version: 66.04
glider: 16
mission: 13
dive: 250
start: 7 22 109 2 42 39
data:
$ID,16
$MISSION,13
$DIVE,250
$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,-2112043.2
$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,36
$R_STBD_OVSHOOT,26
$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
$GPS1,023631,6240.043,-1217.254,36,1.8,36,-11.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-61.5
$GPS2,024220,6240.031,-1217.355,14,2.0,14,-11.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$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,131.7,36953,-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,16,-1.03,-146.6,0.0,0.0,0,74,0.00,0.00,-56.35,0.000,2,0.000,0.000,59,2601,3310
$GC,77,-1.03,-146.6,5.7,-8.3,3,100,11.93,2.53,-1.73,0.000,4,0.181,0.048,2132,1195,3418
$GC,150,-1.03,-146.6,24.9,-11.8,6,155,0.00,2.47,0.00,0.000,6,0.000,0.034,2132,2600,3419
$GC,472,-1.03,-146.6,59.7,-8.5,22,476,0.00,2.33,0.00,0.000,4,0.000,0.063,2131,3861,3420
$GC,558,-0.99,-146.6,67.1,-8.8,26,562,0.00,2.17,0.00,0.000,6,0.000,0.025,2132,2573,3419
$GC,885,-0.99,-146.6,95.2,-8.8,42,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2572,3420
$GC,1195,-0.99,-146.6,121.8,-8.2,57,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2572,3420
$GC,1503,-0.99,-146.6,147.6,-8.6,72,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2572,3420
$GC,1815,-0.99,-146.6,175.9,-9.6,87,1819,0.00,2.40,0.00,0.000,4,0.000,0.038,2132,1205,3419
$GC,1847,-0.99,-146.6,179.3,-9.2,88,1854,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2603,3419
$GC,2163,-0.99,-146.6,209.0,-9.5,104,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3419
$GC,2473,-0.99,-146.6,239.1,-9.8,119,2477,0.00,2.45,0.00,0.000,4,0.000,0.037,2132,1208,3420
$GC,2517,-0.99,-146.6,243.6,-9.6,121,2521,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2610,3419
$GC,2845,-0.99,-146.6,275.1,-9.5,137,2849,0.00,2.45,0.00,0.000,4,0.000,0.037,2132,1211,3419
$GC,2872,-0.99,-146.6,277.8,-9.5,138,2876,0.00,2.42,0.00,0.000,6,0.000,0.034,2132,2600,3419
$GC,3187,-0.99,-146.6,308.0,-9.6,153,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,3496,-0.99,-146.6,338.7,-10.0,168,3501,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1205,3419
$GC,3530,-0.99,-146.6,342.0,-9.8,169,3536,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2601,3419
$GC,3846,-0.99,-146.6,373.1,-9.9,185,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3419
$GC,4155,-0.99,-146.6,403.1,-9.7,200,4159,0.00,2.42,0.00,0.000,4,0.000,0.037,2132,1212,3419
$GC,4201,-0.99,-146.6,407.5,-9.6,202,4205,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2610,3419
$GC,4527,-0.99,-146.6,441.2,-10.6,218,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2611,3419
$GC,4836,-0.99,-146.6,473.4,-10.3,233,4840,0.00,2.45,0.00,0.000,4,0.000,0.037,2132,1212,3419
$GC,4887,-0.99,-146.6,478.5,-10.0,235,4891,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2609,3419
$GC,5202,-0.99,-146.6,509.9,-9.7,250,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3418
$GC,5512,-0.99,-146.6,540.3,-9.6,265,5516,0.00,2.45,0.00,0.000,4,0.000,0.037,2132,1212,3418
$GC,5556,-0.99,-146.6,544.7,-9.6,267,5560,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2609,3419
$GC,5876,-0.99,-146.6,573.6,-9.0,283,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3418
$GC,6187,-0.99,-146.6,601.0,-8.5,298,6191,0.00,2.45,0.00,0.000,4,0.000,0.037,2132,1213,3418
$GC,6236,-0.99,-146.6,605.4,-8.4,300,6241,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3418
$GC,6552,-0.99,-146.6,633.9,-9.7,315,6556,0.00,2.33,0.00,0.000,4,0.000,0.067,2132,3856,3418
$GC,6601,-0.99,-146.6,638.8,-9.4,317,6605,0.00,2.12,0.00,0.000,6,0.000,0.025,2132,2593,3418
$GC,6929,-0.99,-146.6,668.0,-8.6,333,6933,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1208,3418
$GC,6975,-1.03,-146.6,672.0,-8.9,335,6979,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2603,3418
$GC,7308,-1.03,-146.6,698.7,-7.2,351,7312,0.00,2.33,0.00,0.000,4,0.000,0.068,2132,3862,3418
$GC,7347,-1.08,-146.6,701.7,-7.7,352,7353,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2599,3417
$GC,7663,-1.08,-146.6,722.9,-7.1,368,7667,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1211,3417
$GC,7694,-1.14,-146.6,725.2,-8.1,369,7698,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2602,3417
$GC,8014,-1.14,-146.6,750.8,-8.5,384,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3416
$GC,8319,-1.18,-146.6,774.8,-8.6,399,8321,0.15,0.00,0.00,0.000,6,0.045,0.000,2088,2601,3415
$STATE,8481,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8481,begin apogee
$GC,8489,-0.31,0.0,790.4,8.5,407,8624,1.00,0.00,129.82,1.099,6,0.097,0.000,2291,2307,2816
$STATE,8625,end apogee,CONTROL_FINISHED_OK
$STATE,8625,begin climb
$GC,8628,1.03,146.6,798.3,0.0,414,8767,1.35,2.70,130.95,1.087,4,0.073,0.064,2577,3704,2218
$GC,9025,0.90,146.6,771.9,8.6,431,9030,0.12,2.45,0.00,0.000,6,0.120,0.030,2556,2312,2213
$GC,9346,0.85,146.6,747.2,8.6,447,9351,0.00,2.62,0.00,0.000,4,0.000,0.064,2556,3708,2210
$GC,9470,0.75,146.6,737.0,7.9,452,9477,0.17,2.47,0.00,0.000,6,0.107,0.031,2524,2302,2210
$GC,9787,0.82,170.0,716.3,6.7,468,9813,0.00,2.70,20.75,1.000,4,0.000,0.063,2524,3702,2123
$GC,9848,0.83,176.1,712.2,7.3,471,9861,0.00,2.50,6.90,0.838,6,0.000,0.031,2524,2293,2099
$GC,10179,0.97,218.2,691.3,6.1,487,10227,0.22,2.75,39.97,1.031,4,0.051,0.062,2578,3702,1927
$GC,10267,0.88,218.2,684.1,9.0,491,10272,0.15,2.50,0.00,0.000,6,0.114,0.031,2551,2292,1924
$GC,10589,0.98,251.8,663.3,6.4,507,10623,0.00,0.00,31.92,1.003,6,0.000,0.000,2551,2292,1790
$GC,10942,1.07,252.1,638.0,7.5,524,10947,0.20,2.55,0.00,0.000,4,0.054,0.051,2601,899,1783
$GC,10963,1.07,252.1,636.0,8.7,525,10968,0.00,2.50,0.00,0.000,6,0.000,0.035,2601,2306,1782
$GC,11286,1.01,252.1,606.8,8.4,541,11290,0.00,2.60,0.00,0.000,4,0.000,0.062,2601,3699,1782
$GC,11319,0.93,252.1,603.4,9.9,542,11326,0.20,2.45,0.00,0.000,6,0.107,0.029,2565,2297,1782
$GC,11635,0.99,262.0,580.1,7.2,558,11649,0.00,2.58,9.25,0.836,4,0.000,0.049,2565,901,1748
$GC,11668,1.05,262.0,577.5,7.6,559,11673,0.12,2.50,0.00,0.000,6,0.062,0.035,2592,2308,1746
$GC,11984,1.05,262.0,551.1,8.3,574,11988,0.00,2.60,0.00,0.000,4,0.000,0.061,2592,3705,1746
$GC,12017,1.00,262.0,548.0,8.6,575,12023,0.00,2.45,0.00,0.000,6,0.000,0.028,2592,2298,1747
$GC,12333,1.00,262.0,519.3,9.3,591,12337,0.00,2.53,0.00,0.000,4,0.000,0.048,2592,896,1746
$GC,12356,1.00,262.0,516.9,10.1,592,12360,0.00,2.47,0.00,0.000,6,0.000,0.033,2592,2306,1745
$GC,12682,1.00,262.0,486.2,9.5,608,12687,0.00,2.58,0.00,0.000,4,0.000,0.058,2592,3702,1745
$GC,12700,1.00,262.0,484.5,9.3,609,12704,0.00,2.42,0.00,0.000,6,0.000,0.027,2592,2298,1745
$GC,13026,1.00,262.0,454.4,9.2,625,13027,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2297,1745
$GC,13335,1.00,262.0,425.5,9.3,640,13336,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2298,1745
$GC,13645,1.00,262.0,396.1,9.6,655,13646,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2297,1745
$GC,13954,1.00,262.0,368.7,8.5,670,13955,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2298,1745
$GC,14263,1.00,262.0,340.7,9.0,685,14264,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2297,1745
$GC,14573,1.00,262.0,311.6,9.6,700,14574,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2297,1745
$GC,14881,1.00,262.0,281.7,9.9,715,14882,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2297,1745
$GC,15191,1.00,262.0,251.3,9.8,730,15192,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2297,1745
$GC,15500,1.00,262.0,220.3,9.7,745,15501,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2297,1746
$GC,15810,1.00,262.0,191.4,9.3,760,15814,0.00,2.47,0.00,0.000,4,0.000,0.044,2592,899,1746
$GC,15833,1.00,262.0,189.2,9.0,761,15838,0.00,2.45,0.00,0.000,6,0.000,0.032,2592,2304,1745
$GC,16159,1.00,262.0,157.9,9.8,777,16160,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2304,1746
$GC,16470,1.00,262.0,130.3,8.6,792,16471,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2304,1746
$GC,16778,1.00,262.0,101.7,9.2,807,16779,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2304,1746
$GC,17089,1.00,262.0,74.1,9.1,822,17090,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2304,1746
$GC,17397,1.00,262.0,44.9,9.1,837,17402,0.00,2.50,0.00,0.000,4,0.000,0.041,2592,895,1746
$GC,17431,1.05,262.0,41.8,8.3,838,17437,0.00,2.42,0.00,0.000,6,0.000,0.031,2592,2298,1746
$GC,17749,1.11,271.7,17.3,7.2,854,17765,0.00,0.00,10.02,0.534,6,0.000,0.000,2592,2299,1708
$STATE,17907,end climb,SURFACE_DEPTH_REACHED
$STATE,17908,begin surface coast
$FINISH,0.6,1.026605
$STATE,17929,end surface coast,CONTROL_FINISHED_OK
$STATE,17930,begin surface
$SM_CCo,18014,0.00,0.000,0,0,1705,272.77
$SM_GC,1.44,12.23,0.00,0.00,0.095,0.000,0.000,77,2610,1705,-10.46,0.28,272.77
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1780
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.8,49.1
$24V_AH,23.6,39.886
$10V_AH,10.1,20.489
$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,27.850,129.025,379.600,0.000,0.000,23.064,27.687,169.254,7.000,0.000,0.000,14.371,1561.521,14003.330,482.269,1802.241,511.582,0.000,1392.583,0.000,1754.250,0.000,50.564,0.000
$DEVICE_MAMPS,181.012,68.263,1099.111,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,633.519,588.461,511.585,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44265,863
$CAP_FILE_SIZE,125111,0
$CFSIZE,260165632,244379648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220709,074406,6240.168,-1216.731,36,1.0,36,-11.5