version: 66.03
glider: 16
mission: 9
dive: 256
start: 7 29 108 18 2 12
data:
$ID,16
$MISSION,9
$DIVE,256
$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,-2098657.2
$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,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
$GPS1,175408,6412.547,-1157.476,30,1.5,30,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-57.1
$GPS2,180153,6412.591,-1157.224,12,2.1,31,-11.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SV
$TGT_LATLONG,6418.000,-1220.000
$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,310.6,20856,-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,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,128,0.00,0.00,-101.35,0.000,2,0.000,0.000,70,2236,2592
$GC,131,-0.85,-146.6,3.0,-1.9,5,175,11.40,2.67,-26.33,0.000,4,0.167,0.077,2107,3644,3380
$GC,321,-0.64,-146.6,22.4,-10.2,13,326,0.25,2.58,0.00,0.000,6,0.091,0.048,2155,2223,3380
$GC,639,-0.59,-146.6,47.1,-8.0,28,643,0.00,2.65,0.00,0.000,4,0.000,0.067,2156,3640,3382
$GC,689,-0.55,-146.6,51.8,-8.7,30,694,0.12,2.55,0.00,0.000,6,0.097,0.048,2180,2225,3381
$GC,1006,-0.55,-146.6,74.4,-6.0,45,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2225,3381
$GC,1315,-0.55,-146.6,94.3,-6.9,60,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2225,3382
$GC,1623,-0.55,-146.6,116.1,-7.0,75,1628,0.00,2.58,0.00,0.000,4,0.000,0.061,2180,814,3381
$GC,1664,-0.64,-146.6,118.8,-7.1,77,1668,0.00,2.55,0.00,0.000,6,0.000,0.048,2180,2229,3381
$GC,1991,-0.64,-146.6,140.8,-6.6,93,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2230,3381
$GC,2300,-0.64,-146.6,160.5,-6.4,108,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2231,3381
$GC,2610,-0.64,-146.6,180.1,-6.6,123,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2230,3382
$GC,2920,-0.69,-146.6,201.0,-6.8,138,2922,0.15,0.00,0.00,0.000,6,0.041,0.000,2133,2230,3381
$GC,3228,-0.58,-146.6,229.8,-9.6,153,3230,0.20,0.00,0.00,0.000,6,0.083,0.000,2171,2230,3381
$GC,3537,-0.58,-146.6,253.7,-7.5,168,3541,0.00,2.62,0.00,0.000,4,0.000,0.071,2172,3641,3381
$GC,3576,-0.58,-146.6,256.7,-7.5,170,3581,0.00,2.55,0.00,0.000,6,0.000,0.050,2171,2228,3381
$GC,3905,-0.58,-146.6,277.8,-6.0,186,3909,0.00,2.58,0.00,0.000,4,0.000,0.060,2171,817,3381
$GC,3945,-0.66,-146.6,280.2,-6.1,188,3949,0.00,2.55,0.00,0.000,6,0.000,0.049,2172,2228,3381
$GC,4272,-0.66,-146.6,298.4,-5.7,204,4276,0.00,2.62,0.00,0.000,4,0.000,0.071,2172,3641,3380
$GC,4305,-0.66,-146.6,300.5,-5.9,205,4311,0.00,2.55,0.00,0.000,6,0.000,0.051,2171,2225,3381
$GC,4621,-0.66,-146.6,320.4,-6.9,221,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2225,3381
$GC,4931,-0.66,-146.6,346.1,-9.0,236,4935,0.00,2.65,0.00,0.000,4,0.000,0.073,2172,3640,3381
$GC,4971,-0.72,-146.6,349.8,-9.6,238,4978,0.12,2.55,0.00,0.000,6,0.045,0.051,2135,2228,3381
$GC,5308,-0.63,-146.6,381.7,-9.6,254,5310,0.15,0.00,0.00,0.000,6,0.087,0.000,2164,2228,3380
$STATE,5509,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5509,begin apogee
$GC,5515,-0.31,0.0,396.6,7.4,264,5645,0.32,0.00,126.85,0.874,6,0.086,0.000,2230,2228,2781
$STATE,5646,end apogee,CONTROL_FINISHED_OK
$STATE,5646,begin climb
$GC,5649,0.85,146.6,402.0,0.0,270,5778,1.20,0.00,125.97,0.861,6,0.083,0.000,2480,2228,2182
$GC,6088,0.93,225.9,389.5,3.8,292,6163,0.10,2.70,67.60,0.852,4,0.056,0.064,2515,829,1859
$GC,6275,0.93,225.9,377.7,6.7,300,6281,0.00,2.60,0.00,0.000,6,0.000,0.052,2513,2243,1858
$GC,6591,0.93,225.9,356.6,6.7,316,6596,0.00,2.65,0.00,0.000,4,0.000,0.075,2515,3648,1858
$GC,6669,0.93,225.9,350.3,7.9,319,6676,0.00,2.60,0.00,0.000,6,0.000,0.058,2515,2242,1858
$GC,6985,0.97,259.0,330.9,5.1,335,7016,0.00,0.00,29.25,0.815,6,0.000,0.000,2515,2243,1725
$GC,7315,0.97,259.0,311.7,6.7,351,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2243,1724
$GC,7624,0.97,259.0,287.5,8.3,366,7628,0.00,2.67,0.00,0.000,4,0.000,0.074,2515,3654,1723
$GC,7656,0.97,259.0,284.4,9.2,367,7662,0.00,2.60,0.00,0.000,6,0.000,0.054,2515,2238,1723
$GC,7973,0.97,259.0,257.4,8.2,383,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2237,1723
$GC,8281,0.97,259.0,235.3,7.0,398,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2237,1723
$GC,8591,0.97,259.0,212.1,7.8,413,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2237,1723
$GC,8900,0.97,259.0,187.7,7.6,428,8905,0.00,2.65,0.00,0.000,4,0.000,0.069,2515,3653,1723
$GC,8940,0.97,259.0,184.6,8.0,430,8945,0.00,2.55,0.00,0.000,6,0.000,0.051,2515,2238,1723
$GC,9267,0.97,259.0,160.9,7.1,446,9269,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2237,1723
$GC,9577,0.97,259.0,141.1,6.3,461,9578,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2237,1723
$GC,9886,0.97,259.0,121.8,6.4,476,9890,0.00,2.65,0.00,0.000,4,0.000,0.068,2515,3656,1723
$GC,9918,0.97,259.0,119.5,7.2,477,9925,0.00,2.55,0.00,0.000,6,0.000,0.051,2515,2241,1723
$GC,10237,0.97,259.0,98.0,6.9,493,10238,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2240,1723
$GC,10544,0.97,259.0,77.0,7.0,508,10548,0.00,2.60,0.00,0.000,4,0.000,0.062,2515,822,1723
$GC,10584,1.02,259.0,74.2,7.5,510,10588,0.00,2.58,0.00,0.000,6,0.000,0.047,2515,2251,1723
$GC,10911,1.02,260.1,52.3,6.0,526,10916,0.00,2.58,0.00,0.000,4,0.000,0.066,2515,3648,1723
$GC,10952,1.07,260.1,49.7,6.5,528,10956,0.00,2.55,0.00,0.000,6,0.000,0.052,2515,2234,1724
$GC,11279,1.07,260.1,30.5,6.2,544,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2234,1723
$GC,11591,1.17,310.8,13.2,4.6,559,11641,0.15,2.67,42.28,0.624,4,0.044,0.067,2566,3647,1512
$GC,11670,1.13,310.8,7.6,7.7,562,11676,0.00,2.55,0.00,0.000,6,0.000,0.051,2566,2241,1512
$STATE,11737,end climb,SURFACE_DEPTH_REACHED
$STATE,11737,begin surface coast
$FINISH,0.7,1.018792
$STATE,11758,end surface coast,CONTROL_FINISHED_OK
$STATE,11758,begin surface
$SM_CCo,11780,120.85,0.599,0,0,508,557.32
$SM_GC,1.37,0.00,0.00,120.85,0.000,0.000,0.599,73,2239,508,-10.24,0.25,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1881
$TCM_TEMP,17.70
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.1,18.3
$ALTIM_BOTTOM_PING,350.2,55.4
$24V_AH,23.7,43.756
$10V_AH,10.2,22.188
$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,25.025,78.000,391.950,120.850,0.000,36.486,60.218,173.188,4.250,0.000,0.000,31.931,1026.527,8978.079,651.357,1223.825,493.907,0.000,1263.998,0.000,1184.456,0.000,20.165
$DEVICE_MAMPS,167.206,76.700,874.380,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.627,385.655,487.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28497,567
$CAP_FILE_SIZE,83762,0
$CFSIZE,260165632,243089408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290708,212155,6413.777,-1154.770,25,1.7,43,-11.9