version: 66.03
glider: 16
mission: 9
dive: 227
start: 7 24 108 15 6 24
data:
$ID,16
$MISSION,9
$DIVE,227
$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,-2097932.8
$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,21
$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,0
$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
$GPS1,150037,6356.262,-1306.890,39,1.3,44,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-58.1
$GPS2,150607,6356.343,-1306.752,15,1.6,25,-12.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BT2
$TGT_LATLONG,6345.000,-1300.000
$TGT_RADIUS,3000.000
$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,177.7,21723,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.85,-146.6,0.0,0.0,0,131,0.00,0.00,-101.45,0.000,2,0.000,0.000,68,2227,2558
$GC,134,-0.85,-146.6,3.0,-1.7,5,179,11.50,0.00,-28.98,0.000,6,0.168,0.000,2110,2227,3378
$GC,503,-0.65,-146.6,41.9,-10.8,23,508,0.20,2.60,0.00,0.000,4,0.095,0.059,2153,812,3378
$GC,525,-0.57,-146.6,44.2,-9.6,24,530,0.12,2.58,0.00,0.000,6,0.091,0.047,2177,2238,3378
$GC,846,-0.57,-146.6,67.3,-7.3,40,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2238,3378
$GC,1156,-0.57,-146.6,88.7,-7.3,55,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2238,3379
$GC,1464,-0.57,-146.6,110.5,-6.8,70,1469,0.00,2.60,0.00,0.000,4,0.000,0.069,2177,3639,3380
$GC,1497,-0.57,-146.6,112.9,-7.6,71,1503,0.00,2.55,0.00,0.000,6,0.000,0.049,2177,2223,3379
$GC,1815,-0.57,-146.6,133.2,-6.2,87,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2223,3379
$GC,2122,-0.57,-146.6,151.3,-5.5,102,2126,0.00,2.58,0.00,0.000,4,0.000,0.061,2177,814,3379
$GC,2150,-0.63,-146.6,152.8,-5.9,103,2155,0.00,2.55,0.00,0.000,6,0.000,0.048,2177,2228,3379
$GC,2466,-0.63,-146.6,170.5,-5.4,118,2471,0.00,2.62,0.00,0.000,4,0.000,0.070,2177,3641,3379
$GC,2494,-0.63,-146.6,172.2,-6.3,119,2498,0.00,2.55,0.00,0.000,6,0.000,0.049,2177,2228,3379
$GC,2809,-0.63,-146.6,190.9,-6.4,134,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2228,3379
$GC,3119,-0.63,-146.6,210.8,-6.3,149,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2228,3379
$GC,3429,-0.68,-146.6,229.8,-5.9,164,3431,0.12,0.00,0.00,0.000,6,0.051,0.000,2141,2228,3379
$GC,3738,-0.60,-146.6,253.2,-7.7,179,3740,0.15,0.00,0.00,0.000,6,0.086,0.000,2171,2228,3379
$GC,4046,-0.60,-146.6,272.4,-6.3,194,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3379
$GC,4356,-0.60,-146.6,292.8,-6.8,209,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3378
$GC,4666,-0.60,-146.6,314.0,-6.7,224,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3378
$GC,4974,-0.60,-146.6,333.5,-6.2,239,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3379
$GC,5284,-0.60,-146.6,352.8,-6.2,254,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3379
$GC,5594,-0.60,-146.6,370.8,-5.5,269,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3378
$GC,5902,-0.60,-146.6,389.0,-6.3,284,5906,0.00,2.65,0.00,0.000,4,0.000,0.071,2171,3640,3378
$GC,5935,-0.60,-146.6,391.4,-7.4,285,5941,0.00,2.53,0.00,0.000,6,0.000,0.050,2171,2228,3378
$GC,6251,-0.60,-146.6,412.3,-6.7,301,6256,0.00,2.58,0.00,0.000,4,0.000,0.061,2171,816,3378
$GC,6279,-0.66,-146.6,414.4,-7.0,302,6284,0.00,2.53,0.00,0.000,6,0.000,0.048,2171,2231,3378
$GC,6595,-0.66,-146.6,435.5,-6.6,317,6599,0.00,2.62,0.00,0.000,4,0.000,0.071,2171,3641,3378
$GC,6622,-0.66,-146.6,437.6,-8.1,318,6626,0.00,2.55,0.00,0.000,6,0.000,0.050,2171,2221,3378
$GC,6938,-0.66,-146.6,459.0,-6.9,333,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2221,3378
$GC,7247,-0.66,-146.6,477.3,-5.5,348,7251,0.00,2.65,0.00,0.000,4,0.000,0.071,2171,3640,3378
$GC,7286,-0.66,-146.6,479.8,-6.5,350,7291,0.00,2.53,0.00,0.000,6,0.000,0.049,2171,2227,3378
$GC,7615,-0.70,-146.6,501.3,-6.6,366,7620,0.00,2.58,0.00,0.000,4,0.000,0.061,2171,816,3378
$GC,7643,-0.77,-146.6,503.2,-6.9,367,7648,0.17,2.55,0.00,0.000,6,0.043,0.048,2120,2232,3378
$GC,7960,-0.64,-146.6,530.5,-8.7,382,7965,0.17,2.62,0.00,0.000,4,0.088,0.071,2157,3645,3378
$GC,7987,-0.64,-146.6,533.0,-8.7,383,7991,0.00,2.55,0.00,0.000,6,0.000,0.051,2157,2228,3378
$GC,8302,-0.64,-146.6,555.5,-7.0,398,8307,0.00,2.65,0.00,0.000,4,0.000,0.072,2157,3644,3378
$GC,8330,-0.64,-146.6,557.6,-8.3,399,8335,0.00,2.53,0.00,0.000,6,0.000,0.051,2157,2231,3378
$GC,8646,-0.64,-146.6,579.1,-6.9,414,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2231,3377
$GC,8955,-0.64,-146.6,599.8,-6.4,429,8963,0.00,2.65,0.00,0.000,4,0.000,0.074,2157,3640,3377
$GC,8997,-0.64,-146.6,602.7,-6.8,430,9003,0.00,2.53,0.00,0.000,6,0.000,0.051,2157,2230,3376
$GC,9313,-0.64,-146.6,623.9,-7.7,446,9317,0.00,2.58,0.00,0.000,4,0.000,0.062,2157,819,3377
$GC,9357,-0.70,-146.6,627.3,-8.1,448,9361,0.00,2.55,0.00,0.000,6,0.000,0.049,2157,2233,3377
$GC,9681,-0.70,-146.6,650.1,-6.6,464,9685,0.00,2.62,0.00,0.000,4,0.000,0.074,2157,3638,3376
$GC,9730,-0.70,-146.6,653.7,-7.1,466,9734,0.00,2.53,0.00,0.000,6,0.000,0.051,2157,2225,3376
$GC,10047,-0.70,-146.6,672.0,-5.9,481,10051,0.00,2.60,0.00,0.000,4,0.000,0.064,2157,814,3376
$GC,10091,-0.75,-146.6,675.0,-6.6,483,10096,0.00,2.58,0.00,0.000,6,0.000,0.052,2157,2232,3376
$GC,10418,-0.75,-146.6,698.0,-7.6,499,10419,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2232,3375
$GC,10727,-0.75,-146.6,721.6,-7.0,514,10731,0.00,2.65,0.00,0.000,4,0.000,0.079,2157,3636,3374
$GC,10805,-0.75,-146.6,727.7,-8.9,517,10811,0.00,2.55,0.00,0.000,6,0.000,0.055,2157,2232,3374
$STATE,10871,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10871,begin apogee
$GC,10877,-0.31,0.0,733.9,9.5,521,11013,0.35,0.00,131.18,1.103,6,0.089,0.000,2228,2232,2782
$STATE,11015,end apogee,CONTROL_FINISHED_OK
$STATE,11015,begin climb
$GC,11018,0.85,146.6,739.7,0.0,528,11156,1.17,2.80,130.12,1.090,4,0.072,0.080,2478,3647,2182
$GC,11182,0.90,200.0,739.6,4.5,535,11237,0.00,2.62,47.97,1.062,6,0.000,0.055,2478,2236,1964
$GC,11557,0.92,217.0,722.6,5.5,553,11579,0.00,2.80,16.48,0.997,4,0.000,0.079,2478,3645,1895
$GC,11670,0.92,217.0,716.6,7.4,558,11675,0.10,2.62,0.00,0.000,6,0.064,0.058,2506,2232,1895
$GC,11996,0.92,217.0,696.4,6.4,574,12000,0.00,2.72,0.00,0.000,4,0.000,0.077,2507,3652,1895
$GC,12029,0.92,217.0,693.9,7.6,575,12036,0.00,2.60,0.00,0.000,6,0.000,0.056,2507,2235,1895
$GC,12345,0.92,217.0,672.6,6.5,591,12350,0.00,2.65,0.00,0.000,4,0.000,0.070,2507,825,1894
$GC,12395,0.92,217.0,669.2,6.7,593,12400,0.00,2.60,0.00,0.000,6,0.000,0.052,2507,2244,1893
$GC,12712,0.95,243.3,649.9,5.3,608,12737,0.00,0.00,23.92,1.019,6,0.000,0.000,2507,2244,1789
$GC,13040,0.95,243.3,623.1,7.9,624,13041,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2244,1788
$GC,13349,0.95,243.3,600.0,6.7,639,13354,0.00,2.65,0.00,0.000,4,0.000,0.075,2507,3648,1788
$GC,13383,0.95,243.3,597.7,7.0,640,13389,0.00,2.58,0.00,0.000,6,0.000,0.054,2507,2237,1788
$GC,13699,1.00,288.5,580.6,4.8,656,13745,0.00,2.72,40.30,1.003,4,0.000,0.073,2507,3647,1605
$GC,13791,1.05,295.0,575.7,5.8,660,13803,0.10,2.60,7.18,0.823,6,0.062,0.054,2535,2233,1578
$GC,14112,1.05,295.0,552.7,7.7,676,14113,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2234,1578
$GC,14421,1.05,295.0,525.6,8.8,691,14425,0.00,2.65,0.00,0.000,4,0.000,0.073,2535,3648,1578
$GC,14454,1.05,295.0,522.3,9.8,692,14460,0.00,2.58,0.00,0.000,6,0.000,0.054,2535,2240,1578
$GC,14770,1.05,295.0,495.7,7.9,708,14771,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2240,1579
$GC,15081,1.05,295.0,472.3,7.5,723,15085,0.00,2.65,0.00,0.000,4,0.000,0.071,2535,3647,1578
$GC,15116,1.05,295.0,469.4,8.0,724,15121,0.00,2.58,0.00,0.000,6,0.000,0.053,2535,2235,1578
$GC,15431,1.05,295.0,443.3,8.7,740,15435,0.00,2.60,0.00,0.000,4,0.000,0.064,2535,829,1578
$GC,15452,1.05,295.0,441.4,8.5,741,15457,0.00,2.55,0.00,0.000,6,0.000,0.049,2535,2241,1578
$GC,15774,1.05,295.0,414.4,8.1,757,15775,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2240,1578
$GC,16083,1.05,295.0,390.5,7.6,772,16084,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2240,1578
$GC,16392,1.05,295.0,365.5,8.2,787,16393,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2240,1578
$GC,16702,1.05,295.0,340.9,7.7,802,16703,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2240,1579
$GC,17010,1.05,295.0,317.2,7.8,817,17012,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2240,1579
$GC,17320,1.05,295.0,290.7,8.9,832,17321,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2240,1579
$GC,17629,1.05,295.0,264.5,8.4,847,17633,0.00,2.60,0.00,0.000,4,0.000,0.063,2534,828,1579
$GC,17651,1.05,295.0,262.4,9.1,848,17655,0.00,2.55,0.00,0.000,6,0.000,0.049,2535,2241,1579
$GC,17971,1.05,295.0,236.2,8.2,864,17972,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2241,1580
$GC,18281,1.05,295.0,212.0,7.3,879,18285,0.00,2.62,0.00,0.000,4,0.000,0.063,2535,821,1580
$GC,18304,1.05,295.0,210.3,7.4,880,18308,0.00,2.58,0.00,0.000,6,0.000,0.049,2535,2247,1580
$GC,18625,1.05,295.0,187.2,7.2,896,18626,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2247,1580
$GC,18934,1.05,295.0,165.2,7.1,911,18935,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2247,1580
$GC,19244,1.05,295.0,145.9,6.1,926,19245,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2247,1580
$GC,19553,1.05,295.0,125.6,6.8,941,19554,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2247,1580
$GC,19862,1.05,295.0,102.8,8.0,956,19866,0.00,2.62,0.00,0.000,4,0.000,0.062,2535,823,1580
$GC,19912,1.05,295.0,98.5,9.5,958,19916,0.00,2.55,0.00,0.000,6,0.000,0.048,2535,2240,1580
$GC,20228,1.05,295.0,69.4,9.7,973,20232,0.00,2.62,0.00,0.000,4,0.000,0.069,2536,3654,1581
$GC,20267,1.05,295.0,65.6,9.6,975,20272,0.00,2.55,0.00,0.000,6,0.000,0.053,2535,2240,1581
$GC,20595,1.05,295.0,39.4,7.2,991,20599,0.00,2.62,0.00,0.000,4,0.000,0.067,2535,3650,1581
$GC,20622,1.05,295.0,37.5,7.1,992,20626,0.00,2.55,0.00,0.000,6,0.000,0.051,2536,2239,1581
$GC,20938,1.05,295.0,14.6,7.6,1007,20942,0.00,2.58,0.00,0.000,4,0.000,0.061,2535,828,1581
$GC,20988,1.05,295.0,10.7,7.7,1009,20993,0.00,2.55,0.00,0.000,6,0.000,0.047,2535,2250,1581
$STATE,21117,end climb,SURFACE_DEPTH_REACHED
$STATE,21117,begin surface coast
$FINISH,0.7,1.015452
$STATE,21138,end surface coast,CONTROL_FINISHED_OK
$STATE,21138,begin surface
$SM_CCo,21159,126.75,0.585,0,0,508,557.32
$SM_GC,1.45,0.00,0.00,126.75,0.000,0.000,0.585,70,2251,508,-10.25,0.59,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1846
$TCM_TEMP,18.00
$XPDR_PINGS,26
$ALTIM_TOP_PING,19.4,18.5
$ALTIM_BOTTOM_PING,701.1,42.2
$24V_AH,23.5,39.578
$10V_AH,10.1,20.132
$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,24.775,161.125,397.150,126.750,0.000,18.153,25.122,146.971,13.000,0.000,0.000,25.948,1803.319,16538.525,706.649,2041.008,524.953,0.000,1739.737,0.000,1982.114,0.000,45.795
$DEVICE_MAMPS,167.973,79.768,1102.946,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,737.595,704.737,616.259,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50519,1016
$CAP_FILE_SIZE,143027,0
$CFSIZE,260165632,244465664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240708,210252,6353.281,-1304.797,41,3.0,61,-12.4