version: 66.04
glider: 16
mission: 13
dive: 179
start: 7 8 109 22 20 49
data:
$ID,16
$MISSION,13
$DIVE,179
$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,-2110815.8
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,221539,6347.507,-1311.253,39,1.9,41,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-65.1
$GPS2,222032,6347.543,-1311.193,10,1.7,10,-12.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$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,200.1,23440,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,91,0.00,0.00,-71.03,0.000,6,0.000,0.000,65,2603,3417
$GC,94,-1.03,-146.6,4.0,-5.7,3,116,11.95,2.35,0.00,0.000,4,0.184,0.058,2129,3862,3418
$GC,313,-0.99,-146.6,44.2,-10.5,12,319,0.00,2.15,0.00,0.000,6,0.000,0.026,2129,2580,3418
$GC,630,-0.99,-146.6,70.4,-7.6,28,634,0.00,2.35,0.00,0.000,4,0.000,0.061,2129,3857,3419
$GC,670,-0.99,-146.6,73.5,-8.1,30,674,0.00,2.12,0.00,0.000,6,0.000,0.026,2129,2593,3419
$GC,1004,-0.99,-146.6,100.2,-8.6,46,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2592,3419
$GC,1312,-0.99,-146.6,128.5,-9.1,61,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2592,3418
$GC,1622,-0.99,-146.6,155.7,-8.8,76,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2592,3420
$GC,1931,-0.99,-146.6,183.5,-9.2,91,1936,0.00,2.42,0.00,0.000,4,0.000,0.039,2127,1209,3420
$GC,1965,-0.99,-146.6,186.7,-9.0,92,1971,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2597,3420
$GC,2280,-0.99,-146.6,215.4,-9.1,108,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3419
$GC,2590,-0.99,-146.6,242.9,-8.7,123,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3419
$GC,2899,-0.99,-146.6,269.2,-8.2,138,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3419
$GC,3208,-0.99,-146.6,295.6,-8.7,153,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3419
$GC,3520,-0.99,-146.6,325.5,-10.6,168,3524,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1215,3419
$GC,3552,-0.99,-146.6,329.3,-10.8,169,3558,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3419
$GC,3868,-0.99,-146.6,362.8,-10.8,185,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,4177,-0.99,-146.6,396.3,-11.0,200,4182,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1215,3418
$GC,4218,-0.99,-146.6,400.6,-10.2,202,4222,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2604,3418
$GC,4550,-0.99,-146.6,434.3,-9.9,218,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2606,3418
$GC,4860,-0.99,-146.6,464.2,-9.7,233,4863,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1215,3418
$GC,4893,-0.99,-146.6,467.3,-9.6,234,4897,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2602,3418
$GC,5208,-0.99,-146.6,494.2,-8.3,249,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3418
$GC,5518,-0.99,-146.6,516.1,-7.1,264,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3418
$GC,5827,-0.99,-146.6,540.2,-8.7,279,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3418
$GC,6136,-0.99,-146.6,569.9,-9.5,294,6140,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1215,3418
$GC,6181,-1.03,-146.6,573.9,-9.3,296,6185,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2600,3417
$GC,6501,-1.03,-146.6,606.0,-10.6,312,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3417
$GC,6811,-1.03,-146.6,636.8,-9.5,327,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3417
$GC,7120,-1.03,-146.6,668.7,-10.0,342,7124,0.00,2.35,0.00,0.000,4,0.000,0.069,2129,3866,3416
$GC,7170,-1.03,-146.6,673.6,-9.3,344,7173,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2599,3417
$GC,7492,-1.03,-146.6,701.4,-8.6,360,7496,0.00,2.42,0.00,0.000,4,0.000,0.041,2129,1218,3416
$GC,7622,-1.09,-146.6,711.1,-6.6,366,7627,0.00,2.42,0.00,0.000,6,0.000,0.037,2129,2600,3416
$GC,7950,-1.09,-146.6,733.3,-7.0,382,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3416
$GC,8259,-1.09,-146.6,753.9,-7.5,397,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3415
$STATE,8400,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8400,begin apogee
$GC,8407,-0.31,0.0,765.7,8.4,404,8543,0.80,0.00,129.02,1.081,6,0.104,0.000,2288,2307,2817
$STATE,8544,end apogee,CONTROL_FINISHED_OK
$STATE,8544,begin climb
$GC,8548,1.03,146.6,770.6,0.0,411,8687,1.40,2.70,130.30,1.069,4,0.074,0.064,2582,3710,2217
$GC,8827,0.90,146.6,755.2,8.6,424,8832,0.15,2.45,0.00,0.000,6,0.098,0.031,2555,2318,2215
$GC,9149,0.89,170.9,733.8,6.7,440,9176,0.00,2.65,21.90,0.994,4,0.000,0.063,2555,3702,2120
$GC,9239,0.82,170.9,727.2,8.0,444,9243,0.00,2.47,0.00,0.000,6,0.000,0.030,2554,2296,2118
$GC,9560,0.85,198.2,705.1,6.6,460,9591,0.00,2.67,25.12,0.999,4,0.000,0.063,2555,3703,2009
$GC,9631,0.80,198.2,699.8,8.4,463,9635,0.00,2.47,0.00,0.000,6,0.000,0.029,2555,2296,2008
$GC,9947,0.85,244.6,678.8,5.9,478,9993,0.00,0.00,44.05,1.012,6,0.000,0.000,2555,2296,1819
$GC,10297,1.00,323.8,661.3,4.8,495,10381,0.10,2.65,73.03,1.012,4,0.057,0.051,2584,899,1494
$GC,10411,1.06,327.0,653.8,7.4,500,10416,0.00,2.50,0.00,0.000,6,0.000,0.035,2584,2304,1489
$GC,10734,1.12,327.0,623.5,10.8,516,10735,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2304,1485
$GC,11042,1.18,327.0,591.8,9.8,531,11044,0.15,0.00,0.00,0.000,6,0.058,0.000,2626,2304,1484
$GC,11352,1.18,327.0,557.1,10.9,546,11356,0.00,2.55,0.00,0.000,4,0.000,0.048,2626,892,1483
$GC,11401,1.18,327.0,551.4,11.1,548,11405,0.00,2.47,0.00,0.000,6,0.000,0.035,2626,2298,1482
$GC,11717,1.14,327.0,516.1,11.9,563,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2298,1481
$GC,12027,1.10,327.0,478.9,11.9,578,12032,0.15,2.53,0.00,0.000,4,0.091,0.046,2596,891,1482
$GC,12054,1.10,327.0,475.4,11.7,579,12058,0.00,2.47,0.00,0.000,6,0.000,0.034,2596,2306,1482
$GC,12369,1.10,327.0,443.5,10.2,594,12374,0.00,2.53,0.00,0.000,4,0.000,0.046,2596,890,1481
$GC,12412,1.14,327.0,439.0,10.8,596,12416,0.00,2.47,0.00,0.000,6,0.000,0.033,2596,2306,1481
$GC,12738,1.14,327.0,404.0,10.5,612,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2306,1481
$GC,13047,1.14,327.0,373.7,9.9,627,13052,0.00,2.53,0.00,0.000,4,0.000,0.044,2596,895,1481
$GC,13098,1.19,327.0,368.3,10.7,629,13103,0.10,2.45,0.00,0.000,6,0.054,0.033,2627,2302,1481
$GC,13414,1.19,327.0,331.2,11.7,644,13418,0.00,2.50,0.00,0.000,4,0.000,0.044,2627,892,1481
$GC,13437,1.19,327.0,328.4,12.7,645,13441,0.00,2.45,0.00,0.000,6,0.000,0.033,2627,2300,1481
$GC,13764,1.19,327.0,290.1,11.7,661,13765,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2300,1481
$GC,14073,1.19,327.0,252.3,12.5,676,14077,0.00,2.50,0.00,0.000,4,0.000,0.044,2627,894,1481
$GC,14135,1.19,327.0,244.3,12.4,679,14139,0.00,2.42,0.00,0.000,6,0.000,0.033,2627,2300,1481
$GC,14467,1.19,327.0,201.6,12.8,695,14469,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2299,1481
$GC,14776,1.19,327.0,162.4,12.4,710,14781,0.00,2.50,0.00,0.000,4,0.000,0.044,2627,894,1481
$GC,14809,1.19,327.0,158.1,12.0,711,14816,0.00,2.45,0.00,0.000,6,0.000,0.032,2627,2305,1481
$GC,15126,1.19,327.0,120.2,11.9,727,15130,0.00,2.50,0.00,0.000,4,0.000,0.043,2628,895,1482
$GC,15158,1.19,327.0,116.2,11.6,728,15165,0.00,2.45,0.00,0.000,6,0.000,0.033,2629,2309,1481
$GC,15476,1.19,327.0,83.5,9.3,744,15480,0.00,2.53,0.00,0.000,4,0.000,0.044,2627,889,1481
$GC,15561,1.19,327.0,75.9,9.1,748,15565,0.00,2.45,0.00,0.000,6,0.000,0.032,2627,2302,1481
$GC,15888,1.20,335.7,50.7,7.2,764,15899,0.00,0.00,9.20,0.545,6,0.000,0.000,2627,2302,1447
$GC,16198,1.20,335.7,23.8,9.2,779,16202,0.00,2.50,0.00,0.000,4,0.000,0.043,2627,895,1446
$GC,16265,1.20,335.7,16.6,9.8,782,16269,0.00,2.45,0.00,0.000,6,0.000,0.032,2627,2304,1446
$STATE,16398,end climb,SURFACE_DEPTH_REACHED
$STATE,16398,begin surface coast
$FINISH,0.8,1.014615
$STATE,16420,end surface coast,CONTROL_FINISHED_OK
$STATE,16420,begin surface
$SM_CCo,16504,0.00,0.000,0,0,1443,336.80
$SM_GC,1.67,12.57,0.00,0.00,0.104,0.000,0.000,82,2597,1443,-10.45,-0.08,336.80
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1763
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.2,48.2
$24V_AH,23.6,30.764
$10V_AH,10.1,15.417
$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,27.375,113.800,432.625,0.000,0.000,18.326,25.840,134.105,6.500,0.000,0.000,10.614,1431.273,12712.876,541.004,1675.988,435.175,0.000,1388.866,0.000,1637.417,0.000,46.032,0.000
$DEVICE_MAMPS,184.080,69.030,1081.470,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,580.924,539.367,475.449,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41202,790
$CAP_FILE_SIZE,114251,0
$CFSIZE,260165632,248246272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090709,025707,6345.993,-1309.438,38,1.4,38,-12.4