version: 66.04
glider: 16
mission: 13
dive: 104
start: 6 24 109 18 11 49
data:
$ID,16
$MISSION,13
$DIVE,104
$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,-2109479.5
$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,28
$R_STBD_OVSHOOT,30
$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
$GPS1,180636,6313.671,-1315.694,40,1.1,40,-12.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.1
$GPS2,181131,6313.666,-1315.707,10,1.2,15,-12.3
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$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,13.1,39515,-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,-55.67,0.000,6,0.000,0.000,64,2608,3418
$GC,80,-1.03,-146.6,8.2,-15.8,3,102,12.02,2.55,0.00,0.000,4,0.186,0.038,2130,1188,3419
$GC,332,-1.03,-146.6,47.3,-9.9,14,337,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2593,3420
$GC,654,-1.03,-146.6,76.8,-9.0,30,658,0.00,2.47,0.00,0.000,4,0.000,0.038,2130,1190,3420
$GC,721,-1.03,-146.6,82.2,-7.5,33,725,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2608,3420
$GC,1042,-1.03,-146.6,109.5,-8.6,49,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2607,3421
$GC,1352,-1.03,-146.6,136.2,-8.7,64,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2607,3420
$GC,1660,-1.03,-146.6,164.0,-9.2,79,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2608,3421
$GC,1969,-1.03,-146.6,194.1,-9.8,94,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2608,3421
$GC,2278,-1.03,-146.6,224.4,-10.1,109,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2608,3420
$GC,2588,-1.03,-146.6,254.9,-9.7,124,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2608,3420
$GC,2897,-1.03,-146.6,285.5,-9.9,139,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2608,3420
$GC,3206,-1.03,-146.6,315.8,-9.8,154,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2608,3420
$GC,3515,-1.03,-146.6,346.9,-10.3,169,3520,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1191,3420
$GC,3556,-1.08,-146.6,351.0,-10.7,171,3561,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2600,3420
$GC,3883,-1.08,-146.6,384.6,-10.0,187,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3420
$GC,4193,-1.08,-146.6,414.7,-9.6,202,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3420
$GC,4501,-1.08,-146.6,444.4,-9.8,217,4505,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1188,3420
$GC,4541,-1.12,-146.6,448.4,-9.9,218,4547,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2600,3419
$GC,4856,-1.12,-146.6,481.0,-10.5,234,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,5165,-1.12,-146.6,512.1,-9.5,249,5169,0.00,2.47,0.00,0.000,4,0.000,0.040,2130,1190,3419
$GC,5216,-1.18,-146.6,516.7,-9.1,251,5221,0.12,2.47,0.00,0.000,6,0.048,0.038,2090,2608,3419
$GC,5532,-1.08,-146.6,550.0,-11.0,266,5534,0.17,0.00,0.00,0.000,6,0.098,0.000,2123,2608,3419
$GC,5841,-1.08,-146.6,581.0,-10.0,281,5845,0.00,2.50,0.00,0.000,4,0.000,0.041,2123,1190,3419
$GC,5880,-1.08,-146.6,585.3,-10.6,283,5885,0.00,2.47,0.00,0.000,6,0.000,0.038,2123,2600,3419
$GC,6207,-1.08,-146.6,620.7,-10.6,299,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2600,3419
$GC,6516,-1.08,-146.6,647.2,-7.8,314,6520,0.00,2.50,0.00,0.000,4,0.000,0.041,2123,1184,3419
$GC,6579,-1.08,-146.6,651.9,-7.0,317,6583,0.00,2.50,0.00,0.000,6,0.000,0.039,2124,2605,3419
$GC,6906,-1.08,-146.6,675.9,-7.3,333,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2605,3418
$GC,7214,-1.08,-146.6,702.3,-9.0,348,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2605,3418
$GC,7524,-1.08,-146.6,729.2,-8.6,363,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2606,3418
$GC,7833,-1.08,-146.6,756.1,-8.2,378,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2605,3417
$STATE,7933,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7933,begin apogee
$GC,7940,-0.31,0.0,765.5,8.9,383,8076,0.88,0.00,129.88,1.059,6,0.127,0.000,2291,2281,2817
$STATE,8077,end apogee,CONTROL_FINISHED_OK
$STATE,8077,begin climb
$GC,8080,1.03,146.6,769.6,0.0,390,8216,1.35,0.00,131.32,1.049,6,0.071,0.000,2579,2280,2219
$GC,8514,0.92,146.6,743.8,7.8,411,8518,0.00,2.70,0.00,0.000,4,0.000,0.070,2579,3701,2212
$GC,8599,0.77,146.6,736.3,8.8,415,8604,0.25,2.45,0.00,0.000,6,0.097,0.033,2531,2311,2211
$GC,8926,0.83,202.4,717.1,5.6,431,8981,0.00,2.67,49.83,1.011,4,0.000,0.068,2531,3701,1992
$GC,9015,0.83,202.4,711.2,7.8,435,9019,0.00,2.50,0.00,0.000,6,0.000,0.033,2531,2295,1990
$GC,9337,0.90,202.4,687.7,7.6,451,9342,0.12,2.55,0.00,0.000,4,0.052,0.054,2568,897,1986
$GC,9381,0.85,202.4,683.6,9.6,453,9386,0.12,2.50,0.00,0.000,6,0.099,0.038,2545,2305,1984
$GC,9702,0.89,239.9,660.4,6.2,469,9745,0.00,2.67,35.33,0.975,4,0.000,0.066,2545,3701,1837
$GC,9791,0.94,282.2,655.1,6.1,473,9836,0.00,2.47,40.22,0.971,6,0.000,0.031,2545,2298,1666
$GC,10161,1.04,288.2,630.9,7.3,491,10173,0.17,2.58,5.88,0.734,4,0.047,0.051,2595,892,1640
$GC,10251,1.04,288.2,621.6,11.0,495,10256,0.00,2.50,0.00,0.000,6,0.000,0.037,2596,2302,1637
$GC,10573,0.99,288.2,589.7,9.7,511,10574,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2302,1637
$GC,10883,0.95,288.2,558.1,10.6,526,10888,0.15,2.55,0.00,0.000,4,0.096,0.048,2567,891,1637
$GC,10945,1.00,288.2,552.0,9.6,529,10949,0.00,2.47,0.00,0.000,6,0.000,0.036,2567,2302,1635
$GC,11272,1.04,288.2,521.2,9.0,545,11276,0.00,2.53,0.00,0.000,4,0.000,0.047,2566,895,1635
$GC,11312,1.09,288.2,517.4,10.1,547,11317,0.15,2.47,0.00,0.000,6,0.047,0.035,2606,2302,1635
$GC,11638,1.04,288.2,478.9,12.4,563,11639,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2302,1635
$GC,11948,0.98,288.2,441.7,11.5,578,11953,0.17,2.53,0.00,0.000,4,0.091,0.046,2572,895,1635
$GC,11998,1.03,288.2,436.4,10.0,580,12002,0.00,2.47,0.00,0.000,6,0.000,0.035,2572,2308,1634
$GC,12313,1.03,288.2,406.6,9.6,595,12314,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2308,1635
$GC,12623,1.03,288.2,377.2,9.5,610,12627,0.00,2.53,0.00,0.000,4,0.000,0.046,2572,895,1635
$GC,12667,1.08,288.2,372.8,9.9,612,12671,0.00,2.45,0.00,0.000,6,0.000,0.035,2572,2306,1635
$GC,12987,1.08,288.2,341.0,10.0,628,12989,0.10,0.00,0.00,0.000,6,0.054,0.000,2604,2306,1635
$GC,13297,1.04,288.2,303.9,12.2,643,13302,0.00,2.53,0.00,0.000,4,0.000,0.045,2605,891,1635
$GC,13342,1.04,288.2,298.0,12.1,645,13346,0.00,2.45,0.00,0.000,6,0.000,0.035,2605,2300,1635
$GC,13664,0.99,288.2,259.8,12.1,661,13669,0.15,2.53,0.00,0.000,4,0.090,0.045,2575,886,1635
$GC,13704,1.06,288.2,255.1,11.9,663,13708,0.00,2.47,0.00,0.000,6,0.000,0.035,2576,2304,1635
$GC,14030,1.10,288.2,221.1,9.9,679,14032,0.10,0.00,0.00,0.000,6,0.054,0.000,2609,2304,1635
$GC,14340,1.05,288.2,186.3,11.2,694,14344,0.00,2.53,0.00,0.000,4,0.000,0.045,2609,887,1635
$GC,14397,1.01,288.2,179.9,11.1,696,14403,0.15,2.47,0.00,0.000,6,0.088,0.035,2580,2304,1635
$GC,14712,1.01,288.2,151.6,8.6,712,14713,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2304,1635
$GC,15022,1.01,288.2,125.4,8.7,727,15026,0.00,2.53,0.00,0.000,4,0.000,0.044,2580,887,1635
$GC,15077,1.06,288.2,120.5,9.2,729,15084,0.00,2.47,0.00,0.000,6,0.000,0.035,2580,2309,1635
$GC,15393,1.14,367.2,101.9,4.8,745,15467,0.12,2.60,68.03,0.627,4,0.049,0.045,2621,895,1320
$GC,15507,1.14,367.2,91.9,10.7,750,15511,0.00,2.47,0.00,0.000,6,0.000,0.035,2621,2298,1315
$GC,15822,1.14,367.2,51.3,14.6,765,15827,0.00,2.53,0.00,0.000,4,0.000,0.045,2621,892,1312
$GC,15901,1.14,367.2,39.9,13.1,768,15907,0.00,2.45,0.00,0.000,6,0.000,0.034,2621,2301,1310
$GC,16219,1.14,367.2,3.1,11.7,784,16220,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2302,1310
$STATE,16234,end climb,SURFACE_DEPTH_REACHED
$STATE,16235,begin surface coast
$FINISH,0.7,1.014099
$STATE,16256,end surface coast,CONTROL_FINISHED_OK
$STATE,16257,begin surface
$SM_CCo,16340,0.00,0.000,0,0,1307,370.40
$SM_GC,1.69,12.43,0.00,0.00,0.097,0.000,0.000,74,2607,1307,-10.46,0.17,370.40
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1723
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.5,74.9
$24V_AH,23.6,20.402
$10V_AH,10.1,9.918
$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,28.750,111.525,460.475,0.000,0.000,18.003,36.118,132.622,6.000,0.000,0.000,15.939,1424.060,12566.429,535.676,1686.933,424.033,0.000,1389.006,0.000,1642.688,0.000,41.538,0.000
$DEVICE_MAMPS,186.381,69.797,1059.227,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,566.777,538.345,470.631,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41108,786
$CAP_FILE_SIZE,114459,0
$CFSIZE,260165632,252456960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240609,224544,6317.221,-1313.937,39,3.1,58,-12.3