version: 66.04
glider: 16
mission: 13
dive: 265
start: 7 25 109 5 11 16
data:
$ID,16
$MISSION,13
$DIVE,265
$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,-2112286.2
$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,38
$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
$GPS1,050307,6235.299,-1150.463,37,1.5,37,-11.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.1
$GPS2,051056,6235.259,-1150.540,14,1.8,14,-11.2
$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,148.4,13271,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-57.33,0.000,6,0.000,0.000,74,2599,3416
$GC,81,-1.03,-146.6,7.4,-13.8,3,102,11.82,2.38,0.00,0.000,4,0.180,0.056,2132,3864,3417
$GC,278,-0.98,-146.6,43.3,-11.1,11,285,0.00,2.17,0.00,0.000,6,0.000,0.025,2132,2574,3418
$GC,594,-0.98,-146.6,73.6,-10.2,27,598,0.00,2.38,0.00,0.000,4,0.000,0.060,2132,3858,3419
$GC,622,-0.93,-146.6,76.7,-11.1,28,627,0.12,2.12,0.00,0.000,6,0.139,0.025,2152,2596,3418
$GC,939,-0.93,-146.6,106.9,-9.1,43,943,0.00,2.42,0.00,0.000,4,0.000,0.037,2152,1218,3419
$GC,995,-1.00,-146.6,112.1,-8.8,45,1002,0.00,2.42,0.00,0.000,6,0.000,0.034,2152,2598,3419
$GC,1313,-1.00,-146.6,140.5,-9.2,61,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2598,3420
$GC,1621,-1.00,-146.6,169.9,-9.6,76,1625,0.00,2.42,0.00,0.000,4,0.000,0.036,2152,1218,3419
$GC,1654,-1.07,-146.6,173.2,-9.5,77,1660,0.12,2.42,0.00,0.000,6,0.050,0.035,2109,2599,3419
$GC,1970,-0.98,-146.6,210.8,-12.0,93,1975,0.17,2.33,0.00,0.000,4,0.099,0.062,2146,3860,3419
$GC,2003,-0.98,-146.6,214.7,-11.2,94,2009,0.00,2.12,0.00,0.000,6,0.000,0.025,2146,2593,3419
$GC,2318,-0.98,-146.6,245.3,-9.6,110,2322,0.00,2.40,0.00,0.000,4,0.000,0.037,2146,1221,3419
$GC,2353,-1.03,-146.6,248.4,-8.6,111,2357,0.00,2.42,0.00,0.000,6,0.000,0.034,2146,2607,3419
$GC,2674,-1.03,-146.6,278.6,-9.4,127,2678,0.00,2.45,0.00,0.000,4,0.000,0.036,2146,1215,3419
$GC,2701,-1.03,-146.6,281.2,-9.2,128,2705,0.00,2.45,0.00,0.000,6,0.000,0.034,2146,2610,3419
$GC,3017,-1.03,-146.6,310.4,-9.2,143,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2610,3419
$GC,3325,-1.03,-146.6,338.6,-9.4,158,3330,0.00,2.45,0.00,0.000,4,0.000,0.036,2145,1218,3419
$GC,3381,-1.08,-146.6,343.7,-8.9,160,3388,0.00,2.42,0.00,0.000,6,0.000,0.035,2146,2600,3419
$GC,3698,-1.08,-146.6,373.4,-9.6,176,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2600,3419
$GC,4007,-1.08,-146.6,401.6,-8.7,191,4012,0.00,2.42,0.00,0.000,4,0.000,0.037,2144,1220,3418
$GC,4048,-1.15,-146.6,405.2,-8.5,193,4053,0.17,2.42,0.00,0.000,6,0.041,0.035,2092,2600,3418
$GC,4375,-1.03,-146.6,440.4,-10.3,209,4377,0.20,0.00,0.00,0.000,6,0.097,0.000,2131,2600,3418
$GC,4683,-1.03,-146.6,466.1,-8.1,224,4687,0.00,2.45,0.00,0.000,4,0.000,0.037,2131,1210,3418
$GC,4717,-1.03,-146.6,468.9,-7.6,225,4724,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2609,3418
$GC,5033,-1.03,-146.6,495.9,-8.7,241,5037,0.00,2.45,0.00,0.000,4,0.000,0.036,2131,1218,3418
$GC,5066,-1.03,-146.6,499.0,-8.6,242,5072,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2599,3418
$GC,5382,-1.03,-146.6,527.1,-9.1,258,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3418
$GC,5691,-1.03,-146.6,555.3,-8.6,273,5695,0.00,2.42,0.00,0.000,4,0.000,0.037,2131,1221,3417
$GC,5741,-1.07,-146.6,559.6,-8.6,275,5745,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2605,3418
$GC,6069,-1.07,-146.6,589.7,-8.8,291,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3418
$GC,6378,-1.07,-146.6,615.7,-9.0,306,6382,0.00,2.45,0.00,0.000,4,0.000,0.037,2131,1212,3418
$GC,6406,-1.12,-146.6,618.2,-8.5,307,6410,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2604,3417
$GC,6728,-1.12,-146.6,641.8,-6.9,323,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2604,3417
$GC,7036,-1.12,-146.6,669.2,-9.1,338,7040,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1215,3417
$GC,7080,-1.17,-146.6,673.0,-8.3,340,7085,0.12,2.45,0.00,0.000,6,0.048,0.036,2091,2605,3417
$GC,7403,-1.09,-146.6,700.7,-8.8,356,7408,0.15,2.35,0.00,0.000,4,0.096,0.069,2120,3861,3417
$GC,7453,-1.09,-146.6,705.4,-9.3,358,7457,0.00,2.12,0.00,0.000,6,0.000,0.026,2120,2608,3417
$GC,7774,-1.09,-146.6,733.9,-9.0,374,7778,0.00,2.47,0.00,0.000,4,0.000,0.041,2120,1210,3416
$GC,7824,-1.09,-146.6,738.4,-9.2,376,7828,0.00,2.45,0.00,0.000,6,0.000,0.038,2120,2598,3416
$STATE,8075,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8075,begin apogee
$GC,8082,-0.31,0.0,760.1,8.8,388,8218,0.88,0.00,129.45,1.084,6,0.128,0.000,2286,2295,2816
$STATE,8218,end apogee,CONTROL_FINISHED_OK
$STATE,8219,begin climb
$GC,8222,1.03,146.6,766.0,0.0,395,8361,1.38,2.58,130.50,1.075,4,0.076,0.046,2577,915,2218
$GC,8545,0.96,159.1,749.4,7.1,409,8565,0.00,2.50,11.32,0.933,6,0.000,0.036,2579,2311,2168
$GC,8875,0.92,168.1,725.6,7.2,425,8890,0.00,2.67,9.90,0.910,4,0.000,0.065,2578,3701,2131
$GC,8941,0.83,176.9,720.6,7.2,427,8958,0.20,2.45,9.45,0.901,6,0.097,0.030,2541,2317,2095
$GC,9268,0.87,210.9,699.7,6.3,443,9306,0.00,0.00,32.08,1.020,6,0.000,0.000,2541,2317,1957
$GC,9616,0.93,216.0,674.8,7.3,460,9623,0.00,0.00,5.47,0.764,6,0.000,0.000,2541,2317,1935
$GC,9926,1.01,218.5,653.1,7.4,475,9931,0.17,2.60,0.00,0.000,4,0.048,0.052,2592,897,1934
$GC,9993,0.93,218.5,646.4,10.0,478,9998,0.15,2.50,0.00,0.000,6,0.098,0.036,2564,2300,1932
$GC,10314,0.93,218.5,620.4,7.9,494,10319,0.00,2.62,0.00,0.000,4,0.000,0.064,2564,3701,1932
$GC,10364,0.93,218.5,615.8,9.4,496,10368,0.00,2.47,0.00,0.000,6,0.000,0.030,2564,2296,1932
$GC,10680,0.93,218.5,587.0,9.4,511,10681,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2296,1932
$GC,10990,0.93,218.5,562.0,7.8,526,10991,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2296,1931
$GC,11299,0.94,221.3,538.5,7.4,541,11307,0.00,0.00,6.03,0.734,6,0.000,0.000,2564,2295,1914
$GC,11608,0.95,232.6,516.4,7.1,556,11626,0.00,0.00,11.98,0.841,6,0.000,0.000,2562,2295,1868
$GC,11937,1.00,242.8,492.9,7.2,572,11950,0.00,0.00,10.82,0.811,6,0.000,0.000,2564,2295,1827
$GC,12245,1.06,242.8,470.4,7.5,587,12247,0.12,0.00,0.00,0.000,6,0.051,0.000,2601,2294,1823
$GC,12554,1.00,242.8,440.6,9.7,602,12556,0.12,0.00,0.00,0.000,6,0.097,0.000,2578,2293,1824
$GC,12863,1.00,242.8,414.7,8.0,617,12868,0.00,2.62,0.00,0.000,4,0.000,0.058,2578,3711,1825
$GC,12896,1.00,242.8,411.8,8.3,618,12902,0.00,2.47,0.00,0.000,6,0.000,0.027,2578,2290,1825
$GC,13212,1.00,242.8,386.8,8.1,634,13214,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2290,1825
$GC,13521,1.00,242.8,361.6,8.2,649,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2290,1825
$GC,13830,1.00,242.8,336.0,8.2,664,13831,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2290,1824
$GC,14140,1.00,242.8,310.7,8.0,679,14144,0.00,2.60,0.00,0.000,4,0.000,0.056,2579,3703,1825
$GC,14167,1.00,242.8,308.2,9.6,680,14171,0.00,2.45,0.00,0.000,6,0.000,0.026,2578,2290,1825
$GC,14483,1.00,242.8,282.1,8.2,695,14484,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2290,1825
$GC,14792,1.00,242.8,257.0,8.1,710,14793,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2290,1825
$GC,15101,1.00,242.8,232.4,8.0,725,15102,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2290,1825
$GC,15410,1.00,242.8,207.1,8.4,740,15415,0.00,2.58,0.00,0.000,4,0.000,0.055,2578,3704,1826
$GC,15443,1.00,242.8,204.1,9.1,741,15450,0.00,2.42,0.00,0.000,6,0.000,0.026,2578,2298,1825
$GC,15760,1.00,243.0,179.8,7.5,757,15761,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2297,1826
$GC,16068,1.01,248.5,157.0,7.3,772,16077,0.00,0.00,6.95,0.565,6,0.000,0.000,2578,2297,1803
$GC,16378,1.02,253.5,134.5,7.3,787,16386,0.00,0.00,6.12,0.535,6,0.000,0.000,2578,2297,1783
$GC,16690,1.02,260.4,111.8,7.3,802,16699,0.00,0.00,7.30,0.548,6,0.000,0.000,2578,2297,1756
$GC,16999,1.09,275.2,89.6,7.0,817,17016,0.00,0.00,14.85,0.594,6,0.000,0.000,2578,2297,1694
$GC,17328,1.14,275.2,65.1,7.7,833,17330,0.15,0.00,0.00,0.000,6,0.044,0.000,2623,2297,1692
$GC,17635,1.14,275.2,35.5,9.4,848,17639,0.00,2.50,0.00,0.000,4,0.000,0.045,2623,903,1691
$GC,17690,1.14,275.2,30.4,9.3,850,17697,0.00,2.42,0.00,0.000,6,0.000,0.031,2623,2304,1690
$STATE,17983,end climb,SURFACE_DEPTH_REACHED
$STATE,17983,begin surface coast
$FINISH,0.7,1.026467
$STATE,18005,end surface coast,CONTROL_FINISHED_OK
$STATE,18005,begin surface
$SM_CCo,18089,0.00,0.000,0,0,1687,277.19
$SM_GC,1.69,12.43,0.00,0.00,0.097,0.000,0.000,76,2596,1687,-10.47,-0.11,277.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1808
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.0,17.8
$24V_AH,23.6,41.838
$10V_AH,10.1,21.655
$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,28.500,117.950,392.225,0.000,0.000,36.396,116.216,136.626,6.500,0.000,0.000,14.476,1558.554,14141.416,523.112,1763.707,571.717,0.000,1405.868,0.000,1721.735,0.000,44.627,0.000
$DEVICE_MAMPS,180.245,69.030,1083.771,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,638.364,594.654,511.119,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44217,866
$CAP_FILE_SIZE,125087,0
$CFSIZE,260165632,243466240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250709,101406,6234.462,-1149.080,40,1.8,45,-11.2