version: 66.04
glider: 16
mission: 13
dive: 211
start: 7 14 109 19 0 19
data:
$ID,16
$MISSION,13
$DIVE,211
$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,-2111369.2
$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,30
$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
$GPS1,185400,6311.603,-1311.986,38,1.4,43,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-66.2
$GPS2,190002,6311.626,-1312.205,15,1.9,15,-12.2
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$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,183.6,40513,-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,-146.6,0.0,0.0,0,85,0.00,0.00,-59.28,0.000,6,0.000,0.000,62,2609,3417
$GC,88,-1.03,-146.6,8.0,-10.5,4,110,11.95,2.55,0.00,0.000,4,0.183,0.035,2128,1184,3419
$GC,228,-1.03,-146.6,36.8,-9.9,10,232,0.00,2.50,0.00,0.000,6,0.000,0.035,2129,2603,3419
$GC,549,-0.99,-146.6,68.5,-10.2,26,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3419
$GC,858,-0.99,-146.6,99.7,-9.8,41,862,0.00,2.47,0.00,0.000,4,0.000,0.037,2129,1191,3419
$GC,899,-0.99,-146.6,103.4,-9.3,43,903,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2601,3420
$GC,1226,-0.99,-146.6,132.9,-8.7,59,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2601,3420
$GC,1534,-0.99,-146.6,163.0,-10.0,74,1538,0.00,2.47,0.00,0.000,4,0.000,0.037,2128,1182,3420
$GC,1573,-0.99,-146.6,166.9,-9.2,75,1580,0.00,2.50,0.00,0.000,6,0.000,0.035,2129,2608,3420
$GC,1889,-0.99,-146.6,198.7,-10.0,91,1893,0.00,2.33,0.00,0.000,4,0.000,0.065,2129,3867,3420
$GC,1929,-0.99,-146.6,203.0,-11.1,93,1933,0.00,2.17,0.00,0.000,6,0.000,0.026,2129,2575,3420
$GC,2262,-0.99,-146.6,235.4,-9.8,109,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2572,3420
$GC,2571,-0.99,-146.6,265.6,-9.8,124,2575,0.00,2.38,0.00,0.000,4,0.000,0.038,2129,1209,3419
$GC,2598,-0.99,-146.6,268.5,-10.5,125,2602,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2610,3420
$GC,2914,-0.99,-146.6,299.8,-9.7,140,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2610,3420
$GC,3222,-0.99,-146.6,327.5,-8.5,155,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2610,3420
$GC,3532,-0.99,-146.6,354.2,-8.7,170,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2610,3420
$GC,3841,-0.99,-146.6,383.2,-9.9,185,3845,0.00,2.45,0.00,0.000,4,0.000,0.038,2129,1204,3419
$GC,3875,-0.99,-146.6,386.6,-9.7,186,3878,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2599,3419
$GC,4196,-0.99,-146.6,418.6,-9.9,202,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3419
$GC,4505,-0.99,-146.6,446.6,-8.5,217,4510,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1211,3419
$GC,4538,-0.99,-146.6,449.5,-8.2,218,4544,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3419
$GC,4854,-0.99,-146.6,473.1,-7.2,234,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,5164,-0.99,-146.6,493.5,-6.3,249,5169,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1210,3418
$GC,5209,-0.99,-146.6,496.2,-6.3,251,5213,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2599,3418
$GC,5530,-0.99,-146.6,518.8,-8.0,267,5534,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1205,3418
$GC,5563,-0.99,-146.6,521.8,-8.7,268,5567,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2606,3418
$GC,5880,-0.99,-146.6,550.5,-9.5,283,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2606,3418
$GC,6188,-0.99,-146.6,579.8,-9.4,298,6192,0.00,2.45,0.00,0.000,4,0.000,0.038,2129,1205,3418
$GC,6260,-0.99,-146.6,586.5,-9.2,301,6265,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2605,3417
$GC,6576,-0.99,-146.6,614.0,-8.6,316,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2606,3417
$GC,6886,-0.99,-146.6,639.9,-7.6,331,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2606,3417
$GC,7195,-0.99,-146.6,666.6,-9.0,346,7199,0.00,2.45,0.00,0.000,4,0.000,0.039,2129,1209,3417
$GC,7268,-1.04,-146.6,673.2,-9.5,349,7272,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2599,3416
$GC,7590,-1.04,-146.6,700.7,-6.9,365,7594,0.00,2.35,0.00,0.000,4,0.000,0.071,2129,3860,3415
$GC,7630,-1.04,-146.6,705.2,-11.5,367,7634,0.00,2.12,0.00,0.000,6,0.000,0.028,2129,2606,3415
$GC,7963,-1.04,-146.6,736.7,-8.6,383,7967,0.00,2.35,0.00,0.000,4,0.000,0.070,2129,3864,3414
$GC,7996,-1.04,-146.6,739.3,-7.4,384,8002,0.00,2.15,0.00,0.000,6,0.000,0.028,2129,2599,3415
$GC,8313,-1.44,-146.6,745.0,-0.0,400,8315,0.38,0.00,0.00,0.000,6,0.054,0.000,2045,2597,3414
$STATE,8350,end dive,NO_VERTICAL_VELOCITY
$STATE,8350,begin apogee
$GC,8357,-0.31,0.0,745.0,0.0,402,8493,1.23,0.00,129.57,1.081,6,0.098,0.000,2293,2301,2817
$STATE,8494,end apogee,CONTROL_FINISHED_OK
$STATE,8494,begin climb
$GC,8497,1.03,146.6,745.1,0.0,409,8636,1.33,2.60,130.50,1.067,4,0.067,0.051,2579,910,2217
$GC,8893,0.96,146.6,732.3,9.9,426,8898,0.00,2.45,0.00,0.000,6,0.000,0.035,2577,2303,2211
$GC,9221,0.88,154.8,708.9,7.2,442,9236,0.15,2.60,7.25,0.841,4,0.098,0.047,2551,905,2184
$GC,9410,0.82,154.8,693.5,7.8,450,9414,0.00,2.47,0.00,0.000,6,0.000,0.036,2551,2304,2182
$GC,9726,0.76,154.8,668.5,7.7,465,9731,0.12,2.60,0.00,0.000,4,0.097,0.065,2527,3701,2182
$GC,9804,0.76,154.8,661.3,9.2,468,9810,0.00,2.42,0.00,0.000,6,0.000,0.030,2527,2305,2182
$GC,10120,0.81,154.8,636.9,8.6,484,10124,0.00,2.55,0.00,0.000,4,0.000,0.051,2527,895,2182
$GC,10154,0.85,154.8,633.7,9.2,485,10160,0.00,2.47,0.00,0.000,6,0.000,0.035,2527,2302,2182
$GC,10471,0.94,188.8,609.8,6.3,501,10509,0.17,0.00,31.65,0.976,6,0.048,0.000,2575,2303,2046
$GC,10819,0.99,279.1,590.1,4.4,518,10905,0.00,0.00,83.38,0.986,6,0.000,0.000,2575,2302,1679
$GC,11214,1.07,310.4,565.3,6.4,537,11249,0.00,2.62,28.67,0.933,4,0.000,0.049,2575,910,1550
$GC,11284,1.18,336.3,561.0,6.6,540,11315,0.20,2.47,25.40,0.920,6,0.051,0.036,2627,2299,1445
$GC,11630,1.13,336.3,529.6,8.8,556,11634,0.00,2.55,0.00,0.000,4,0.000,0.050,2627,902,1436
$GC,11670,1.13,336.3,525.9,8.0,558,11674,0.00,2.47,0.00,0.000,6,0.000,0.036,2627,2301,1434
$GC,11997,1.09,336.3,501.7,8.0,574,11998,0.15,0.00,0.00,0.000,6,0.095,0.000,2598,2301,1434
$GC,12306,1.09,336.3,477.3,8.8,589,12310,0.00,2.53,0.00,0.000,4,0.000,0.048,2598,901,1433
$GC,12384,1.13,336.3,469.6,9.7,592,12390,0.00,2.47,0.00,0.000,6,0.000,0.035,2600,2308,1432
$GC,12699,1.13,336.3,440.6,9.1,608,12704,0.00,2.55,0.00,0.000,4,0.000,0.047,2598,895,1432
$GC,12728,1.17,336.3,438.0,9.3,609,12732,0.00,2.47,0.00,0.000,6,0.000,0.034,2598,2308,1431
$GC,13043,1.17,336.3,409.9,8.8,624,13047,0.00,2.53,0.00,0.000,4,0.000,0.046,2598,901,1431
$GC,13065,1.17,336.3,407.8,9.2,625,13069,0.00,2.45,0.00,0.000,6,0.000,0.033,2598,2302,1431
$GC,13387,1.17,336.3,377.8,9.9,641,13390,0.00,2.53,0.00,0.000,4,0.000,0.045,2598,892,1431
$GC,13414,1.22,336.3,374.8,9.9,642,13419,0.12,2.47,0.00,0.000,6,0.049,0.033,2632,2308,1432
$GC,13736,1.16,336.3,336.8,12.3,658,13740,0.00,2.53,0.00,0.000,4,0.000,0.045,2632,899,1432
$GC,13771,1.11,336.3,332.2,12.6,659,13777,0.17,2.45,0.00,0.000,6,0.088,0.033,2597,2304,1432
$GC,14086,1.11,336.3,295.8,11.6,675,14090,0.00,2.53,0.00,0.000,4,0.000,0.044,2598,892,1431
$GC,14107,1.11,336.3,293.0,12.0,676,14112,0.00,2.45,0.00,0.000,6,0.000,0.032,2597,2300,1431
$GC,14429,1.11,336.3,257.5,10.7,692,14433,0.00,2.50,0.00,0.000,4,0.000,0.045,2597,895,1432
$GC,14456,1.15,336.3,254.5,11.0,693,14461,0.00,2.45,0.00,0.000,6,0.000,0.032,2597,2302,1432
$GC,14778,1.20,336.3,221.0,10.3,709,14783,0.10,2.50,0.00,0.000,4,0.054,0.044,2631,899,1432
$GC,14806,1.20,336.3,217.4,12.4,710,14809,0.00,2.42,0.00,0.000,6,0.000,0.032,2631,2299,1431
$GC,15127,1.15,336.3,176.7,12.4,726,15132,0.00,2.50,0.00,0.000,4,0.000,0.044,2633,899,1431
$GC,15167,1.15,336.3,171.6,12.5,728,15172,0.00,2.45,0.00,0.000,6,0.000,0.033,2631,2307,1432
$GC,15496,1.11,336.3,130.9,11.9,744,15501,0.15,2.53,0.00,0.000,4,0.088,0.043,2601,892,1432
$GC,15523,1.11,336.3,127.5,11.0,745,15527,0.00,2.45,0.00,0.000,6,0.000,0.032,2601,2301,1433
$GC,15839,1.11,336.3,95.4,10.4,760,15840,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2301,1432
$GC,16149,1.11,336.3,61.8,10.5,775,16153,0.00,2.50,0.00,0.000,4,0.000,0.044,2601,899,1432
$GC,16204,1.17,336.3,55.9,10.3,777,16211,0.00,2.42,0.00,0.000,6,0.000,0.033,2601,2299,1432
$GC,16521,1.24,336.3,24.4,11.6,793,16523,0.15,0.00,0.00,0.000,6,0.046,0.000,2644,2299,1433
$STATE,16704,end climb,SURFACE_DEPTH_REACHED
$STATE,16705,begin surface coast
$FINISH,0.7,1.025173
$STATE,16725,end surface coast,CONTROL_FINISHED_OK
$STATE,16725,begin surface
$SM_CCo,16809,0.00,0.000,0,0,1430,340.23
$SM_GC,1.56,12.30,0.00,0.00,0.089,0.000,0.000,69,2603,1430,-10.47,0.08,340.23
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1782
$TCM_TEMP,17.20
$XPDR_PINGS,0
$24V_AH,23.6,34.888
$10V_AH,10.1,17.674
$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,28.675,148.450,436.425,0.000,0.000,18.020,49.391,149.893,6.250,0.000,0.000,15.814,1483.919,12832.981,541.875,1781.628,529.958,0.000,1463.945,0.000,1734.311,0.000,42.883,0.000
$DEVICE_MAMPS,182.546,71.331,1080.703,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,586.516,547.797,461.778,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41084,803
$CAP_FILE_SIZE,125582,0
$CFSIZE,260165632,246542336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140709,234137,6311.520,-1312.948,33,0.9,33,-12.2