version: 66.03
glider: 16
mission: 9
dive: 161
start: 7 8 108 11 24 17
data:
$ID,16
$MISSION,9
$DIVE,161
$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,412.5
$T_MISSION,440
$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,-2096320.5
$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,18
$R_STBD_OVSHOOT,24
$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
$GPS1,111827,6222.223,-1058.201,40,2.4,59,-10.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-50.5
$GPS2,112402,6222.300,-1058.253,14,1.5,14,-10.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$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,353.9,5220,-17.8,-8.000
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.23,-105.0,0.0,0.0,0,150,0.00,0.00,-121.43,0.000,2,0.000,0.000,72,2312,3028
$GC,154,-1.27,-146.6,4.1,-3.3,6,179,10.85,2.65,-7.97,0.000,4,0.168,0.081,2014,3703,3380
$GC,300,-1.04,-146.6,34.6,-19.4,12,305,0.30,2.58,0.00,0.000,6,0.110,0.051,2070,2290,3380
$GC,616,-1.00,-146.6,82.4,-14.4,27,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2290,3381
$GC,925,-1.00,-146.6,124.0,-13.3,42,930,0.00,2.60,0.00,0.000,4,0.000,0.064,2070,882,3382
$GC,1020,-1.00,-146.6,136.4,-12.6,46,1025,0.00,2.60,0.00,0.000,6,0.000,0.054,2070,2296,3382
$GC,1337,-0.96,-146.6,177.0,-12.4,61,1342,0.00,2.65,0.00,0.000,4,0.000,0.064,2070,878,3382
$GC,1387,-0.96,-146.6,183.5,-12.0,63,1392,0.00,2.62,0.00,0.000,6,0.000,0.054,2070,2305,3382
$GC,1703,-0.92,-146.6,223.0,-12.7,78,1708,0.15,2.65,0.00,0.000,4,0.111,0.064,2102,886,3382
$GC,1754,-1.04,-146.6,228.8,-10.7,80,1759,0.15,2.60,0.00,0.000,6,0.045,0.054,2058,2300,3382
$GC,2070,-0.97,-146.6,271.6,-13.9,95,2071,0.15,0.00,0.00,0.000,6,0.098,0.000,2086,2300,3382
$GC,2378,-0.97,-146.6,309.0,-12.2,110,2383,0.00,2.65,0.00,0.000,4,0.000,0.064,2086,881,3382
$GC,2464,-1.05,-146.6,319.4,-12.0,114,2468,0.00,2.62,0.00,0.000,6,0.000,0.056,2086,2305,3382
$GC,2790,-1.05,-146.6,359.4,-12.4,130,2795,0.00,2.65,0.00,0.000,4,0.000,0.064,2086,882,3382
$GC,2847,-1.13,-146.6,366.2,-11.6,132,2853,0.15,2.60,0.00,0.000,6,0.046,0.055,2043,2300,3382
$GC,3163,-1.02,-146.6,412.0,-14.4,148,3164,0.17,0.00,0.00,0.000,6,0.099,0.000,2075,2300,3382
$GC,3474,-1.02,-146.6,451.1,-12.5,163,3478,0.00,2.62,0.00,0.000,4,0.000,0.064,2075,886,3382
$GC,3552,-1.08,-146.6,460.9,-12.4,166,3558,0.00,2.60,0.00,0.000,6,0.000,0.055,2075,2303,3382
$GC,3867,-1.08,-146.6,499.0,-12.3,182,3872,0.00,2.65,0.00,0.000,4,0.000,0.064,2075,878,3381
$GC,3912,-1.13,-146.6,504.4,-11.4,184,3916,0.00,2.60,0.00,0.000,6,0.000,0.054,2075,2301,3381
$GC,4232,-1.13,-146.6,544.0,-12.0,200,4237,0.00,2.62,0.00,0.000,4,0.000,0.064,2075,886,3381
$GC,4283,-1.20,-146.6,550.0,-11.2,202,4291,0.12,2.60,0.00,0.000,6,0.038,0.055,2031,2308,3381
$GC,4608,-1.07,-146.6,598.7,-16.4,218,4613,0.17,2.65,0.00,0.000,4,0.101,0.064,2066,886,3381
$GC,4670,-1.07,-146.6,608.0,-14.0,221,4674,0.00,2.60,0.00,0.000,6,0.000,0.055,2067,2303,3381
$GC,4997,-1.07,-146.6,654.3,-13.3,237,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2303,3380
$GC,5305,-1.07,-146.6,692.0,-12.6,252,5310,0.00,2.65,0.00,0.000,4,0.000,0.065,2066,880,3380
$GC,5383,-1.12,-146.6,702.5,-13.4,255,5390,0.00,2.60,0.00,0.000,6,0.000,0.057,2066,2304,3381
$GC,5700,-1.12,-146.6,744.5,-12.6,271,5704,0.00,2.65,0.00,0.000,4,0.000,0.065,2066,880,3380
$GC,5817,-1.12,-146.6,759.5,-13.1,276,5821,0.00,2.60,0.00,0.000,6,0.000,0.058,2066,2301,3380
$STATE,6006,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6006,begin apogee
$GC,6014,-0.31,0.0,786.4,14.2,285,6150,0.80,0.00,132.70,1.153,6,0.100,0.000,2227,2194,2781
$STATE,6150,end apogee,CONTROL_FINISHED_OK
$STATE,6150,begin climb
$GC,6153,1.27,146.6,794.7,0.0,292,6297,1.62,2.83,130.77,1.134,4,0.070,0.080,2574,3606,2183
$GC,6468,1.22,146.6,777.2,8.9,306,6472,0.00,2.62,0.00,0.000,6,0.000,0.062,2574,2208,2183
$GC,6784,1.23,154.5,751.9,7.6,321,6798,0.00,2.78,8.45,0.937,4,0.000,0.072,2574,788,2151
$GC,7034,1.23,154.5,728.7,10.8,332,7039,0.00,2.60,0.00,0.000,6,0.000,0.056,2574,2198,2150
$GC,7355,1.23,154.5,695.7,9.4,348,7360,0.00,2.70,0.00,0.000,4,0.000,0.081,2574,3610,2150
$GC,7478,1.18,154.5,682.2,11.6,353,7484,0.00,2.62,0.00,0.000,6,0.000,0.059,2574,2194,2149
$GC,7794,1.18,154.5,651.2,9.0,369,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2194,2148
$GC,8103,1.20,166.4,626.6,7.4,384,8124,0.00,2.75,11.30,0.954,4,0.000,0.077,2574,3612,2101
$GC,8203,1.20,166.4,617.9,9.2,388,8207,0.00,2.62,0.00,0.000,6,0.000,0.058,2574,2196,2101
$GC,8518,1.20,166.4,590.6,9.2,403,8523,0.00,2.65,0.00,0.000,4,0.000,0.070,2574,784,2101
$GC,8563,1.20,166.4,586.0,10.3,405,8567,0.00,2.60,0.00,0.000,6,0.000,0.052,2574,2206,2101
$GC,8884,1.20,166.4,552.5,10.4,421,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2206,2101
$GC,9193,1.20,166.4,524.4,8.3,436,9197,0.00,2.65,0.00,0.000,4,0.000,0.077,2574,3611,2101
$GC,9282,1.20,166.4,516.9,8.2,440,9287,0.00,2.60,0.00,0.000,6,0.000,0.056,2574,2199,2101
$GC,9604,1.20,173.4,493.1,7.6,456,9614,0.00,0.00,7.55,0.806,6,0.000,0.000,2574,2199,2074
$GC,9913,1.22,184.8,470.2,7.4,471,9934,0.00,2.78,11.48,0.862,4,0.000,0.076,2574,3618,2026
$GC,10003,1.22,184.8,462.5,9.2,475,10007,0.00,2.62,0.00,0.000,6,0.000,0.055,2574,2193,2027
$GC,10330,1.27,190.3,437.2,7.7,491,10338,0.00,0.00,6.35,0.739,6,0.000,0.000,2575,2193,2005
$GC,10640,1.31,191.4,413.3,7.9,506,10644,0.00,2.67,0.00,0.000,4,0.000,0.077,2574,3610,2005
$GC,10734,1.31,191.4,404.3,9.0,510,10738,0.00,2.60,0.00,0.000,6,0.000,0.056,2574,2192,2005
$GC,11050,1.36,191.4,377.2,8.9,525,11051,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2192,2005
$GC,11360,1.40,191.4,350.5,8.3,540,11365,0.15,2.70,0.00,0.000,4,0.044,0.076,2618,3619,2006
$GC,11460,1.28,191.4,339.8,11.1,544,11467,0.20,2.60,0.00,0.000,6,0.091,0.056,2579,2200,2006
$GC,11776,1.28,191.4,310.7,9.0,560,11781,0.00,2.67,0.00,0.000,4,0.000,0.076,2579,3612,2006
$GC,11839,1.21,191.4,304.7,9.4,563,11843,0.00,2.60,0.00,0.000,6,0.000,0.056,2579,2193,2006
$GC,12165,1.21,191.4,274.9,9.2,579,12166,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2193,2006
$GC,12475,1.21,191.4,244.1,10.5,594,12479,0.00,2.67,0.00,0.000,4,0.000,0.076,2579,3612,2006
$GC,12581,1.15,191.4,231.9,12.7,599,12586,0.15,2.58,0.00,0.000,6,0.103,0.054,2551,2200,2006
$GC,12909,1.22,191.4,200.3,9.3,615,12910,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2200,2006
$GC,13217,1.27,191.4,172.8,8.6,630,13222,0.12,2.67,0.00,0.000,4,0.049,0.075,2589,3618,2007
$GC,13273,1.18,191.4,166.7,11.7,632,13280,0.17,2.60,0.00,0.000,6,0.101,0.054,2558,2192,2006
$GC,13590,1.18,191.4,138.6,8.9,648,13594,0.00,2.70,0.00,0.000,4,0.000,0.076,2557,3619,2006
$GC,13661,1.18,191.4,131.5,10.0,651,13666,0.00,2.60,0.00,0.000,6,0.000,0.054,2557,2192,2007
$GC,13979,1.23,191.4,104.2,8.9,666,13980,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2192,2007
$GC,14287,1.23,191.4,77.7,8.5,681,14291,0.00,2.70,0.00,0.000,4,0.000,0.076,2557,3618,2007
$GC,14336,1.23,191.4,73.1,8.7,683,14341,0.00,2.58,0.00,0.000,6,0.000,0.054,2557,2200,2007
$GC,14653,1.30,197.4,48.5,7.7,698,14663,0.10,0.00,7.95,0.586,6,0.053,0.000,2590,2200,1976
$GC,14965,1.30,197.4,19.7,9.8,713,14966,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,1976
$STATE,15144,end climb,SURFACE_DEPTH_REACHED
$STATE,15144,begin surface coast
$FINISH,0.6,1.013498
$STATE,15166,end surface coast,CONTROL_FINISHED_OK
$STATE,15166,begin surface
$SM_CCo,15188,172.02,0.616,0,0,509,557.32
$SM_GC,1.29,0.00,0.00,172.02,0.000,0.000,0.616,69,2309,509,-10.26,0.25,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1850
$TCM_TEMP,17.80
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.7,17.3
$ALTIM_BOTTOM_PING,777.7,16.9
$24V_AH,23.6,28.639
$10V_AH,10.2,14.078
$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,26.400,137.675,316.550,172.025,0.000,18.113,30.498,164.221,10.000,0.000,0.000,14.040,1385.825,11409.794,678.010,1743.219,478.034,0.000,1550.016,0.000,1694.586,0.000,53.418
$DEVICE_MAMPS,167.973,81.302,1152.801,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,528.999,498.718,430.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37935,723
$CAP_FILE_SIZE,120071,0
$CFSIZE,260165632,248827904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,080708,154157,6226.295,-1101.051,39,3.2,58,-10.7