version: 66.03
glider: 16
mission: 9
dive: 84
start: 6 25 108 7 59 26
data:
$ID,16
$MISSION,9
$DIVE,84
$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,1
$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,-2094587.2
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$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,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,17
$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,2
$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
$GPS1,075325,6124.271,-827.359,40,1.5,40,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-53.2
$GPS2,075835,6124.242,-827.279,11,9.5,30,-8.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_4
$TGT_LATLONG,6140.000,-845.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.072,0.209
$KALMAN_X,-144301.4,1677.3,-3767.8,-25724.1,-267.3
$KALMAN_Y,-76065.0,165.9,-1522.5,145178.8,-16567.3
$MHEAD_RNG_PITCHd_Wd,340.8,33081,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-120.85,0.000,2,0.000,0.000,68,2309,2982
$GC,150,-0.85,-146.6,3.8,-3.0,6,177,11.43,2.70,-9.52,0.000,4,0.170,0.088,2107,3712,3379
$GC,402,-0.66,-146.6,38.2,-12.2,17,407,0.22,2.60,0.00,0.000,6,0.094,0.055,2151,2297,3379
$GC,719,-0.60,-146.6,70.0,-10.6,32,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2297,3379
$GC,1027,-0.55,-146.6,102.7,-10.3,47,1032,0.15,2.65,0.00,0.000,4,0.098,0.066,2184,875,3379
$GC,1100,-0.64,-146.6,108.9,-8.0,50,1105,0.12,2.65,0.00,0.000,6,0.044,0.058,2139,2304,3379
$GC,1418,-0.56,-146.6,137.2,-8.6,65,1420,0.20,0.00,0.00,0.000,6,0.084,0.000,2179,2304,3379
$GC,1726,-0.61,-146.6,154.9,-5.2,80,1730,0.00,2.65,0.00,0.000,4,0.000,0.064,2179,881,3379
$GC,1804,-0.70,-146.6,159.1,-5.7,83,1810,0.15,2.62,0.00,0.000,6,0.042,0.058,2130,2299,3379
$GC,2120,-0.59,-146.6,182.1,-7.7,99,2125,0.17,2.65,0.00,0.000,4,0.084,0.067,2168,881,3379
$GC,2161,-0.65,-146.6,184.8,-5.4,101,2165,0.00,2.62,0.00,0.000,6,0.000,0.058,2169,2299,3379
$GC,2487,-0.65,-146.6,205.9,-6.6,117,2492,0.00,2.65,0.00,0.000,4,0.000,0.067,2168,880,3379
$GC,2555,-0.70,-146.6,210.8,-6.8,120,2559,0.00,2.62,0.00,0.000,6,0.000,0.058,2168,2299,3378
$GC,2875,-0.70,-146.6,234.3,-7.7,136,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2299,3379
$GC,3185,-0.70,-146.6,259.2,-7.9,151,3189,0.00,2.65,0.00,0.000,4,0.000,0.067,2169,881,3379
$GC,3247,-0.76,-146.6,264.3,-8.4,154,3252,0.15,2.62,0.00,0.000,6,0.042,0.059,2120,2303,3379
$GC,3574,-0.62,-146.6,296.0,-9.2,170,3576,0.22,0.00,0.00,0.000,6,0.085,0.000,2165,2303,3379
$GC,3883,-0.62,-146.6,316.2,-6.5,185,3887,0.00,2.65,0.00,0.000,4,0.000,0.068,2165,883,3379
$GC,3950,-0.67,-146.6,320.8,-7.3,188,3954,0.00,2.62,0.00,0.000,6,0.000,0.058,2165,2300,3379
$GC,4270,-0.67,-146.6,343.2,-7.2,204,4275,0.00,2.65,0.00,0.000,4,0.000,0.068,2165,881,3379
$GC,4315,-0.72,-146.6,346.6,-7.5,206,4319,0.00,2.62,0.00,0.000,6,0.000,0.058,2165,2301,3379
$GC,4636,-0.72,-146.6,370.1,-7.5,222,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2301,3379
$GC,4945,-0.72,-146.6,394.6,-8.0,237,4949,0.00,2.65,0.00,0.000,4,0.000,0.067,2165,878,3379
$GC,5023,-0.78,-146.6,401.2,-8.1,240,5030,0.17,2.62,0.00,0.000,6,0.041,0.059,2111,2302,3378
$GC,5340,-0.61,-146.6,437.9,-12.0,256,5342,0.28,0.00,0.00,0.000,6,0.087,0.000,2166,2302,3378
$GC,5648,-0.61,-146.6,464.5,-7.0,271,5652,0.00,2.65,0.00,0.000,4,0.000,0.068,2166,883,3378
$GC,5710,-0.68,-146.6,468.8,-7.0,274,5715,0.00,2.60,0.00,0.000,6,0.000,0.058,2166,2303,3378
$GC,6037,-0.68,-146.6,487.8,-5.6,290,6041,0.00,2.65,0.00,0.000,4,0.000,0.067,2166,881,3378
$GC,6087,-0.73,-146.6,490.8,-5.9,292,6092,0.12,2.62,0.00,0.000,6,0.047,0.058,2123,2307,3378
$GC,6403,-0.62,-146.6,515.4,-8.4,307,6409,0.17,2.67,0.00,0.000,4,0.090,0.067,2162,877,3378
$GC,6437,-0.67,-146.6,518.1,-6.8,308,6443,0.00,2.62,0.00,0.000,6,0.000,0.056,2162,2304,3378
$GC,6753,-0.67,-146.6,535.1,-5.6,324,6757,0.00,2.65,0.00,0.000,4,0.000,0.067,2162,882,3378
$GC,6803,-0.74,-146.6,538.3,-6.2,326,6808,0.12,2.60,0.00,0.000,6,0.046,0.057,2121,2300,3378
$GC,7119,-0.61,-146.6,564.8,-8.5,341,7121,0.22,0.00,0.00,0.000,6,0.084,0.000,2165,2300,3378
$GC,7428,-0.61,-146.6,582.2,-6.4,356,7432,0.00,2.65,0.00,0.000,4,0.000,0.067,2165,880,3377
$GC,7501,-0.70,-146.6,586.8,-6.3,359,7505,0.00,2.62,0.00,0.000,6,0.000,0.057,2165,2305,3378
$STATE,7525,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7525,begin apogee
$GC,7532,-0.31,0.0,588.1,5.1,360,7668,0.32,0.00,129.23,0.987,6,0.098,0.000,2231,2190,2781
$STATE,7669,end apogee,CONTROL_FINISHED_OK
$STATE,7669,begin climb
$GC,7672,0.85,146.6,594.0,0.0,367,7810,1.20,2.70,127.95,0.969,4,0.080,0.064,2481,787,2183
$GC,7878,0.91,209.5,590.4,4.3,377,7940,0.00,2.62,55.38,0.950,6,0.000,0.052,2481,2199,1926
$GC,8252,0.99,209.5,569.4,7.1,395,8257,0.15,2.70,0.00,0.000,4,0.062,0.077,2520,3613,1925
$GC,8292,0.93,209.5,565.7,9.3,397,8296,0.00,2.62,0.00,0.000,6,0.000,0.058,2520,2206,1925
$GC,8618,0.88,209.5,541.6,7.4,413,8623,0.15,2.70,0.00,0.000,4,0.087,0.070,2490,780,1925
$GC,8669,0.95,215.9,538.3,5.8,415,8681,0.00,2.62,7.10,0.762,6,0.000,0.052,2489,2204,1900
$GC,8990,1.02,278.8,522.8,4.3,431,9050,0.15,0.00,55.05,0.936,6,0.046,0.000,2530,2204,1644
$GC,9359,1.02,278.8,495.1,7.4,449,9363,0.00,2.70,0.00,0.000,4,0.000,0.078,2530,3614,1643
$GC,9399,1.02,278.8,491.9,8.9,451,9403,0.00,2.65,0.00,0.000,6,0.000,0.061,2530,2202,1643
$GC,9725,1.02,278.8,468.2,7.1,467,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2202,1643
$GC,10034,1.02,278.8,445.1,7.7,482,10036,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2201,1643
$GC,10344,1.02,278.8,420.7,7.8,497,10345,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2201,1643
$GC,10653,1.02,278.8,397.1,7.3,512,10657,0.00,2.70,0.00,0.000,4,0.000,0.078,2530,3616,1643
$GC,10698,1.02,278.8,393.5,8.0,514,10703,0.00,2.62,0.00,0.000,6,0.000,0.061,2530,2199,1643
$GC,11020,1.02,278.8,370.7,7.1,530,11021,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2199,1643
$GC,11329,1.02,278.8,346.2,8.2,545,11333,0.00,2.70,0.00,0.000,4,0.000,0.078,2530,3616,1643
$GC,11368,1.02,278.8,342.8,9.2,547,11372,0.00,2.62,0.00,0.000,6,0.000,0.061,2530,2200,1643
$GC,11694,1.02,278.8,316.9,7.7,563,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2199,1643
$GC,12003,1.02,278.8,293.4,7.7,578,12004,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2199,1643
$GC,12313,1.02,278.8,270.0,7.4,593,12314,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2199,1642
$GC,12622,1.02,278.8,247.4,7.1,608,12626,0.00,2.70,0.00,0.000,4,0.000,0.077,2530,3620,1642
$GC,12677,1.02,278.8,242.9,7.8,610,12683,0.00,2.60,0.00,0.000,6,0.000,0.059,2530,2199,1643
$GC,12993,1.02,278.8,220.7,7.1,626,12994,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2199,1643
$GC,13302,1.02,278.8,198.1,7.1,641,13303,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2199,1643
$GC,13611,1.02,278.8,173.2,8.4,656,13612,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2199,1643
$GC,13920,1.02,278.8,148.6,8.0,671,13922,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2199,1643
$GC,14231,1.02,278.8,125.4,7.2,686,14236,0.00,2.67,0.00,0.000,4,0.000,0.076,2530,3617,1643
$GC,14281,1.02,278.8,121.3,8.0,688,14285,0.00,2.60,0.00,0.000,6,0.000,0.058,2530,2199,1643
$GC,14598,1.02,278.8,98.2,7.5,703,14599,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2198,1643
$GC,14906,1.02,278.8,74.7,7.8,718,14911,0.00,2.67,0.00,0.000,4,0.000,0.076,2530,3616,1643
$GC,14956,1.02,278.8,70.1,9.2,720,14961,0.00,2.60,0.00,0.000,6,0.000,0.058,2530,2194,1643
$GC,15272,1.02,278.8,44.9,7.3,735,15277,0.00,2.62,0.00,0.000,4,0.000,0.066,2530,778,1643
$GC,15313,1.02,278.8,42.0,7.3,737,15317,0.00,2.60,0.00,0.000,6,0.000,0.051,2530,2204,1643
$GC,15640,1.02,278.8,19.3,7.2,753,15641,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2204,1643
$STATE,15884,end climb,SURFACE_DEPTH_REACHED
$STATE,15884,begin surface coast
$FINISH,0.7,1.027135
$STATE,15906,end surface coast,CONTROL_FINISHED_OK
$STATE,15906,begin surface
$SM_CCo,15928,133.12,0.599,0,0,508,557.32
$SM_GC,1.05,0.00,0.00,133.12,0.000,0.000,0.599,72,2313,508,-10.25,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1850
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,17.9
$ALTIM_BOTTOM_PING,525.9,72.1
$24V_AH,23.7,16.885
$10V_AH,10.2,8.640
$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,26.500,127.325,374.700,133.125,0.000,18.315,27.178,131.291,5.250,0.000,0.000,31.089,1410.789,12175.334,684.357,1670.467,433.000,33.354,1517.140,0.000,1619.511,0.000,34.498
$DEVICE_MAMPS,169.507,88.205,987.129,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,560.641,525.967,499.567,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37993,766
$CAP_FILE_SIZE,116954,0
$CFSIZE,260165632,252923904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,250608,122857,6124.788,-823.478,50,2.2,69,-8.9