version: 66.03
glider: 16
mission: 9
dive: 307
start: 8 5 108 4 15 54
data:
$ID,16
$MISSION,9
$DIVE,307
$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,-2099948.8
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2330
$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,23
$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
$GPS1,041108,6418.689,-1122.654,28,1.1,28,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-56.6
$GPS2,041533,6418.634,-1122.599,15,1.1,15,-11.6
$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,316.9,26816,-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,-146.6,0.0,0.0,0,146,0.00,0.00,-120.53,0.000,2,0.000,0.000,63,2249,2982
$GC,150,-0.85,-146.6,4.2,-3.4,6,177,11.70,2.60,-9.10,0.000,4,0.170,0.076,2141,3639,3380
$GC,291,-0.72,-146.6,21.7,-8.7,12,296,0.15,2.55,0.00,0.000,6,0.094,0.048,2170,2229,3380
$GC,608,-0.72,-146.6,46.7,-9.1,27,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2229,3380
$GC,917,-0.72,-146.6,71.8,-6.8,42,921,0.00,2.58,0.00,0.000,4,0.000,0.057,2170,817,3381
$GC,979,-0.80,-146.6,76.1,-6.5,45,984,0.00,2.55,0.00,0.000,6,0.000,0.046,2171,2229,3381
$GC,1307,-0.80,-146.6,99.4,-6.6,61,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3381
$GC,1616,-0.80,-146.6,122.1,-7.0,76,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3381
$GC,1925,-0.80,-146.6,139.3,-5.7,91,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3382
$GC,2235,-0.80,-146.6,159.4,-7.0,106,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2230,3381
$GC,2544,-0.80,-146.6,183.6,-7.8,121,2548,0.00,2.62,0.00,0.000,4,0.000,0.058,2171,815,3381
$GC,2588,-0.88,-146.6,187.1,-7.4,123,2593,0.15,2.58,0.00,0.000,6,0.043,0.049,2124,2232,3380
$GC,2910,-0.76,-146.6,221.8,-11.6,139,2912,0.20,0.00,0.00,0.000,6,0.083,0.000,2165,2233,3381
$GC,3219,-0.76,-146.6,250.4,-8.9,154,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2232,3381
$GC,3528,-0.76,-146.6,278.6,-7.8,169,3533,0.00,2.62,0.00,0.000,4,0.000,0.060,2165,817,3381
$GC,3562,-0.83,-146.6,281.5,-7.7,170,3568,0.00,2.58,0.00,0.000,6,0.000,0.051,2165,2232,3381
$GC,3879,-0.83,-146.6,306.2,-8.0,186,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2232,3381
$GC,4188,-0.83,-146.6,331.6,-7.8,201,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2232,3380
$GC,4496,-0.83,-146.6,351.9,-6.3,216,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2231,3380
$STATE,4576,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4576,begin apogee
$GC,4582,-0.31,0.0,357.4,6.8,220,4712,0.47,0.00,126.80,0.863,6,0.088,0.000,2262,2231,2781
$STATE,4713,end apogee,CONTROL_FINISHED_OK
$STATE,4713,begin climb
$GC,4717,0.85,146.6,361.5,0.0,226,4846,1.15,0.00,124.93,0.850,6,0.074,0.000,2506,2231,2183
$GC,5155,0.84,186.2,342.7,4.9,248,5197,0.00,2.75,34.47,0.822,4,0.000,0.074,2506,3647,2021
$GC,5276,0.84,186.2,334.6,7.1,253,5280,0.00,2.60,0.00,0.000,6,0.000,0.056,2506,2240,2021
$GC,5591,0.84,186.2,315.6,6.1,268,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2240,2020
$GC,5901,0.87,218.6,298.5,5.1,283,5931,0.00,0.00,28.60,0.815,6,0.000,0.000,2506,2240,1889
$GC,6231,0.90,245.5,282.0,5.3,299,6260,0.00,2.78,23.27,0.801,4,0.000,0.076,2506,3648,1781
$GC,6295,0.90,245.5,278.1,6.9,302,6300,0.00,2.62,0.00,0.000,6,0.000,0.056,2506,2240,1781
$GC,6622,0.91,251.4,257.6,5.8,318,6631,0.00,0.00,7.20,0.686,6,0.000,0.000,2506,2240,1755
$GC,6932,0.96,251.4,236.4,7.3,333,6934,0.15,0.00,0.00,0.000,6,0.073,0.000,2538,2240,1754
$GC,7240,0.96,251.4,210.4,8.2,348,7244,0.00,2.67,0.00,0.000,4,0.000,0.074,2538,3652,1754
$GC,7291,0.90,251.4,206.0,8.4,350,7295,0.00,2.60,0.00,0.000,6,0.000,0.054,2539,2237,1754
$GC,7606,0.90,251.4,181.4,7.9,365,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2237,1752
$GC,7916,0.86,251.4,154.5,9.0,380,7920,0.00,2.67,0.00,0.000,4,0.000,0.071,2539,3653,1753
$GC,7966,0.86,251.4,149.4,10.0,382,7971,0.12,2.58,0.00,0.000,6,0.107,0.052,2515,2240,1753
$GC,8282,0.86,251.4,122.4,8.2,397,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2240,1753
$GC,8591,0.86,251.4,99.0,6.9,412,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2240,1753
$GC,8901,0.86,251.4,75.4,7.6,427,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2239,1753
$GC,9210,0.86,251.4,51.6,8.0,442,9214,0.00,2.65,0.00,0.000,4,0.000,0.068,2515,3650,1753
$GC,9299,0.86,251.4,43.8,8.7,446,9303,0.00,2.55,0.00,0.000,6,0.000,0.051,2515,2240,1753
$GC,9623,0.86,251.4,19.9,6.2,462,9627,0.00,2.60,0.00,0.000,4,0.000,0.061,2515,825,1753
$GC,9678,0.86,251.4,15.8,7.5,464,9685,0.00,2.55,0.00,0.000,6,0.000,0.048,2515,2241,1753
$STATE,9888,end climb,SURFACE_DEPTH_REACHED
$STATE,9888,begin surface coast
$FINISH,0.6,1.017474
$STATE,9912,end surface coast,CONTROL_FINISHED_OK
$STATE,9912,begin surface
$SM_CCo,9933,149.12,0.616,0,0,508,557.32
$SM_GC,1.30,0.00,0.00,149.12,0.000,0.000,0.616,65,2242,508,-10.42,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1892
$TCM_TEMP,17.40
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.9,18.7
$ALTIM_BOTTOM_PING,275.5,91.6
$24V_AH,23.6,50.212
$10V_AH,10.2,25.033
$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,24.700,52.300,345.275,149.125,0.000,18.013,32.562,107.629,6.750,0.000,0.000,15.122,859.051,7515.202,626.506,1005.909,345.350,0.000,1125.978,0.000,988.948,0.000,15.370
$DEVICE_MAMPS,170.274,75.933,862.875,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.701,323.988,432.814,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22392,476
$CAP_FILE_SIZE,66707,0
$CFSIZE,260165632,241160192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050808,070505,6418.180,-1126.938,15,2.9,34,-11.7