version: 66.03
glider: 16
mission: 9
dive: 352
start: 8 11 108 15 40 21
data:
$ID,16
$MISSION,9
$DIVE,352
$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,-2101025.5
$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,21
$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
$GPS1,152938,6447.206,-1033.362,34,2.0,34,-11.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-55.2
$GPS2,154002,6447.267,-1033.555,12,2.0,17,-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,157.8,78291,-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,-120.68,0.000,2,0.000,0.000,69,2252,2752
$GC,150,-0.85,-146.6,3.0,-2.5,6,186,11.62,2.65,-18.15,0.000,4,0.169,0.069,2142,814,3380
$GC,303,-0.77,-146.6,20.3,-9.5,12,308,0.00,2.58,0.00,0.000,6,0.000,0.047,2142,2230,3380
$GC,631,-0.63,-146.6,53.0,-9.4,28,636,0.20,2.62,0.00,0.000,4,0.097,0.064,2185,3641,3380
$GC,681,-0.63,-146.6,57.4,-7.6,30,685,0.00,2.55,0.00,0.000,6,0.000,0.044,2186,2226,3381
$GC,998,-0.63,-146.6,77.7,-5.7,45,1002,0.00,2.65,0.00,0.000,4,0.000,0.065,2186,3640,3381
$GC,1025,-0.63,-146.6,79.7,-6.4,46,1029,0.00,2.55,0.00,0.000,6,0.000,0.045,2186,2229,3382
$GC,1341,-0.63,-146.6,103.3,-8.5,61,1345,0.00,2.65,0.00,0.000,4,0.000,0.067,2186,3640,3382
$GC,1374,-0.63,-146.6,106.7,-10.1,62,1381,0.00,2.55,0.00,0.000,6,0.000,0.047,2185,2225,3383
$GC,1691,-0.69,-146.6,132.0,-6.9,78,1695,0.00,2.60,0.00,0.000,4,0.000,0.059,2186,814,3382
$GC,1735,-0.79,-146.6,135.5,-7.4,80,1740,0.15,2.58,0.00,0.000,6,0.044,0.048,2139,2230,3382
$GC,2057,-0.69,-146.6,162.6,-8.0,96,2063,0.17,2.65,0.00,0.000,4,0.087,0.071,2176,3640,3380
$GC,2135,-0.69,-146.6,168.4,-6.7,99,2142,0.00,2.58,0.00,0.000,6,0.000,0.049,2176,2225,3382
$GC,2452,-0.69,-146.6,191.6,-7.6,115,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2225,3382
$GC,2761,-0.73,-146.6,214.6,-7.4,130,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2225,3382
$GC,3070,-0.73,-146.6,236.8,-7.3,145,3074,0.00,2.70,0.00,0.000,4,0.000,0.076,2176,3638,3382
$GC,3097,-0.73,-146.6,238.8,-7.8,146,3102,0.00,2.60,0.00,0.000,6,0.000,0.053,2176,2223,3382
$GC,3413,-0.73,-146.6,260.4,-6.6,161,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2223,3382
$GC,3723,-0.78,-146.6,279.3,-5.7,176,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2223,3382
$GC,4033,-0.82,-146.6,297.7,-6.2,191,4038,0.12,2.70,0.00,0.000,4,0.053,0.081,2140,3636,3381
$GC,4066,-0.74,-146.6,300.5,-8.5,192,4073,0.15,2.60,0.00,0.000,6,0.096,0.058,2169,2231,3381
$GC,4382,-0.74,-146.6,322.5,-7.1,208,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2231,3380
$GC,4692,-0.74,-146.6,343.0,-6.4,223,4696,0.00,2.72,0.00,0.000,4,0.000,0.083,2169,3637,3379
$GC,4736,-0.74,-146.6,346.1,-6.9,225,4740,0.00,2.62,0.00,0.000,6,0.000,0.058,2168,2227,3378
$GC,5058,-0.74,-146.6,365.0,-5.8,241,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2227,3377
$GC,5367,-0.74,-146.6,384.1,-6.0,256,5372,0.00,2.72,0.00,0.000,4,0.000,0.085,2169,3636,3376
$GC,5389,-0.74,-146.6,385.9,-7.5,257,5394,0.00,2.62,0.00,0.000,6,0.000,0.059,2168,2226,3376
$GC,5710,-0.79,-146.6,408.3,-7.1,273,5715,0.00,2.72,0.00,0.000,4,0.000,0.084,2168,3636,3375
$GC,5738,-0.79,-146.6,410.3,-7.8,274,5743,0.00,2.62,0.00,0.000,6,0.000,0.059,2169,2226,3375
$GC,6054,-0.79,-146.6,432.6,-7.4,289,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2225,3374
$STATE,6319,end dive,NO_VERTICAL_VELOCITY
$STATE,6319,begin apogee
$GC,6327,-0.31,0.0,437.1,0.0,302,6462,0.45,0.00,128.27,1.011,6,0.090,0.000,2261,2225,2781
$STATE,6463,end apogee,CONTROL_FINISHED_OK
$STATE,6463,begin climb
$GC,6466,0.85,146.6,437.1,0.0,309,6602,1.20,2.85,127.55,0.983,4,0.081,0.081,2510,3642,2184
$GC,6729,0.86,250.6,431.1,3.2,321,6827,0.00,2.65,90.10,0.964,6,0.000,0.060,2510,2235,1759
$GC,7138,0.92,262.8,407.0,5.7,341,7159,0.00,2.80,12.30,0.872,4,0.000,0.076,2510,827,1709
$GC,7184,0.99,280.9,404.4,5.5,343,7206,0.17,2.67,16.80,0.902,6,0.061,0.059,2553,2240,1636
$GC,7517,0.92,280.9,379.3,7.5,359,7522,0.12,2.72,0.00,0.000,4,0.101,0.082,2531,3649,1635
$GC,7539,0.92,280.9,377.5,7.3,360,7543,0.00,2.65,0.00,0.000,6,0.000,0.062,2531,2240,1635
$GC,7861,0.92,280.9,357.0,6.2,376,7865,0.00,2.70,0.00,0.000,4,0.000,0.075,2531,829,1634
$GC,7916,0.92,280.9,353.0,7.1,378,7922,0.00,2.65,0.00,0.000,6,0.000,0.059,2531,2244,1634
$GC,8231,0.92,280.9,331.8,7.2,394,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2244,1634
$GC,8541,0.92,280.9,308.4,7.9,409,8546,0.00,2.72,0.00,0.000,4,0.000,0.074,2530,825,1633
$GC,8608,0.92,280.9,302.5,8.9,412,8613,0.00,2.65,0.00,0.000,6,0.000,0.059,2531,2243,1633
$GC,8929,0.92,280.9,274.3,8.8,428,8933,0.00,2.72,0.00,0.000,4,0.000,0.074,2531,821,1633
$GC,8973,0.92,280.9,270.0,9.5,430,8978,0.00,2.65,0.00,0.000,6,0.000,0.059,2531,2241,1633
$GC,9295,0.92,280.9,242.3,8.7,446,9299,0.00,2.70,0.00,0.000,4,0.000,0.074,2531,828,1633
$GC,9334,0.92,280.9,238.8,8.9,448,9339,0.00,2.65,0.00,0.000,6,0.000,0.059,2530,2249,1632
$GC,9662,0.92,280.9,213.9,7.1,464,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2249,1632
$GC,9971,0.92,280.9,194.1,6.0,479,9976,0.00,2.72,0.00,0.000,4,0.000,0.071,2531,820,1632
$GC,10037,0.92,280.9,189.7,6.6,482,10042,0.00,2.65,0.00,0.000,6,0.000,0.057,2531,2246,1631
$GC,10359,0.93,282.6,170.5,6.0,498,10364,0.00,2.70,0.00,0.000,4,0.000,0.070,2531,822,1630
$GC,10392,0.93,282.6,168.2,6.7,499,10398,0.00,2.62,0.00,0.000,6,0.000,0.056,2531,2240,1631
$GC,10707,0.93,282.6,149.3,6.1,515,10712,0.00,2.67,0.00,0.000,4,0.000,0.077,2531,3652,1631
$GC,10736,0.93,282.6,147.4,7.4,516,10740,0.00,2.62,0.00,0.000,6,0.000,0.058,2531,2232,1632
$GC,11052,0.93,282.6,125.2,7.6,531,11056,0.00,2.62,0.00,0.000,4,0.000,0.066,2531,829,1632
$GC,11101,0.93,282.6,120.8,8.8,533,11106,0.00,2.60,0.00,0.000,6,0.000,0.052,2531,2245,1632
$GC,11418,0.93,282.6,95.0,7.9,548,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2245,1632
$GC,11726,0.93,282.6,71.7,7.1,563,11728,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2245,1632
$GC,12036,0.93,282.6,50.7,6.7,578,12037,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2245,1633
$GC,12346,0.98,282.6,30.0,6.7,593,12350,0.00,2.62,0.00,0.000,4,0.000,0.061,2531,828,1633
$GC,12423,1.04,282.6,24.2,7.1,596,12431,0.12,2.55,0.00,0.000,6,0.053,0.048,2565,2244,1633
$STATE,12716,end climb,SURFACE_DEPTH_REACHED
$STATE,12716,begin surface coast
$FINISH,0.6,1.027106
$STATE,12742,end surface coast,CONTROL_FINISHED_OK
$STATE,12743,begin surface
$SM_CCo,12764,140.43,0.662,0,0,508,557.32
$SM_GC,1.17,0.00,0.00,140.43,0.000,0.000,0.662,72,2245,508,-10.39,0.42,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1937
$TCM_TEMP,16.40
$XPDR_PINGS,56
$ALTIM_TOP_PING,18.9,17.8
$24V_AH,23.4,56.701
$10V_AH,10.1,27.829
$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,25.450,122.050,375.025,140.425,0.000,53.971,86.515,227.780,17.500,0.000,0.000,17.329,1139.830,9709.128,672.035,1375.516,638.117,0.000,1392.848,0.000,1345.319,0.000,24.873
$DEVICE_MAMPS,168.740,85.137,1010.906,661.921,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.473,415.813,466.979,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31739,612
$CAP_FILE_SIZE,100642,0
$CFSIZE,260165632,239104000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,110808,191638,6446.630,-1032.002,32,1.7,32,-11.3