version: 66.04
glider: 16
mission: 13
dive: 85
start: 6 20 109 19 50 4
data:
$ID,16
$MISSION,13
$DIVE,85
$D_SURF,3
$D_FLARE,4
$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,440
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$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,250
$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,-2109130.5
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3321
$C_PITCH,2360
$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,196
$ROLL_MAX,3869
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.343216
$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,0
$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
$XPDR_VALID,3
$XPDR_INHIBIT,90
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199998
$SEABIRD_T_H,0.000619
$SEABIRD_T_I,2.055e-05
$SEABIRD_T_J,1.86e-06
$SEABIRD_C_G,-9.8699999
$SEABIRD_C_H,1.1
$SEABIRD_C_I,-0.000612
$SEABIRD_C_J,0.000141
$GPS1,194437,6234.455,-1159.426,47,1.9,47,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-64.2
$GPS2,194944,6234.462,-1159.392,12,1.9,12,-11.3
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.081,-0.225
$KALMAN_X,-87037.4,1552.8,520.3,38953.3,-1645.0
$KALMAN_Y,197075.5,-3550.9,-2288.7,-114382.5,45486.2
$MHEAD_RNG_PITCHd_Wd,311.6,20305,-13.9,-7.500
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,71,0.00,0.00,-54.08,0.000,6,0.000,0.000,68,2601,3416
$GC,74,-1.03,-146.6,3.6,-7.2,2,96,11.95,2.53,0.00,0.000,4,0.184,0.038,2131,1194,3418
$GC,187,-1.03,-146.6,28.6,-9.2,7,192,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2597,3418
$GC,514,-1.03,-146.6,63.9,-10.1,23,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2597,3419
$GC,825,-1.03,-146.6,93.4,-9.4,38,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2597,3419
$GC,1133,-1.03,-146.6,122.3,-9.1,53,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2598,3419
$GC,1443,-1.03,-146.6,150.6,-9.3,68,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2597,3420
$GC,1751,-1.03,-146.6,178.8,-8.7,83,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2597,3420
$GC,2061,-1.03,-146.6,206.7,-9.0,98,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2597,3420
$GC,2370,-1.03,-146.6,235.2,-9.3,113,2374,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1196,3420
$GC,2419,-1.03,-146.6,239.9,-9.4,115,2423,0.00,2.47,0.00,0.000,6,0.000,0.039,2131,2601,3419
$GC,2735,-1.03,-146.6,268.7,-9.0,130,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3419
$GC,3044,-1.03,-146.6,296.9,-9.1,145,3048,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1197,3420
$GC,3084,-1.03,-146.6,300.3,-9.0,147,3088,0.00,2.47,0.00,0.000,6,0.000,0.039,2131,2602,3419
$GC,3410,-1.03,-146.6,330.2,-9.2,163,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3419
$GC,3719,-1.03,-146.6,359.4,-9.6,178,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3419
$GC,4029,-1.03,-146.6,388.6,-9.4,193,4033,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1197,3419
$GC,4074,-1.07,-146.6,392.8,-8.7,195,4078,0.00,2.47,0.00,0.000,6,0.000,0.039,2131,2603,3419
$GC,4394,-1.07,-146.6,422.7,-9.3,211,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3418
$GC,4705,-1.07,-146.6,450.6,-8.8,226,4709,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1193,3419
$GC,4744,-1.12,-146.6,454.2,-8.5,227,4750,0.00,2.47,0.00,0.000,6,0.000,0.039,2131,2601,3418
$GC,5059,-1.12,-146.6,481.0,-8.6,243,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,5369,-1.12,-146.6,507.4,-8.6,258,5373,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1196,3418
$GC,5414,-1.18,-146.6,511.1,-8.4,260,5419,0.12,2.47,0.00,0.000,6,0.047,0.039,2091,2605,3418
$GC,5735,-1.07,-146.6,546.4,-11.5,276,5737,0.17,0.00,0.00,0.000,6,0.099,0.000,2124,2605,3418
$GC,6045,-1.07,-146.6,576.0,-9.5,291,6049,0.00,2.47,0.00,0.000,4,0.000,0.042,2124,1197,3418
$GC,6084,-1.07,-146.6,580.0,-9.5,293,6089,0.00,2.47,0.00,0.000,6,0.000,0.040,2124,2603,3418
$GC,6411,-1.07,-146.6,611.2,-9.5,309,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2604,3417
$GC,6721,-1.07,-146.6,639.6,-9.2,324,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2603,3417
$GC,7030,-1.07,-146.6,669.1,-10.1,339,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2603,3417
$GC,7339,-1.07,-146.6,698.2,-8.9,354,7343,0.00,2.50,0.00,0.000,4,0.000,0.044,2124,1191,3418
$GC,7371,-1.07,-146.6,701.0,-8.7,355,7377,0.00,2.47,0.00,0.000,6,0.000,0.041,2124,2599,3418
$GC,7688,-1.07,-146.6,725.6,-7.3,371,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2598,3417
$GC,7996,-1.07,-146.6,749.4,-7.6,386,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2599,3417
$GC,8306,-1.07,-146.6,772.8,-7.7,401,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2599,3416
$GC,8615,-1.07,-146.6,796.1,-7.5,416,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2599,3416
$GC,8924,-1.07,-146.6,819.6,-8.1,431,8928,0.00,2.50,0.00,0.000,4,0.000,0.048,2124,1199,3415
$GC,8964,-1.13,-146.6,822.7,-7.9,433,8968,0.00,2.50,0.00,0.000,4,0.000,0.046,2124,2599,3415
$STATE,8969,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8969,begin apogee
$GC,8976,-0.31,0.0,823.2,7.0,433,9113,0.82,0.00,131.18,1.110,6,0.123,0.000,2287,2293,2817
$STATE,9113,end apogee,CONTROL_FINISHED_OK
$STATE,9113,begin climb
$GC,9116,1.03,146.6,827.9,0.0,440,9261,1.38,2.65,132.50,1.098,4,0.070,0.054,2582,907,2217
$GC,9355,0.90,146.6,817.0,7.8,451,9360,0.15,2.53,0.00,0.000,6,0.098,0.043,2554,2307,2212
$GC,9682,0.85,161.7,793.4,7.0,467,9701,0.00,0.00,13.73,0.975,6,0.000,0.000,2554,2307,2157
$GC,10011,0.85,202.7,771.7,6.1,483,10057,0.00,2.75,38.75,1.049,4,0.000,0.073,2554,3695,1989
$GC,10114,0.79,202.7,763.9,8.8,487,10121,0.00,2.45,0.00,0.000,6,0.000,0.036,2554,2311,1987
$GC,10430,0.79,202.7,740.6,7.6,503,10434,0.00,2.60,0.00,0.000,4,0.000,0.055,2552,893,1984
$GC,10474,0.79,202.7,736.9,9.2,505,10478,0.00,2.53,0.00,0.000,6,0.000,0.040,2554,2306,1982
$GC,10796,0.80,206.9,713.1,7.4,521,10805,0.00,2.65,3.92,0.633,4,0.000,0.069,2554,3702,1973
$GC,10845,0.74,206.9,709.2,8.5,523,10851,0.17,2.47,0.00,0.000,6,0.096,0.033,2521,2298,1973
$GC,11167,0.90,265.2,690.8,5.5,539,11231,0.17,2.72,56.42,1.020,4,0.048,0.066,2573,3709,1734
$GC,11265,0.90,265.2,683.0,9.6,543,11269,0.00,2.50,0.00,0.000,6,0.000,0.034,2573,2297,1731
$GC,11580,0.90,265.2,656.5,8.4,558,11584,0.00,2.55,0.00,0.000,4,0.000,0.054,2573,894,1727
$GC,11635,0.90,265.2,651.7,8.5,560,11642,0.00,2.50,0.00,0.000,6,0.000,0.038,2572,2309,1725
$GC,11951,0.90,265.2,625.3,8.4,576,11953,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2309,1725
$GC,12261,0.90,265.2,598.8,8.7,591,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2309,1725
$GC,12570,0.90,265.2,570.5,9.4,606,12574,0.00,2.55,0.00,0.000,4,0.000,0.048,2572,894,1724
$GC,12609,0.90,265.2,566.8,9.2,608,12614,0.00,2.47,0.00,0.000,6,0.000,0.037,2572,2308,1723
$GC,12936,0.90,265.2,536.2,9.6,624,12937,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2308,1723
$GC,13245,0.90,265.2,506.5,9.7,639,13247,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2308,1724
$GC,13555,0.90,265.2,477.2,9.4,654,13559,0.00,2.55,0.00,0.000,4,0.000,0.047,2572,893,1723
$GC,13595,0.90,265.2,473.3,9.8,656,13599,0.00,2.47,0.00,0.000,6,0.000,0.036,2572,2304,1723
$GC,13921,0.90,265.2,442.9,9.3,672,13922,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2304,1723
$GC,14230,0.90,265.2,415.4,8.8,687,14231,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2304,1723
$GC,14539,0.90,265.2,389.5,8.2,702,14544,0.00,2.55,0.00,0.000,4,0.000,0.046,2572,887,1723
$GC,14584,0.90,265.2,385.7,8.1,704,14588,0.00,2.47,0.00,0.000,6,0.000,0.036,2572,2301,1723
$GC,14905,0.90,265.2,358.5,8.5,720,14906,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2301,1723
$GC,15214,0.90,265.2,332.1,8.3,735,15215,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2301,1723
$GC,15523,0.90,265.2,305.0,8.8,750,15527,0.00,2.53,0.00,0.000,4,0.000,0.046,2572,893,1723
$GC,15567,0.90,265.2,301.0,8.8,752,15571,0.00,2.45,0.00,0.000,6,0.000,0.035,2573,2302,1724
$GC,15893,0.90,265.2,273.4,8.4,768,15895,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2302,1723
$GC,16203,0.90,265.2,247.3,8.2,783,16204,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2302,1724
$GC,16512,0.90,265.2,221.6,8.5,798,16513,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2302,1723
$GC,16821,0.90,265.2,196.2,8.5,813,16825,0.00,2.53,0.00,0.000,4,0.000,0.045,2572,889,1723
$GC,16861,0.90,265.2,192.6,8.6,815,16865,0.00,2.47,0.00,0.000,6,0.000,0.035,2572,2308,1724
$GC,17188,0.90,265.2,162.1,9.8,831,17189,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2308,1724
$GC,17497,0.90,265.2,131.5,9.9,846,17498,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2308,1724
$GC,17806,0.90,265.2,103.1,9.1,861,17810,0.00,2.53,0.00,0.000,4,0.000,0.045,2572,894,1724
$GC,17846,0.90,265.2,99.3,9.3,863,17850,0.00,2.45,0.00,0.000,6,0.000,0.035,2573,2301,1724
$GC,18173,0.92,282.4,73.7,6.9,879,18192,0.00,0.00,14.82,0.581,6,0.000,0.000,2572,2301,1664
$GC,18504,0.93,290.1,52.2,7.2,895,18513,0.00,0.00,7.93,0.522,6,0.000,0.000,2572,2301,1634
$GC,18814,1.00,291.0,27.4,7.5,910,18818,0.00,2.53,0.00,0.000,4,0.000,0.044,2572,887,1631
$GC,18886,1.07,291.0,21.5,8.4,913,18890,0.00,2.47,0.00,0.000,6,0.000,0.035,2572,2304,1630
$STATE,19137,end climb,SURFACE_DEPTH_REACHED
$STATE,19137,begin surface coast
$FINISH,1.6,1.026562
$STATE,19159,end surface coast,CONTROL_FINISHED_OK
$STATE,19159,begin surface
$SM_CCo,19242,0.00,0.000,0,0,1627,291.91
$SM_GC,1.72,11.70,0.00,0.00,0.078,0.000,0.000,76,2599,1627,-10.45,-0.03,291.91
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1726
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.6,32.1
$24V_AH,23.6,18.073
$10V_AH,10.1,8.478
$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,Compass2
$DEVICE_SECS,26.650,111.625,399.250,0.000,0.000,18.062,26.662,144.734,7.500,0.000,0.000,12.624,1633.452,15105.569,489.811,1859.715,460.392,0.000,1413.143,0.000,1814.216,0.000,53.703,0.000
$DEVICE_MAMPS,184.080,72.865,1109.849,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,667.132,637.659,535.719,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47362,926
$CAP_FILE_SIZE,124995,0
$CFSIZE,260165632,253513728
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,210609,011201,6235.676,-1208.080,39,1.4,39,-11.4