version: 66.04
glider: 16
mission: 13
dive: 276
start: 7 27 109 13 14 28
data:
$ID,16
$MISSION,13
$DIVE,276
$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,-2112523
$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,29
$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
$GPS1,130831,6229.317,-1115.690,61,1.2,61,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-62.0
$GPS2,131408,6229.313,-1115.709,14,1.7,14,-10.8
$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,131.5,15662,-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,-54.92,0.000,6,0.000,0.000,73,2602,3417
$GC,79,-1.03,-146.6,8.1,-15.6,3,101,11.80,2.53,0.00,0.000,4,0.180,0.035,2129,1194,3418
$GC,148,-1.03,-146.6,30.1,-11.9,6,152,0.00,2.47,0.00,0.000,6,0.000,0.034,2129,2597,3419
$GC,475,-0.99,-146.6,63.8,-10.0,22,479,0.00,2.47,0.00,0.000,4,0.000,0.035,2129,1194,3420
$GC,541,-0.99,-146.6,70.3,-9.6,25,545,0.00,2.47,0.00,0.000,6,0.000,0.034,2129,2599,3420
$GC,863,-0.95,-146.6,102.0,-9.6,41,868,0.12,2.33,0.00,0.000,4,0.100,0.061,2153,3860,3420
$GC,903,-0.95,-146.6,105.8,-8.8,43,906,0.00,2.15,0.00,0.000,6,0.000,0.025,2153,2580,3421
$GC,1235,-0.95,-146.6,132.8,-8.1,59,1239,0.00,2.40,0.00,0.000,4,0.000,0.036,2153,1210,3421
$GC,1269,-1.01,-146.6,135.5,-7.5,60,1275,0.00,2.45,0.00,0.000,6,0.000,0.034,2153,2608,3421
$GC,1585,-1.01,-146.6,160.8,-8.0,76,1589,0.00,2.45,0.00,0.000,4,0.000,0.036,2153,1215,3420
$GC,1618,-1.08,-146.6,163.7,-8.1,77,1624,0.12,2.45,0.00,0.000,6,0.044,0.035,2108,2609,3420
$GC,1934,-0.98,-146.6,197.3,-11.1,93,1936,0.17,0.00,0.00,0.000,6,0.092,0.000,2142,2609,3421
$GC,2243,-0.98,-146.6,224.4,-8.2,108,2247,0.00,2.45,0.00,0.000,4,0.000,0.036,2142,1214,3420
$GC,2276,-0.98,-146.6,227.2,-8.1,109,2282,0.00,2.45,0.00,0.000,6,0.000,0.034,2142,2610,3420
$GC,2591,-0.98,-146.6,253.7,-8.8,125,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2610,3419
$GC,2900,-0.98,-146.6,282.9,-9.7,140,2905,0.00,2.45,0.00,0.000,4,0.000,0.036,2142,1216,3420
$GC,2951,-1.03,-146.6,287.6,-9.0,142,2956,0.00,2.42,0.00,0.000,6,0.000,0.035,2142,2600,3420
$GC,3267,-1.03,-146.6,317.5,-9.5,157,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2600,3420
$GC,3576,-1.03,-146.6,346.8,-9.4,172,3580,0.00,2.45,0.00,0.000,4,0.000,0.037,2142,1208,3419
$GC,3618,-1.08,-146.6,350.4,-9.0,174,3622,0.00,2.45,0.00,0.000,6,0.000,0.035,2142,2605,3419
$GC,3944,-1.08,-146.6,379.4,-8.5,190,3948,0.00,2.45,0.00,0.000,4,0.000,0.037,2142,1210,3419
$GC,3971,-1.08,-146.6,381.9,-8.9,191,3976,0.00,2.45,0.00,0.000,6,0.000,0.034,2142,2607,3419
$GC,4288,-1.08,-146.6,409.0,-9.0,206,4292,0.00,2.45,0.00,0.000,4,0.000,0.037,2142,1214,3419
$GC,4315,-1.08,-146.6,411.6,-9.0,207,4319,0.00,2.42,0.00,0.000,6,0.000,0.035,2142,2601,3419
$GC,4630,-1.08,-146.6,439.5,-8.8,222,4634,0.00,2.45,0.00,0.000,4,0.000,0.037,2142,1208,3419
$GC,4664,-1.12,-146.6,442.5,-8.8,223,4671,0.12,2.45,0.00,0.000,6,0.048,0.035,2101,2603,3419
$GC,4980,-1.02,-146.6,478.0,-11.6,239,4982,0.17,0.00,0.00,0.000,6,0.094,0.000,2135,2604,3419
$GC,5289,-1.02,-146.6,508.7,-10.1,254,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2604,3419
$GC,5599,-1.02,-146.6,541.5,-10.3,269,5603,0.00,2.45,0.00,0.000,4,0.000,0.037,2135,1210,3419
$GC,5671,-1.02,-146.6,548.9,-10.2,272,5675,0.00,2.45,0.00,0.000,6,0.000,0.035,2135,2606,3418
$GC,5986,-1.02,-146.6,580.9,-10.3,287,5990,0.00,2.42,0.00,0.000,4,0.000,0.037,2135,1216,3418
$GC,6015,-1.06,-146.6,583.9,-10.5,288,6019,0.00,2.42,0.00,0.000,6,0.000,0.035,2135,2600,3418
$GC,6336,-1.06,-146.6,614.3,-8.4,304,6340,0.00,2.33,0.00,0.000,4,0.000,0.067,2135,3857,3418
$GC,6380,-1.06,-146.6,618.2,-8.7,306,6384,0.00,2.12,0.00,0.000,6,0.000,0.025,2135,2594,3418
$GC,6708,-1.06,-146.6,640.7,-6.7,322,6712,0.00,2.42,0.00,0.000,4,0.000,0.039,2135,1217,3418
$GC,6748,-1.12,-146.6,643.4,-6.9,324,6752,0.00,2.42,0.00,0.000,6,0.000,0.035,2135,2600,3418
$GC,7075,-1.12,-146.6,667.6,-8.1,340,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2600,3418
$GC,7383,-1.12,-146.6,692.8,-8.0,355,7387,0.00,2.42,0.00,0.000,4,0.000,0.038,2135,1217,3418
$GC,7434,-1.20,-146.6,696.8,-7.7,357,7439,0.17,2.42,0.00,0.000,6,0.041,0.036,2084,2599,3418
$GC,7752,-1.09,-146.6,729.3,-10.5,372,7757,0.17,2.35,0.00,0.000,4,0.102,0.069,2120,3856,3417
$GC,7921,-1.09,-146.6,745.4,-9.1,379,7927,0.00,2.12,0.00,0.000,6,0.000,0.028,2120,2610,3417
$STATE,8007,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8007,begin apogee
$GC,8015,-0.31,0.0,753.0,8.6,384,8151,0.82,0.00,129.93,1.068,6,0.097,0.000,2288,2293,2817
$STATE,8151,end apogee,CONTROL_FINISHED_OK
$STATE,8152,begin climb
$GC,8154,1.03,146.6,758.8,0.0,391,8293,1.35,2.58,131.10,1.058,4,0.064,0.048,2579,905,2217
$GC,8342,0.94,146.6,751.6,8.1,399,8347,0.00,2.50,0.00,0.000,6,0.000,0.035,2579,2309,2213
$GC,8670,0.88,146.6,727.3,7.5,415,8671,0.15,0.00,0.00,0.000,6,0.094,0.000,2551,2309,2212
$GC,8979,0.90,161.5,706.1,7.0,430,9001,0.00,2.70,13.45,0.940,4,0.000,0.063,2551,3701,2158
$GC,9070,0.82,161.5,699.3,8.0,434,9074,0.00,2.45,0.00,0.000,6,0.000,0.029,2551,2307,2156
$GC,9396,0.86,194.8,678.2,6.4,450,9433,0.00,2.60,31.10,0.997,4,0.000,0.049,2551,904,2022
$GC,9461,0.90,229.0,674.1,6.3,452,9502,0.00,2.50,32.88,0.992,6,0.000,0.035,2551,2305,1883
$GC,9832,1.01,266.1,649.8,6.2,470,9870,0.12,0.00,34.83,0.981,6,0.051,0.000,2586,2305,1731
$GC,10179,1.01,266.1,617.7,9.9,487,10180,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2305,1725
$GC,10488,1.01,266.1,587.5,9.8,502,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2305,1724
$GC,10797,1.01,266.1,557.7,9.8,517,10801,0.00,2.55,0.00,0.000,4,0.000,0.046,2585,902,1723
$GC,10825,1.01,266.1,554.6,11.2,518,10829,0.00,2.47,0.00,0.000,6,0.000,0.034,2586,2304,1721
$GC,11146,1.01,266.1,521.8,10.0,534,11147,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2304,1721
$GC,11455,1.01,266.1,492.1,9.3,549,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2304,1722
$GC,11765,1.01,266.1,464.5,8.8,564,11769,0.00,2.55,0.00,0.000,4,0.000,0.044,2586,892,1721
$GC,11792,1.01,266.1,461.9,8.8,565,11796,0.00,2.47,0.00,0.000,6,0.000,0.033,2586,2302,1721
$GC,12108,1.01,266.1,434.8,8.7,580,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2302,1721
$GC,12417,1.01,266.1,407.3,9.0,595,12421,0.00,2.53,0.00,0.000,4,0.000,0.043,2586,896,1721
$GC,12444,1.01,266.1,404.6,9.5,596,12449,0.00,2.47,0.00,0.000,6,0.000,0.032,2586,2311,1721
$GC,12760,1.01,266.1,376.9,8.7,611,12761,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2310,1721
$GC,13070,1.01,266.1,348.1,9.2,626,13071,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2311,1721
$GC,13379,1.01,266.1,317.9,10.3,641,13381,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2311,1721
$GC,13688,1.01,266.1,285.1,10.3,656,13692,0.00,2.53,0.00,0.000,4,0.000,0.042,2586,894,1721
$GC,13715,1.01,266.1,282.1,10.4,657,13719,0.00,2.45,0.00,0.000,6,0.000,0.031,2586,2299,1721
$GC,14036,1.01,266.1,250.5,9.5,673,14040,0.00,2.58,0.00,0.000,4,0.000,0.057,2585,3701,1721
$GC,14063,1.01,266.1,247.7,9.9,674,14067,0.00,2.40,0.00,0.000,6,0.000,0.026,2585,2298,1722
$GC,14384,1.01,266.1,218.5,9.1,690,14388,0.00,2.50,0.00,0.000,4,0.000,0.043,2586,898,1722
$GC,14406,1.01,266.1,216.4,9.4,691,14410,0.00,2.45,0.00,0.000,6,0.000,0.031,2586,2304,1721
$GC,14727,1.01,266.1,185.2,9.6,707,14731,0.00,2.58,0.00,0.000,4,0.000,0.056,2585,3704,1721
$GC,14748,1.01,266.1,182.9,10.9,708,14752,0.00,2.42,0.00,0.000,6,0.000,0.026,2585,2299,1721
$GC,15069,1.01,266.1,152.7,9.2,724,15073,0.00,2.50,0.00,0.000,4,0.000,0.043,2585,898,1721
$GC,15096,1.01,266.1,150.0,9.4,725,15100,0.00,2.45,0.00,0.000,6,0.000,0.032,2585,2303,1721
$GC,15412,1.01,266.1,122.6,8.3,740,15416,0.00,2.58,0.00,0.000,4,0.000,0.056,2585,3702,1722
$GC,15444,1.01,266.1,119.6,8.8,741,15451,0.00,2.42,0.00,0.000,6,0.000,0.027,2585,2293,1721
$GC,15763,1.01,266.1,94.1,7.7,757,15764,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2291,1722
$GC,16070,1.02,281.4,71.4,7.0,772,16092,0.00,2.55,13.23,0.583,4,0.000,0.042,2585,902,1668
$GC,16120,1.11,308.5,68.0,6.6,774,16150,0.00,2.45,25.10,0.599,6,0.000,0.031,2585,2299,1560
$GC,16471,1.22,325.3,44.4,6.9,791,16494,0.17,2.60,15.48,0.568,4,0.048,0.055,2641,3699,1489
$GC,16541,1.13,325.3,37.5,11.2,794,16546,0.17,2.42,0.00,0.000,6,0.090,0.027,2607,2304,1488
$GC,16869,1.13,325.3,5.4,9.6,810,16873,0.00,2.50,0.00,0.000,4,0.000,0.043,2607,901,1485
$STATE,16888,end climb,SURFACE_DEPTH_REACHED
$STATE,16888,begin surface coast
$FINISH,0.6,1.026505
$STATE,16912,end surface coast,CONTROL_FINISHED_OK
$STATE,16912,begin surface
$SM_CCo,16998,0.00,0.000,0,0,1481,327.72
$SM_GC,1.35,11.82,0.00,0.00,0.074,0.000,0.000,72,2604,1481,-10.45,0.11,327.72
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1807
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.1,37.4
$24V_AH,23.6,43.310
$10V_AH,10.1,22.539
$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,27.500,158.175,427.075,0.000,0.000,17.976,27.936,162.732,6.500,0.000,0.000,14.190,1496.120,13035.174,534.713,1755.855,511.428,0.000,1448.986,0.000,1706.603,0.000,45.958,0.000
$DEVICE_MAMPS,180.245,69.030,1068.431,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,596.102,554.279,495.811,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41173,812
$CAP_FILE_SIZE,127067,0
$CFSIZE,260165632,242753536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270709,175906,6228.253,-1111.587,38,1.7,43,-10.8