version: 66.04
glider: 16
mission: 13
dive: 146
start: 7 2 109 12 23 20
data:
$ID,16
$MISSION,13
$DIVE,146
$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,360
$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,-2110175.8
$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,26
$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
$GPS1,121736,6352.242,-1343.636,41,1.2,46,-12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-61.0
$GPS2,122302,6352.213,-1343.596,15,1.4,15,-12.8
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6403.013,-1343.596
$TGT_RADIUS,1852.000
$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,12.8,20000,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-81.00,0.000,2,0.000,0.000,73,2606,3385
$GC,101,-1.03,-146.6,5.8,-7.1,4,124,11.77,2.58,-0.50,0.000,4,0.179,0.049,2131,1185,3418
$GC,331,-1.03,-146.6,40.4,-10.7,14,336,0.00,2.50,0.00,0.000,6,0.000,0.036,2131,2605,3419
$GC,653,-1.03,-146.6,71.4,-8.1,30,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3419
$GC,962,-1.03,-146.6,96.7,-8.2,45,966,0.00,2.33,0.00,0.000,4,0.000,0.065,2132,3861,3420
$GC,1007,-1.03,-146.6,100.9,-9.7,47,1011,0.00,2.17,0.00,0.000,6,0.000,0.026,2132,2572,3420
$GC,1328,-1.03,-146.6,132.1,-10.2,63,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2570,3420
$GC,1637,-1.03,-146.6,165.8,-10.6,78,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2570,3420
$GC,1946,-1.03,-146.6,198.1,-10.8,93,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2570,3420
$GC,2256,-1.03,-146.6,225.9,-8.8,108,2260,0.00,2.38,0.00,0.000,4,0.000,0.064,2132,3858,3420
$GC,2323,-1.03,-146.6,232.4,-9.6,111,2326,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2596,3419
$GC,2649,-1.03,-146.6,263.5,-10.0,127,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2593,3420
$GC,2959,-1.03,-146.6,294.3,-10.4,142,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2593,3420
$GC,3268,-1.03,-146.6,324.9,-10.7,157,3273,0.00,2.35,0.00,0.000,4,0.000,0.065,2132,3861,3420
$GC,3318,-1.03,-146.6,330.0,-9.4,159,3321,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2599,3420
$GC,3644,-1.03,-146.6,359.5,-8.7,175,3649,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1212,3420
$GC,3695,-1.09,-146.6,363.8,-8.9,177,3700,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2608,3419
$GC,4011,-1.14,-146.6,396.7,-10.8,192,4015,0.00,2.33,0.00,0.000,4,0.000,0.066,2132,3863,3420
$GC,4066,-1.18,-146.6,403.9,-13.0,194,4073,0.15,2.12,0.00,0.000,6,0.042,0.027,2085,2599,3420
$GC,4383,-1.09,-146.6,443.2,-12.8,210,4385,0.17,0.00,0.00,0.000,6,0.096,0.000,2118,2599,3420
$GC,4692,-1.09,-146.6,476.8,-10.8,225,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2599,3419
$GC,5001,-1.09,-146.6,510.8,-11.1,240,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2599,3418
$GC,5310,-1.09,-146.6,550.0,-12.9,255,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2598,3418
$GC,5619,-1.09,-146.6,581.1,-6.9,270,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2597,3417
$GC,5929,-1.09,-146.6,623.8,-16.3,285,5933,0.00,2.35,0.00,0.000,4,0.000,0.072,2117,3855,3416
$GC,6076,-1.09,-146.6,658.5,-23.4,291,6083,0.00,2.12,0.00,0.000,6,0.000,0.029,2117,2602,3415
$STATE,6183,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6183,begin apogee
$GC,6191,-0.31,0.0,679.8,17.8,297,6326,0.85,0.00,129.35,1.054,6,0.099,0.000,2289,2305,2816
$STATE,6327,end apogee,CONTROL_FINISHED_OK
$STATE,6327,begin climb
$GC,6330,1.03,146.6,702.6,0.0,304,6469,1.40,2.70,131.00,1.049,4,0.068,0.065,2586,3704,2218
$GC,6723,0.79,146.6,689.6,10.0,322,6728,0.28,2.45,0.00,0.000,6,0.100,0.031,2534,2314,2212
$GC,7044,0.98,315.2,679.3,1.7,338,7204,0.17,2.67,150.57,1.042,4,0.051,0.064,2584,3694,1530
$GC,7294,0.90,315.2,667.2,12.9,349,7301,0.15,2.47,0.00,0.000,6,0.097,0.033,2556,2300,1525
$GC,7611,0.99,315.2,643.6,8.2,365,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2300,1520
$GC,7920,1.10,315.2,612.0,9.4,380,7922,0.20,0.00,0.00,0.000,6,0.050,0.000,2607,2300,1518
$GC,8228,1.10,315.2,579.0,9.9,395,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2300,1517
$GC,8538,1.11,323.9,556.5,7.2,410,8552,0.00,2.65,6.90,0.795,4,0.000,0.054,2607,894,1494
$GC,8609,1.11,323.9,550.3,7.8,413,8613,0.00,2.50,0.00,0.000,6,0.000,0.037,2607,2299,1493
$GC,8929,1.11,323.9,523.7,8.0,429,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2300,1493
$GC,9239,1.11,323.9,496.6,9.4,444,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2299,1492
$GC,9548,1.02,323.9,464.9,13.3,459,9553,0.12,2.55,0.00,0.000,4,0.097,0.051,2583,894,1492
$GC,9610,1.02,323.9,458.0,11.1,462,9614,0.00,2.47,0.00,0.000,6,0.000,0.037,2583,2299,1490
$GC,9938,1.12,323.9,422.8,8.1,478,9942,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,889,1490
$GC,9987,1.21,323.9,419.1,7.6,480,9992,0.17,2.50,0.00,0.000,6,0.051,0.036,2627,2306,1490
$GC,10303,1.15,323.9,386.5,11.6,495,10308,0.00,2.60,0.00,0.000,4,0.000,0.066,2628,3707,1490
$GC,10344,1.05,323.9,381.1,15.2,497,10349,0.20,2.45,0.00,0.000,6,0.099,0.030,2589,2296,1490
$GC,10671,1.09,323.9,349.3,11.1,513,10675,0.00,2.53,0.00,0.000,4,0.000,0.051,2589,895,1490
$GC,10734,1.16,323.9,341.6,12.5,516,10739,0.12,2.47,0.00,0.000,6,0.054,0.035,2623,2305,1490
$GC,11060,1.16,323.9,299.2,12.6,532,11065,0.00,2.53,0.00,0.000,4,0.000,0.046,2623,899,1489
$GC,11100,1.16,323.9,294.2,12.6,534,11104,0.00,2.45,0.00,0.000,6,0.000,0.035,2623,2301,1490
$GC,11427,1.16,323.9,250.7,12.8,550,11431,0.00,2.53,0.00,0.000,4,0.000,0.047,2623,894,1490
$GC,11467,1.16,323.9,245.4,13.2,552,11471,0.00,2.47,0.00,0.000,6,0.000,0.035,2623,2308,1490
$GC,11793,1.16,323.9,208.3,10.9,568,11797,0.00,2.53,0.00,0.000,4,0.000,0.045,2623,895,1490
$GC,11837,1.16,323.9,203.3,11.0,570,11842,0.00,2.45,0.00,0.000,6,0.000,0.033,2623,2302,1490
$GC,12159,1.16,323.9,168.3,10.9,586,12160,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2302,1491
$GC,12468,1.16,323.9,134.2,11.3,601,12473,0.00,2.50,0.00,0.000,4,0.000,0.044,2623,898,1491
$GC,12533,1.16,323.9,126.6,12.0,604,12537,0.00,2.45,0.00,0.000,6,0.000,0.034,2623,2304,1491
$GC,12859,1.16,323.9,86.4,12.0,620,12861,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2304,1492
$GC,13170,1.16,323.9,53.0,10.8,635,13171,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2304,1492
$GC,13479,1.16,323.9,18.7,10.7,650,13483,0.00,2.50,0.00,0.000,4,0.000,0.044,2623,898,1493
$GC,13579,1.16,323.9,7.7,11.0,654,13585,0.00,2.42,0.00,0.000,6,0.000,0.033,2623,2301,1493
$STATE,13624,end climb,SURFACE_DEPTH_REACHED
$STATE,13625,begin surface coast
$FINISH,0.7,1.015360
$STATE,13646,end surface coast,CONTROL_FINISHED_OK
$STATE,13646,begin surface
$SM_CCo,13730,0.00,0.000,0,0,1490,325.51
$SM_GC,1.61,12.02,0.00,0.00,0.082,0.000,0.000,74,2602,1490,-10.46,0.08,325.51
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1764
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.5,38.3
$24V_AH,23.6,26.225
$10V_AH,10.1,12.942
$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,27.800,93.775,417.825,0.000,0.000,18.292,32.067,168.257,5.750,0.000,0.000,15.598,1210.756,10401.762,514.390,1499.782,433.362,0.000,1270.913,0.000,1461.428,0.000,41.064,0.000
$DEVICE_MAMPS,179.478,72.098,1053.858,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.598,447.466,410.820,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34877,658
$CAP_FILE_SIZE,98591,0
$CFSIZE,260165632,250109952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,020709,161325,6352.083,-1343.158,39,2.0,39,-12.8