-0.80,-146.6,365.2,-8.5,236,4914,0.12,2.70,0.00,0.000,4,0.098,0.082,2152,3637,3378
$GC,4972,-0.80,-146.6,370.1,-7.9,239,4976,0.00,2.62,0.00,0.000,6,0.000,0.061,2153,2229,3377
$GC,5298,-0.80,-146.6,393.5,-7.2,255,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2228,3376
$GC,5608,-0.80,-146.6,416.1,-7.4,270,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2228,3375
$STATE,5733,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5733,begin apogee
$GC,5740,-0.31,0.0,425.2,7.5,276,5871,0.52,0.00,126.70,0.976,6,0.100,0.000,2257,2228,2781
$STATE,5872,end apogee,CONTROL_FINISHED_OK
$STATE,5872,begin climb
$GC,5875,0.85,146.6,430.9,0.0,283,6013,1.25,2.75,126.28,0.958,4,0.083,0.072,2513,833,2183
$GC,6155,0.79,193.7,425.2,4.7,296,6203,0.00,2.65,41.28,0.933,6,0.000,0.059,2512,2246,1991
$GC,6523,0.82,216.5,405.2,5.4,314,6549,0.00,2.80,21.20,0.910,4,0.000,0.071,2513,826,1896
$GC,6577,0.83,230.3,402.0,5.6,316,6597,0.00,2.67,13.35,0.873,6,0.000,0.058,2512,2244,1841
$GC,6914,0.84,239.9,382.3,5.7,333,6926,0.00,0.00,9.65,0.842,6,0.000,0.000,2512,2244,1803
$GC,7224,0.84,239.9,363.7,6.2,348,7228,0.00,2.72,0.00,0.000,4,0.000,0.074,2513,828,1802
$GC,7263,0.84,239.9,361.3,6.1,350,7268,0.00,2.62,0.00,0.000,6,0.000,0.060,2512,2243,1801
$GC,7590,0.84,239.9,341.2,6.6,366,7594,0.00,2.72,0.00,0.000,4,0.000,0.074,2512,828,1800
$GC,7623,0.84,239.9,338.9,6.7,367,7629,0.00,2.65,0.00,0.000,6,0.000,0.061,2512,2239,1800
$GC,7939,0.84,239.9,318.1,6.6,383,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2240,1800
$GC,8248,0.84,239.9,297.4,6.7,398,8252,0.00,2.70,0.00,0.000,4,0.000,0.075,2512,828,1799
$GC,8288,0.84,239.9,294.7,7.1,400,8292,0.00,2.65,0.00,0.000,6,0.000,0.061,2512,2246,1798
$GC,8615,0.87,267.5,275.2,5.2,416,8644,0.00,2.78,23.88,0.889,4,0.000,0.084,2512,3647,1690
$GC,8673,0.95,300.1,272.3,5.1,418,8709,0.12,2.67,28.90,0.883,6,0.061,0.064,2545,2237,1557
$GC,9034,0.95,300.1,249.7,7.3,436,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2236,1555
$GC,9340,0.95,300.1,219.6,10.2,451,9341,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2237,1555
$GC,9650,0.95,300.1,193.0,7.5,466,9655,0.00,2.67,0.00,0.000,4,0.000,0.070,2545,822,1555
$GC,9683,0.95,300.1,190.5,7.2,467,9689,0.00,2.62,0.00,0.000,6,0.000,0.057,2545,2240,1555
$GC,9999,0.95,300.1,170.9,6.6,483,10000,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2240,1555
$GC,10308,0.95,300.1,149.8,7.0,498,10309,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2240,1555
$GC,10620,0.95,300.1,129.4,6.4,513,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2240,1555
$GC,10927,0.95,300.1,108.0,7.2,528,10931,0.00,2.65,0.00,0.000,4,0.000,0.063,2545,821,1555
$GC,10967,0.95,300.1,104.9,7.6,530,10971,0.00,2.58,0.00,0.000,6,0.000,0.048,2545,2242,1555
$GC,11294,0.95,300.1,77.5,8.9,546,11295,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2242,1555
$GC,11603,0.95,300.1,46.2,10.3,561,11607,0.00,2.65,0.00,0.000,4,0.000,0.061,2545,817,1557
$GC,11665,0.95,300.1,39.6,9.8,564,11669,0.00,2.58,0.00,0.000,6,0.000,0.048,2545,2241,1557
$GC,11992,0.95,300.1,11.7,7.3,580,11997,0.00,2.65,0.00,0.000,4,0.000,0.061,2545,817,1558
$GC,12043,0.95,300.1,7.9,7.4,582,12047,0.00,2.58,0.00,0.000,6,0.000,0.047,2545,2241,1557
$STATE,12129,end climb,SURFACE_DEPTH_REACHED
$STATE,12129,begin surface coast
$FINISH,0.6,1.015102
$STATE,12151,end surface coast,CONTROL_FINISHED_OK
$STATE,12151,begin surface
$SM_CCo,12173,127.85,0.637,0,0,509,557.32
$SM_GC,1.25,0.00,0.00,127.85,0.000,0.000,0.637,73,2242,509,-10.38,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1940
$TCM_TEMP,16.10
$XPDR_PINGS,52
$ALTIM_TOP_PING,19.2,18.6
$ALTIM_BOTTOM_PING,425.2,8.1
$24V_AH,23.5,54.167
$10V_AH,10.1,26.742
$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,24.900,95.400,391.225,127.850,0.000,33.353,38.551,119.261,16.750,0.000,0.000,13.566,1074.840,9188.898,651.679,1274.348,425.534,0.000,1313.543,0.000,1244.439,0.000,27.735
$DEVICE_MAMPS,172.575,83.603,976.391,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.652,398.881,451.237,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28460,587
$CAP_FILE_SIZE,87670,0
$CFSIZE,260165632,239931392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090808,072338,6451.092,-1035.739,29,1.6,29,-11.4