version: 66.03
glider: 16
mission: 9
dive: 347
start: 8 10 108 20 48 16
data:
$ID,16
$MISSION,9
$DIVE,347
$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,-2100910.5
$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,20
$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
$GPS1,204307,6451.774,-1031.510,43,1.4,48,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-54.8
$GPS2,204757,6451.833,-1031.627,14,1.5,14,-11.3
$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,161.9,84698,-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,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.57,0.000,2,0.000,0.000,69,2245,2835
$GC,150,-0.85,-146.6,3.6,-3.1,6,182,11.52,2.65,-13.98,0.000,4,0.166,0.067,2139,814,3379
$GC,298,-0.77,-146.6,20.8,-9.4,12,304,0.12,2.55,0.00,0.000,6,0.099,0.046,2163,2230,3379
$GC,614,-0.71,-146.6,44.2,-7.0,28,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3380
$GC,923,-0.66,-146.6,67.6,-8.2,43,928,0.12,2.62,0.00,0.000,4,0.097,0.055,2186,813,3380
$GC,952,-0.71,-146.6,69.8,-7.5,44,956,0.00,2.58,0.00,0.000,6,0.000,0.046,2186,2231,3380
$GC,1269,-0.71,-146.6,92.4,-7.9,59,1274,0.00,2.62,0.00,0.000,4,0.000,0.066,2186,3645,3381
$GC,1302,-0.71,-146.6,95.5,-8.8,60,1309,0.00,2.55,0.00,0.000,6,0.000,0.045,2187,2225,3382
$GC,1619,-0.75,-146.6,123.6,-9.1,76,1624,0.00,2.58,0.00,0.000,4,0.000,0.057,2186,818,3382
$GC,1660,-0.84,-146.6,127.5,-9.1,78,1665,0.17,2.55,0.00,0.000,6,0.041,0.045,2133,2230,3381
$GC,1987,-0.72,-146.6,161.1,-8.8,94,1992,0.15,2.62,0.00,0.000,4,0.086,0.065,2167,3642,3382
$GC,2037,-0.72,-146.6,164.7,-6.5,96,2042,0.00,2.55,0.00,0.000,6,0.000,0.046,2167,2230,3382
$GC,2354,-0.72,-146.6,177.8,-3.5,111,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3382
$GC,2663,-0.72,-146.6,189.0,-3.8,126,2667,0.00,2.65,0.00,0.000,4,0.000,0.068,2167,3643,3382
$GC,2697,-0.72,-146.6,190.5,-4.8,127,2703,0.00,2.55,0.00,0.000,6,0.000,0.048,2167,2233,3382
$GC,3013,-0.72,-146.6,207.4,-6.0,143,3017,0.00,2.62,0.00,0.000,4,0.000,0.070,2167,3636,3382
$GC,3052,-0.72,-146.6,209.9,-6.5,145,3056,0.00,2.55,0.00,0.000,6,0.000,0.049,2167,2225,3382
$GC,3379,-0.72,-146.6,233.2,-8.1,161,3384,0.00,2.62,0.00,0.000,4,0.000,0.061,2167,811,3382
$GC,3420,-0.76,-146.6,236.9,-9.5,163,3424,0.00,2.60,0.00,0.000,6,0.000,0.050,2167,2230,3382
$GC,3747,-0.76,-146.6,270.1,-11.1,179,3751,0.00,2.65,0.00,0.000,4,0.000,0.074,2167,3638,3382
$GC,3796,-0.76,-146.6,276.3,-12.5,181,3800,0.00,2.58,0.00,0.000,6,0.000,0.052,2167,2230,3382
$GC,4112,-0.76,-146.6,310.9,-10.7,196,4116,0.00,2.62,0.00,0.000,4,0.000,0.066,2167,819,3382
$GC,4146,-0.82,-146.6,314.5,-11.5,197,4152,0.00,2.60,0.00,0.000,6,0.000,0.054,2167,2233,3382
$GC,4461,-0.82,-146.6,344.2,-9.0,213,4466,0.00,2.65,0.00,0.000,4,0.000,0.078,2167,3637,3381
$GC,4507,-0.82,-146.6,348.1,-8.9,215,4511,0.00,2.60,0.00,0.000,6,0.000,0.057,2167,2229,3381
$GC,4829,-0.82,-146.6,373.5,-7.6,231,4833,0.00,2.65,0.00,0.000,4,0.000,0.071,2167,818,3380
$GC,4862,-0.89,-146.6,376.3,-8.3,232,4868,0.15,2.62,0.00,0.000,6,0.051,0.057,2126,2234,3380
$GC,5178,-0.79,-146.6,405.8,-8.8,248,5183,0.15,2.70,0.00,0.000,4,0.097,0.082,2158,3641,3378
$GC,5223,-0.79,-146.6,409.4,-7.6,250,5227,0.00,2.62,0.00,0.000,6,0.000,0.061,2158,2231,3378
$STATE,5458,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5458,begin apogee
$GC,5465,-0.31,0.0,426.7,6.9,262,5600,0.50,0.00,128.20,0.976,6,0.098,0.000,2258,2231,2781
$STATE,5601,end apogee,CONTROL_FINISHED_OK
$STATE,5601,begin climb
$GC,5604,0.85,146.6,433.2,0.0,269,5739,1.17,2.78,127.30,0.955,4,0.077,0.071,2507,829,2181
$GC,5830,0.83,180.0,429.1,5.1,279,5865,0.00,2.65,29.95,0.918,6,0.000,0.056,2506,2246,2047
$GC,6188,0.86,209.4,410.4,5.2,297,6222,0.00,2.83,26.45,0.921,4,0.000,0.081,2506,3648,1927
$GC,6240,0.87,217.4,407.4,5.8,299,6254,0.00,2.67,8.85,0.815,6,0.000,0.061,2507,2237,1893
$GC,6584,0.91,247.7,389.4,5.2,316,6618,0.00,2.80,27.05,0.923,4,0.000,0.074,2506,830,1770
$GC,6637,0.98,279.4,386.5,5.1,318,6672,0.17,2.65,28.58,0.920,6,0.077,0.057,2544,2239,1642
$GC,7002,0.98,279.4,362.2,6.5,336,7006,0.00,2.72,0.00,0.000,4,0.000,0.083,2544,3649,1640
$GC,7024,0.98,279.4,360.7,6.3,337,7028,0.00,2.65,0.00,0.000,6,0.000,0.063,2544,2242,1640
$GC,7344,0.98,279.4,336.8,7.7,353,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2242,1639
$GC,7653,0.98,279.4,312.0,8.6,368,7658,0.00,2.70,0.00,0.000,4,0.000,0.077,2544,828,1638
$GC,7682,0.98,279.4,309.5,8.7,369,7686,0.00,2.65,0.00,0.000,6,0.000,0.059,2544,2248,1638
$GC,7997,0.98,279.4,278.8,9.9,384,8002,0.00,2.70,0.00,0.000,4,0.000,0.082,2544,3651,1638
$GC,8041,0.98,279.4,274.0,11.0,386,8045,0.00,2.65,0.00,0.000,6,0.000,0.063,2544,2239,1638
$GC,8362,0.98,279.4,240.0,10.5,402,8367,0.00,2.67,0.00,0.000,4,0.000,0.073,2544,827,1637
$GC,8448,0.98,279.4,231.7,9.6,406,8452,0.00,2.62,0.00,0.000,6,0.000,0.056,2544,2240,1636
$GC,8774,0.98,279.4,206.4,7.1,422,8779,0.00,2.70,0.00,0.000,4,0.000,0.077,2544,3655,1636
$GC,8808,0.98,279.4,203.8,7.8,423,8815,0.00,2.62,0.00,0.000,6,0.000,0.059,2544,2237,1636
$GC,9124,0.98,279.4,182.7,6.3,439,9128,0.00,2.70,0.00,0.000,4,0.000,0.074,2544,3654,1636
$GC,9157,0.98,279.4,180.3,6.7,440,9163,0.00,2.62,0.00,0.000,6,0.000,0.057,2544,2234,1636
$GC,9473,0.99,293.4,160.8,5.6,456,9491,0.00,0.00,12.73,0.762,6,0.000,0.000,2544,2234,1582
$GC,9802,1.07,359.2,146.1,4.2,472,9865,0.00,2.72,54.67,0.792,4,0.000,0.064,2544,815,1316
$GC,9900,1.14,377.4,141.3,5.5,476,9924,0.17,2.62,16.48,0.737,6,0.073,0.048,2579,2243,1242
$GC,10244,1.05,377.4,110.6,10.6,493,10248,0.00,2.65,0.00,0.000,4,0.000,0.062,2579,829,1242
$GC,10288,1.00,377.4,105.3,11.3,495,10293,0.15,2.55,0.00,0.000,6,0.097,0.047,2550,2241,1242
$GC,10610,1.00,377.4,73.3,9.8,511,10614,0.00,2.65,0.00,0.000,4,0.000,0.061,2550,823,1242
$GC,10654,1.00,377.4,68.8,10.2,513,10659,0.00,2.58,0.00,0.000,6,0.000,0.046,2550,2242,1243
$GC,10975,1.00,377.4,36.6,10.1,529,10979,0.00,2.65,0.00,0.000,4,0.000,0.061,2550,824,1243
$GC,11038,1.00,377.4,30.3,10.1,532,11042,0.00,2.58,0.00,0.000,6,0.000,0.046,2550,2244,1243
$STATE,11362,end climb,SURFACE_DEPTH_REACHED
$STATE,11362,begin surface coast
$FINISH,0.5,1.015796
$STATE,11387,end surface coast,CONTROL_FINISHED_OK
$STATE,11387,begin surface
$SM_CCo,11409,90.53,0.640,0,0,508,557.32
$SM_GC,1.26,0.00,0.00,90.53,0.000,0.000,0.640,68,2246,508,-10.41,0.45,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1934
$TCM_TEMP,16.90
$XPDR_PINGS,47
$ALTIM_TOP_PING,18.5,17.7
$ALTIM_BOTTOM_PING,400.3,34.9
$24V_AH,23.5,55.923
$10V_AH,10.1,27.485
$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,25.350,137.175,460.250,90.525,0.000,18.144,32.140,118.664,15.000,0.000,0.000,14.188,1044.214,8338.997,693.042,1300.901,419.960,0.000,1405.592,0.000,1266.517,0.000,23.331
$DEVICE_MAMPS,165.672,82.836,976.391,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.355,371.738,423.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28538,549
$CAP_FILE_SIZE,94801,0
$CFSIZE,260165632,239370240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110808,000128,6450.782,-1031.459,32,3.0,51,-11.3