version: 66.03
glider: 16
mission: 9
dive: 369
start: 8 14 108 13 49 10
data:
$ID,16
$MISSION,9
$DIVE,369
$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,-2101518
$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,21
$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
$GPS1,134252,6417.695,-950.123,40,3.4,59,-10.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-54.6
$GPS2,134853,6417.664,-950.130,16,2.9,35,-10.7
$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,152.8,13294,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-120.93,0.000,2,0.000,0.000,69,2252,2998
$GC,153,-0.85,-146.6,4.6,-4.1,6,179,11.68,2.58,-8.40,0.000,4,0.170,0.074,2142,3637,3381
$GC,315,-0.73,-146.6,26.3,-9.3,13,320,0.15,2.55,0.00,0.000,6,0.098,0.042,2172,2219,3381
$GC,631,-0.73,-146.6,54.7,-9.3,28,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2219,3381
$GC,942,-0.73,-146.6,80.2,-7.9,43,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2218,3382
$GC,1249,-0.73,-146.6,103.1,-7.6,58,1254,0.00,2.62,0.00,0.000,4,0.000,0.062,2170,3637,3383
$GC,1276,-0.73,-146.6,105.4,-8.3,59,1280,0.00,2.53,0.00,0.000,6,0.000,0.042,2170,2227,3383
$GC,1593,-0.73,-146.6,129.8,-8.3,74,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2227,3383
$GC,1901,-0.73,-146.6,155.6,-8.6,89,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2227,3383
$GC,2210,-0.73,-146.6,178.6,-6.8,104,2214,0.00,2.62,0.00,0.000,4,0.000,0.064,2171,3641,3383
$GC,2238,-0.73,-146.6,180.8,-7.6,105,2242,0.00,2.53,0.00,0.000,6,0.000,0.043,2171,2229,3383
$GC,2554,-0.73,-146.6,202.1,-6.7,120,2558,0.00,2.58,0.00,0.000,4,0.000,0.055,2170,811,3383
$GC,2581,-0.73,-146.6,204.0,-6.9,121,2585,0.00,2.55,0.00,0.000,6,0.000,0.044,2171,2229,3383
$GC,2899,-0.73,-146.6,225.8,-7.1,136,2904,0.00,2.60,0.00,0.000,4,0.000,0.065,2171,3638,3383
$GC,2935,-0.73,-146.6,228.5,-7.4,137,2941,0.00,2.53,0.00,0.000,6,0.000,0.044,2171,2227,3383
$GC,3251,-0.73,-146.6,250.4,-7.1,153,3255,0.00,2.58,0.00,0.000,4,0.000,0.055,2171,815,3383
$GC,3284,-0.78,-146.6,252.9,-6.9,154,3290,0.00,2.55,0.00,0.000,6,0.000,0.044,2171,2230,3383
$GC,3600,-0.78,-146.6,274.6,-6.5,170,3605,0.00,2.60,0.00,0.000,4,0.000,0.066,2171,3641,3383
$GC,3639,-0.78,-146.6,277.4,-6.9,171,3645,0.00,2.53,0.00,0.000,6,0.000,0.044,2171,2230,3383
$GC,3955,-0.78,-146.6,293.9,-4.7,187,3959,0.00,2.58,0.00,0.000,4,0.000,0.056,2171,817,3383
$GC,3989,-0.83,-146.6,295.7,-5.3,188,3995,0.00,2.55,0.00,0.000,6,0.000,0.044,2171,2231,3383
$GC,4305,-0.83,-146.6,316.8,-7.6,204,4309,0.00,2.60,0.00,0.000,4,0.000,0.067,2171,3640,3383
$GC,4344,-0.83,-146.6,320.1,-8.7,206,4349,0.00,2.53,0.00,0.000,6,0.000,0.045,2171,2231,3382
$GC,4672,-0.83,-146.6,345.3,-6.9,222,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2231,3383
$GC,4981,-0.83,-146.6,363.2,-6.0,237,4985,0.00,2.65,0.00,0.000,4,0.000,0.070,2171,3641,3383
$GC,5013,-0.83,-146.6,365.6,-7.5,238,5019,0.00,2.53,0.00,0.000,6,0.000,0.048,2171,2232,3382
$GC,5330,-0.83,-146.6,386.3,-6.4,254,5334,0.00,2.58,0.00,0.000,4,0.000,0.061,2171,820,3382
$GC,5363,-0.91,-146.6,388.7,-7.3,255,5370,0.17,2.58,0.00,0.000,6,0.044,0.049,2119,2237,3382
$GC,5679,-0.77,-146.6,415.2,-8.8,271,5684,0.17,2.62,0.00,0.000,4,0.092,0.072,2156,3637,3381
$GC,5747,-0.77,-146.6,420.8,-7.8,274,5751,0.00,2.55,0.00,0.000,6,0.000,0.051,2156,2232,3382
$GC,6067,-0.77,-146.6,443.4,-6.8,290,6072,0.00,2.65,0.00,0.000,4,0.000,0.064,2156,813,3381
$GC,6101,-0.77,-146.6,445.7,-6.9,291,6107,0.00,2.60,0.00,0.000,6,0.000,0.052,2156,2232,3381
$GC,6417,-0.77,-146.6,467.1,-7.3,307,6421,0.00,2.65,0.00,0.000,4,0.000,0.077,2156,3637,3380
$GC,6456,-0.77,-146.6,470.2,-8.0,309,6461,0.00,2.58,0.00,0.000,6,0.000,0.054,2156,2228,3379
$GC,6784,-0.77,-146.6,494.0,-7.1,325,6788,0.00,2.62,0.00,0.000,4,0.000,0.068,2156,820,3378
$GC,6816,-0.77,-146.6,496.5,-7.5,326,6822,0.00,2.60,0.00,0.000,6,0.000,0.054,2156,2230,3378
$GC,7132,-0.77,-146.6,517.3,-6.6,342,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2231,3377
$GC,7442,-0.77,-146.6,537.6,-6.7,357,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2231,3375
$GC,7750,-0.77,-146.6,558.4,-6.8,372,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2231,3374
$GC,8060,-0.77,-146.6,580.0,-7.1,387,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2231,3373
$GC,8370,-0.77,-146.6,602.1,-7.1,402,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2232,3372
$GC,8678,-0.77,-146.6,622.9,-6.9,417,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2232,3371
$GC,8987,-0.77,-146.6,644.3,-7.4,432,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2232,3370
$STATE,9191,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9191,begin apogee
$GC,9198,-0.31,0.0,659.0,6.9,442,9334,0.52,0.00,130.20,1.144,6,0.100,0.000,2260,2232,2782
$STATE,9335,end apogee,CONTROL_FINISHED_OK
$STATE,9335,begin climb
$GC,9338,0.85,146.6,665.3,0.0,449,9473,1.20,0.00,131.48,1.129,6,0.085,0.000,2506,2231,2183
$GC,9772,0.81,179.1,650.6,5.1,470,9807,0.00,2.75,30.35,1.084,4,0.000,0.069,2507,829,2049
$GC,9916,0.81,179.1,642.2,6.3,475,9922,0.00,2.62,0.00,0.000,6,0.000,0.057,2507,2241,2048
$GC,10232,0.82,190.2,624.2,5.7,491,10245,0.00,0.00,11.15,0.999,6,0.000,0.000,2507,2240,2005
$GC,10542,0.82,190.2,605.6,6.3,506,10543,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2240,2004
$GC,10850,0.82,190.2,585.8,6.5,521,10851,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2241,2004
$GC,11159,0.82,190.2,566.8,6.0,536,11161,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2241,2003
$GC,11470,0.84,208.9,549.5,5.5,551,11494,0.00,2.80,17.40,1.036,4,0.000,0.070,2507,830,1929
$GC,11513,0.87,232.9,547.0,5.3,553,11542,0.00,2.65,22.80,1.045,6,0.000,0.056,2507,2241,1830
$GC,11866,0.87,232.9,525.3,6.1,570,11867,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2241,1830
$GC,12175,0.88,243.0,507.5,5.7,585,12190,0.00,2.75,10.30,0.956,4,0.000,0.071,2507,829,1790
$GC,12214,0.88,243.0,505.1,6.3,586,12218,0.00,2.62,0.00,0.000,6,0.000,0.056,2507,2241,1789
$GC,12541,0.88,243.0,482.7,7.0,602,12542,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2241,1789
$GC,12849,0.88,243.0,460.5,7.3,617,12854,0.00,2.70,0.00,0.000,4,0.000,0.071,2507,828,1789
$GC,12873,0.88,243.0,459.0,6.1,618,12877,0.00,2.62,0.00,0.000,6,0.000,0.056,2507,2242,1789
$GC,13194,0.88,243.0,437.5,6.3,634,13195,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2242,1789
$GC,13503,0.88,243.0,418.8,6.2,649,13504,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2242,1788
$GC,13812,0.88,243.0,397.9,6.9,664,13816,0.00,2.67,0.00,0.000,4,0.000,0.079,2507,3653,1788
$GC,13833,0.88,243.0,396.4,6.8,665,13838,0.00,2.62,0.00,0.000,6,0.000,0.058,2507,2235,1788
$GC,14156,0.92,243.0,375.4,6.1,681,14161,0.10,2.65,0.00,0.000,4,0.083,0.071,2529,830,1788
$GC,14196,0.92,243.0,372.5,6.9,683,14200,0.00,2.60,0.00,0.000,6,0.000,0.054,2529,2241,1788
$GC,14523,0.94,258.6,352.5,5.6,699,14542,0.00,0.00,14.85,0.907,6,0.000,0.000,2529,2241,1726
$GC,14852,0.97,291.8,335.8,5.1,715,14886,0.00,2.72,29.38,0.927,4,0.000,0.064,2529,826,1591
$GC,14904,1.01,322.1,332.9,5.2,717,14939,0.00,2.62,27.45,0.912,6,0.000,0.051,2529,2242,1466
$GC,15270,1.01,322.1,306.5,8.7,735,15274,0.00,2.67,0.00,0.000,4,0.000,0.063,2529,822,1465
$GC,15303,1.05,322.1,303.3,8.4,736,15310,0.15,2.60,0.00,0.000,6,0.085,0.050,2558,2243,1465
$GC,15620,0.99,322.1,274.5,9.1,752,15624,0.00,2.65,0.00,0.000,4,0.000,0.062,2558,823,1465
$GC,15647,0.95,322.1,271.7,9.9,753,15652,0.12,2.60,0.00,0.000,6,0.100,0.048,2536,2246,1465
$GC,15963,0.95,322.1,243.5,9.2,768,15964,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2246,1466
$GC,16274,0.95,322.1,216.3,8.2,783,16278,0.00,2.65,0.00,0.000,4,0.000,0.060,2536,823,1467
$GC,16318,0.95,322.1,212.5,8.3,785,16323,0.00,2.58,0.00,0.000,6,0.000,0.045,2536,2243,1467
$GC,16639,0.95,322.1,187.1,8.3,801,16643,0.00,2.62,0.00,0.000,4,0.000,0.060,2536,823,1468
$GC,16672,0.95,322.1,184.1,8.9,802,16678,0.00,2.58,0.00,0.000,6,0.000,0.045,2536,2244,1468
$GC,16988,0.95,322.1,157.1,8.5,818,16992,0.00,2.62,0.00,0.000,4,0.000,0.059,2536,825,1468
$GC,17015,0.95,322.1,154.6,8.1,819,17019,0.00,2.58,0.00,0.000,6,0.000,0.045,2536,2249,1468
$GC,17332,0.95,322.1,127.7,8.5,834,17336,0.00,2.65,0.00,0.000,4,0.000,0.058,2536,821,1469
$GC,17359,0.95,322.1,125.2,8.4,835,17363,0.00,2.58,0.00,0.000,6,0.000,0.044,2536,2246,1469
$GC,17676,0.95,322.1,99.5,7.9,850,17680,0.00,2.62,0.00,0.000,4,0.000,0.058,2536,827,1470
$GC,17709,0.99,322.1,96.9,7.1,851,17715,0.00,2.55,0.00,0.000,6,0.000,0.044,2536,2243,1470
$GC,18026,0.99,322.1,75.7,6.7,867,18030,0.00,2.62,0.00,0.000,4,0.000,0.058,2536,823,1471
$GC,18059,1.04,322.1,73.1,7.3,868,18065,0.00,2.55,0.00,0.000,6,0.000,0.044,2536,2242,1471
$GC,18377,1.04,322.1,51.3,6.9,884,18381,0.00,2.62,0.00,0.000,4,0.000,0.058,2536,825,1471
$GC,18401,1.08,322.1,49.4,7.8,885,18406,0.12,2.55,0.00,0.000,6,0.049,0.044,2564,2240,1471
$GC,18724,1.08,322.1,18.7,9.0,901,18729,0.00,2.60,0.00,0.000,4,0.000,0.064,2565,3653,1473
$GC,18765,1.08,322.1,14.6,9.3,903,18769,0.00,2.55,0.00,0.000,6,0.000,0.050,2565,2239,1473
$STATE,18903,end climb,SURFACE_DEPTH_REACHED
$STATE,18903,begin surface coast
$FINISH,0.5,1.025141
$STATE,18925,end surface coast,CONTROL_FINISHED_OK
$STATE,18925,begin surface
$SM_CCo,18948,116.50,0.623,0,0,509,557.32
$SM_GC,1.24,0.00,0.00,116.50,0.000,0.000,0.623,72,2236,509,-10.39,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1885
$TCM_TEMP,17.50
$XPDR_PINGS,55
$ALTIM_TOP_PING,18.7,17.4
$ALTIM_BOTTOM_PING,625.9,42.9
$24V_AH,23.4,59.279
$10V_AH,10.1,29.045
$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,25.275,166.850,425.350,116.500,0.000,18.317,28.296,157.672,19.250,0.000,0.000,36.334,1645.837,14602.119,736.000,1887.051,552.934,0.000,1699.051,0.000,1825.725,0.000,37.967
$DEVICE_MAMPS,169.507,79.001,1144.364,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,674.361,621.286,554.619,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47375,911
$CAP_FILE_SIZE,134230,0
$CFSIZE,260165632,238133248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,140808,190808,6415.533,-948.012,32,1.8,33,-10.7