version: 66.03
glider: 16
mission: 9
dive: 344
start: 8 10 108 10 8 54
data:
$ID,16
$MISSION,9
$DIVE,344
$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,-2100850.8
$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,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
$GPS1,100331,6452.161,-1035.813,63,1.1,63,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-52.5
$GPS2,100837,6452.228,-1035.913,13,1.6,29,-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,160.2,87074,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-120.78,0.000,2,0.000,0.000,66,2244,2841
$GC,151,-0.85,-146.6,3.4,-2.9,6,183,11.75,2.62,-14.30,0.000,4,0.172,0.065,2142,812,3378
$GC,340,-0.77,-146.6,24.3,-7.6,14,347,0.00,2.55,0.00,0.000,6,0.000,0.044,2143,2228,3379
$GC,657,-0.65,-146.6,56.3,-9.9,30,662,0.17,2.62,0.00,0.000,4,0.095,0.064,2181,3643,3379
$GC,723,-0.65,-146.6,61.4,-6.8,33,728,0.00,2.55,0.00,0.000,6,0.000,0.044,2181,2223,3379
$GC,1046,-0.65,-146.6,82.3,-6.5,49,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2223,3380
$GC,1354,-0.65,-146.6,102.2,-6.1,64,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2223,3381
$GC,1664,-0.65,-146.6,120.3,-5.8,79,1668,0.00,2.65,0.00,0.000,4,0.000,0.064,2181,3643,3381
$GC,1692,-0.65,-146.6,121.9,-5.9,80,1696,0.00,2.55,0.00,0.000,6,0.000,0.044,2181,2224,3380
$GC,2009,-0.65,-146.6,139.5,-6.1,95,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2225,3382
$GC,2317,-0.65,-146.6,158.9,-6.1,110,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2225,3382
$GC,2627,-0.65,-146.6,176.5,-5.7,125,2632,0.00,2.65,0.00,0.000,4,0.000,0.067,2181,3640,3381
$GC,2655,-0.65,-146.6,178.3,-5.9,126,2659,0.00,2.55,0.00,0.000,6,0.000,0.045,2181,2224,3381
$GC,2971,-0.70,-146.6,199.2,-7.2,141,2975,0.00,2.65,0.00,0.000,4,0.000,0.069,2181,3643,3381
$GC,3011,-0.75,-146.6,202.4,-8.9,143,3016,0.00,2.55,0.00,0.000,6,0.000,0.047,2181,2231,3382
$GC,3339,-0.80,-146.6,228.7,-7.4,159,3344,0.12,2.60,0.00,0.000,4,0.049,0.059,2145,814,3382
$GC,3371,-0.80,-146.6,231.5,-9.0,160,3378,0.00,2.58,0.00,0.000,6,0.000,0.049,2145,2229,3382
$GC,3689,-0.74,-146.6,258.9,-8.6,176,3690,0.12,0.00,0.00,0.000,6,0.093,0.000,2169,2229,3382
$GC,3997,-0.74,-146.6,284.1,-8.2,191,4001,0.00,2.65,0.00,0.000,4,0.000,0.075,2169,3637,3382
$GC,4047,-0.74,-146.6,288.2,-8.2,193,4051,0.00,2.58,0.00,0.000,6,0.000,0.053,2168,2231,3381
$GC,4362,-0.74,-146.6,312.0,-7.4,208,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2231,3381
$GC,4672,-0.74,-146.6,336.9,-7.9,223,4676,0.00,2.70,0.00,0.000,4,0.000,0.079,2168,3637,3380
$GC,4699,-0.74,-146.6,339.2,-8.2,224,4703,0.00,2.60,0.00,0.000,6,0.000,0.055,2169,2230,3380
$GC,5015,-0.74,-146.6,361.2,-7.0,239,5019,0.00,2.65,0.00,0.000,4,0.000,0.068,2168,818,3379
$GC,5042,-0.81,-146.6,363.1,-6.6,240,5047,0.00,2.60,0.00,0.000,6,0.000,0.056,2168,2228,3379
$GC,5359,-0.81,-146.6,384.2,-6.7,255,5363,0.00,2.70,0.00,0.000,4,0.000,0.081,2168,3637,3377
$GC,5386,-0.81,-146.6,386.4,-7.5,256,5390,0.00,2.62,0.00,0.000,6,0.000,0.058,2168,2223,3377
$GC,5702,-0.81,-146.6,408.1,-6.8,271,5706,0.00,2.65,0.00,0.000,4,0.000,0.071,2168,821,3376
$GC,5737,-0.89,-146.6,410.6,-7.3,272,5744,0.15,2.62,0.00,0.000,6,0.054,0.058,2130,2234,3376
$GC,6053,-1.08,-146.6,431.6,-0.9,288,6059,0.17,2.70,0.00,0.000,4,0.076,0.082,2090,3641,3375
$STATE,6174,end dive,NO_VERTICAL_VELOCITY
$STATE,6174,begin apogee
$GC,6186,-0.31,0.0,431.6,0.0,293,6317,0.77,0.00,127.18,0.983,6,0.076,0.000,2255,2243,2781
$STATE,6317,end apogee,CONTROL_FINISHED_OK
$STATE,6317,begin climb
$GC,6320,0.85,146.6,431.6,0.0,300,6457,1.20,2.83,126.68,0.963,4,0.072,0.081,2507,3647,2183
$GC,6716,0.80,166.2,421.5,5.5,318,6740,0.00,2.65,18.40,0.905,6,0.000,0.060,2508,2240,2102
$GC,7070,0.84,202.1,403.9,5.0,335,7104,0.00,0.00,31.83,0.942,6,0.000,0.000,2508,2240,1956
$GC,7422,0.87,233.5,385.5,5.1,352,7456,0.00,2.80,28.48,0.933,4,0.000,0.074,2508,833,1827
$GC,7474,0.92,272.8,382.7,4.9,354,7514,0.00,2.65,34.42,0.933,6,0.000,0.058,2508,2238,1669
$GC,7840,1.00,302.2,363.1,5.2,372,7874,0.15,2.83,26.52,0.923,4,0.080,0.074,2545,823,1547
$GC,7919,1.00,302.2,357.7,7.6,375,7926,0.00,2.65,0.00,0.000,6,0.000,0.059,2545,2240,1547
$GC,8236,1.00,302.2,336.9,6.6,391,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2240,1546
$GC,8545,1.02,315.3,318.6,5.6,406,8566,0.00,2.78,12.02,0.862,4,0.000,0.073,2545,824,1495
$GC,8594,1.03,329.5,315.8,5.6,408,8613,0.00,2.67,13.82,0.867,6,0.000,0.058,2545,2246,1437
$GC,8943,1.04,332.3,295.1,5.9,425,8952,0.00,2.72,3.72,0.600,4,0.000,0.073,2545,827,1426
$GC,8975,1.04,332.3,293.0,6.1,426,8979,0.00,2.65,0.00,0.000,6,0.000,0.058,2545,2242,1426
$GC,9291,1.04,332.3,272.7,6.9,441,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2242,1425
$GC,9601,1.05,345.6,254.2,5.6,456,9622,0.00,2.78,12.73,0.839,4,0.000,0.071,2545,827,1372
$GC,9651,1.06,354.8,251.2,5.7,458,9667,0.00,2.65,9.43,0.801,6,0.000,0.058,2545,2239,1334
$GC,9977,1.10,389.2,234.3,5.1,474,10010,0.12,0.00,30.17,0.868,6,0.079,0.000,2570,2239,1194
$GC,10305,1.03,389.2,211.0,7.5,490,10310,0.00,2.70,0.00,0.000,4,0.000,0.071,2570,821,1193
$GC,10367,1.03,389.2,206.2,7.7,493,10372,0.00,2.62,0.00,0.000,6,0.000,0.055,2570,2240,1193
$GC,10695,0.97,389.2,178.4,9.6,509,10700,0.15,2.70,0.00,0.000,4,0.104,0.069,2539,821,1193
$GC,10757,0.97,389.2,172.7,8.9,512,10762,0.00,2.62,0.00,0.000,6,0.000,0.054,2539,2243,1193
$GC,11086,0.97,389.2,141.6,9.6,528,11090,0.00,2.67,0.00,0.000,4,0.000,0.066,2539,826,1192
$GC,11119,0.97,389.2,138.3,9.3,529,11125,0.00,2.60,0.00,0.000,6,0.000,0.051,2539,2243,1193
$GC,11435,0.97,389.2,108.6,9.9,545,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2244,1193
$GC,11746,0.97,389.2,77.5,9.8,560,11750,0.00,2.65,0.00,0.000,4,0.000,0.063,2539,825,1194
$GC,11819,0.97,389.2,70.6,9.3,563,11823,0.00,2.58,0.00,0.000,6,0.000,0.048,2539,2243,1194
$GC,12135,0.97,389.2,42.4,8.6,578,12139,0.00,2.65,0.00,0.000,4,0.000,0.061,2539,823,1195
$GC,12174,0.97,389.2,39.1,8.3,580,12179,0.00,2.58,0.00,0.000,6,0.000,0.047,2539,2248,1195
$GC,12502,0.97,389.2,12.7,8.1,596,12503,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2248,1196
$STATE,12643,end climb,SURFACE_DEPTH_REACHED
$STATE,12643,begin surface coast
$FINISH,0.5,1.026986
$STATE,12665,end surface coast,CONTROL_FINISHED_OK
$STATE,12665,begin surface
$SM_CCo,12687,86.57,0.645,0,0,509,557.32
$SM_GC,1.18,0.00,0.00,86.57,0.000,0.000,0.645,75,2250,509,-10.37,0.57,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1950
$TCM_TEMP,17.10
$XPDR_PINGS,47
$ALTIM_TOP_PING,19.4,19.2
$24V_AH,23.5,55.476
$10V_AH,10.1,27.298
$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,25.750,121.850,475.400,86.575,0.000,18.124,32.777,122.831,15.500,0.000,0.000,29.387,1138.354,9388.193,689.257,1441.344,427.240,0.000,1450.535,0.000,1392.301,0.000,27.600
$DEVICE_MAMPS,171.808,82.069,983.294,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.878,409.748,459.957,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31765,604
$CAP_FILE_SIZE,98669,0
$CFSIZE,260165632,239505408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,100808,134328,6452.390,-1035.133,40,2.9,59,-11.4