version: 66.03
glider: 16
mission: 9
dive: 232
start: 7 25 108 19 55 58
data:
$ID,16
$MISSION,9
$DIVE,232
$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,-2098048.2
$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,24
$R_STBD_OVSHOOT,22
$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
$GPS1,193137,6346.745,-1302.028,36,1.1,42,-12.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-55.0
$GPS2,195539,6346.580,-1303.043,11,1.5,11,-12.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,default
$TGT_LATLONG,62.000,-6.800
$TGT_RADIUS,1852.000
$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,180.8,7118624,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-118.57,0.000,2,0.000,0.000,69,2254,2949
$GC,151,-0.85,-146.6,4.0,-3.2,6,177,9.60,2.67,-10.07,0.000,4,0.179,0.071,1754,814,3382
$GC,199,0.22,-146.6,18.7,-31.3,8,209,3.10,2.58,0.00,0.000,6,0.130,0.049,2342,2233,3382
$GC,538,-0.34,-146.6,47.1,-8.1,25,544,0.50,2.60,0.00,0.000,4,0.049,0.052,2224,812,3381
$GC,583,-0.78,-146.6,50.5,-6.7,27,589,0.43,2.55,0.00,0.000,6,0.049,0.046,2126,2235,3382
$GC,905,-0.70,-146.6,71.8,-6.6,43,910,0.10,2.60,0.00,0.000,4,0.093,0.064,2144,3641,3382
$GC,1076,-0.65,-146.6,86.4,-8.6,50,1082,0.00,2.55,0.00,0.000,6,0.000,0.049,2144,2223,3382
$GC,1392,-0.58,-146.6,114.0,-8.8,66,1397,0.12,2.58,0.00,0.000,4,0.088,0.059,2170,814,3382
$GC,1421,-0.63,-146.6,116.5,-8.8,67,1425,0.00,2.55,0.00,0.000,6,0.000,0.047,2170,2226,3382
$GC,1738,-0.63,-146.6,140.3,-7.0,82,1742,0.00,2.62,0.00,0.000,4,0.000,0.068,2170,3643,3382
$GC,1771,-0.63,-146.6,142.9,-7.2,83,1777,0.00,2.55,0.00,0.000,6,0.000,0.049,2170,2225,3382
$GC,2087,-0.63,-146.6,165.6,-6.9,99,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2225,3382
$GC,2395,-0.63,-146.6,187.9,-7.6,114,2400,0.00,2.62,0.00,0.000,4,0.000,0.070,2170,3638,3382
$GC,2423,-0.63,-146.6,190.2,-8.3,115,2427,0.00,2.55,0.00,0.000,6,0.000,0.049,2170,2221,3382
$GC,2739,-0.63,-146.6,214.3,-7.4,130,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2221,3381
$GC,3048,-0.63,-146.6,239.7,-8.0,145,3052,0.00,2.65,0.00,0.000,4,0.000,0.070,2170,3638,3381
$GC,3074,-0.63,-146.6,242.1,-8.8,146,3079,0.00,2.55,0.00,0.000,6,0.000,0.050,2170,2221,3381
$GC,3391,-0.63,-146.6,265.3,-7.2,161,3395,0.00,2.65,0.00,0.000,4,0.000,0.071,2170,3641,3381
$GC,3424,-0.63,-146.6,267.8,-7.8,162,3429,0.00,2.55,0.00,0.000,6,0.000,0.050,2170,2222,3381
$GC,3739,-0.63,-146.6,290.5,-6.9,178,3743,0.00,2.55,0.00,0.000,4,0.000,0.061,2170,817,3381
$GC,3767,-0.68,-146.6,292.5,-7.2,179,3771,0.00,2.53,0.00,0.000,6,0.000,0.048,2170,2230,3381
$GC,4082,-0.68,-146.6,313.4,-6.5,194,4087,0.00,2.62,0.00,0.000,4,0.000,0.071,2170,3644,3380
$GC,4116,-0.68,-146.6,315.9,-7.1,195,4122,0.00,2.55,0.00,0.000,6,0.000,0.051,2171,2224,3380
$GC,4432,-0.68,-146.6,336.3,-6.3,211,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2225,3380
$GC,4741,-0.68,-146.6,356.9,-6.9,226,4745,0.00,2.65,0.00,0.000,4,0.000,0.071,2170,3640,3380
$GC,4768,-0.68,-146.6,359.1,-7.9,227,4772,0.00,2.55,0.00,0.000,6,0.000,0.051,2170,2227,3379
$GC,5084,-0.68,-146.6,380.4,-6.8,242,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2226,3379
$GC,5393,-0.68,-146.6,402.4,-7.4,257,5397,0.00,2.65,0.00,0.000,4,0.000,0.071,2170,3640,3379
$GC,5419,-0.68,-146.6,404.8,-8.6,258,5424,0.00,2.55,0.00,0.000,6,0.000,0.051,2170,2222,3379
$GC,5736,-0.68,-146.6,431.9,-9.3,273,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2222,3379
$GC,6044,-0.68,-146.6,462.4,-10.0,288,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2222,3379
$GC,6354,-0.68,-146.6,492.8,-9.4,303,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2221,3379
$GC,6663,-0.68,-146.6,518.0,-7.7,318,6668,0.00,2.65,0.00,0.000,4,0.000,0.071,2170,3640,3379
$GC,6703,-0.68,-146.6,521.2,-8.7,320,6708,0.00,2.55,0.00,0.000,6,0.000,0.050,2170,2222,3379
$GC,7031,-0.68,-146.6,542.9,-6.9,336,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2222,3378
$GC,7340,-0.68,-146.6,563.2,-6.1,351,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2220,3378
$GC,7650,-0.68,-146.6,582.3,-5.9,366,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2221,3378
$GC,7959,-0.68,-146.6,600.5,-6.9,381,7963,0.00,2.65,0.00,0.000,4,0.000,0.071,2170,3639,3378
$GC,8004,-0.73,-146.6,604.2,-8.2,383,8009,0.15,2.53,0.00,0.000,6,0.049,0.049,2131,2227,3378
$GC,8325,-0.66,-146.6,637.0,-10.6,399,8330,0.12,2.58,0.00,0.000,4,0.087,0.061,2156,817,3378
$GC,8375,-0.71,-146.6,642.2,-10.4,401,8380,0.00,2.55,0.00,0.000,6,0.000,0.048,2157,2236,3378
$GC,8692,-0.71,-146.6,669.7,-8.2,416,8696,0.00,2.62,0.00,0.000,4,0.000,0.073,2156,3643,3377
$GC,8736,-0.71,-146.6,673.4,-8.4,418,8740,0.00,2.55,0.00,0.000,6,0.000,0.051,2156,2223,3377
$GC,9056,-0.71,-146.6,698.5,-8.1,434,9061,0.00,2.58,0.00,0.000,4,0.000,0.064,2156,820,3378
$GC,9113,-0.78,-146.6,703.1,-8.2,436,9120,0.12,2.55,0.00,0.000,6,0.048,0.051,2116,2230,3377
$STATE,9282,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9282,begin apogee
$GC,9288,-0.31,0.0,718.8,9.5,445,9425,0.55,0.00,131.73,1.087,6,0.086,0.000,2227,2230,2780
$STATE,9425,end apogee,CONTROL_FINISHED_OK
$STATE,9425,begin climb
$GC,9429,0.85,146.6,725.2,0.0,452,9571,1.20,2.72,130.38,1.068,4,0.078,0.061,2480,827,2182
$GC,9620,0.89,190.7,721.0,4.8,461,9665,0.00,2.60,40.15,1.033,6,0.000,0.050,2480,2242,2003
$GC,9990,0.97,205.8,701.0,5.6,479,10007,0.15,0.00,14.57,0.961,6,0.065,0.000,2515,2242,1942
$GC,10316,0.98,211.1,680.2,5.9,495,10324,0.00,0.00,6.35,0.816,6,0.000,0.000,2515,2242,1920
$GC,10626,0.98,211.1,662.5,6.3,510,10630,0.00,2.65,0.00,0.000,4,0.000,0.073,2515,3653,1919
$GC,10681,0.98,211.1,658.4,7.4,512,10687,0.00,2.58,0.00,0.000,6,0.000,0.055,2515,2243,1919
$GC,10997,0.92,211.1,635.3,7.7,528,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2243,1918
$GC,11306,0.92,211.1,606.9,9.7,543,11311,0.00,2.62,0.00,0.000,4,0.000,0.066,2516,825,1917
$GC,11340,0.87,211.1,603.6,9.1,544,11347,0.12,2.58,0.00,0.000,6,0.092,0.049,2491,2242,1917
$GC,11656,0.92,211.1,576.1,9.1,560,11660,0.00,2.65,0.00,0.000,4,0.000,0.071,2491,3654,1917
$GC,11700,0.92,211.1,571.9,9.8,562,11705,0.00,2.58,0.00,0.000,6,0.000,0.054,2491,2240,1918
$GC,12021,0.92,211.1,547.9,7.8,578,12023,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2240,1917
$GC,12331,0.96,211.1,529.0,6.7,593,12332,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2240,1917
$GC,12641,1.04,240.5,510.8,5.2,608,12670,0.15,0.00,26.45,0.927,6,0.048,0.000,2527,2239,1800
$GC,12969,1.04,240.5,488.3,6.9,624,12974,0.00,2.65,0.00,0.000,4,0.000,0.071,2527,3650,1800
$GC,13014,0.99,240.5,484.8,7.9,626,13018,0.00,2.58,0.00,0.000,6,0.000,0.052,2527,2235,1800
$GC,13335,0.99,240.5,460.9,7.5,642,13339,0.00,2.65,0.00,0.000,4,0.000,0.069,2527,3648,1800
$GC,13374,0.99,240.5,457.7,7.7,644,13379,0.00,2.58,0.00,0.000,6,0.000,0.052,2527,2235,1800
$GC,13701,0.99,240.5,433.5,7.1,660,13705,0.00,2.65,0.00,0.000,4,0.000,0.070,2528,3648,1800
$GC,13729,0.95,240.5,431.4,7.0,661,13733,0.00,2.55,0.00,0.000,6,0.000,0.052,2527,2240,1800
$GC,14045,0.95,240.5,407.9,7.5,676,14046,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2240,1800
$GC,14354,0.95,240.5,383.2,7.9,691,14359,0.00,2.65,0.00,0.000,4,0.000,0.070,2527,3654,1800
$GC,14400,0.91,240.5,379.3,8.8,693,14405,0.15,2.58,0.00,0.000,6,0.087,0.052,2496,2232,1800
$GC,14720,0.91,240.5,357.8,6.3,709,14722,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2232,1800
$GC,15030,0.92,247.8,339.2,5.8,724,15044,0.00,2.70,8.00,0.713,4,0.000,0.069,2496,3647,1770
$GC,15062,0.92,247.8,337.0,6.5,725,15067,0.00,2.58,0.00,0.000,6,0.000,0.052,2496,2236,1770
$GC,15378,0.92,247.8,317.4,6.4,740,15379,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2235,1770
$GC,15688,0.92,247.8,296.8,6.7,755,15692,0.00,2.65,0.00,0.000,4,0.000,0.068,2496,3653,1770
$GC,15720,0.92,247.8,294.4,6.8,756,15726,0.00,2.55,0.00,0.000,6,0.000,0.052,2496,2239,1770
$GC,16036,0.92,247.8,274.5,6.1,772,16037,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2240,1770
$GC,16345,0.95,275.1,257.0,5.3,787,16371,0.00,0.00,24.08,0.762,6,0.000,0.000,2496,2239,1659
$GC,16675,1.01,328.4,241.8,4.5,803,16726,0.10,2.70,44.60,0.764,4,0.050,0.068,2525,3650,1442
$GC,16755,1.01,328.4,236.9,6.7,807,16759,0.00,2.60,0.00,0.000,6,0.000,0.052,2526,2240,1442
$GC,17082,1.01,328.4,210.1,10.9,823,17086,0.00,2.62,0.00,0.000,4,0.000,0.064,2527,824,1442
$GC,17125,1.01,328.4,204.2,13.1,825,17130,0.00,2.58,0.00,0.000,6,0.000,0.047,2526,2246,1441
$GC,17447,1.01,328.4,152.9,16.3,841,17448,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2246,1442
$GC,17757,1.01,328.4,110.9,11.9,856,17761,0.00,2.62,0.00,0.000,4,0.000,0.062,2526,827,1441
$GC,17784,1.01,328.4,107.7,12.8,857,17788,0.00,2.55,0.00,0.000,6,0.000,0.047,2526,2242,1442
$GC,18101,1.01,328.4,75.3,10.2,872,18102,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2242,1442
$GC,18410,1.01,328.4,45.8,8.8,887,18411,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2242,1442
$GC,18718,1.01,328.4,20.4,7.9,902,18719,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2242,1441
$STATE,18963,end climb,SURFACE_DEPTH_REACHED
$STATE,18963,begin surface coast
$FINISH,0.6,1.017923
$STATE,18985,end surface coast,CONTROL_FINISHED_OK
$STATE,18985,begin surface
$SM_CCo,19007,111.05,0.590,0,0,508,557.32
$SM_GC,1.30,0.00,0.00,111.05,0.000,0.000,0.590,70,2244,508,-10.26,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1868
$TCM_TEMP,16.90
$XPDR_PINGS,105
$ALTIM_TOP_PING,19.0,18.2
$ALTIM_BOTTOM_PING,650.4,78.3
$24V_AH,23.6,40.399
$10V_AH,10.2,20.585
$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,27.325,155.875,426.300,111.050,0.000,90.856,160.352,798.396,32.000,0.000,0.000,11.867,1642.436,14942.299,720.592,1857.341,1398.451,0.000,1675.727,0.000,1822.433,0.000,39.692
$DEVICE_MAMPS,178.711,72.865,1086.839,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,674.018,625.072,539.222,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47406,915
$CAP_FILE_SIZE,144782,1
$CFSIZE,260165632,244064256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260708,011555,6343.862,-1302.465,38,1.8,38,-12.3