version: 66.03
glider: 16
mission: 9
dive: 416
start: 8 28 108 14 53 58
data:
$ID,16
$MISSION,9
$DIVE,416
$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,-2102662
$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
$GPS1,144737,6339.826,-601.946,42,1.7,54,-8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-59.9
$GPS2,145341,6339.855,-601.891,12,2.3,31,-8.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NO9
$TGT_LATLONG,6340.000,-605.000
$TGT_RADIUS,1500.000
$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,284.3,2568,-27.3,-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,-1.74,-28.8,0.0,0.0,0,134,0.00,0.00,-106.20,0.000,2,0.000,0.000,76,2238,2669
$GC,138,-1.77,-56.6,3.3,-2.2,6,168,10.60,2.60,-11.07,0.000,4,0.173,0.073,1936,3638,3010
$GC,360,-1.61,-56.6,45.3,-20.6,16,365,0.22,2.55,0.00,0.000,6,0.125,0.045,1976,2223,3011
$GC,687,-1.61,-56.6,95.1,-15.1,32,691,0.00,2.62,0.00,0.000,4,0.000,0.063,1976,3637,3012
$GC,760,-1.61,-56.6,107.0,-16.2,35,764,0.00,2.53,0.00,0.000,6,0.000,0.043,1976,2228,3012
$GC,1075,-1.61,-56.6,154.4,-14.8,50,1080,0.00,2.60,0.00,0.000,4,0.000,0.066,1976,3638,3012
$GC,1177,-1.61,-56.6,170.5,-16.5,54,1183,0.00,2.53,0.00,0.000,6,0.000,0.045,1976,2231,3012
$GC,1492,-1.61,-56.6,216.9,-14.5,70,1497,0.00,2.62,0.00,0.000,4,0.000,0.066,1976,3638,3012
$GC,1549,-1.61,-56.6,225.4,-15.1,72,1555,0.00,2.53,0.00,0.000,6,0.000,0.045,1976,2231,3012
$GC,1865,-1.61,-56.6,267.9,-12.5,88,1869,0.00,2.62,0.00,0.000,4,0.000,0.067,1976,3637,3012
$GC,1950,-1.61,-56.6,279.0,-13.3,92,1954,0.00,2.55,0.00,0.000,6,0.000,0.047,1976,2227,3013
$GC,2276,-1.61,-56.6,317.8,-11.8,108,2281,0.00,2.58,0.00,0.000,4,0.000,0.059,1975,816,3013
$GC,2311,-1.65,-56.6,322.2,-12.5,109,2317,0.00,2.58,0.00,0.000,6,0.000,0.048,1976,2230,3013
$GC,2626,-1.65,-56.6,359.9,-12.5,125,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2232,3013
$GC,2937,-1.65,-56.6,400.1,-13.3,140,2941,0.00,2.62,0.00,0.000,4,0.000,0.061,1976,819,3012
$GC,2994,-1.70,-56.6,408.2,-14.4,142,3000,0.00,2.60,0.00,0.000,6,0.000,0.052,1976,2237,3012
$GC,3311,-1.70,-56.6,452.1,-14.0,158,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2237,3011
$GC,3619,-1.70,-56.6,494.2,-13.6,173,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2238,3010
$GC,3929,-1.70,-56.6,535.1,-13.0,188,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2238,3010
$GC,4238,-1.70,-56.6,574.7,-12.9,203,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2238,3008
$GC,4548,-1.70,-56.6,615.4,-13.2,218,4552,0.00,2.65,0.00,0.000,4,0.000,0.075,1976,3640,3007
$GC,4581,-1.70,-56.6,620.1,-14.0,219,4587,0.00,2.58,0.00,0.000,6,0.000,0.051,1976,2230,3007
$GC,4897,-1.74,-56.6,661.0,-12.9,235,4898,0.12,0.00,0.00,0.000,6,0.068,0.000,1947,2230,3006
$GC,5206,-1.74,-56.6,705.1,-14.6,250,5211,0.00,2.67,0.00,0.000,4,0.000,0.075,1947,3640,3004
$GC,5269,-1.64,-56.6,714.8,-15.2,253,5274,0.12,2.58,0.00,0.000,6,0.138,0.052,1967,2228,3004
$GC,5596,-1.64,-56.6,759.2,-13.4,269,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,2228,3003
$GC,5906,-1.64,-56.6,799.5,-12.7,284,5911,0.00,2.67,0.00,0.000,4,0.000,0.077,1967,3638,3001
$GC,5961,-1.60,-56.6,807.4,-14.1,286,5966,0.00,2.58,0.00,0.000,6,0.000,0.051,1967,2227,3002
$GC,6278,-1.60,-56.6,847.7,-12.6,301,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,2227,3001
$GC,6587,-1.60,-56.6,887.8,-13.0,316,6591,0.00,2.67,0.00,0.000,4,0.000,0.074,1967,3638,3000
$GC,6681,-1.60,-56.6,901.3,-15.0,320,6686,0.00,2.58,0.00,0.000,6,0.000,0.050,1967,2225,3000
$GC,6997,-1.60,-56.6,943.2,-13.1,335,7002,0.00,2.67,0.00,0.000,4,0.000,0.072,1967,3638,2999
$GC,7048,-1.60,-56.6,950.4,-13.9,337,7052,0.00,2.55,0.00,0.000,6,0.000,0.049,1967,2230,2998
$STATE,7361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7361,begin apogee
$GC,7367,-0.31,0.0,990.8,12.7,352,7429,1.55,0.00,53.08,1.280,6,0.132,0.000,2259,2229,2781
$STATE,7430,end apogee,CONTROL_FINISHED_OK
$STATE,7430,begin climb
$GC,7434,1.77,56.6,993.5,0.0,355,7503,2.20,0.00,56.42,1.230,6,0.079,0.000,2713,2229,2550
$GC,7814,1.69,108.3,998.7,-1.2,374,7876,0.00,2.67,51.38,1.291,4,0.000,0.060,2713,831,2339
$GC,8028,1.60,108.3,984.5,10.5,383,8034,0.20,2.60,0.00,0.000,6,0.122,0.049,2678,2245,2338
$GC,8343,1.60,108.3,955.6,9.1,399,8347,0.00,2.65,0.00,0.000,4,0.000,0.070,2678,3653,2338
$GC,8416,1.51,108.3,948.3,10.5,402,8421,0.00,2.58,0.00,0.000,6,0.000,0.048,2678,2237,2338
$GC,8732,1.51,108.3,919.4,8.9,417,8733,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2237,2337
$GC,9043,1.51,108.3,891.3,9.1,432,9047,0.00,2.67,0.00,0.000,4,0.000,0.069,2677,3653,2337
$GC,9138,1.42,108.3,881.5,10.4,436,9143,0.22,2.58,0.00,0.000,6,0.129,0.050,2638,2239,2337
$GC,9455,1.49,108.3,855.2,8.1,451,9456,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2239,2336
$GC,9765,1.58,108.3,829.2,8.5,466,9770,0.15,2.67,0.00,0.000,4,0.069,0.071,2676,3652,2336
$GC,9832,1.48,108.3,822.5,10.4,469,9837,0.12,2.58,0.00,0.000,6,0.130,0.050,2656,2237,2335
$GC,10153,1.48,108.3,795.7,8.1,485,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2237,2335
$GC,10463,1.48,108.3,771.0,8.0,500,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2237,2335
$GC,10771,1.48,108.3,747.7,7.4,515,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2237,2334
$GC,11081,1.48,108.3,726.0,6.9,530,11085,0.00,2.65,0.00,0.000,4,0.000,0.072,2656,3647,2334
$GC,11159,1.48,108.3,720.2,8.0,533,11165,0.00,2.55,0.00,0.000,6,0.000,0.051,2656,2242,2334
$GC,11475,1.48,108.3,698.4,7.0,549,11476,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2242,2334
$GC,11784,1.48,108.3,676.4,7.2,564,11788,0.00,2.65,0.00,0.000,4,0.000,0.073,2656,3647,2334
$GC,11834,1.48,108.3,672.4,8.5,566,11839,0.00,2.58,0.00,0.000,6,0.000,0.051,2656,2234,2334
$GC,12150,1.48,108.3,649.6,7.3,581,12151,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2235,2334
$GC,12460,1.48,108.3,626.9,7.4,596,12464,0.00,2.67,0.00,0.000,4,0.000,0.073,2656,3647,2334
$GC,12538,1.48,108.3,620.6,8.0,599,12544,0.00,2.58,0.00,0.000,6,0.000,0.051,2656,2235,2334
$GC,12854,1.48,108.3,597.1,7.2,615,12858,0.00,2.67,0.00,0.000,4,0.000,0.073,2656,3647,2334
$GC,12948,1.48,108.3,589.5,7.6,619,12952,0.00,2.58,0.00,0.000,6,0.000,0.051,2656,2235,2333
$GC,13265,1.48,108.3,567.2,6.8,634,13269,0.00,2.67,0.00,0.000,4,0.000,0.073,2656,3650,2334
$GC,13417,1.48,108.3,555.6,8.1,641,13421,0.00,2.58,0.00,0.000,6,0.000,0.051,2656,2240,2333
$GC,13744,1.48,108.3,533.2,6.7,657,13749,0.00,2.67,0.00,0.000,4,0.000,0.072,2656,3652,2333
$GC,13800,1.43,108.3,529.2,7.0,659,13806,0.00,2.58,0.00,0.000,6,0.000,0.051,2656,2240,2333
$GC,14115,1.43,108.3,509.1,6.2,675,14120,0.00,2.65,0.00,0.000,4,0.000,0.065,2656,826,2333
$GC,14172,1.43,108.3,505.5,6.0,677,14178,0.00,2.58,0.00,0.000,6,0.000,0.049,2656,2240,2333
$GC,14488,1.44,112.4,487.3,5.4,693,14494,0.00,0.00,4.43,0.746,6,0.000,0.000,2656,2239,2322
$GC,14798,1.48,114.8,469.7,5.7,708,14807,0.00,2.67,3.78,0.673,4,0.000,0.074,2656,3646,2313
$GC,14853,1.48,114.8,466.0,6.4,710,14858,0.00,2.58,0.00,0.000,6,0.000,0.051,2656,2243,2313
$GC,15169,1.52,114.8,446.7,6.4,725,15170,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2243,2313
$GC,15479,1.53,117.7,428.2,5.6,740,15489,0.00,2.67,4.40,0.726,4,0.000,0.066,2656,830,2301
$GC,15653,1.53,117.7,417.7,6.1,748,15657,0.00,2.60,0.00,0.000,6,0.000,0.051,2655,2242,2301
$GC,15980,1.58,117.7,398.6,6.2,764,15982,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2242,2301
$GC,16289,1.64,117.7,379.0,6.5,779,16294,0.15,2.65,0.00,0.000,4,0.067,0.062,2694,829,2301
$GC,16351,1.56,117.7,374.9,6.2,782,16356,0.15,2.58,0.00,0.000,6,0.125,0.051,2669,2240,2301
$GC,16679,1.56,117.7,353.9,6.6,798,16683,0.00,2.67,0.00,0.000,4,0.000,0.074,2669,3656,2301
$GC,16814,1.56,117.7,344.4,6.7,804,16819,0.00,2.60,0.00,0.000,6,0.000,0.054,2669,2241,2301
$GC,17136,1.56,117.7,321.4,7.6,820,17137,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,2301
$GC,17445,1.56,117.7,298.7,7.1,835,17449,0.00,2.67,0.00,0.000,4,0.000,0.074,2669,3652,2301
$GC,17703,1.51,117.7,278.5,6.6,846,17709,0.00,2.60,0.00,0.000,6,0.000,0.056,2669,2242,2301
$GC,18019,1.52,125.5,258.8,4.9,862,18033,0.00,2.70,8.85,0.802,4,0.000,0.066,2668,821,2268
$GC,18191,1.54,143.7,251.5,3.5,869,18217,0.00,2.60,16.58,0.852,6,0.000,0.049,2669,2240,2195
$GC,18528,1.62,152.5,235.8,4.8,886,18539,0.00,0.00,9.32,0.783,6,0.000,0.000,2668,2240,2159
$GC,18837,1.70,152.5,214.4,8.0,901,18842,0.15,2.65,0.00,0.000,4,0.064,0.060,2709,821,2159
$GC,19000,1.64,152.5,197.1,10.8,908,19005,0.00,2.58,0.00,0.000,6,0.000,0.046,2709,2241,2159
$GC,19317,1.64,152.5,159.2,12.4,923,19318,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2241,2159
$GC,19626,1.64,152.5,123.5,11.0,938,19627,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2241,2160
$GC,19935,1.64,152.5,89.3,11.3,953,19936,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2241,2161
$GC,20245,1.64,152.5,55.9,10.4,968,20249,0.00,2.60,0.00,0.000,4,0.000,0.065,2709,3650,2162
$GC,20503,1.58,152.5,30.0,8.5,979,20510,0.17,2.55,0.00,0.000,6,0.117,0.050,2678,2237,2163
$GC,20822,1.66,152.5,6.7,7.3,995,20826,0.00,2.62,0.00,0.000,4,0.000,0.064,2677,3650,2165
$STATE,20874,end climb,SURFACE_DEPTH_REACHED
$STATE,20874,begin surface coast
$FINISH,0.7,1.026746
$STATE,20898,end surface coast,CONTROL_FINISHED_OK
$STATE,20898,begin surface
$SM_CCo,20923,215.18,0.644,0,0,509,557.32
$SM_GC,1.55,0.00,0.00,215.18,0.000,0.000,0.644,71,2229,509,-10.39,-0.03,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1860
$TCM_TEMP,19.50
$XPDR_PINGS,81
$ALTIM_TOP_PING,18.9,17.0
$24V_AH,23.1,67.699
$10V_AH,10.1,34.124
$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,27.675,167.200,208.225,215.175,0.000,18.004,25.689,160.157,29.000,0.000,0.000,32.406,1874.958,16021.006,666.991,2353.380,577.509,0.000,1800.027,0.000,2281.332,0.000,57.746
$DEVICE_MAMPS,172.575,76.700,1290.861,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,743.513,686.295,509.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50625,998
$CAP_FILE_SIZE,152639,0
$CFSIZE,260165632,234532864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$GPS,280808,204738,6340.512,-604.281,39,1.3,39,-8.3