version: 66.04
glider: 16
mission: 13
dive: 262
start: 7 24 109 15 10 10
data:
$ID,16
$MISSION,13
$DIVE,262
$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,-2112218.8
$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,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
$GPS1,150431,6238.500,-1200.330,40,1.4,40,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-65.4
$GPS2,150950,6238.500,-1200.327,15,1.6,15,-11.3
$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,143.5,23451,-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,-146.6,0.0,0.0,0,76,0.00,0.00,-54.40,0.000,6,0.000,0.000,74,2606,3417
$GC,79,-1.03,-146.6,8.5,-16.7,3,101,11.85,2.35,0.00,0.000,4,0.180,0.057,2131,3858,3417
$GC,343,-0.98,-146.6,55.9,-11.3,14,350,0.00,2.20,0.00,0.000,6,0.000,0.025,2131,2578,3419
$GC,659,-0.94,-146.6,88.0,-10.4,30,664,0.12,2.40,0.00,0.000,4,0.137,0.037,2151,1213,3420
$GC,704,-1.01,-146.6,92.3,-9.2,32,708,0.00,2.45,0.00,0.000,6,0.000,0.034,2151,2603,3420
$GC,1025,-1.01,-146.6,120.3,-8.8,48,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2603,3420
$GC,1334,-1.01,-146.6,147.5,-8.8,63,1338,0.00,2.45,0.00,0.000,4,0.000,0.036,2152,1211,3420
$GC,1363,-1.06,-146.6,150.1,-9.2,64,1368,0.12,2.45,0.00,0.000,6,0.048,0.034,2108,2603,3420
$GC,1679,-0.96,-146.6,187.7,-12.2,79,1684,0.17,2.33,0.00,0.000,4,0.094,0.061,2145,3867,3420
$GC,1729,-0.96,-146.6,193.6,-11.3,81,1733,0.00,2.15,0.00,0.000,6,0.000,0.025,2145,2593,3420
$GC,2050,-0.96,-146.6,228.5,-11.0,97,2054,0.00,2.40,0.00,0.000,4,0.000,0.038,2145,1214,3420
$GC,2089,-1.02,-146.6,232.9,-10.9,98,2096,0.00,2.45,0.00,0.000,6,0.000,0.035,2145,2608,3420
$GC,2405,-1.02,-146.6,267.3,-11.2,114,2410,0.00,2.45,0.00,0.000,4,0.000,0.037,2145,1212,3420
$GC,2441,-1.07,-146.6,271.0,-10.6,115,2447,0.00,2.42,0.00,0.000,6,0.000,0.034,2145,2599,3420
$GC,2756,-1.07,-146.6,305.4,-10.8,131,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2600,3420
$GC,3067,-1.07,-146.6,337.8,-10.3,146,3071,0.00,2.45,0.00,0.000,4,0.000,0.036,2145,1208,3420
$GC,3100,-1.12,-146.6,341.4,-9.9,147,3107,0.15,2.45,0.00,0.000,6,0.044,0.035,2099,2600,3420
$GC,3416,-1.00,-146.6,380.7,-12.6,163,3418,0.22,0.00,0.00,0.000,6,0.095,0.000,2142,2600,3420
$GC,3725,-1.00,-146.6,411.7,-9.3,178,3729,0.00,2.45,0.00,0.000,4,0.000,0.038,2142,1206,3420
$GC,3759,-1.05,-146.6,415.1,-9.1,179,3763,0.00,2.45,0.00,0.000,6,0.000,0.035,2142,2600,3419
$GC,4074,-1.05,-146.6,445.5,-9.8,194,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2600,3419
$GC,4385,-1.05,-146.6,475.5,-9.6,209,4389,0.00,2.45,0.00,0.000,4,0.000,0.037,2142,1210,3419
$GC,4412,-1.05,-146.6,478.4,-10.0,210,4416,0.00,2.45,0.00,0.000,6,0.000,0.035,2142,2605,3419
$GC,4728,-1.05,-146.6,507.9,-9.0,225,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2605,3419
$GC,5037,-1.05,-146.6,533.7,-8.2,240,5042,0.00,2.45,0.00,0.000,4,0.000,0.037,2142,1212,3419
$GC,5071,-1.10,-146.6,536.8,-8.8,241,5078,0.12,2.45,0.00,0.000,6,0.048,0.035,2102,2609,3419
$GC,5387,-1.00,-146.6,571.4,-11.2,257,5389,0.20,0.00,0.00,0.000,6,0.095,0.000,2139,2609,3419
$GC,5697,-1.00,-146.6,601.2,-9.5,272,5701,0.00,2.45,0.00,0.000,4,0.000,0.037,2139,1214,3419
$GC,5730,-1.06,-146.6,604.5,-9.0,273,5736,0.00,2.45,0.00,0.000,6,0.000,0.035,2139,2610,3418
$GC,6046,-1.06,-146.6,636.1,-10.4,289,6050,0.00,2.33,0.00,0.000,4,0.000,0.067,2139,3861,3418
$GC,6074,-1.06,-146.6,639.1,-11.3,290,6077,0.00,2.12,0.00,0.000,6,0.000,0.025,2139,2596,3418
$GC,6396,-1.06,-146.6,670.0,-9.3,306,6400,0.00,2.42,0.00,0.000,4,0.000,0.039,2139,1217,3418
$GC,6446,-1.13,-146.6,674.5,-8.9,308,6451,0.12,2.42,0.00,0.000,6,0.047,0.035,2099,2600,3418
$GC,6762,-1.07,-146.6,703.0,-8.7,323,6767,0.15,2.45,0.00,0.000,4,0.095,0.037,2127,1209,3418
$GC,6818,-1.14,-146.6,707.2,-6.9,325,6825,0.00,2.45,0.00,0.000,6,0.000,0.036,2128,2601,3418
$GC,7135,-1.14,-146.6,728.5,-6.5,341,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2601,3418
$GC,7444,-1.14,-146.6,751.9,-7.6,356,7448,0.00,2.35,0.00,0.000,4,0.000,0.072,2127,3858,3417
$GC,7484,-1.14,-146.6,755.3,-8.8,358,7487,0.00,2.12,0.00,0.000,6,0.000,0.028,2127,2610,3417
$STATE,7690,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7690,begin apogee
$GC,7697,-0.31,0.0,771.9,7.8,368,7833,0.85,0.00,129.77,1.091,6,0.130,0.000,2289,2298,2817
$STATE,7833,end apogee,CONTROL_FINISHED_OK
$STATE,7833,begin climb
$GC,7836,1.03,146.6,776.5,0.0,375,7975,1.38,2.62,130.48,1.080,4,0.073,0.049,2582,902,2218
$GC,8121,0.98,178.8,766.1,6.4,387,8156,0.00,2.50,29.33,1.032,6,0.000,0.036,2582,2302,2087
$GC,8487,0.92,178.8,737.8,8.1,405,8491,0.00,2.65,0.00,0.000,4,0.000,0.066,2582,3702,2081
$GC,8531,0.84,178.8,733.9,7.5,407,8536,0.20,2.47,0.00,0.000,6,0.095,0.030,2544,2303,2082
$GC,8852,0.87,205.2,711.9,6.6,423,8879,0.00,0.00,24.48,1.011,6,0.000,0.000,2544,2303,1980
$GC,9182,0.92,205.2,689.0,7.6,439,9187,0.00,2.58,0.00,0.000,4,0.000,0.052,2544,895,1975
$GC,9233,0.98,205.2,685.2,7.7,441,9238,0.15,2.50,0.00,0.000,6,0.048,0.036,2585,2303,1974
$GC,9550,0.94,221.8,660.6,6.9,456,9571,0.00,2.72,16.27,0.960,4,0.000,0.064,2585,3718,1912
$GC,9595,0.87,221.8,656.9,8.5,458,9600,0.20,2.53,0.00,0.000,6,0.100,0.030,2549,2298,1910
$GC,9917,0.98,257.0,637.6,6.3,474,9958,0.12,0.00,34.05,0.992,6,0.053,0.000,2585,2297,1768
$GC,10268,0.98,257.0,607.6,8.5,491,10272,0.00,2.62,0.00,0.000,4,0.000,0.062,2585,3698,1763
$GC,10289,0.98,257.0,605.5,8.8,492,10294,0.00,2.47,0.00,0.000,6,0.000,0.029,2585,2295,1763
$GC,10611,0.98,257.0,578.8,8.3,508,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2295,1762
$GC,10920,0.98,257.0,551.8,8.7,523,10922,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2295,1761
$GC,11229,0.98,257.0,524.3,8.9,538,11230,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2295,1761
$GC,11538,0.98,257.0,496.3,9.1,553,11540,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2295,1761
$GC,11848,0.98,257.0,467.6,9.5,568,11853,0.00,2.62,0.00,0.000,4,0.000,0.058,2584,3705,1761
$GC,11876,0.98,257.0,464.6,10.9,569,11880,0.00,2.45,0.00,0.000,6,0.000,0.028,2585,2297,1761
$GC,12191,0.98,257.0,434.5,9.4,584,12192,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2297,1761
$GC,12501,0.98,257.0,405.4,9.4,599,12502,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2297,1761
$GC,12810,0.98,257.0,376.1,9.7,614,12811,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2297,1761
$GC,13119,0.98,257.0,345.3,10.0,629,13123,0.00,2.58,0.00,0.000,4,0.000,0.056,2584,3699,1761
$GC,13146,0.98,257.0,342.4,10.3,630,13151,0.00,2.42,0.00,0.000,6,0.000,0.026,2584,2297,1761
$GC,13462,0.98,257.0,311.1,9.9,645,13466,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,902,1761
$GC,13485,0.98,257.0,308.9,9.8,646,13489,0.00,2.45,0.00,0.000,6,0.000,0.031,2585,2307,1761
$GC,13812,0.98,257.0,279.3,8.9,662,13813,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2307,1761
$GC,14120,0.98,257.0,251.0,9.1,677,14125,0.00,2.58,0.00,0.000,4,0.000,0.057,2584,3705,1761
$GC,14144,0.98,257.0,248.8,9.7,678,14148,0.00,2.42,0.00,0.000,6,0.000,0.026,2584,2297,1762
$GC,14464,0.98,257.0,219.0,9.5,694,14468,0.00,2.47,0.00,0.000,4,0.000,0.042,2585,904,1762
$GC,14492,0.98,257.0,216.2,9.7,695,14496,0.00,2.45,0.00,0.000,6,0.000,0.031,2584,2309,1761
$GC,14807,0.98,257.0,185.0,10.0,710,14811,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3700,1762
$GC,14834,0.98,257.0,181.9,10.6,711,14838,0.00,2.42,0.00,0.000,6,0.000,0.026,2585,2294,1762
$GC,15151,0.98,257.0,149.1,10.4,726,15152,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2292,1762
$GC,15461,0.98,257.0,117.3,10.1,741,15462,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2292,1761
$GC,15769,0.98,257.0,87.4,9.5,756,15773,0.00,2.58,0.00,0.000,4,0.000,0.055,2585,3700,1762
$GC,15791,0.98,257.0,85.2,9.8,757,15795,0.00,2.40,0.00,0.000,6,0.000,0.026,2585,2300,1762
$GC,16112,0.98,257.0,55.7,9.2,773,16116,0.00,2.47,0.00,0.000,4,0.000,0.043,2585,904,1762
$GC,16133,0.98,257.0,53.7,8.7,774,16138,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2304,1762
$GC,16456,1.03,257.0,28.8,7.5,790,16460,0.00,2.47,0.00,0.000,4,0.000,0.041,2585,904,1763
$GC,16500,1.11,257.0,24.8,9.0,792,16504,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2301,1762
$STATE,16757,end climb,SURFACE_DEPTH_REACHED
$STATE,16758,begin surface coast
$FINISH,0.7,1.026072
$STATE,16779,end surface coast,CONTROL_FINISHED_OK
$STATE,16779,begin surface
$SM_CCo,16863,0.00,0.000,0,0,1759,259.28
$SM_GC,1.42,11.98,0.00,0.00,0.087,0.000,0.000,71,2596,1759,-10.47,-0.11,259.28
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026078
$HUMID,1793
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.6,55.3
$24V_AH,23.6,41.442
$10V_AH,10.1,21.429
$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,28.125,143.050,364.375,0.000,0.000,17.965,30.904,142.255,6.250,0.000,0.000,15.298,1483.268,13029.879,488.238,1698.488,479.366,0.000,1353.804,0.000,1652.628,0.000,43.108,0.000
$DEVICE_MAMPS,180.245,72.098,1090.674,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,587.792,550.749,476.740,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41110,806
$CAP_FILE_SIZE,123625,0
$CFSIZE,260165632,243638272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240709,195236,6237.118,-1159.531,41,1.4,46,-11.3