version: 66.04
glider: 16
mission: 13
dive: 242
start: 7 20 109 10 49 12
data:
$ID,16
$MISSION,13
$DIVE,242
$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,-2111884.5
$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,37
$R_STBD_OVSHOOT,37
$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
$GPS1,104255,6246.385,-1237.710,38,1.5,38,-11.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-57.2
$GPS2,104855,6246.376,-1237.818,12,1.8,12,-11.7
$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,139.6,19210,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-61.05,0.000,2,0.000,0.000,74,2612,3113
$GC,82,-1.03,-146.6,4.8,-7.7,3,105,11.80,2.58,-5.15,0.000,4,0.179,0.048,2134,1197,3418
$GC,223,-1.03,-146.6,26.5,-9.9,9,227,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2593,3419
$GC,544,-1.03,-146.6,54.7,-8.7,25,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2593,3419
$GC,854,-1.03,-146.6,83.6,-10.4,40,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2593,3419
$GC,1162,-1.03,-146.6,116.6,-11.1,55,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2593,3419
$GC,1472,-1.03,-146.6,151.1,-11.3,70,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2593,3419
$GC,1781,-1.03,-146.6,184.8,-10.4,85,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2593,3419
$GC,2090,-1.03,-146.6,215.2,-9.7,100,2094,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1190,3419
$GC,2117,-1.03,-146.6,217.8,-9.2,101,2121,0.00,2.50,0.00,0.000,6,0.000,0.035,2132,2611,3419
$GC,2433,-1.03,-146.6,247.5,-9.2,116,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2611,3419
$GC,2743,-1.03,-146.6,276.4,-9.6,131,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2612,3419
$GC,3051,-1.03,-146.6,306.9,-10.2,146,3055,0.00,2.50,0.00,0.000,4,0.000,0.038,2133,1191,3419
$GC,3095,-1.03,-146.6,311.6,-9.8,148,3100,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2600,3419
$GC,3417,-1.03,-146.6,343.7,-9.9,164,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,3726,-1.03,-146.6,374.5,-9.7,179,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,4036,-1.03,-146.6,404.3,-9.8,194,4040,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1198,3419
$GC,4057,-1.03,-146.6,406.5,-9.5,195,4062,0.00,2.47,0.00,0.000,6,0.000,0.035,2133,2606,3419
$GC,4379,-1.03,-146.6,436.7,-9.3,211,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2607,3419
$GC,4689,-1.03,-146.6,465.1,-8.8,226,4693,0.00,2.50,0.00,0.000,4,0.000,0.038,2132,1188,3418
$GC,4738,-1.03,-146.6,469.6,-8.7,228,4742,0.00,2.47,0.00,0.000,6,0.000,0.035,2133,2599,3418
$GC,5054,-1.03,-146.6,497.5,-9.0,243,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3418
$GC,5363,-1.03,-146.6,527.3,-10.0,258,5368,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1194,3417
$GC,5420,-1.07,-146.6,532.9,-9.8,260,5426,0.00,2.47,0.00,0.000,6,0.000,0.036,2132,2606,3418
$GC,5735,-1.07,-146.6,563.3,-9.4,276,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3417
$GC,6045,-1.07,-146.6,592.0,-9.4,291,6049,0.00,2.33,0.00,0.000,4,0.000,0.068,2132,3856,3417
$GC,6068,-1.07,-146.6,594.1,-9.2,292,6072,0.00,2.15,0.00,0.000,6,0.000,0.027,2132,2582,3418
$GC,6401,-1.07,-146.6,624.9,-9.1,308,6405,0.00,2.42,0.00,0.000,4,0.000,0.041,2133,1204,3417
$GC,6434,-1.12,-146.6,628.0,-8.8,309,6439,0.00,2.45,0.00,0.000,6,0.000,0.036,2133,2599,3417
$GC,6750,-1.12,-146.6,655.8,-8.7,324,6753,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1206,3415
$GC,6796,-1.18,-146.6,659.6,-7.7,326,6801,0.15,2.45,0.00,0.000,6,0.044,0.037,2087,2600,3416
$GC,7126,-1.09,-146.6,690.4,-9.0,342,7130,0.17,2.42,0.00,0.000,4,0.096,0.038,2124,1214,3415
$GC,7165,-1.14,-146.6,693.8,-7.7,344,7170,0.00,2.45,0.00,0.000,6,0.000,0.037,2122,2601,3415
$GC,7498,-1.14,-146.6,721.1,-8.4,360,7502,0.00,2.35,0.00,0.000,4,0.000,0.071,2124,3859,3415
$GC,7543,-1.14,-146.6,725.0,-9.1,362,7546,0.00,2.12,0.00,0.000,6,0.000,0.028,2124,2606,3415
$STATE,7846,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7846,begin apogee
$GC,7853,-0.31,0.0,751.3,9.0,377,7989,0.82,0.00,129.32,1.066,6,0.097,0.000,2292,2305,2817
$STATE,7990,end apogee,CONTROL_FINISHED_OK
$STATE,7990,begin climb
$GC,7993,1.03,146.6,755.4,0.0,384,8132,1.35,2.60,130.60,1.056,4,0.073,0.050,2579,910,2217
$GC,8210,0.95,146.6,748.8,7.6,393,8214,0.00,2.50,0.00,0.000,6,0.000,0.035,2579,2311,2212
$GC,8527,0.89,165.0,725.1,6.9,408,8550,0.12,2.72,16.42,0.964,4,0.101,0.064,2556,3700,2144
$GC,8584,0.80,165.0,720.4,8.8,410,8589,0.12,2.45,0.00,0.000,6,0.103,0.029,2533,2310,2143
$GC,8900,0.91,230.6,702.1,5.3,425,8964,0.12,0.00,60.92,1.028,6,0.049,0.000,2570,2311,1877
$GC,9268,0.91,230.6,674.9,7.5,443,9273,0.00,2.60,0.00,0.000,4,0.000,0.052,2570,895,1868
$GC,9320,0.91,230.6,670.9,7.7,445,9324,0.00,2.50,0.00,0.000,6,0.000,0.036,2570,2300,1867
$GC,9636,0.91,230.6,645.1,8.8,460,9640,0.00,2.60,0.00,0.000,4,0.000,0.064,2570,3701,1867
$GC,9663,0.91,230.6,642.3,10.6,461,9667,0.00,2.47,0.00,0.000,6,0.000,0.030,2570,2295,1867
$GC,9979,0.91,230.6,611.8,10.0,476,9980,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2294,1866
$GC,10288,0.91,230.6,581.5,9.5,491,10289,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2295,1865
$GC,10597,0.91,230.6,553.4,8.8,506,10602,0.00,2.65,0.00,0.000,4,0.000,0.061,2570,3706,1865
$GC,10642,0.91,230.6,549.0,9.7,508,10646,0.00,2.45,0.00,0.000,6,0.000,0.029,2570,2295,1865
$GC,10969,0.91,230.6,521.6,8.3,524,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2295,1864
$GC,11278,0.91,230.6,496.7,7.7,539,11282,0.00,2.53,0.00,0.000,4,0.000,0.048,2570,898,1864
$GC,11299,0.91,230.6,495.0,7.9,540,11303,0.00,2.47,0.00,0.000,6,0.000,0.034,2570,2307,1862
$GC,11620,0.91,230.6,469.2,8.1,556,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2307,1864
$GC,11929,0.91,230.6,444.5,7.8,571,11933,0.00,2.58,0.00,0.000,4,0.000,0.060,2570,3702,1864
$GC,11968,0.91,230.6,441.4,8.0,573,11973,0.00,2.42,0.00,0.000,6,0.000,0.028,2570,2297,1864
$GC,12301,0.91,230.6,415.0,8.1,589,12302,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2296,1863
$GC,12610,0.91,230.6,389.2,8.5,604,12611,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2296,1863
$GC,12919,0.91,230.6,363.2,8.3,619,12920,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2296,1864
$GC,13229,0.91,230.6,338.1,8.0,634,13230,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2296,1864
$GC,13538,0.91,230.6,313.4,7.8,649,13542,0.00,2.60,0.00,0.000,4,0.000,0.057,2570,3702,1865
$GC,13570,0.91,230.6,310.6,8.2,650,13577,0.00,2.42,0.00,0.000,6,0.000,0.028,2570,2295,1865
$GC,13887,0.91,230.6,285.8,7.8,666,13888,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2295,1864
$GC,14195,0.91,230.6,262.0,7.6,681,14197,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2295,1864
$GC,14505,0.91,230.6,238.7,7.6,696,14506,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2295,1865
$GC,14815,0.92,237.1,215.8,7.3,711,14822,0.00,0.00,5.47,0.555,6,0.000,0.000,2570,2295,1849
$GC,15123,0.92,237.1,192.3,7.7,726,15124,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2295,1849
$GC,15433,0.96,237.1,168.0,8.1,741,15434,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2295,1849
$GC,15743,1.01,237.1,141.7,9.0,756,15744,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2295,1849
$GC,16051,1.05,237.1,112.8,9.4,771,16053,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2295,1850
$GC,16361,1.09,237.1,83.3,9.8,786,16366,0.12,2.50,0.00,0.000,4,0.055,0.046,2608,897,1850
$GC,16383,1.09,237.1,80.6,11.7,787,16387,0.00,2.45,0.00,0.000,6,0.000,0.032,2608,2304,1848
$GC,16705,1.04,237.1,44.0,9.9,803,16709,0.00,2.58,0.00,0.000,4,0.000,0.057,2608,3709,1849
$GC,16754,0.98,237.1,38.7,10.3,805,16759,0.17,2.42,0.00,0.000,6,0.094,0.027,2575,2299,1849
$GC,17073,1.08,257.1,15.9,6.8,820,17099,0.00,2.58,18.77,0.564,4,0.000,0.044,2575,898,1767
$GC,17156,1.09,268.8,8.3,7.1,823,17173,0.10,2.45,11.20,0.529,6,0.054,0.034,2604,2299,1721
$STATE,17220,end climb,SURFACE_DEPTH_REACHED
$STATE,17220,begin surface coast
$FINISH,0.6,1.013537
$STATE,17240,end surface coast,CONTROL_FINISHED_OK
$STATE,17240,begin surface
$SM_CCo,17324,0.00,0.000,0,0,1712,270.81
$SM_GC,1.55,11.52,0.00,0.00,0.058,0.000,0.000,73,2607,1712,-10.47,0.20,270.81
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1794
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.3,84.9
$24V_AH,23.6,38.881
$10V_AH,10.1,19.860
$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,26.600,110.050,372.725,0.000,0.000,18.326,33.343,181.120,5.750,0.000,0.000,11.995,1483.811,13556.201,474.914,1655.605,510.037,0.000,1305.960,0.000,1619.670,0.000,39.958,0.000
$DEVICE_MAMPS,179.478,71.331,1066.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,605.016,567.720,487.592,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41243,828
$CAP_FILE_SIZE,116230,0
$CFSIZE,260165632,244883456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200709,153927,6245.076,-1237.305,35,2.5,54,-11.7