version: 66.03
glider: 16
mission: 9
dive: 124
start: 7 2 108 9 22 25
data:
$ID,16
$MISSION,9
$DIVE,124
$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,-2095550.5
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,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,16
$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,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
$GPS1,091655,6222.814,-851.166,27,1.1,45,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-54.5
$GPS2,092133,6222.894,-851.023,15,1.8,15,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B1
$TGT_LATLONG,6146.500,-904.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.125,-0.183
$KALMAN_X,-160400.0,-896.7,-313.0,-31878.9,13304.1
$KALMAN_Y,27274.1,-3056.8,-2456.8,154715.4,59015.0
$MHEAD_RNG_PITCHd_Wd,199.1,68353,-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,-120.82,0.000,2,0.000,0.000,69,2313,2879
$GC,150,-0.85,-146.6,3.5,-3.0,6,180,11.25,2.70,-12.90,0.000,4,0.163,0.074,2108,876,3379
$GC,278,-0.70,-146.6,19.8,-10.9,11,285,0.20,2.60,0.00,0.000,6,0.098,0.055,2146,2297,3379
$GC,596,-0.63,-146.6,47.6,-8.6,27,601,0.00,2.67,0.00,0.000,4,0.000,0.071,2146,3715,3379
$GC,629,-0.54,-146.6,51.1,-10.3,28,636,0.17,2.60,0.00,0.000,6,0.121,0.052,2177,2289,3380
$GC,945,-0.54,-146.6,74.6,-7.0,44,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2289,3380
$GC,1256,-0.54,-146.6,96.5,-7.3,59,1260,0.00,2.62,0.00,0.000,4,0.000,0.064,2177,877,3380
$GC,1323,-0.61,-146.6,101.6,-7.7,62,1327,0.00,2.62,0.00,0.000,6,0.000,0.054,2177,2305,3380
$GC,1644,-0.61,-146.6,120.6,-5.3,78,1649,0.00,2.65,0.00,0.000,4,0.000,0.074,2177,3711,3380
$GC,1677,-0.61,-146.6,122.7,-6.0,79,1684,0.00,2.58,0.00,0.000,6,0.000,0.053,2177,2298,3380
$GC,1995,-0.61,-146.6,134.6,-3.0,95,2000,0.00,2.62,0.00,0.000,4,0.000,0.064,2178,883,3380
$GC,2052,-0.69,-146.6,136.3,-2.5,97,2059,0.12,2.60,0.00,0.000,6,0.047,0.055,2134,2303,3380
$GC,2368,-0.60,-146.6,151.0,-4.6,113,2373,0.15,2.65,0.00,0.000,4,0.085,0.064,2168,886,3381
$GC,2409,-0.66,-146.6,152.5,-3.5,115,2413,0.00,2.62,0.00,0.000,6,0.000,0.055,2168,2308,3380
$GC,2736,-0.66,-146.6,162.7,-3.2,131,2741,0.00,2.65,0.00,0.000,4,0.000,0.064,2168,886,3380
$GC,2764,-0.66,-146.6,163.6,-3.4,132,2768,0.00,2.60,0.00,0.000,6,0.000,0.056,2168,2301,3381
$GC,3081,-0.66,-146.6,175.6,-4.3,147,3085,0.00,2.65,0.00,0.000,4,0.000,0.065,2168,885,3380
$GC,3108,-0.66,-146.6,177.0,-4.7,148,3113,0.00,2.60,0.00,0.000,6,0.000,0.056,2168,2300,3380
$GC,3424,-0.66,-146.6,192.5,-4.9,163,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2300,3380
$GC,3734,-0.66,-146.6,207.1,-4.3,178,3738,0.00,2.65,0.00,0.000,4,0.000,0.067,2167,880,3380
$GC,3778,-0.72,-146.6,209.3,-4.9,180,3783,0.12,2.60,0.00,0.000,6,0.046,0.056,2126,2302,3380
$GC,4100,-0.61,-146.6,231.0,-6.8,196,4102,0.20,0.00,0.00,0.000,6,0.084,0.000,2166,2302,3380
$GC,4410,-0.61,-146.6,247.9,-5.8,211,4414,0.00,2.65,0.00,0.000,4,0.000,0.067,2166,880,3380
$GC,4454,-0.67,-146.6,250.9,-6.4,213,4458,0.00,2.62,0.00,0.000,6,0.000,0.057,2166,2306,3380
$GC,4775,-0.67,-146.6,271.9,-6.7,229,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2306,3380
$GC,5084,-0.67,-146.6,291.6,-5.7,244,5088,0.00,2.67,0.00,0.000,4,0.000,0.067,2166,878,3380
$GC,5124,-0.72,-146.6,294.0,-6.5,246,5129,0.12,2.62,0.00,0.000,6,0.047,0.058,2126,2299,3380
$GC,5451,-0.60,-146.6,319.4,-8.2,262,5453,0.20,0.00,0.00,0.000,6,0.087,0.000,2165,2300,3380
$GC,5760,-0.60,-146.6,340.6,-7.0,277,5764,0.00,2.67,0.00,0.000,4,0.000,0.080,2165,3713,3380
$GC,5792,-0.60,-146.6,342.9,-6.4,278,5798,0.00,2.60,0.00,0.000,6,0.000,0.059,2165,2301,3380
$GC,6108,-0.60,-146.6,363.5,-6.1,294,6112,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,878,3380
$GC,6164,-0.67,-146.6,367.0,-5.1,296,6170,0.00,2.62,0.00,0.000,6,0.000,0.058,2165,2304,3380
$GC,6480,-0.67,-146.6,384.4,-4.6,312,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2304,3380
$GC,6789,-0.67,-146.6,404.8,-7.3,327,6793,0.00,2.65,0.00,0.000,4,0.000,0.069,2163,883,3379
$GC,6851,-0.72,-146.6,409.4,-7.5,330,6855,0.00,2.62,0.00,0.000,6,0.000,0.058,2165,2304,3379
$STATE,6907,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6907,begin apogee
$GC,6914,-0.31,0.0,413.8,7.4,333,7043,0.32,0.00,126.45,0.906,6,0.100,0.000,2229,2192,2781
$STATE,7044,end apogee,CONTROL_FINISHED_OK
$STATE,7044,begin climb
$GC,7047,0.85,146.6,419.9,0.0,339,7177,1.17,0.00,125.93,0.893,6,0.080,0.000,2477,2192,2183
$GC,7485,0.99,216.3,407.6,4.1,361,7551,0.17,2.80,60.12,0.877,4,0.048,0.077,2530,3613,1899
$GC,7664,0.93,216.3,395.1,7.7,369,7669,0.12,2.65,0.00,0.000,6,0.090,0.063,2505,2201,1899
$GC,7980,0.96,241.4,377.9,5.3,384,8009,0.00,2.78,22.80,0.837,4,0.000,0.069,2505,779,1795
$GC,8038,0.98,254.6,374.8,5.6,386,8057,0.00,2.65,12.77,0.789,6,0.000,0.054,2505,2199,1742
$GC,8375,1.00,278.5,355.4,5.3,403,8403,0.00,2.75,21.52,0.828,4,0.000,0.078,2505,3614,1645
$GC,8422,1.10,302.0,353.0,5.4,405,8449,0.15,2.67,21.23,0.823,6,0.044,0.063,2546,2199,1549
$GC,8767,1.10,302.0,325.8,8.1,422,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2198,1548
$GC,9075,1.10,302.0,298.7,9.1,437,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2199,1547
$GC,9384,1.10,302.0,274.1,7.8,452,9388,0.00,2.70,0.00,0.000,4,0.000,0.078,2546,3613,1547
$GC,9405,1.10,302.0,272.4,7.9,453,9409,0.00,2.62,0.00,0.000,6,0.000,0.061,2546,2198,1547
$GC,9725,1.10,302.0,249.0,7.2,469,9727,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2199,1547
$GC,10035,1.10,302.0,226.9,7.4,484,10039,0.00,2.62,0.00,0.000,4,0.000,0.069,2546,783,1546
$GC,10056,1.10,302.0,225.2,7.6,485,10061,0.00,2.60,0.00,0.000,6,0.000,0.053,2546,2203,1546
$GC,10378,1.10,302.0,203.8,6.6,501,10379,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2203,1546
$GC,10687,1.10,302.0,181.6,7.6,516,10692,0.00,2.65,0.00,0.000,4,0.000,0.075,2546,3611,1546
$GC,10709,1.10,302.0,179.6,8.4,517,10714,0.00,2.62,0.00,0.000,6,0.000,0.060,2546,2192,1546
$GC,11031,1.10,302.0,154.7,7.6,533,11035,0.00,2.60,0.00,0.000,4,0.000,0.065,2546,783,1546
$GC,11063,1.10,302.0,152.0,7.6,534,11069,0.00,2.58,0.00,0.000,6,0.000,0.052,2546,2201,1546
$GC,11381,1.10,302.0,128.0,7.2,550,11385,0.00,2.65,0.00,0.000,4,0.000,0.074,2546,3611,1546
$GC,11408,1.10,302.0,125.9,7.8,551,11412,0.00,2.60,0.00,0.000,6,0.000,0.060,2546,2200,1547
$GC,11724,1.10,302.0,103.0,7.3,566,11729,0.00,2.62,0.00,0.000,4,0.000,0.066,2546,783,1546
$GC,11769,1.10,302.0,99.6,7.3,568,11773,0.00,2.58,0.00,0.000,6,0.000,0.052,2546,2204,1546
$GC,12090,1.10,302.0,77.3,6.5,584,12091,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2204,1546
$GC,12400,1.10,302.0,58.9,6.1,599,12401,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2204,1545
$GC,12710,1.10,302.0,35.4,8.6,614,12714,0.00,2.65,0.00,0.000,4,0.000,0.074,2546,3618,1547
$GC,12743,1.10,302.0,32.3,9.0,615,12749,0.00,2.60,0.00,0.000,6,0.000,0.058,2546,2197,1547
$GC,13060,1.10,302.0,7.7,7.6,631,13065,0.00,2.67,0.00,0.000,4,0.000,0.072,2546,3616,1547
$GC,13083,1.10,302.0,5.6,8.3,632,13087,0.00,2.62,0.00,0.000,6,0.000,0.060,2546,2196,1547
$STATE,13133,end climb,SURFACE_DEPTH_REACHED
$STATE,13133,begin surface coast
$FINISH,0.5,1.027136
$STATE,13155,end surface coast,CONTROL_FINISHED_OK
$STATE,13155,begin surface
$SM_CCo,13177,122.57,0.623,0,0,509,557.32
$SM_GC,1.05,0.00,0.00,122.57,0.000,0.000,0.623,70,2311,509,-10.25,0.28,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1861
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.7,17.9
$ALTIM_BOTTOM_PING,325.2,98.3
$24V_AH,23.7,23.068
$10V_AH,10.2,11.576
$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,25.100,132.375,390.825,122.575,0.000,18.124,30.031,119.472,2.750,0.000,0.000,15.541,1185.610,9915.839,672.765,1400.349,409.585,33.365,1407.109,0.000,1372.281,0.000,18.633
$DEVICE_MAMPS,163.371,79.768,905.827,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.736,432.030,511.946,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31754,636
$CAP_FILE_SIZE,102959,0
$CFSIZE,260165632,250728448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,020708,130526,6221.505,-848.518,42,1.1,42,-9.4