version: 66.04
glider: 16
mission: 13
dive: 272
start: 7 26 109 16 37 26
data:
$ID,16
$MISSION,13
$DIVE,272
$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,-2112457.8
$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,39
$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
$GPS1,162756,6227.703,-1131.438,39,2.2,58,-11.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-59.3
$GPS2,163710,6227.759,-1131.509,16,3.4,35,-11.0
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$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,111.7,27499,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.33,0.000,2,0.000,0.000,60,2616,3314
$GC,82,-1.03,-146.6,5.3,-9.1,3,104,12.02,2.30,-1.70,0.000,4,0.185,0.070,2129,3839,3418
$GC,144,-0.95,-146.6,23.3,-15.8,5,151,0.08,2.17,0.00,0.000,6,0.091,0.025,2148,2572,3419
$GC,460,-0.95,-146.6,53.2,-9.4,21,464,0.00,2.35,0.00,0.000,4,0.000,0.058,2148,3843,3419
$GC,549,-0.95,-146.6,62.7,-10.2,25,552,0.00,2.10,0.00,0.000,6,0.000,0.024,2148,2595,3419
$GC,876,-0.95,-146.6,91.2,-7.6,41,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2592,3419
$GC,1185,-0.95,-146.6,114.6,-7.8,56,1189,0.00,2.33,0.00,0.000,4,0.000,0.059,2148,3852,3419
$GC,1212,-0.95,-146.6,116.8,-7.6,57,1216,0.00,2.10,0.00,0.000,6,0.000,0.025,2148,2601,3419
$GC,1534,-0.95,-146.6,144.1,-9.1,73,1539,0.00,2.42,0.00,0.000,4,0.000,0.037,2148,1221,3419
$GC,1599,-1.01,-146.6,149.8,-9.1,76,1604,0.00,2.40,0.00,0.000,6,0.000,0.034,2148,2588,3419
$GC,1931,-1.01,-146.6,182.9,-9.9,92,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2588,3419
$GC,2241,-1.01,-146.6,212.3,-9.2,107,2245,0.00,2.42,0.00,0.000,4,0.000,0.035,2148,1210,3419
$GC,2281,-1.07,-146.6,216.0,-9.1,109,2285,0.00,2.45,0.00,0.000,6,0.000,0.033,2148,2608,3419
$GC,2607,-1.07,-146.6,245.0,-9.2,125,2611,0.00,2.45,0.00,0.000,4,0.000,0.036,2148,1215,3419
$GC,2641,-1.13,-146.6,248.1,-8.6,126,2648,0.15,2.42,0.00,0.000,6,0.042,0.034,2100,2600,3419
$GC,2957,-1.01,-146.6,285.7,-12.1,142,2959,0.20,0.00,0.00,0.000,6,0.095,0.000,2138,2600,3419
$GC,3266,-1.01,-146.6,315.5,-9.6,157,3270,0.00,2.42,0.00,0.000,4,0.000,0.036,2138,1219,3419
$GC,3311,-1.06,-146.6,319.8,-9.0,159,3315,0.00,2.42,0.00,0.000,6,0.000,0.034,2138,2601,3419
$GC,3632,-1.06,-146.6,349.4,-9.1,175,3636,0.00,2.45,0.00,0.000,4,0.000,0.037,2138,1211,3419
$GC,3665,-1.06,-146.6,352.7,-9.6,176,3671,0.00,2.45,0.00,0.000,6,0.000,0.034,2138,2609,3419
$GC,3981,-1.06,-146.6,379.5,-8.2,192,3985,0.00,2.45,0.00,0.000,4,0.000,0.036,2138,1217,3419
$GC,4008,-1.06,-146.6,381.9,-8.3,193,4012,0.00,2.40,0.00,0.000,6,0.000,0.034,2138,2601,3419
$GC,4329,-1.06,-146.6,409.6,-8.8,209,4333,0.00,2.42,0.00,0.000,4,0.000,0.036,2138,1219,3419
$GC,4356,-1.06,-146.6,412.1,-8.8,210,4361,0.00,2.42,0.00,0.000,6,0.000,0.034,2138,2602,3419
$GC,4672,-1.06,-146.6,441.7,-9.7,225,4676,0.00,2.45,0.00,0.000,4,0.000,0.036,2138,1211,3418
$GC,4704,-1.06,-146.6,445.1,-10.0,226,4710,0.00,2.45,0.00,0.000,6,0.000,0.034,2139,2609,3418
$GC,5021,-1.06,-146.6,476.3,-9.9,242,5025,0.00,2.45,0.00,0.000,4,0.000,0.036,2138,1212,3418
$GC,5054,-1.06,-146.6,480.0,-9.9,243,5060,0.00,2.45,0.00,0.000,6,0.000,0.034,2138,2610,3418
$GC,5370,-1.06,-146.6,510.3,-9.6,259,5374,0.00,2.45,0.00,0.000,4,0.000,0.036,2138,1215,3418
$GC,5403,-1.06,-146.6,513.5,-8.7,260,5409,0.00,2.42,0.00,0.000,6,0.000,0.034,2138,2601,3418
$GC,5719,-1.06,-146.6,541.8,-8.9,276,5723,0.00,2.42,0.00,0.000,4,0.000,0.036,2138,1219,3418
$GC,5760,-1.11,-146.6,545.4,-9.0,278,5764,0.00,2.42,0.00,0.000,6,0.000,0.034,2138,2601,3418
$GC,6087,-1.11,-146.6,572.4,-8.3,294,6091,0.00,2.42,0.00,0.000,4,0.000,0.036,2138,1220,3417
$GC,6121,-1.15,-146.6,575.3,-8.5,295,6128,0.15,2.42,0.00,0.000,6,0.044,0.034,2093,2608,3417
$GC,6438,-1.04,-146.6,608.5,-10.9,311,6440,0.20,0.00,0.00,0.000,6,0.094,0.000,2131,2608,3417
$GC,6747,-1.04,-146.6,639.7,-10.3,326,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3417
$GC,7055,-1.04,-146.6,670.9,-9.6,341,7060,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1211,3417
$GC,7096,-1.10,-146.6,674.4,-9.0,343,7104,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2608,3417
$GC,7431,-1.10,-146.6,702.8,-8.2,359,7435,0.00,2.33,0.00,0.000,4,0.000,0.067,2131,3861,3416
$GC,7548,-1.10,-146.6,713.2,-9.9,364,7552,0.00,2.12,0.00,0.000,6,0.000,0.025,2132,2600,3416
$GC,7870,-1.10,-146.6,740.3,-8.4,380,7874,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1214,3416
$GC,8006,-1.15,-146.6,751.4,-7.6,386,8011,0.12,2.45,0.00,0.000,6,0.048,0.036,2093,2602,3416
$GC,8327,-1.08,-146.6,781.3,-9.9,402,8332,0.15,2.47,0.00,0.000,4,0.097,0.038,2122,1205,3415
$GC,8367,-1.13,-146.6,785.2,-10.0,404,8372,0.00,2.47,0.00,0.000,6,0.000,0.038,2122,2608,3415
$STATE,8610,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8610,begin apogee
$GC,8618,-0.31,0.0,806.6,9.4,416,8752,0.82,0.00,130.32,1.100,6,0.097,0.000,2290,2302,2817
$STATE,8753,end apogee,CONTROL_FINISHED_OK
$STATE,8753,begin climb
$GC,8756,1.03,146.6,810.5,0.0,423,8896,1.35,2.70,131.45,1.090,4,0.066,0.064,2581,3701,2218
$GC,9154,0.89,146.6,790.6,8.4,440,9159,0.15,2.45,0.00,0.000,6,0.108,0.029,2555,2315,2213
$GC,9476,0.88,178.5,768.0,6.4,456,9510,0.00,2.67,28.83,1.034,4,0.000,0.061,2554,3698,2088
$GC,9551,0.81,182.2,763.0,7.4,459,9563,0.00,2.47,4.90,0.736,6,0.000,0.029,2554,2302,2073
$GC,9872,0.81,182.2,739.6,8.5,475,9873,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2302,2070
$GC,10182,0.81,182.2,709.1,10.5,490,10186,0.00,2.58,0.00,0.000,4,0.000,0.051,2554,891,2069
$GC,10231,0.81,182.2,703.5,11.8,492,10235,0.00,2.50,0.00,0.000,6,0.000,0.035,2554,2302,2068
$GC,10547,0.81,182.2,674.2,8.6,507,10551,0.00,2.55,0.00,0.000,4,0.000,0.047,2554,897,2068
$GC,10587,0.81,182.2,670.9,8.4,509,10591,0.00,2.50,0.00,0.000,6,0.000,0.035,2554,2309,2066
$GC,10913,0.88,246.3,650.2,5.3,525,10980,0.00,2.70,59.85,1.010,4,0.000,0.061,2554,3698,1812
$GC,11022,0.90,267.5,643.6,6.8,530,11047,0.00,2.47,20.42,0.951,6,0.000,0.028,2554,2297,1726
$GC,11372,1.01,284.6,620.8,6.9,547,11395,0.12,2.72,16.65,0.920,4,0.055,0.059,2588,3705,1655
$GC,11419,1.01,284.6,616.6,9.3,549,11423,0.00,2.50,0.00,0.000,6,0.000,0.028,2588,2296,1654
$GC,11746,1.01,284.6,587.5,9.0,565,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2296,1651
$GC,12055,1.01,284.6,558.0,10.0,580,12056,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2296,1650
$GC,12364,1.01,284.6,526.6,10.0,595,12368,0.00,2.62,0.00,0.000,4,0.000,0.058,2588,3709,1649
$GC,12397,1.01,284.6,523.0,11.0,596,12403,0.00,2.47,0.00,0.000,6,0.000,0.028,2588,2292,1649
$GC,12713,1.01,284.6,490.6,10.2,612,12717,0.00,2.53,0.00,0.000,4,0.000,0.047,2588,895,1649
$GC,12740,1.01,284.6,487.7,10.7,613,12745,0.00,2.47,0.00,0.000,6,0.000,0.031,2588,2306,1648
$GC,13056,1.01,284.6,455.6,10.2,628,13061,0.00,2.58,0.00,0.000,4,0.000,0.058,2588,3699,1648
$GC,13096,1.01,284.6,451.3,11.4,630,13101,0.00,2.45,0.00,0.000,6,0.000,0.027,2588,2291,1647
$GC,13423,1.01,284.6,417.4,10.3,646,13425,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2290,1647
$GC,13734,1.01,284.6,386.4,9.9,661,13738,0.00,2.62,0.00,0.000,4,0.000,0.056,2588,3707,1648
$GC,13755,1.01,284.6,384.1,9.7,662,13759,0.00,2.45,0.00,0.000,6,0.000,0.026,2588,2292,1648
$GC,14075,1.01,284.6,352.9,9.7,678,14077,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2292,1648
$GC,14385,1.01,284.6,323.6,9.2,693,14386,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2292,1648
$GC,14694,1.01,284.6,295.8,8.9,708,14695,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2292,1648
$GC,15003,1.01,284.6,267.0,9.6,723,15007,0.00,2.58,0.00,0.000,4,0.000,0.055,2588,3700,1648
$GC,15030,1.01,284.6,264.2,10.5,724,15034,0.00,2.42,0.00,0.000,6,0.000,0.026,2588,2296,1648
$GC,15346,1.01,284.6,232.7,10.3,739,15347,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2296,1648
$GC,15655,1.01,284.6,200.5,10.5,754,15659,0.00,2.58,0.00,0.000,4,0.000,0.054,2588,3700,1648
$GC,15687,1.01,284.6,196.7,10.9,755,15694,0.00,2.40,0.00,0.000,6,0.000,0.027,2588,2298,1648
$GC,16004,1.01,284.6,163.5,10.5,771,16005,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2297,1648
$GC,16313,1.01,284.6,132.7,9.5,786,16314,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2297,1649
$GC,16622,1.01,284.6,104.4,8.9,801,16626,0.00,2.58,0.00,0.000,4,0.000,0.054,2588,3700,1647
$GC,16655,1.01,284.6,101.0,10.5,802,16662,0.00,2.40,0.00,0.000,6,0.000,0.026,2588,2296,1649
$GC,16971,1.01,284.6,72.2,8.9,818,16975,0.00,2.47,0.00,0.000,4,0.000,0.043,2588,903,1648
$GC,17021,1.06,284.6,67.9,7.6,820,17025,0.00,2.42,0.00,0.000,6,0.000,0.031,2588,2304,1648
$GC,17343,1.12,284.6,43.2,7.9,836,17348,0.00,2.50,0.00,0.000,4,0.000,0.040,2588,902,1648
$GC,17416,1.20,284.6,36.3,9.2,839,17421,0.15,2.45,0.00,0.000,6,0.059,0.031,2628,2308,1648
$STATE,17731,end climb,SURFACE_DEPTH_REACHED
$STATE,17731,begin surface coast
$FINISH,1.2,1.026538
$STATE,17754,end surface coast,CONTROL_FINISHED_OK
$STATE,17754,begin surface
$SM_CCo,17838,0.00,0.000,0,0,1645,287.00
$SM_GC,1.55,11.95,0.00,0.00,0.077,0.000,0.000,73,2612,1645,-10.46,0.34,287.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1805
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.1,66.3
$24V_AH,23.6,42.733
$10V_AH,10.1,22.213
$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,27.625,167.750,392.425,0.000,0.000,38.118,63.473,233.840,6.500,0.000,0.000,36.148,1575.556,13729.271,510.722,1916.888,652.957,0.000,1490.855,0.000,1844.479,0.000,45.080,0.000
$DEVICE_MAMPS,184.847,69.797,1099.878,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,623.432,585.056,506.454,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44327,855
$CAP_FILE_SIZE,136716,0
$CFSIZE,260165632,243011584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260709,213600,6228.130,-1129.055,39,1.6,39,-10.9