version: 66.04
glider: 16
mission: 13
dive: 240
start: 7 20 109 0 56 52
data:
$ID,16
$MISSION,13
$DIVE,240
$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,-2111856.5
$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,38
$R_STBD_OVSHOOT,28
$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
$GPS1,004824,6246.063,-1244.919,26,1.9,43,-11.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-61.4
$GPS2,005632,6246.095,-1245.100,11,1.9,11,-11.8
$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,129.7,24145,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-61.65,0.000,6,0.000,0.000,61,2600,3416
$GC,81,-1.03,-146.6,5.3,-8.3,3,103,12.12,2.53,0.00,0.000,4,0.188,0.038,2130,1196,3418
$GC,127,-0.75,-146.6,22.1,-22.4,5,133,0.32,2.47,0.00,0.000,6,0.096,0.035,2194,2595,3418
$GC,456,-0.86,-146.6,41.5,-6.4,21,460,0.00,2.47,0.00,0.000,4,0.000,0.036,2194,1190,3418
$GC,489,-1.03,-146.6,44.5,-9.1,22,496,0.28,2.47,0.00,0.000,6,0.035,0.034,2116,2605,3419
$GC,807,-0.96,-146.6,76.8,-11.3,38,811,0.17,2.33,0.00,0.000,4,0.090,0.061,2154,3864,3419
$GC,902,-1.01,-146.6,86.7,-10.3,42,906,0.00,2.15,0.00,0.000,6,0.000,0.025,2153,2580,3419
$GC,1220,-1.05,-146.6,113.5,-8.1,57,1224,0.00,2.40,0.00,0.000,4,0.000,0.038,2155,1209,3419
$GC,1253,-1.12,-146.6,116.4,-8.2,58,1260,0.17,2.42,0.00,0.000,6,0.041,0.034,2099,2601,3419
$GC,1570,-1.02,-146.6,149.4,-10.5,74,1578,0.17,2.33,0.00,0.000,4,0.095,0.062,2137,3862,3419
$GC,1612,-1.02,-146.6,153.7,-9.5,75,1618,0.00,2.12,0.00,0.000,6,0.000,0.025,2137,2592,3419
$GC,1929,-1.02,-146.6,182.1,-9.3,91,1933,0.00,2.42,0.00,0.000,4,0.000,0.038,2137,1212,3419
$GC,1951,-1.02,-146.6,184.4,-9.6,92,1955,0.00,2.45,0.00,0.000,6,0.000,0.035,2137,2609,3419
$GC,2271,-1.02,-146.6,214.7,-9.8,108,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2610,3420
$GC,2581,-1.02,-146.6,245.4,-10.2,123,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2610,3419
$GC,2890,-1.02,-146.6,275.8,-9.5,138,2895,0.00,2.45,0.00,0.000,4,0.000,0.037,2137,1216,3419
$GC,2924,-1.02,-146.6,279.3,-9.6,139,2930,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2599,3419
$GC,3240,-1.02,-146.6,310.1,-9.8,155,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2599,3418
$GC,3548,-1.02,-146.6,339.4,-9.7,170,3552,0.00,2.42,0.00,0.000,4,0.000,0.038,2137,1217,3418
$GC,3576,-1.02,-146.6,342.1,-9.9,171,3580,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2600,3418
$GC,3892,-1.02,-146.6,372.0,-9.2,186,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2600,3418
$GC,4204,-1.02,-146.6,400.7,-9.4,201,4208,0.00,2.42,0.00,0.000,4,0.000,0.038,2137,1218,3418
$GC,4244,-1.06,-146.6,404.7,-9.1,203,4248,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2600,3418
$GC,4571,-1.06,-146.6,436.0,-9.6,219,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2601,3417
$GC,4879,-1.06,-146.6,464.5,-9.3,234,4883,0.00,2.42,0.00,0.000,4,0.000,0.038,2137,1218,3417
$GC,4907,-1.06,-146.6,467.1,-9.3,235,4911,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2600,3417
$GC,5229,-1.06,-146.6,495.5,-8.7,251,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2601,3417
$GC,5538,-1.06,-146.6,521.8,-8.6,266,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2601,3416
$GC,5847,-1.06,-146.6,548.7,-8.8,281,5851,0.00,2.42,0.00,0.000,4,0.000,0.038,2137,1218,3417
$GC,5887,-1.12,-146.6,552.1,-8.4,283,5891,0.00,2.42,0.00,0.000,6,0.000,0.036,2137,2600,3417
$GC,6214,-1.12,-146.6,579.9,-8.5,299,6218,0.00,2.33,0.00,0.000,4,0.000,0.067,2137,3861,3416
$GC,6247,-1.12,-146.6,582.8,-9.3,300,6250,0.00,2.12,0.00,0.000,6,0.000,0.026,2137,2596,3416
$GC,6569,-1.12,-146.6,609.8,-8.5,316,6573,0.00,2.42,0.00,0.000,4,0.000,0.040,2137,1216,3416
$GC,6631,-1.19,-146.6,615.3,-8.8,319,6636,0.17,2.42,0.00,0.000,6,0.042,0.036,2086,2605,3416
$GC,6958,-1.10,-146.6,649.7,-10.5,335,6967,0.17,2.33,0.00,0.000,4,0.094,0.067,2119,3856,3416
$GC,6990,-1.10,-146.6,652.7,-9.9,336,6993,0.00,2.10,0.00,0.000,6,0.000,0.027,2120,2597,3416
$GC,7316,-1.10,-146.6,682.4,-9.4,352,7320,0.00,2.42,0.00,0.000,4,0.000,0.041,2120,1217,3414
$GC,7344,-1.10,-146.6,684.7,-8.7,353,7348,0.00,2.42,0.00,0.000,6,0.000,0.036,2120,2599,3415
$GC,7660,-1.10,-146.6,710.6,-7.8,368,7664,0.00,2.45,0.00,0.000,4,0.000,0.039,2120,1209,3415
$GC,7693,-1.15,-146.6,713.3,-7.8,369,7699,0.00,2.45,0.00,0.000,6,0.000,0.037,2120,2599,3415
$GC,8008,-1.15,-146.6,738.4,-8.2,385,8012,0.00,2.35,0.00,0.000,4,0.000,0.072,2120,3857,3414
$GC,8064,-1.15,-146.6,743.7,-10.4,387,8071,0.00,2.12,0.00,0.000,6,0.000,0.028,2120,2601,3414
$STATE,8151,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8151,begin apogee
$GC,8158,-0.31,0.0,751.1,8.6,392,8293,0.85,0.00,128.93,1.075,6,0.100,0.000,2291,2309,2817
$STATE,8294,end apogee,CONTROL_FINISHED_OK
$STATE,8294,begin climb
$GC,8297,1.03,146.6,755.1,0.0,399,8435,1.35,2.62,129.98,1.063,4,0.067,0.050,2581,905,2218
$GC,8500,0.94,146.6,747.1,8.8,408,8504,0.00,2.50,0.00,0.000,6,0.000,0.035,2581,2308,2213
$GC,8816,0.83,146.6,720.8,8.0,423,8821,0.17,2.62,0.00,0.000,4,0.090,0.064,2544,3700,2212
$GC,8946,0.77,146.6,710.6,7.5,429,8950,0.00,2.45,0.00,0.000,6,0.000,0.030,2544,2303,2212
$GC,9272,0.80,173.9,689.1,6.6,445,9299,0.00,0.00,24.40,0.992,6,0.000,0.000,2544,2303,2108
$GC,9603,0.84,214.6,667.6,6.1,461,9648,0.00,2.70,38.05,1.005,4,0.000,0.062,2544,3698,1941
$GC,9716,0.84,214.6,660.0,7.6,466,9720,0.00,2.47,0.00,0.000,6,0.000,0.029,2544,2296,1939
$GC,10038,0.95,230.0,638.7,7.0,482,10060,0.00,2.60,14.62,0.928,4,0.000,0.051,2544,902,1878
$GC,10088,1.07,249.5,635.0,6.8,484,10114,0.22,2.50,19.67,0.948,6,0.043,0.035,2602,2305,1799
$GC,10433,1.02,249.5,603.2,9.4,501,10437,0.00,2.58,0.00,0.000,4,0.000,0.048,2602,894,1794
$GC,10455,0.96,249.5,600.7,9.8,502,10460,0.17,2.50,0.00,0.000,6,0.095,0.035,2569,2305,1793
$GC,10776,1.01,249.5,575.6,7.9,518,10780,0.00,2.60,0.00,0.000,4,0.000,0.062,2568,3700,1793
$GC,10804,1.01,249.5,573.3,8.8,519,10808,0.00,2.45,0.00,0.000,6,0.000,0.028,2569,2299,1793
$GC,11119,1.06,249.5,548.3,8.1,534,11121,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2299,1793
$GC,11429,1.11,249.5,523.5,8.1,549,11434,0.15,2.62,0.00,0.000,4,0.048,0.059,2609,3709,1792
$GC,11451,1.07,249.5,521.4,9.2,550,11456,0.00,2.45,0.00,0.000,6,0.000,0.028,2609,2299,1792
$GC,11773,1.00,249.5,488.6,10.3,566,11778,0.15,2.53,0.00,0.000,4,0.094,0.048,2580,901,1792
$GC,11806,1.00,249.5,485.2,9.8,567,11812,0.00,2.47,0.00,0.000,6,0.000,0.034,2580,2310,1790
$GC,12122,1.00,249.5,457.0,9.0,583,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2311,1790
$GC,12431,1.00,249.5,428.6,9.1,598,12432,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2311,1790
$GC,12740,1.00,249.5,400.3,9.3,613,12744,0.00,2.55,0.00,0.000,4,0.000,0.044,2580,892,1790
$GC,12764,1.00,249.5,398.2,8.6,614,12768,0.00,2.47,0.00,0.000,6,0.000,0.033,2580,2309,1790
$GC,13090,1.00,249.5,368.1,9.2,630,13091,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2309,1790
$GC,13399,1.00,249.5,339.4,9.1,645,13400,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2309,1791
$GC,13709,1.00,249.5,311.0,9.2,660,13713,0.00,2.53,0.00,0.000,4,0.000,0.044,2580,897,1791
$GC,13736,1.00,249.5,308.3,9.0,661,13740,0.00,2.45,0.00,0.000,6,0.000,0.032,2580,2302,1790
$GC,14052,1.00,249.5,280.5,8.8,676,14056,0.00,2.58,0.00,0.000,4,0.000,0.057,2580,3701,1791
$GC,14079,1.00,249.5,277.8,10.1,677,14084,0.00,2.42,0.00,0.000,6,0.000,0.027,2580,2295,1792
$GC,14395,1.00,249.5,251.0,8.5,692,14399,0.00,2.47,0.00,0.000,4,0.000,0.044,2579,900,1791
$GC,14434,1.00,249.5,247.4,8.6,694,14439,0.00,2.45,0.00,0.000,6,0.000,0.033,2580,2307,1791
$GC,14762,1.00,249.5,218.6,9.0,710,14763,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2306,1791
$GC,15070,1.00,249.5,189.8,9.4,725,15072,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2306,1792
$GC,15380,1.00,249.5,161.1,9.3,740,15381,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2306,1792
$GC,15691,1.00,249.5,133.6,8.2,755,15696,0.00,2.50,0.00,0.000,4,0.000,0.042,2580,900,1792
$GC,15709,1.00,249.5,132.0,8.1,756,15713,0.00,2.42,0.00,0.000,6,0.000,0.031,2580,2302,1792
$GC,16042,1.00,249.5,105.1,8.0,772,16043,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2302,1792
$GC,16351,1.00,249.5,81.4,7.5,787,16355,0.00,2.50,0.00,0.000,4,0.000,0.042,2580,895,1792
$GC,16385,1.05,249.5,78.6,7.7,788,16392,0.00,2.45,0.00,0.000,6,0.000,0.032,2580,2303,1792
$GC,16701,1.05,249.5,55.6,7.8,804,16706,0.00,2.55,0.00,0.000,4,0.000,0.057,2580,3698,1792
$GC,16719,1.05,249.5,54.1,7.9,805,16724,0.00,2.40,0.00,0.000,6,0.000,0.027,2580,2296,1793
$GC,17048,1.11,270.6,30.6,6.8,821,17073,0.00,2.55,18.55,0.575,4,0.000,0.044,2580,908,1712
$GC,17102,1.19,270.6,25.8,8.2,823,17107,0.17,2.45,0.00,0.000,6,0.044,0.033,2629,2299,1710
$STATE,17333,end climb,SURFACE_DEPTH_REACHED
$STATE,17333,begin surface coast
$FINISH,0.9,1.026508
$STATE,17356,end surface coast,CONTROL_FINISHED_OK
$STATE,17356,begin surface
$SM_CCo,17441,0.00,0.000,0,0,1706,272.53
$SM_GC,1.50,12.07,0.00,0.00,0.081,0.000,0.000,73,2606,1706,-10.46,0.17,272.53
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1795
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.0,35.0
$24V_AH,23.6,38.630
$10V_AH,10.1,19.708
$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,28.925,162.225,374.200,0.000,0.000,36.337,58.211,208.625,6.250,0.000,0.000,11.588,1535.787,13516.901,504.323,1763.728,609.133,0.000,1423.100,0.000,1721.188,0.000,43.375,0.000
$DEVICE_MAMPS,187.915,72.098,1074.567,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,613.839,570.109,515.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41127,835
$CAP_FILE_SIZE,132915,0
$CFSIZE,260165632,244985856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200709,054836,6246.339,-1242.569,26,1.4,26,-11.8