version: 66.04
glider: 16
mission: 13
dive: 236
start: 7 19 109 5 20 24
data:
$ID,16
$MISSION,13
$DIVE,236
$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,-2111799.2
$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,29
$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
$GPS1,051455,6247.591,-1257.524,42,1.8,42,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-56.6
$GPS2,052007,6247.590,-1257.543,14,1.2,14,-11.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,GE
$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,125.7,34883,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-60.85,0.000,2,0.000,0.000,77,2602,3111
$GC,84,-1.03,-146.6,4.4,-7.2,3,107,12.05,2.58,-5.30,0.000,4,0.189,0.050,2129,1187,3417
$GC,239,-1.03,-146.6,32.7,-12.9,9,245,0.00,2.47,0.00,0.000,6,0.000,0.036,2130,2595,3418
$GC,555,-0.98,-146.6,73.7,-11.1,25,559,0.00,2.35,0.00,0.000,4,0.000,0.063,2129,3864,3418
$GC,587,-0.98,-146.6,77.6,-11.5,26,594,0.00,2.17,0.00,0.000,6,0.000,0.025,2129,2573,3418
$GC,905,-0.98,-146.6,113.3,-10.6,42,909,0.00,2.38,0.00,0.000,4,0.000,0.038,2129,1215,3419
$GC,934,-0.98,-146.6,116.4,-10.9,43,939,0.00,2.42,0.00,0.000,6,0.000,0.034,2130,2601,3419
$GC,1250,-0.98,-146.6,148.1,-9.9,58,1254,0.00,2.33,0.00,0.000,4,0.000,0.062,2129,3864,3419
$GC,1301,-0.98,-146.6,153.3,-10.5,60,1305,0.00,2.12,0.00,0.000,6,0.000,0.025,2130,2597,3419
$GC,1622,-0.98,-146.6,183.2,-9.2,76,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2596,3419
$GC,1932,-0.98,-146.6,212.8,-9.4,91,1936,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1212,3419
$GC,1959,-0.98,-146.6,215.5,-9.9,92,1963,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2601,3418
$GC,2280,-0.98,-146.6,244.0,-8.9,108,2284,0.00,2.33,0.00,0.000,4,0.000,0.064,2130,3861,3419
$GC,2303,-0.98,-146.6,246.2,-9.4,109,2306,0.00,2.12,0.00,0.000,6,0.000,0.025,2131,2594,3419
$GC,2630,-0.98,-146.6,277.0,-10.0,125,2634,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1211,3419
$GC,2663,-0.98,-146.6,280.5,-9.9,126,2667,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2602,3419
$GC,2984,-0.98,-146.6,314.0,-10.8,142,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3418
$GC,3294,-0.98,-146.6,346.9,-10.5,157,3298,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1218,3418
$GC,3327,-0.98,-146.6,350.6,-10.8,158,3333,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3418
$GC,3642,-0.98,-146.6,383.4,-10.3,174,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,3952,-0.98,-146.6,414.8,-10.0,189,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,4261,-0.98,-146.6,444.8,-9.5,204,4265,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1217,3418
$GC,4294,-0.98,-146.6,448.2,-9.7,205,4300,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2602,3418
$GC,4610,-0.98,-146.6,477.0,-8.9,221,4614,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1209,3418
$GC,4638,-0.98,-146.6,479.5,-9.3,222,4642,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2606,3418
$GC,4954,-0.98,-146.6,506.2,-8.5,237,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2606,3418
$GC,5263,-0.98,-146.6,533.0,-8.5,252,5267,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1215,3418
$GC,5302,-1.02,-146.6,536.2,-8.2,253,5308,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3418
$GC,5618,-1.02,-146.6,564.3,-9.1,269,5622,0.00,2.35,0.00,0.000,4,0.000,0.067,2130,3864,3418
$GC,5652,-1.02,-146.6,567.7,-10.0,270,5658,0.00,2.12,0.00,0.000,6,0.000,0.026,2130,2593,3418
$GC,5969,-1.02,-146.6,591.4,-7.2,286,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2593,3418
$GC,6278,-1.02,-146.6,617.4,-8.0,301,6282,0.00,2.42,0.00,0.000,4,0.000,0.040,2130,1211,3417
$GC,6318,-1.07,-146.6,620.8,-8.0,303,6322,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2609,3417
$GC,6645,-1.07,-146.6,648.7,-7.6,319,6649,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1214,3417
$GC,6723,-1.12,-146.6,654.3,-7.1,322,6729,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2608,3417
$GC,7039,-1.12,-146.6,678.2,-9.1,338,7043,0.00,2.33,0.00,0.000,4,0.000,0.069,2130,3857,3417
$GC,7119,-1.12,-146.6,686.1,-10.2,341,7125,0.00,2.12,0.00,0.000,6,0.000,0.028,2130,2596,3416
$GC,7435,-1.12,-146.6,711.3,-8.0,357,7439,0.00,2.45,0.00,0.000,4,0.000,0.042,2130,1208,3416
$GC,7469,-1.17,-146.6,714.1,-8.0,358,7475,0.12,2.45,0.00,0.000,6,0.049,0.037,2091,2599,3416
$GC,7785,-1.09,-146.6,744.8,-10.0,374,7789,0.15,2.45,0.00,0.000,4,0.101,0.040,2119,1214,3414
$GC,7824,-1.09,-146.6,748.5,-8.9,376,7829,0.00,2.45,0.00,0.000,6,0.000,0.038,2119,2602,3414
$STATE,7881,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7881,begin apogee
$GC,7888,-0.31,0.0,753.5,8.5,379,8024,0.88,0.00,128.52,1.077,6,0.118,0.000,2289,2300,2816
$STATE,8025,end apogee,CONTROL_FINISHED_OK
$STATE,8025,begin climb
$GC,8028,1.03,146.6,758.5,0.0,386,8165,1.42,2.58,129.52,1.064,4,0.094,0.046,2578,909,2218
$GC,8253,0.96,152.7,751.2,7.3,396,8265,0.00,2.50,6.25,0.802,6,0.000,0.035,2578,2311,2194
$GC,8574,0.91,152.7,727.1,7.7,412,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2312,2190
$GC,8884,0.85,154.6,704.0,7.4,427,8889,0.17,2.53,0.00,0.000,4,0.103,0.047,2545,914,2188
$GC,8928,0.85,154.6,700.6,8.1,429,8932,0.00,2.45,0.00,0.000,6,0.000,0.035,2545,2308,2188
$GC,9249,0.86,167.7,678.1,7.1,445,9270,0.00,2.67,14.27,0.945,4,0.000,0.064,2545,3706,2132
$GC,9310,0.86,167.7,673.3,7.8,447,9316,0.00,2.45,0.00,0.000,6,0.000,0.029,2545,2309,2131
$GC,9626,0.88,183.2,650.1,7.0,463,9648,0.00,2.65,15.10,0.943,4,0.000,0.062,2546,3698,2068
$GC,9727,0.88,183.2,642.2,7.8,467,9731,0.00,2.45,0.00,0.000,6,0.000,0.030,2545,2304,2067
$GC,10042,0.88,183.2,619.4,7.5,482,10047,0.00,2.55,0.00,0.000,4,0.000,0.051,2545,902,2065
$GC,10110,0.88,183.2,613.9,8.5,485,10114,0.00,2.47,0.00,0.000,6,0.000,0.035,2545,2303,2064
$GC,10432,0.98,236.1,593.7,5.7,501,10488,0.12,2.70,48.88,0.979,4,0.053,0.062,2578,3695,1853
$GC,10517,0.98,236.1,587.6,8.6,505,10521,0.00,2.47,0.00,0.000,6,0.000,0.029,2578,2295,1852
$GC,10844,0.99,239.5,563.2,7.4,521,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2295,1846
$GC,11153,0.99,240.6,541.1,7.5,536,11162,0.00,2.62,3.90,0.588,4,0.000,0.061,2579,3702,1836
$GC,11185,0.99,240.6,538.4,7.8,537,11189,0.00,2.45,0.00,0.000,6,0.000,0.028,2578,2299,1836
$GC,11501,0.99,240.6,513.1,7.7,552,11502,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2298,1836
$GC,11810,1.00,247.7,490.2,7.3,567,11820,0.00,0.00,8.48,0.774,6,0.000,0.000,2578,2299,1807
$GC,12119,1.00,247.7,465.6,8.2,582,12120,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2299,1805
$GC,12429,1.00,247.7,438.3,9.3,597,12430,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2299,1805
$GC,12738,1.00,247.7,409.2,9.4,612,12741,0.00,2.50,0.00,0.000,4,0.000,0.046,2578,898,1805
$GC,12765,1.00,247.7,406.4,9.4,613,12769,0.00,2.45,0.00,0.000,6,0.000,0.033,2578,2301,1803
$GC,13086,1.00,247.7,378.0,8.4,629,13087,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2301,1803
$GC,13395,1.00,247.7,352.5,8.1,644,13399,0.00,2.58,0.00,0.000,4,0.000,0.058,2578,3701,1804
$GC,13418,1.00,247.7,350.7,7.8,645,13422,0.00,2.42,0.00,0.000,6,0.000,0.028,2578,2296,1804
$GC,13739,1.00,247.7,324.7,8.2,661,13743,0.00,2.50,0.00,0.000,4,0.000,0.045,2578,895,1804
$GC,13766,1.00,247.7,322.1,8.7,662,13770,0.00,2.45,0.00,0.000,6,0.000,0.032,2578,2302,1803
$GC,14082,1.00,247.7,295.8,8.3,677,14086,0.00,2.58,0.00,0.000,4,0.000,0.058,2578,3703,1804
$GC,14103,1.00,247.7,293.8,8.8,678,14108,0.00,2.42,0.00,0.000,6,0.000,0.027,2578,2293,1804
$GC,14425,1.00,247.7,265.1,9.1,694,14426,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2292,1804
$GC,14734,1.00,247.7,236.5,9.1,709,14738,0.00,2.47,0.00,0.000,4,0.000,0.044,2578,897,1804
$GC,14761,1.00,247.7,233.9,9.1,710,14765,0.00,2.45,0.00,0.000,6,0.000,0.032,2578,2304,1804
$GC,15083,1.00,247.7,205.6,8.5,726,15084,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2304,1804
$GC,15392,1.00,247.7,180.6,7.9,741,15393,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2304,1804
$GC,15701,1.00,247.7,156.2,8.1,756,15702,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2304,1804
$GC,16011,1.00,247.7,126.5,10.3,771,16016,0.00,2.50,0.00,0.000,4,0.000,0.042,2578,897,1804
$GC,16056,1.04,247.7,121.7,10.0,773,16060,0.00,2.45,0.00,0.000,6,0.000,0.032,2578,2305,1804
$GC,16377,1.04,247.7,91.2,8.9,789,16378,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2305,1804
$GC,16687,1.09,247.7,65.4,8.1,804,16688,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2305,1805
$GC,16996,1.19,285.2,41.6,6.2,819,17040,0.17,2.60,33.45,0.601,4,0.056,0.042,2630,904,1653
$GC,17073,1.19,285.2,33.9,11.6,822,17077,0.00,2.47,0.00,0.000,6,0.000,0.032,2630,2308,1650
$STATE,17366,end climb,SURFACE_DEPTH_REACHED
$STATE,17366,begin surface coast
$FINISH,1.0,1.026518
$STATE,17389,end surface coast,CONTROL_FINISHED_OK
$STATE,17389,begin surface
$SM_CCo,17473,0.00,0.000,0,0,1645,287.25
$SM_GC,1.56,12.15,0.00,0.00,0.083,0.000,0.000,71,2609,1645,-10.46,0.25,287.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1803
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.5,36.9
$24V_AH,23.6,38.081
$10V_AH,10.1,19.396
$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,27.250,152.325,388.375,0.000,0.000,17.984,27.755,147.194,6.250,0.000,0.000,13.967,1526.471,13496.882,508.146,1770.715,481.020,0.000,1426.935,0.000,1724.181,0.000,43.055,0.000
$DEVICE_MAMPS,189.449,69.030,1076.868,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,610.086,572.762,477.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41112,837
$CAP_FILE_SIZE,125851,0
$CFSIZE,260165632,245235712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190709,101254,6247.106,-1252.530,40,1.1,40,-11.8