version: 66.03
glider: 16
mission: 9
dive: 122
start: 7 2 108 2 14 44
data:
$ID,16
$MISSION,9
$DIVE,122
$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,-2095502.8
$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,14
$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,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
$GPS1,020237,6219.826,-857.025,39,1.0,39,-9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-53.6
$GPS2,021353,6219.842,-857.231,13,2.1,32,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.006,-0.221
$KALMAN_X,-171820.7,2460.6,-559.0,-29179.5,-8703.5
$KALMAN_Y,15387.9,-2007.3,-2266.8,159713.7,40053.9
$MHEAD_RNG_PITCHd_Wd,195.0,62034,-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,23,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-121.07,0.000,2,0.000,0.000,65,2308,2944
$GC,150,-0.85,-146.6,3.7,-3.1,6,180,11.35,2.67,-10.25,0.000,4,0.166,0.074,2107,874,3380
$GC,308,-0.71,-146.6,23.4,-9.8,13,313,0.20,2.62,0.00,0.000,6,0.094,0.053,2146,2303,3380
$GC,637,-0.62,-146.6,44.3,-5.9,29,641,0.00,2.65,0.00,0.000,4,0.000,0.062,2146,878,3380
$GC,748,-0.62,-146.6,51.6,-6.9,34,752,0.00,2.60,0.00,0.000,6,0.000,0.052,2146,2299,3380
$GC,1071,-0.55,-146.6,72.8,-6.2,50,1076,0.15,2.65,0.00,0.000,4,0.091,0.063,2179,878,3380
$GC,1105,-0.63,-146.6,74.3,-3.5,51,1111,0.00,2.60,0.00,0.000,6,0.000,0.052,2179,2301,3380
$GC,1423,-0.63,-146.6,83.7,-3.0,67,1427,0.00,2.65,0.00,0.000,4,0.000,0.064,2179,877,3380
$GC,1456,-0.69,-146.6,85.0,-3.6,68,1463,0.15,2.60,0.00,0.000,6,0.042,0.053,2130,2300,3380
$GC,1773,-0.58,-146.6,103.4,-5.8,84,1778,0.17,2.65,0.00,0.000,4,0.084,0.064,2169,877,3380
$GC,1819,-0.63,-146.6,105.4,-4.0,86,1823,0.00,2.60,0.00,0.000,6,0.000,0.053,2169,2299,3380
$GC,2140,-0.63,-146.6,117.0,-3.7,102,2144,0.00,2.65,0.00,0.000,4,0.000,0.064,2169,878,3380
$GC,2185,-0.68,-146.6,119.0,-4.4,104,2189,0.00,2.60,0.00,0.000,6,0.000,0.053,2169,2298,3380
$GC,2506,-0.68,-146.6,131.0,-3.6,120,2511,0.00,2.65,0.00,0.000,4,0.000,0.064,2169,875,3380
$GC,2540,-0.72,-146.6,132.2,-3.5,121,2547,0.12,2.60,0.00,0.000,6,0.046,0.054,2126,2302,3380
$GC,2859,-0.61,-146.6,151.3,-6.4,137,2864,0.17,2.67,0.00,0.000,4,0.085,0.065,2164,873,3380
$GC,2900,-0.65,-146.6,153.7,-4.8,139,2904,0.00,2.62,0.00,0.000,6,0.000,0.054,2164,2302,3381
$GC,3226,-0.65,-146.6,169.6,-5.3,155,3231,0.00,2.65,0.00,0.000,4,0.000,0.065,2164,878,3381
$GC,3277,-0.65,-146.6,172.6,-6.0,157,3281,0.00,2.60,0.00,0.000,6,0.000,0.054,2164,2303,3380
$GC,3592,-0.65,-146.6,193.7,-7.1,172,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2303,3380
$GC,3902,-0.65,-146.6,217.8,-7.7,187,3906,0.00,2.65,0.00,0.000,4,0.000,0.067,2164,877,3379
$GC,3964,-0.65,-146.6,222.7,-7.9,190,3968,0.00,2.60,0.00,0.000,6,0.000,0.054,2164,2298,3380
$GC,4290,-0.65,-146.6,248.1,-7.8,206,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2299,3380
$GC,4600,-0.65,-146.6,273.5,-8.3,221,4604,0.00,2.65,0.00,0.000,4,0.000,0.067,2164,878,3380
$GC,4644,-0.70,-146.6,277.4,-8.2,223,4649,0.00,2.60,0.00,0.000,6,0.000,0.054,2164,2301,3380
$GC,4965,-0.70,-146.6,304.2,-8.0,239,4970,0.00,2.67,0.00,0.000,4,0.000,0.067,2164,870,3380
$GC,5022,-0.74,-146.6,308.7,-7.7,241,5028,0.12,2.62,0.00,0.000,6,0.048,0.054,2123,2304,3380
$GC,5338,-0.62,-146.6,343.0,-11.9,257,5343,0.17,2.65,0.00,0.000,4,0.086,0.075,2160,3710,3380
$GC,5377,-0.62,-146.6,347.6,-11.2,259,5382,0.00,2.62,0.00,0.000,6,0.000,0.058,2160,2289,3380
$GC,5704,-0.62,-146.6,380.7,-9.6,275,5709,0.00,2.62,0.00,0.000,4,0.000,0.069,2160,880,3380
$GC,5805,-0.68,-146.6,390.8,-10.1,279,5811,0.00,2.60,0.00,0.000,6,0.000,0.055,2160,2300,3380
$GC,6121,-0.68,-146.6,417.3,-7.4,295,6125,0.00,2.65,0.00,0.000,4,0.000,0.068,2160,881,3380
$GC,6176,-0.68,-146.6,422.0,-9.6,297,6182,0.00,2.60,0.00,0.000,6,0.000,0.056,2160,2300,3380
$STATE,6427,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6427,begin apogee
$GC,6434,-0.31,0.0,440.1,6.4,310,6564,0.35,0.00,127.15,0.922,6,0.084,0.000,2232,2190,2782
$STATE,6565,end apogee,CONTROL_FINISHED_OK
$STATE,6565,begin climb
$GC,6568,0.85,146.6,445.2,0.0,316,6704,1.15,2.75,125.95,0.907,4,0.074,0.065,2478,785,2183
$GC,6726,0.85,146.6,440.4,8.5,324,6730,0.00,2.65,0.00,0.000,6,0.000,0.052,2478,2204,2183
$GC,7042,0.87,167.1,422.2,5.4,339,7066,0.00,2.75,18.85,0.841,4,0.000,0.077,2478,3612,2099
$GC,7242,0.92,167.1,411.3,6.2,348,7247,0.10,2.65,0.00,0.000,6,0.053,0.061,2513,2200,2099
$GC,7569,0.92,167.1,390.4,6.3,364,7574,0.00,2.65,0.00,0.000,4,0.000,0.071,2513,783,2099
$GC,7625,0.88,167.1,386.8,6.5,366,7632,0.12,2.62,0.00,0.000,6,0.084,0.053,2487,2206,2099
$GC,7941,0.95,237.9,372.4,4.1,382,8007,0.00,2.75,60.75,0.875,4,0.000,0.067,2487,776,1810
$GC,8036,1.09,290.3,368.4,4.6,386,8088,0.22,2.65,45.47,0.857,6,0.042,0.052,2545,2203,1597
$GC,8410,1.05,290.3,340.2,8.2,405,8411,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2203,1595
$GC,8719,1.00,290.3,316.5,7.6,420,8721,0.15,0.00,0.00,0.000,6,0.083,0.000,2515,2203,1595
$GC,9029,1.05,298.7,298.7,5.8,435,9039,0.00,0.00,8.45,0.713,6,0.000,0.000,2515,2203,1563
$GC,9338,1.10,298.7,278.8,6.7,450,9343,0.10,2.70,0.00,0.000,4,0.051,0.067,2548,779,1562
$GC,9382,1.10,298.7,275.1,8.7,452,9386,0.00,2.62,0.00,0.000,6,0.000,0.052,2547,2206,1561
$GC,9704,1.05,298.7,246.4,9.1,468,9708,0.00,2.67,0.00,0.000,4,0.000,0.074,2547,3617,1562
$GC,9721,1.01,298.7,244.7,9.6,469,9726,0.15,2.62,0.00,0.000,6,0.084,0.061,2518,2200,1562
$GC,10048,1.06,298.7,217.1,8.9,485,10052,0.00,2.62,0.00,0.000,4,0.000,0.067,2518,782,1562
$GC,10070,1.11,298.7,215.0,9.4,486,10075,0.10,2.58,0.00,0.000,6,0.057,0.051,2542,2201,1562
$GC,10391,1.11,298.7,177.3,12.7,502,10392,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2201,1561
$GC,10701,1.11,298.7,134.8,14.0,517,10705,0.00,2.65,0.00,0.000,4,0.000,0.074,2542,3613,1562
$GC,10733,1.11,298.7,129.8,15.9,518,10739,0.00,2.60,0.00,0.000,6,0.000,0.059,2543,2200,1561
$GC,11051,1.11,298.7,85.5,12.9,534,11052,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2200,1562
$GC,11358,1.11,298.7,47.6,11.1,549,11363,0.00,2.62,0.00,0.000,4,0.000,0.066,2543,781,1562
$GC,11386,1.11,298.7,44.3,11.1,550,11390,0.00,2.58,0.00,0.000,6,0.000,0.051,2543,2201,1561
$GC,11702,1.11,298.7,13.8,8.6,565,11707,0.00,2.65,0.00,0.000,4,0.000,0.072,2542,3619,1562
$GC,11735,1.11,298.7,10.4,11.0,566,11741,0.00,2.60,0.00,0.000,6,0.000,0.058,2543,2199,1562
$STATE,11842,end climb,SURFACE_DEPTH_REACHED
$STATE,11842,begin surface coast
$FINISH,0.4,1.023004
$STATE,11865,end surface coast,CONTROL_FINISHED_OK
$STATE,11865,begin surface
$SM_CCo,11887,124.97,0.627,0,0,508,557.32
$SM_GC,1.05,0.00,0.00,124.97,0.000,0.000,0.627,64,2311,508,-10.28,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1858
$TCM_TEMP,17.60
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.2,17.5
$ALTIM_BOTTOM_PING,400.4,49.5
$24V_AH,23.7,22.789
$10V_AH,10.2,11.441
$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,25.700,132.300,386.625,124.975,0.000,54.537,87.974,262.857,5.750,0.000,0.000,33.344,1099.232,8896.913,669.930,1374.310,653.119,33.356,1382.106,0.000,1326.939,0.000,23.372
$DEVICE_MAMPS,165.672,76.700,921.934,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.681,389.205,470.644,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28516,573
$CAP_FILE_SIZE,103707,0
$CFSIZE,260165632,250830848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,020708,053608,6220.507,-856.899,32,1.2,32,-9.5