version: 66.03
glider: 16
mission: 9
dive: 266
start: 7 31 108 1 25 19
data:
$ID,16
$MISSION,9
$DIVE,266
$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,-2098943.2
$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,22
$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,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
$GPS1,011707,6415.983,-1135.147,43,1.7,54,-11.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-51.5
$GPS2,012502,6415.886,-1135.050,16,1.7,33,-11.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WV
$TGT_LATLONG,6427.000,-1150.000
$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,341.6,23796,-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,-146.6,0.0,0.0,0,150,0.00,0.00,-121.40,0.000,2,0.000,0.000,73,2253,3077
$GC,154,-0.85,-146.6,4.7,-4.0,6,177,11.43,2.60,-6.18,0.000,4,0.169,0.074,2107,3635,3381
$GC,391,-0.66,-146.6,36.5,-9.9,16,396,0.22,2.55,0.00,0.000,6,0.092,0.048,2152,2227,3382
$GC,708,-0.59,-146.6,60.7,-7.7,31,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2227,3382
$GC,1017,-0.53,-146.6,85.1,-8.2,46,1019,0.15,0.00,0.00,0.000,6,0.094,0.000,2181,2227,3382
$GC,1326,-0.53,-146.6,106.4,-6.7,61,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2227,3382
$GC,1636,-0.53,-146.6,129.2,-7.3,76,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2227,3382
$GC,1944,-0.53,-146.6,147.6,-5.5,91,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2227,3382
$GC,2255,-0.53,-146.6,163.6,-5.4,106,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2227,3382
$GC,2563,-0.53,-146.6,182.0,-6.0,121,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2227,3382
$GC,2872,-0.53,-146.6,199.8,-5.7,136,2880,0.00,2.58,0.00,0.000,4,0.000,0.060,2181,814,3382
$GC,2915,-0.63,-146.6,202.2,-5.3,137,2921,0.00,2.55,0.00,0.000,6,0.000,0.047,2181,2232,3382
$GC,3230,-0.63,-146.6,220.3,-6.2,153,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2232,3382
$GC,3539,-0.63,-146.6,239.8,-6.2,168,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2232,3381
$GC,3849,-0.63,-146.6,258.9,-6.5,183,3854,0.00,2.60,0.00,0.000,4,0.000,0.058,2181,815,3381
$GC,3883,-0.73,-146.6,261.4,-7.9,184,3889,0.20,2.55,0.00,0.000,6,0.041,0.048,2122,2230,3380
$GC,4199,-0.60,-146.6,287.6,-7.3,200,4201,0.22,0.00,0.00,0.000,6,0.087,0.000,2167,2231,3381
$GC,4508,-0.60,-146.6,305.8,-7.4,215,4512,0.00,2.60,0.00,0.000,4,0.000,0.071,2167,3638,3381
$GC,4570,-0.60,-146.6,310.8,-8.0,218,4574,0.00,2.55,0.00,0.000,6,0.000,0.051,2167,2227,3381
$GC,4896,-0.60,-146.6,334.1,-7.4,234,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3381
$STATE,5121,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5121,begin apogee
$GC,5128,-0.31,0.0,349.9,6.8,245,5256,0.30,0.00,125.68,0.837,6,0.091,0.000,2227,2227,2781
$STATE,5257,end apogee,CONTROL_FINISHED_OK
$STATE,5257,begin climb
$GC,5260,0.85,146.6,355.0,0.0,251,5388,1.20,0.00,123.85,0.827,6,0.077,0.000,2481,2227,2182
$GC,5701,0.96,201.7,339.9,4.5,273,5756,0.12,2.78,47.20,0.804,4,0.052,0.073,2519,3647,1958
$GC,5820,0.90,201.7,332.2,7.3,278,5825,0.12,2.60,0.00,0.000,6,0.091,0.054,2494,2236,1958
$GC,6136,0.92,217.1,313.9,5.6,293,6155,0.00,0.00,14.65,0.749,6,0.000,0.000,2494,2236,1895
$GC,6465,0.93,220.7,294.6,5.9,309,6475,0.00,2.67,4.50,0.565,4,0.000,0.073,2494,3645,1881
$GC,6549,0.93,220.7,289.2,6.6,313,6553,0.00,2.58,0.00,0.000,6,0.000,0.054,2494,2239,1881
$GC,6876,0.93,223.4,270.4,5.9,329,6885,0.00,2.67,4.00,0.525,4,0.000,0.073,2494,3650,1870
$GC,6953,0.93,223.4,265.1,7.0,332,6957,0.00,2.58,0.00,0.000,6,0.000,0.052,2494,2240,1870
$GC,7269,0.96,251.0,246.5,5.2,347,7298,0.00,2.67,23.92,0.756,4,0.000,0.063,2494,830,1758
$GC,7339,1.03,269.4,242.5,5.5,350,7364,0.12,2.58,17.23,0.746,6,0.052,0.049,2523,2240,1681
$GC,7686,1.03,269.4,217.0,7.5,367,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2240,1681
$GC,7995,1.03,269.4,192.7,8.2,382,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2240,1680
$GC,8304,1.03,269.4,165.8,9.4,397,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2240,1680
$GC,8614,1.03,269.4,136.6,10.0,412,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2240,1680
$GC,8924,1.03,269.4,105.5,9.2,427,8928,0.00,2.60,0.00,0.000,4,0.000,0.061,2523,828,1680
$GC,8964,1.03,269.4,101.7,9.4,429,8968,0.00,2.55,0.00,0.000,6,0.000,0.047,2522,2246,1680
$GC,9291,1.03,269.4,72.3,9.1,445,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2246,1680
$GC,9601,1.03,269.4,47.9,6.9,460,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2246,1680
$GC,9909,1.03,269.4,23.1,8.9,475,9913,0.00,2.62,0.00,0.000,4,0.000,0.059,2523,821,1681
$GC,9959,1.03,269.4,19.1,7.5,477,9963,0.00,2.55,0.00,0.000,6,0.000,0.046,2523,2242,1681
$STATE,10232,end climb,SURFACE_DEPTH_REACHED
$STATE,10232,begin surface coast
$FINISH,0.8,1.026983
$STATE,10252,end surface coast,CONTROL_FINISHED_OK
$STATE,10253,begin surface
$SM_CCo,10275,139.55,0.602,0,0,509,557.32
$SM_GC,1.29,0.00,0.00,139.55,0.000,0.000,0.602,73,2243,509,-10.24,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1881
$TCM_TEMP,17.40
$XPDR_PINGS,7
$ALTIM_TOP_PING,20.0,18.8
$ALTIM_BOTTOM_PING,275.8,83.0
$24V_AH,23.7,44.962
$10V_AH,10.2,22.749
$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,24.700,52.025,361.025,139.550,0.000,36.395,55.720,197.508,4.000,0.000,0.000,33.041,893.338,7831.315,628.033,1068.247,476.759,0.000,1152.249,0.000,1031.455,0.000,18.649
$DEVICE_MAMPS,168.740,74.399,836.797,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.272,333.271,416.758,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25316,491
$CAP_FILE_SIZE,72736,0
$CFSIZE,260165632,242712576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,310708,042008,6415.876,-1134.032,34,1.1,34,-11.7