version: 66.03
glider: 16
mission: 9
dive: 310
start: 8 5 108 13 19 1
data:
$ID,16
$MISSION,9
$DIVE,310
$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,-2100015.2
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,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,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
$GPS1,131356,6423.012,-1124.979,38,1.8,38,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-53.9
$GPS2,131844,6423.025,-1124.841,13,1.5,30,-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,301.8,21402,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-120.85,0.000,2,0.000,0.000,64,2244,3014
$GC,151,-0.85,-146.6,4.3,-3.5,6,176,11.62,2.60,-8.05,0.000,4,0.167,0.076,2139,3637,3381
$GC,329,-0.74,-146.6,27.2,-10.1,14,334,0.15,2.55,0.00,0.000,6,0.091,0.047,2169,2230,3381
$GC,656,-0.74,-146.6,52.3,-6.9,30,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2230,3381
$GC,965,-0.74,-146.6,74.3,-7.6,45,970,0.00,2.62,0.00,0.000,4,0.000,0.066,2169,3637,3382
$GC,1011,-0.74,-146.6,77.9,-7.5,47,1015,0.00,2.53,0.00,0.000,6,0.000,0.044,2169,2228,3382
$GC,1332,-0.74,-146.6,100.1,-6.6,63,1336,0.00,2.58,0.00,0.000,4,0.000,0.058,2169,818,3382
$GC,1382,-0.81,-146.6,103.0,-5.7,65,1386,0.00,2.55,0.00,0.000,6,0.000,0.046,2169,2229,3382
$GC,1699,-0.81,-146.6,123.0,-6.5,80,1703,0.00,2.62,0.00,0.000,4,0.000,0.067,2169,3641,3383
$GC,1765,-0.81,-146.6,128.1,-7.6,83,1769,0.00,2.55,0.00,0.000,6,0.000,0.048,2169,2225,3383
$GC,2087,-0.81,-146.6,150.2,-6.7,99,2091,0.00,2.58,0.00,0.000,4,0.000,0.059,2169,817,3383
$GC,2121,-0.86,-146.6,152.6,-6.9,100,2128,0.12,2.55,0.00,0.000,6,0.045,0.048,2127,2229,3383
$GC,2437,-0.73,-146.6,183.0,-10.0,116,2439,0.20,0.00,0.00,0.000,6,0.082,0.000,2167,2230,3383
$GC,2746,-0.73,-146.6,209.0,-8.1,131,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3383
$GC,3055,-0.73,-146.6,229.8,-6.1,146,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2231,3383
$GC,3364,-0.73,-146.6,247.8,-6.5,161,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2231,3383
$GC,3674,-0.73,-146.6,267.2,-6.5,176,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2231,3382
$GC,3983,-0.73,-146.6,290.0,-8.2,191,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2231,3382
$GC,4292,-0.73,-146.6,314.8,-7.7,206,4296,0.00,2.65,0.00,0.000,4,0.000,0.076,2167,3640,3382
$GC,4331,-0.73,-146.6,317.8,-8.0,208,4336,0.00,2.58,0.00,0.000,6,0.000,0.054,2167,2230,3381
$GC,4659,-0.73,-146.6,339.1,-6.1,224,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3380
$GC,4968,-0.73,-146.6,357.6,-6.0,239,4972,0.00,2.67,0.00,0.000,4,0.000,0.077,2167,3637,3380
$GC,4995,-0.73,-146.6,359.4,-6.4,240,4999,0.00,2.58,0.00,0.000,6,0.000,0.054,2167,2229,3379
$GC,5311,-0.73,-146.6,380.2,-6.8,255,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2229,3379
$STATE,5329,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5329,begin apogee
$GC,5335,-0.31,0.0,381.6,6.9,256,5466,0.45,0.00,127.22,0.903,6,0.089,0.000,2259,2229,2780
$STATE,5466,end apogee,CONTROL_FINISHED_OK
$STATE,5466,begin climb
$GC,5469,0.85,146.6,386.5,0.0,262,5599,1.17,0.00,125.93,0.885,6,0.075,0.000,2507,2229,2183
$GC,5904,0.85,199.7,373.0,4.5,283,5957,0.00,2.78,46.10,0.861,4,0.000,0.075,2507,3652,1967
$GC,6025,0.85,199.7,365.4,6.5,288,6031,0.00,2.62,0.00,0.000,6,0.000,0.056,2507,2239,1967
$GC,6341,0.85,199.8,346.9,6.0,304,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2239,1966
$GC,6650,0.85,203.0,329.8,5.9,319,6660,0.00,2.70,4.45,0.601,4,0.000,0.077,2507,3647,1953
$GC,6689,0.85,203.0,327.4,6.3,321,6694,0.00,2.62,0.00,0.000,6,0.000,0.058,2507,2238,1953
$GC,7017,0.87,222.7,310.0,5.5,337,7037,0.00,0.00,18.27,0.818,6,0.000,0.000,2507,2238,1872
$GC,7346,0.90,249.2,291.1,5.3,353,7375,0.00,2.75,23.90,0.821,4,0.000,0.076,2507,3647,1764
$GC,7405,0.91,254.9,287.4,5.8,355,7417,0.00,2.62,6.57,0.688,6,0.000,0.057,2507,2237,1741
$GC,7738,0.91,254.9,266.4,6.8,372,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2237,1740
$GC,8047,0.91,254.9,243.9,7.5,387,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2237,1740
$GC,8358,0.96,254.9,221.9,6.9,402,8359,0.15,0.00,0.00,0.000,6,0.070,0.000,2541,2237,1739
$GC,8666,0.96,254.9,198.8,6.9,417,8670,0.00,2.70,0.00,0.000,4,0.000,0.074,2541,3654,1739
$GC,8710,0.90,254.9,195.3,8.0,419,8715,0.00,2.62,0.00,0.000,6,0.000,0.056,2542,2232,1739
$GC,9032,0.86,254.9,172.9,7.0,435,9037,0.12,2.70,0.00,0.000,4,0.099,0.072,2518,3654,1739
$GC,9082,0.90,254.9,169.2,7.3,437,9086,0.00,2.60,0.00,0.000,6,0.000,0.055,2518,2241,1739
$GC,9398,0.91,261.1,150.3,5.8,452,9406,0.00,0.00,6.40,0.629,6,0.000,0.000,2518,2241,1716
$GC,9709,0.97,284.3,132.8,5.4,467,9735,0.10,2.72,20.38,0.725,4,0.055,0.072,2545,3648,1621
$GC,9792,0.97,284.3,126.8,8.0,471,9797,0.00,2.62,0.00,0.000,6,0.000,0.056,2546,2234,1621
$GC,10120,0.97,284.3,100.7,9.1,487,10125,0.00,2.62,0.00,0.000,4,0.000,0.065,2546,826,1621
$GC,10165,0.97,284.3,96.4,8.9,489,10169,0.00,2.58,0.00,0.000,6,0.000,0.050,2545,2241,1620
$GC,10486,0.97,284.3,67.0,9.3,505,10487,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2240,1620
$GC,10796,0.97,284.3,42.0,7.3,520,10800,0.00,2.65,0.00,0.000,4,0.000,0.069,2546,3656,1620
$GC,10845,0.97,284.3,37.9,8.0,522,10850,0.00,2.60,0.00,0.000,6,0.000,0.054,2546,2236,1621
$GC,11161,0.97,284.3,14.6,7.2,537,11165,0.00,2.60,0.00,0.000,4,0.000,0.061,2546,827,1621
$GC,11217,0.97,284.3,10.4,7.4,539,11223,0.00,2.55,0.00,0.000,6,0.000,0.048,2546,2242,1621
$STATE,11324,end climb,SURFACE_DEPTH_REACHED
$STATE,11324,begin surface coast
$FINISH,0.7,1.015885
$STATE,11347,end surface coast,CONTROL_FINISHED_OK
$STATE,11347,begin surface
$SM_CCo,11369,136.65,0.627,0,0,509,557.32
$SM_GC,1.28,0.00,0.00,136.65,0.000,0.000,0.627,72,2242,509,-10.39,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1913
$TCM_TEMP,17.40
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.1,999.0
$ALTIM_BOTTOM_PING,300.2,90.6
$24V_AH,23.6,50.601
$10V_AH,10.2,25.204
$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,24.925,83.875,379.225,136.650,0.000,18.221,24.787,112.105,10.000,0.000,0.000,32.711,1004.658,8561.148,661.447,1197.260,376.591,0.000,1258.073,0.000,1159.916,0.000,17.033
$DEVICE_MAMPS,167.206,76.700,902.759,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.750,371.700,453.853,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28569,546
$CAP_FILE_SIZE,82065,0
$CFSIZE,260165632,241020928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,050808,163207,6422.501,-1125.896,40,1.9,40,-11.7