version: 66.03
glider: 16
mission: 9
dive: 173
start: 7 11 108 11 43 34
data:
$ID,16
$MISSION,9
$DIVE,173
$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,-2096611.8
$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,2230
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,16
$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
$GPS1,113756,6239.481,-1228.932,39,1.7,39,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-59.9
$GPS2,114315,6239.466,-1228.974,13,1.7,13,-11.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$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,314.2,36175,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-121.18,0.000,2,0.000,0.000,68,2247,2970
$GC,153,-0.85,-146.6,4.0,-3.2,6,182,11.60,2.72,-9.68,0.000,4,0.171,0.087,2109,3642,3381
$GC,217,-0.65,-146.6,15.6,-12.4,9,222,0.25,2.60,0.00,0.000,6,0.094,0.058,2158,2233,3382
$GC,539,-0.61,-146.6,44.8,-9.0,25,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2233,3381
$GC,848,-0.56,-146.6,69.1,-7.9,40,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2233,3382
$GC,1159,-0.56,-146.6,92.5,-7.6,55,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2233,3382
$GC,1466,-0.56,-146.6,117.7,-8.4,70,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2234,3382
$GC,1775,-0.56,-146.6,143.9,-8.3,85,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2233,3382
$GC,2085,-0.56,-146.6,169.8,-8.3,100,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2233,3382
$GC,2393,-0.56,-146.6,193.3,-7.0,115,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2233,3382
$GC,2703,-0.56,-146.6,213.4,-6.5,130,2707,0.00,2.70,0.00,0.000,4,0.000,0.081,2158,3643,3382
$GC,2742,-0.56,-146.6,216.2,-6.7,132,2747,0.00,2.60,0.00,0.000,6,0.000,0.058,2158,2228,3382
$GC,3069,-0.56,-146.6,240.5,-7.6,148,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2228,3382
$GC,3378,-0.56,-146.6,264.4,-7.8,163,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2227,3381
$GC,3688,-0.56,-146.6,285.2,-6.4,178,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2228,3382
$GC,3997,-0.56,-146.6,304.9,-6.4,193,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2228,3382
$GC,4309,-0.56,-146.6,325.5,-6.9,208,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2227,3382
$GC,4616,-0.56,-146.6,347.7,-7.2,223,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2228,3381
$GC,4925,-0.56,-146.6,370.5,-7.3,238,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2228,3382
$GC,5234,-0.56,-146.6,394.4,-7.6,253,5238,0.00,2.70,0.00,0.000,4,0.000,0.083,2158,3641,3381
$GC,5278,-0.56,-146.6,398.0,-8.0,255,5283,0.00,2.60,0.00,0.000,6,0.000,0.058,2158,2227,3381
$GC,5600,-0.56,-146.6,421.5,-7.2,271,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2227,3382
$GC,5909,-0.56,-146.6,443.0,-6.9,286,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2227,3381
$GC,6219,-0.56,-146.6,464.5,-7.1,301,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2227,3381
$GC,6528,-0.56,-146.6,486.3,-7.0,316,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2227,3381
$GC,6837,-0.56,-146.6,506.8,-6.6,331,6841,0.00,2.70,0.00,0.000,4,0.000,0.081,2158,3641,3381
$GC,6877,-0.56,-146.6,509.9,-8.1,333,6881,0.00,2.58,0.00,0.000,6,0.000,0.056,2158,2231,3381
$GC,7203,-0.56,-146.6,533.5,-7.6,349,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2230,3381
$GC,7512,-0.56,-146.6,558.8,-8.4,364,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2230,3381
$GC,7822,-0.56,-146.6,584.3,-7.9,379,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2230,3380
$GC,8131,-0.56,-146.6,605.7,-6.4,394,8135,0.00,2.70,0.00,0.000,4,0.000,0.082,2158,3640,3380
$GC,8163,-0.56,-146.6,608.0,-7.1,395,8170,0.00,2.58,0.00,0.000,6,0.000,0.056,2158,2228,3380
$GC,8480,-0.56,-146.6,628.2,-6.2,411,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2228,3380
$GC,8789,-0.56,-146.6,647.0,-5.7,426,8793,0.00,2.72,0.00,0.000,4,0.000,0.082,2158,3647,3380
$GC,8832,-0.56,-146.6,649.9,-6.5,428,8837,0.00,2.60,0.00,0.000,6,0.000,0.056,2158,2227,3380
$GC,9154,-0.56,-146.6,667.2,-5.4,444,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2227,3380
$GC,9463,-0.56,-146.6,685.0,-5.7,459,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2227,3380
$GC,9772,-0.56,-146.6,705.7,-7.0,474,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2227,3379
$GC,10082,-0.56,-146.6,728.4,-7.1,489,10083,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2227,3379
$GC,10391,-0.56,-146.6,750.9,-7.0,504,10396,0.00,2.72,0.00,0.000,4,0.000,0.086,2158,3640,3379
$GC,10435,-0.56,-146.6,754.4,-8.2,506,10440,0.00,2.60,0.00,0.000,6,0.000,0.060,2158,2225,3379
$GC,10759,-0.56,-146.6,775.3,-6.7,522,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2225,3379
$GC,11066,-0.56,-146.6,796.7,-6.6,537,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2225,3379
$GC,11375,-0.56,-146.6,816.3,-6.3,552,11380,0.00,2.75,0.00,0.000,4,0.000,0.091,2158,3641,3378
$GC,11408,-0.56,-146.6,818.6,-6.6,553,11414,0.00,2.62,0.00,0.000,6,0.000,0.063,2158,2228,3378
$STATE,11680,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11680,begin apogee
$GC,11687,-0.31,0.0,836.1,6.4,567,11823,0.35,0.00,133.43,1.202,6,0.097,0.000,2228,2228,2781
$STATE,11824,end apogee,CONTROL_FINISHED_OK
$STATE,11824,begin climb
$GC,11827,0.85,146.6,841.1,0.0,574,11971,1.20,2.88,132.02,1.180,4,0.076,0.086,2481,3646,2183
$GC,11998,0.83,186.2,836.8,4.9,582,12040,0.00,2.67,36.72,1.134,6,0.000,0.063,2481,2240,2021
$GC,12351,0.85,198.5,817.3,5.7,599,12372,0.00,2.78,12.27,1.039,4,0.000,0.073,2481,829,1970
$GC,12412,0.85,198.5,813.3,6.2,601,12418,0.00,2.65,0.00,0.000,6,0.000,0.060,2481,2240,1970
$GC,12727,0.89,198.5,794.3,6.3,617,12729,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2240,1969
$GC,13037,0.95,215.0,776.2,5.5,632,13057,0.12,0.00,15.90,1.075,6,0.062,0.000,2508,2240,1904
$GC,13366,0.95,215.0,755.7,6.4,648,13370,0.00,2.72,0.00,0.000,4,0.000,0.087,2508,3650,1904
$GC,13421,0.90,215.0,751.5,7.3,650,13428,0.00,2.65,0.00,0.000,6,0.000,0.063,2509,2235,1904
$GC,13737,0.90,215.0,730.0,6.9,666,13742,0.00,2.65,0.00,0.000,4,0.000,0.073,2510,826,1903
$GC,13788,0.90,215.0,725.9,7.8,668,13792,0.00,2.62,0.00,0.000,6,0.000,0.059,2509,2240,1902
$GC,14103,0.90,215.0,702.1,7.8,683,14108,0.00,2.72,0.00,0.000,4,0.000,0.084,2509,3653,1902
$GC,14159,0.86,215.0,697.4,8.6,685,14166,0.12,2.62,0.00,0.000,6,0.098,0.061,2485,2237,1902
$GC,14475,0.86,215.0,675.5,6.6,701,14479,0.00,2.65,0.00,0.000,4,0.000,0.071,2484,827,1902
$GC,14537,0.86,215.0,671.4,6.3,704,14541,0.00,2.62,0.00,0.000,6,0.000,0.057,2485,2242,1902
$GC,14863,0.87,225.8,652.0,5.7,720,14877,0.00,0.00,10.70,0.964,6,0.000,0.000,2484,2242,1860
$GC,15195,0.87,225.8,631.2,6.6,736,15199,0.00,2.70,0.00,0.000,4,0.000,0.081,2484,3653,1860
$GC,15239,0.87,225.8,627.8,8.0,738,15244,0.00,2.62,0.00,0.000,6,0.000,0.058,2485,2232,1860
$GC,15560,0.87,225.8,606.2,6.6,754,15561,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2232,1860
$GC,15870,0.87,225.8,587.0,6.2,769,15871,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2232,1860
$GC,16179,0.87,225.8,568.1,6.2,784,16180,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2232,1860
$GC,16488,0.87,225.8,546.8,7.3,799,16489,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2232,1861
$GC,16797,0.87,225.8,524.4,7.1,814,16798,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2232,1861
$GC,17107,0.87,225.8,502.7,6.8,829,17108,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2232,1861
$GC,17416,0.87,225.8,482.6,6.3,844,17420,0.00,2.72,0.00,0.000,4,0.000,0.080,2484,3656,1862
$GC,17456,0.87,225.8,480.0,7.2,846,17460,0.00,2.62,0.00,0.000,6,0.000,0.059,2484,2240,1862
$GC,17782,0.87,225.8,459.2,6.6,862,17784,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2240,1862
$GC,18091,0.87,225.8,438.6,6.8,877,18092,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2241,1862
$GC,18400,0.87,225.8,417.2,7.1,892,18402,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2240,1863
$GC,18710,0.87,225.8,395.9,6.8,907,18711,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2240,1863
$GC,19019,0.87,225.8,374.9,6.7,922,19020,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2240,1863
$GC,19328,0.87,225.8,355.6,6.1,937,19329,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2240,1863
$GC,19638,0.87,229.7,337.4,5.9,952,19646,0.00,0.00,6.10,0.673,6,0.000,0.000,2484,2240,1843
$GC,19947,0.87,229.9,319.2,6.0,967,19948,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2240,1844
$GC,20256,0.87,229.9,300.7,6.0,982,20257,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2240,1844
$GC,20566,0.87,229.9,282.1,6.2,997,20567,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2241,1844
$GC,20875,0.87,229.9,263.1,6.1,1012,20876,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2240,1844
$GC,21184,0.89,247.5,245.5,5.5,1027,21204,0.00,0.00,16.27,0.755,6,0.000,0.000,2484,2241,1771
$GC,21514,0.94,248.8,226.4,6.0,1043,21519,0.00,2.65,0.00,0.000,4,0.000,0.069,2484,822,1771
$GC,21548,1.01,258.2,224.2,5.7,1044,21564,0.17,2.62,10.40,0.703,6,0.056,0.054,2524,2247,1728
$GC,21883,0.95,258.2,198.9,7.6,1061,21885,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2247,1727
$GC,22190,0.89,258.2,175.6,7.7,1076,22192,0.15,0.00,0.00,0.000,6,0.092,0.000,2494,2247,1727
$GC,22499,0.89,258.2,153.6,7.3,1091,22500,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2247,1727
$GC,22809,0.89,258.2,131.3,7.0,1106,22810,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2247,1727
$GC,23118,0.89,258.2,112.1,6.2,1121,23122,0.00,2.67,0.00,0.000,4,0.000,0.079,2494,3654,1727
$GC,23150,0.90,265.5,109.8,5.8,1122,23165,0.00,2.60,7.85,0.612,6,0.000,0.061,2494,2242,1697
$GC,23488,0.90,265.5,85.7,7.6,1139,23492,0.00,2.65,0.00,0.000,4,0.000,0.067,2494,818,1698
$GC,23528,0.90,265.5,82.7,6.4,1141,23532,0.00,2.60,0.00,0.000,6,0.000,0.054,2494,2242,1697
$GC,23854,0.90,265.5,60.5,6.2,1157,23855,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2242,1697
$GC,24164,0.94,265.5,40.6,6.9,1172,24169,0.00,2.65,0.00,0.000,4,0.000,0.065,2494,820,1697
$GC,24205,1.01,265.5,37.6,6.8,1174,24210,0.12,2.60,0.00,0.000,6,0.048,0.053,2523,2244,1698
$GC,24534,0.96,265.5,10.6,8.2,1190,24539,0.00,2.65,0.00,0.000,4,0.000,0.077,2523,3651,1697
$GC,24579,0.96,265.5,6.4,7.8,1192,24583,0.00,2.62,0.00,0.000,6,0.000,0.061,2524,2231,1697
$STATE,24650,end climb,SURFACE_DEPTH_REACHED
$STATE,24650,begin surface coast
$FINISH,0.7,0.999872
$STATE,24672,end surface coast,CONTROL_FINISHED_OK
$STATE,24672,begin surface
$SM_CCo,24693,140.60,0.615,0,0,509,557.32
$SM_GC,1.37,0.00,0.00,140.60,0.000,0.000,0.615,74,2230,509,-10.24,0.03,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1852
$TCM_TEMP,17.80
$XPDR_PINGS,29
$ALTIM_TOP_PING,19.2,18.0
$ALTIM_BOTTOM_PING,800.5,45.0
$24V_AH,23.5,30.604
$10V_AH,10.1,15.218
$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,24.775,111.750,381.675,140.600,0.000,18.378,26.737,147.757,14.750,0.000,0.000,13.220,2057.060,19631.730,697.873,2221.890,544.507,0.000,1782.989,0.000,2180.833,0.000,52.257
$DEVICE_MAMPS,171.041,90.506,1201.889,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,882.467,820.599,676.685,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59999,1197
$CAP_FILE_SIZE,148271,0
$CFSIZE,260165632,247975936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110708,183838,6240.079,-1236.735,29,1.0,29,-11.7