version: 66.04
glider: 16
mission: 13
dive: 113
start: 6 26 109 11 2 56
data:
$ID,16
$MISSION,13
$DIVE,113
$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,-2109637
$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,34
$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
$GPS1,105136,6337.047,-1315.762,38,1.0,38,-12.4
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-66.4
$GPS2,110237,6337.208,-1315.802,12,1.0,12,-12.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$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,23.7,24159,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-60.50,0.000,6,0.000,0.000,62,2600,3416
$GC,81,-1.03,-146.6,5.7,-8.9,3,103,12.18,2.35,0.00,0.000,4,0.190,0.058,2132,3858,3418
$GC,264,-1.03,-146.6,35.5,-9.7,11,268,0.00,2.17,0.00,0.000,6,0.000,0.028,2132,2579,3418
$GC,591,-1.03,-146.6,63.6,-8.7,27,595,0.00,2.38,0.00,0.000,4,0.000,0.061,2132,3864,3419
$GC,635,-1.03,-146.6,68.2,-10.5,29,639,0.00,2.12,0.00,0.000,6,0.000,0.027,2132,2596,3419
$GC,962,-1.03,-146.6,101.4,-10.4,45,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2594,3419
$GC,1272,-1.03,-146.6,130.6,-9.1,60,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2594,3419
$GC,1581,-1.03,-146.6,158.9,-9.2,75,1585,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1215,3419
$GC,1613,-1.03,-146.6,161.7,-8.2,76,1619,0.00,2.45,0.00,0.000,6,0.000,0.037,2132,2606,3418
$GC,1929,-1.03,-146.6,190.0,-9.2,92,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3419
$GC,2238,-1.03,-146.6,217.9,-8.7,107,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3419
$GC,2548,-1.03,-146.6,247.1,-9.8,122,2552,0.00,2.45,0.00,0.000,4,0.000,0.040,2132,1214,3418
$GC,2592,-1.08,-146.6,251.4,-9.1,124,2597,0.00,2.45,0.00,0.000,6,0.000,0.037,2131,2609,3418
$GC,2914,-1.08,-146.6,282.1,-10.1,140,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3418
$GC,3223,-1.08,-146.6,315.8,-11.1,155,3227,0.00,2.45,0.00,0.000,4,0.000,0.040,2132,1214,3417
$GC,3250,-1.08,-146.6,319.0,-11.6,156,3254,0.00,2.45,0.00,0.000,6,0.000,0.037,2132,2609,3417
$GC,3566,-1.08,-146.6,355.4,-11.4,171,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3418
$GC,3875,-1.08,-146.6,391.2,-11.5,186,3880,0.00,2.45,0.00,0.000,4,0.000,0.040,2132,1215,3418
$GC,3920,-1.13,-146.6,396.4,-11.4,188,3924,0.00,2.42,0.00,0.000,6,0.000,0.037,2132,2600,3418
$GC,4241,-1.13,-146.6,432.7,-11.3,204,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,4550,-1.13,-146.6,468.8,-11.8,219,4554,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1215,3417
$GC,4577,-1.13,-146.6,472.0,-11.5,220,4581,0.00,2.42,0.00,0.000,6,0.000,0.037,2132,2600,3417
$GC,4893,-1.13,-146.6,506.1,-10.2,235,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3417
$GC,5202,-1.13,-146.6,534.6,-8.6,250,5206,0.00,2.45,0.00,0.000,4,0.000,0.040,2132,1205,3417
$GC,5257,-1.17,-146.6,539.0,-7.8,252,5264,0.15,2.45,0.00,0.000,6,0.044,0.037,2087,2603,3417
$GC,5574,-1.06,-146.6,571.7,-11.4,268,5576,0.20,0.00,0.00,0.000,6,0.097,0.000,2126,2603,3417
$GC,5882,-1.06,-146.6,603.5,-10.1,283,5886,0.00,2.45,0.00,0.000,4,0.000,0.041,2126,1208,3417
$GC,5922,-1.06,-146.6,607.4,-9.3,285,5926,0.00,2.45,0.00,0.000,6,0.000,0.038,2126,2608,3417
$GC,6249,-1.06,-146.6,632.5,-8.2,301,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2606,3416
$GC,6558,-1.06,-146.6,656.5,-7.1,316,6562,0.00,2.45,0.00,0.000,4,0.000,0.041,2124,1214,3417
$GC,6636,-1.06,-146.6,661.3,-6.3,319,6642,0.00,2.42,0.00,0.000,6,0.000,0.037,2126,2599,3416
$GC,6952,-1.06,-146.6,678.8,-4.0,335,6956,0.00,2.35,0.00,0.000,4,0.000,0.071,2126,3860,3417
$GC,7002,-1.06,-146.6,680.7,-3.6,337,7006,0.00,2.12,0.00,0.000,6,0.000,0.030,2126,2603,3416
$GC,7324,-1.06,-146.6,697.7,-6.8,353,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2601,3416
$GC,7632,-1.06,-146.6,720.4,-7.6,368,7636,0.00,2.47,0.00,0.000,4,0.000,0.047,2126,1209,3416
$GC,7695,-1.11,-146.6,724.9,-7.9,371,7702,0.00,2.45,0.00,0.000,6,0.000,0.040,2126,2599,3415
$GC,8029,-1.11,-146.6,749.7,-6.7,387,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2599,3415
$STATE,8232,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8233,begin apogee
$GC,8240,-0.31,0.0,766.3,8.8,397,8375,0.82,0.00,129.95,1.058,6,0.107,0.000,2290,2300,2817
$STATE,8376,end apogee,CONTROL_FINISHED_OK
$STATE,8376,begin climb
$GC,8379,1.03,146.6,770.5,0.0,404,8516,1.40,0.00,132.15,1.045,6,0.077,0.000,2583,2300,2218
$GC,8826,0.92,146.6,744.1,7.7,426,8828,0.12,0.00,0.00,0.000,6,0.099,0.000,2560,2299,2211
$GC,9135,0.85,146.6,722.5,7.6,441,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2299,2211
$GC,9444,0.79,146.6,698.9,7.6,456,9449,0.15,2.50,0.00,0.000,4,0.102,0.048,2532,909,2209
$GC,9489,0.81,165.7,695.7,6.8,458,9513,0.00,2.47,16.98,0.940,6,0.000,0.038,2531,2311,2140
$GC,9835,0.85,209.5,672.3,6.0,475,9878,0.00,0.00,40.58,0.980,6,0.000,0.000,2532,2311,1961
$GC,10185,0.98,258.7,650.7,5.8,492,10234,0.20,0.00,46.15,0.971,6,0.045,0.000,2584,2311,1762
$GC,10534,0.98,258.7,622.7,7.9,509,10535,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2311,1755
$GC,10843,0.98,258.7,589.6,12.1,524,10847,0.00,2.53,0.00,0.000,4,0.000,0.046,2584,910,1753
$GC,10890,0.98,258.7,583.7,13.6,526,10894,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2302,1752
$GC,11216,0.98,258.7,541.2,12.5,542,11221,0.00,2.60,0.00,0.000,4,0.000,0.061,2584,3704,1752
$GC,11257,0.94,258.7,535.8,13.6,544,11261,0.00,2.42,0.00,0.000,6,0.000,0.028,2584,2305,1752
$GC,11583,0.94,258.7,496.6,11.2,560,11587,0.00,2.53,0.00,0.000,4,0.000,0.047,2584,901,1752
$GC,11615,0.94,258.7,493.1,10.0,561,11622,0.00,2.45,0.00,0.000,6,0.000,0.034,2584,2301,1751
$GC,11931,0.94,258.7,459.2,10.9,577,11932,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2301,1751
$GC,12240,0.94,258.7,425.8,11.0,592,12241,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2301,1751
$GC,12550,0.94,258.7,395.0,9.4,607,12551,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2301,1751
$GC,12859,0.94,258.7,368.3,8.3,622,12860,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2302,1751
$GC,13168,0.94,258.7,342.2,8.6,637,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2301,1751
$GC,13477,0.94,258.7,315.0,8.6,652,13481,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,895,1751
$GC,13516,0.94,258.7,311.5,9.6,653,13522,0.00,2.45,0.00,0.000,6,0.000,0.034,2584,2301,1751
$GC,13832,0.94,258.7,284.5,8.2,669,13836,0.00,2.58,0.00,0.000,4,0.000,0.059,2584,3703,1751
$GC,13864,0.94,258.7,281.6,8.4,670,13871,0.00,2.42,0.00,0.000,6,0.000,0.029,2584,2292,1751
$GC,14180,0.94,258.7,256.9,7.8,686,14185,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,898,1751
$GC,14220,0.94,258.7,253.7,8.4,688,14225,0.00,2.45,0.00,0.000,6,0.000,0.034,2584,2306,1751
$GC,14547,0.94,265.0,230.0,7.3,704,14554,0.00,0.00,5.15,0.532,6,0.000,0.000,2584,2306,1736
$GC,14856,0.94,265.0,199.9,11.8,719,14861,0.00,2.55,0.00,0.000,4,0.000,0.059,2584,3701,1736
$GC,14890,0.94,265.0,195.4,13.2,720,14896,0.00,2.42,0.00,0.000,6,0.000,0.029,2584,2292,1735
$GC,15206,0.94,265.0,152.4,13.5,736,15210,0.00,2.47,0.00,0.000,4,0.000,0.045,2584,898,1735
$GC,15256,0.94,265.0,145.6,12.8,738,15260,0.00,2.45,0.00,0.000,6,0.000,0.034,2584,2305,1734
$GC,15573,0.94,265.0,110.0,10.2,753,15574,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2305,1734
$GC,15881,0.94,265.0,83.2,8.5,768,15882,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2305,1734
$GC,16190,0.95,268.9,60.5,7.4,783,16197,0.00,0.00,5.38,0.469,6,0.000,0.000,2584,2305,1719
$GC,16501,0.95,268.9,31.8,9.4,798,16505,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,898,1718
$GC,16586,0.99,268.9,24.0,9.8,802,16590,0.00,2.45,0.00,0.000,6,0.000,0.034,2584,2305,1718
$STATE,16807,end climb,SURFACE_DEPTH_REACHED
$STATE,16807,begin surface coast
$FINISH,0.8,1.026253
$STATE,16830,end surface coast,CONTROL_FINISHED_OK
$STATE,16830,begin surface
$SM_CCo,16914,0.00,0.000,0,0,1717,269.83
$SM_GC,1.70,12.02,0.00,0.00,0.091,0.000,0.000,74,2600,1717,-10.46,0.03,269.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1736
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.3,23.2
$24V_AH,23.6,21.605
$10V_AH,10.1,10.568
$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,27.250,108.175,376.325,0.000,0.000,53.959,85.381,279.290,6.750,0.000,0.000,12.056,1445.233,13319.304,517.702,1618.064,676.153,0.000,1313.499,0.000,1582.629,0.000,48.135,0.000
$DEVICE_MAMPS,190.216,71.331,1057.693,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,595.490,561.895,484.261,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41113,814
$CAP_FILE_SIZE,115833,0
$CFSIZE,260165632,251953152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260609,154608,6340.036,-1310.944,41,1.6,42,-12.4