version: 66.04
glider: 16
mission: 13
dive: 147
start: 7 2 109 16 19 17
data:
$ID,16
$MISSION,13
$DIVE,147
$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,-2110209.5
$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,32
$R_STBD_OVSHOOT,21
$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
$GPS1,161325,6352.083,-1343.158,39,2.0,39,-12.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-66.7
$GPS2,161901,6352.104,-1343.137,15,1.7,32,-12.8
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,KE
$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,111.0,27342,-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,-61.33,0.000,2,0.000,0.000,74,2603,3220
$GC,82,-1.03,-146.6,4.5,-6.7,3,105,11.85,2.33,-3.38,0.000,4,0.182,0.074,2132,3865,3416
$GC,357,-1.03,-146.6,45.7,-10.4,15,362,0.00,2.17,0.00,0.000,6,0.000,0.026,2132,2579,3416
$GC,679,-1.03,-146.6,72.6,-9.1,31,683,0.00,2.38,0.00,0.000,4,0.000,0.061,2132,3864,3416
$GC,764,-1.03,-146.6,80.3,-9.8,35,768,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2599,3416
$GC,1098,-1.03,-146.6,108.7,-8.0,51,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2595,3417
$GC,1406,-1.03,-146.6,136.6,-9.8,66,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2595,3417
$GC,1716,-1.03,-146.6,167.5,-9.6,81,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2595,3417
$GC,2025,-1.03,-146.6,193.7,-8.0,96,2029,0.00,2.42,0.00,0.000,4,0.000,0.040,2131,1212,3417
$GC,2052,-1.03,-146.6,195.9,-8.3,97,2056,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2608,3418
$GC,2374,-1.03,-146.6,221.0,-8.4,113,2378,0.00,2.45,0.00,0.000,4,0.000,0.037,2132,1211,3418
$GC,2401,-1.03,-146.6,223.3,-8.3,114,2406,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2608,3418
$GC,2717,-1.03,-146.6,249.6,-7.7,129,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3418
$GC,3026,-1.03,-146.6,274.5,-8.6,144,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3418
$GC,3335,-1.03,-146.6,302.1,-8.6,159,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3417
$GC,3645,-1.03,-146.6,327.0,-7.3,174,3649,0.00,2.45,0.00,0.000,4,0.000,0.038,2133,1212,3417
$GC,3686,-1.09,-146.6,329.9,-6.3,176,3690,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2608,3417
$GC,4012,-1.09,-146.6,357.5,-8.6,192,4016,0.00,2.33,0.00,0.000,4,0.000,0.067,2132,3862,3416
$GC,4107,-1.09,-146.6,366.0,-8.5,196,4110,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2597,3417
$GC,4428,-1.09,-146.6,393.0,-8.1,212,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2594,3417
$GC,4737,-1.09,-146.6,418.1,-10.0,227,4741,0.00,2.35,0.00,0.000,4,0.000,0.067,2133,3861,3416
$GC,4832,-1.09,-146.6,427.7,-9.4,231,4835,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2597,3416
$GC,5153,-1.09,-146.6,458.9,-10.1,247,5157,0.00,2.35,0.00,0.000,4,0.000,0.066,2132,3861,3416
$GC,5231,-1.09,-146.6,468.4,-13.2,250,5237,0.00,2.15,0.00,0.000,6,0.000,0.027,2132,2601,3416
$GC,5547,-1.09,-146.6,502.7,-9.1,266,5551,0.00,2.35,0.00,0.000,4,0.000,0.067,2132,3861,3416
$GC,5654,-1.09,-146.6,512.2,-10.6,271,5658,0.00,2.12,0.00,0.000,6,0.000,0.027,2132,2592,3416
$GC,5986,-1.09,-146.6,547.7,-13.6,287,5990,0.00,2.45,0.00,0.000,4,0.000,0.043,2132,1208,3416
$GC,6026,-1.17,-146.6,552.9,-12.5,289,6032,0.15,2.45,0.00,0.000,6,0.045,0.038,2087,2599,3416
$GC,6353,-1.11,-146.6,600.0,-14.5,305,6359,0.15,2.35,0.00,0.000,4,0.101,0.069,2115,3861,3415
$GC,6482,-1.11,-146.6,616.8,-12.6,310,6489,0.00,2.12,0.00,0.000,6,0.000,0.028,2115,2600,3414
$GC,6799,-1.11,-146.6,658.5,-15.1,326,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2600,3413
$GC,7108,-1.11,-146.6,695.5,-8.8,341,7112,0.00,2.35,0.00,0.000,4,0.000,0.071,2115,3858,3412
$GC,7153,-1.11,-146.6,700.2,-11.9,343,7156,0.00,2.12,0.00,0.000,6,0.000,0.030,2115,2608,3411
$GC,7479,-1.11,-146.6,747.6,-18.1,359,7483,0.00,2.50,0.00,0.000,4,0.000,0.049,2115,1209,3411
$GC,7575,-1.15,-146.6,763.9,-18.4,363,7579,0.00,2.47,0.00,0.000,6,0.000,0.041,2115,2601,3411
$GC,7890,-1.15,-146.6,797.9,-15.2,378,7894,0.00,2.50,0.00,0.000,4,0.000,0.047,2116,1205,3411
$GC,7956,-1.08,-146.6,806.3,-13.7,381,7960,0.00,2.47,0.00,0.000,6,0.000,0.042,2115,2599,3410
$GC,8282,-1.08,-146.6,836.8,-7.9,397,8286,0.00,2.50,0.00,0.000,4,0.000,0.046,2116,1202,3409
$GC,8293,-1.08,-146.6,837.9,-6.1,397,8300,0.00,2.50,0.00,0.000,6,0.000,0.042,2115,2605,3409
$GC,8610,-1.08,-146.6,850.4,-5.3,413,8614,0.00,2.50,0.00,0.000,4,0.000,0.045,2115,1205,3408
$GC,8688,-1.16,-146.6,854.1,-5.6,416,8695,0.00,2.50,0.00,0.000,6,0.000,0.045,2115,2600,3408
$GC,9004,-1.16,-146.6,872.4,-5.7,432,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2600,3406
$GC,9314,-1.16,-146.6,900.6,-11.2,447,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2600,3405
$STATE,9331,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9331,begin apogee
$GC,9338,-0.31,0.0,903.9,13.0,448,9474,0.88,0.00,131.20,1.199,6,0.107,0.000,2290,2303,2817
$STATE,9475,end apogee,CONTROL_FINISHED_OK
$STATE,9475,begin climb
$GC,9478,1.03,146.6,911.4,0.0,455,9623,1.35,2.65,134.32,1.187,4,0.070,0.056,2578,918,2217
$GC,9829,0.95,146.6,889.0,9.9,471,9834,0.00,2.47,0.00,0.000,6,0.000,0.040,2578,2305,2209
$GC,10163,0.87,146.6,862.3,11.7,487,10164,0.15,0.00,0.00,0.000,6,0.102,0.000,2550,2305,2208
$GC,10472,1.01,320.7,853.6,1.6,502,10643,0.12,2.75,159.77,1.166,4,0.059,0.068,2584,3701,1508
$GC,10671,1.06,370.1,847.3,5.8,511,10724,0.00,2.47,45.97,1.129,6,0.000,0.034,2584,2316,1307
$GC,11037,1.15,388.7,822.6,6.9,529,11060,0.12,2.67,17.23,1.055,4,0.058,0.058,2617,898,1231
$GC,11122,1.15,388.7,814.0,9.8,532,11128,0.00,2.50,0.00,0.000,6,0.000,0.041,2617,2300,1227
$GC,11438,1.15,388.7,782.8,9.9,548,11442,0.00,2.60,0.00,0.000,4,0.000,0.056,2618,894,1224
$GC,11487,1.15,388.7,776.7,12.7,550,11491,0.00,2.50,0.00,0.000,6,0.000,0.040,2617,2300,1224
$GC,11803,1.15,388.7,730.7,15.2,565,11807,0.00,2.65,0.00,0.000,4,0.000,0.068,2617,3707,1223
$GC,11858,1.15,388.7,721.7,15.6,567,11864,0.00,2.50,0.00,0.000,6,0.000,0.035,2617,2295,1222
$GC,12174,1.15,388.7,676.1,13.2,583,12178,0.00,2.58,0.00,0.000,4,0.000,0.059,2617,895,1222
$GC,12223,1.15,388.7,669.3,13.9,585,12227,0.00,2.50,0.00,0.000,6,0.000,0.039,2617,2302,1222
$GC,12539,1.15,388.7,625.3,14.8,600,12543,0.00,2.58,0.00,0.000,4,0.000,0.054,2618,894,1221
$GC,12579,1.15,388.7,619.9,14.2,602,12584,0.00,2.50,0.00,0.000,6,0.000,0.038,2617,2302,1221
$GC,12907,1.10,388.7,576.9,11.0,618,12911,0.00,2.62,0.00,0.000,4,0.000,0.064,2617,3702,1221
$GC,12946,1.05,388.7,572.0,13.3,620,12952,0.15,2.47,0.00,0.000,6,0.101,0.035,2589,2298,1221
$GC,13274,1.13,388.7,527.2,12.7,636,13278,0.00,2.58,0.00,0.000,4,0.000,0.054,2589,888,1221
$GC,13314,1.25,388.7,522.5,11.5,638,13319,0.20,2.50,0.00,0.000,6,0.051,0.037,2640,2304,1221
$GC,13640,1.25,388.7,478.1,14.2,654,13642,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2304,1221
$GC,13950,1.25,388.7,439.9,12.4,669,13954,0.00,2.55,0.00,0.000,4,0.000,0.049,2640,894,1221
$GC,13988,1.25,388.7,434.7,13.5,670,13995,0.00,2.47,0.00,0.000,6,0.000,0.035,2640,2305,1221
$GC,14304,1.25,388.7,391.0,12.7,686,14309,0.00,2.58,0.00,0.000,4,0.000,0.049,2641,885,1221
$GC,14377,1.25,388.7,381.7,11.7,689,14381,0.00,2.47,0.00,0.000,6,0.000,0.035,2641,2300,1221
$GC,14697,1.25,388.7,339.5,13.5,705,14702,0.00,2.55,0.00,0.000,4,0.000,0.048,2640,889,1221
$GC,14737,1.25,388.7,333.9,13.3,707,14742,0.00,2.47,0.00,0.000,6,0.000,0.035,2640,2302,1221
$GC,15064,1.25,388.7,291.7,12.4,723,15069,0.00,2.55,0.00,0.000,4,0.000,0.047,2640,891,1221
$GC,15127,1.25,388.7,284.2,11.8,726,15131,0.00,2.47,0.00,0.000,6,0.000,0.034,2639,2306,1221
$GC,15453,1.25,388.7,244.2,12.1,742,15458,0.00,2.55,0.00,0.000,4,0.000,0.046,2640,891,1221
$GC,15532,1.25,388.7,234.4,11.8,745,15538,0.00,2.47,0.00,0.000,6,0.000,0.034,2640,2307,1222
$GC,15848,1.25,388.7,197.4,11.9,761,15852,0.00,2.55,0.00,0.000,4,0.000,0.045,2641,890,1222
$GC,15910,1.25,388.7,189.4,12.9,764,15914,0.00,2.47,0.00,0.000,6,0.000,0.033,2640,2309,1221
$GC,16236,1.25,388.7,148.9,12.5,780,16241,0.00,2.55,0.00,0.000,4,0.000,0.045,2640,888,1222
$GC,16314,1.25,388.7,138.9,13.3,783,16321,0.00,2.45,0.00,0.000,6,0.000,0.032,2640,2301,1221
$GC,16631,1.25,388.7,98.6,12.8,799,16635,0.00,2.53,0.00,0.000,4,0.000,0.045,2640,892,1222
$GC,16716,1.25,388.7,88.0,11.6,803,16720,0.00,2.45,0.00,0.000,6,0.000,0.033,2640,2301,1222
$GC,17043,1.25,388.7,47.0,12.3,819,17047,0.00,2.53,0.00,0.000,4,0.000,0.044,2640,892,1223
$GC,17098,1.25,388.7,39.8,13.6,821,17104,0.00,2.45,0.00,0.000,6,0.000,0.032,2640,2306,1223
$STATE,17411,end climb,SURFACE_DEPTH_REACHED
$STATE,17411,begin surface coast
$FINISH,0.7,1.014291
$STATE,17433,end surface coast,CONTROL_FINISHED_OK
$STATE,17434,begin surface
$SM_CCo,17517,0.00,0.000,0,0,1221,391.25
$SM_GC,1.76,12.20,0.00,0.00,0.086,0.000,0.000,74,2601,1221,-10.45,0.03,391.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.020709
$HUMID,1769
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,875.2,35.9
$24V_AH,23.5,26.400
$10V_AH,10.1,13.023
$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,27.325,167.575,488.500,0.000,0.000,17.985,25.813,165.040,8.000,0.000,0.000,32.929,1573.205,13172.349,581.062,2041.912,484.759,0.000,1625.806,0.000,1961.863,0.000,55.709,0.000
$DEVICE_MAMPS,181.779,73.632,1198.821,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,614.262,570.559,469.167,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44373,838
$CAP_FILE_SIZE,134683,0
$CFSIZE,260165632,250015744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,020709,211231,6348.840,-1340.279,41,1.5,41,-12.7