version: 66.04
glider: 16
mission: 13
dive: 163
start: 7 6 109 2 46 54
data:
$ID,16
$MISSION,13
$DIVE,163
$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,-2110526.8
$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,35
$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
$GPS1,024155,6350.257,-1259.305,41,1.8,41,-12.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-61.1
$GPS2,024637,6350.246,-1259.391,11,1.9,16,-12.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,L1
$TGT_LATLONG,6400.000,-1330.000
$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,318.4,30722,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-54.80,0.000,6,0.000,0.000,64,2602,3416
$GC,80,-1.03,-146.6,7.9,-14.8,3,102,11.95,2.35,0.00,0.000,4,0.184,0.056,2129,3864,3416
$GC,355,-0.97,-146.6,60.0,-15.9,15,359,0.00,2.17,0.00,0.000,6,0.000,0.026,2129,2574,3418
$GC,677,-0.97,-146.6,105.7,-12.7,31,681,0.00,2.35,0.00,0.000,4,0.000,0.060,2130,3854,3419
$GC,772,-0.97,-146.6,117.4,-12.0,35,776,0.00,2.10,0.00,0.000,6,0.000,0.025,2130,2597,3419
$GC,1095,-0.97,-146.6,149.7,-9.2,51,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2595,3419
$GC,1404,-0.97,-146.6,176.7,-8.6,66,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2595,3419
$GC,1712,-0.97,-146.6,203.4,-8.6,81,1716,0.00,2.40,0.00,0.000,4,0.000,0.038,2130,1214,3420
$GC,1762,-0.97,-146.6,208.0,-9.0,83,1767,0.00,2.40,0.00,0.000,6,0.000,0.034,2130,2597,3419
$GC,2089,-0.97,-146.6,238.7,-9.4,99,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3419
$GC,2399,-0.97,-146.6,267.8,-9.5,114,2403,0.00,2.42,0.00,0.000,4,0.000,0.037,2130,1209,3419
$GC,2438,-0.97,-146.6,271.5,-9.4,116,2443,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2599,3419
$GC,2765,-0.97,-146.6,302.4,-9.6,132,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3419
$GC,3075,-0.97,-146.6,332.7,-10.1,147,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3419
$GC,3384,-0.97,-146.6,363.5,-9.8,162,3388,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1211,3419
$GC,3446,-0.97,-146.6,369.7,-9.8,165,3450,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3419
$GC,3774,-0.97,-146.6,400.9,-9.4,181,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3419
$GC,4082,-0.97,-146.6,430.0,-9.2,196,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,4391,-0.97,-146.6,458.4,-9.3,211,4395,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1212,3419
$GC,4454,-0.97,-146.6,464.2,-9.0,214,4458,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2602,3419
$GC,4780,-0.97,-146.6,494.5,-9.8,230,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3418
$GC,5091,-0.97,-146.6,526.9,-10.4,245,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3418
$GC,5399,-0.97,-146.6,560.0,-10.7,260,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3418
$GC,5708,-0.97,-146.6,589.1,-8.8,275,5712,0.00,2.33,0.00,0.000,4,0.000,0.068,2130,3860,3418
$GC,5763,-0.97,-146.6,594.1,-8.9,277,5769,0.00,2.10,0.00,0.000,6,0.000,0.026,2130,2599,3418
$GC,6079,-0.97,-146.6,620.6,-9.0,293,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3418
$GC,6388,-0.97,-146.6,648.0,-8.8,308,6392,0.00,2.42,0.00,0.000,4,0.000,0.041,2130,1215,3418
$GC,6433,-1.03,-146.6,652.0,-8.5,310,6437,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2601,3417
$GC,6754,-1.03,-146.6,678.1,-8.0,326,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3417
$GC,7064,-1.03,-146.6,703.5,-8.2,341,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3417
$STATE,7102,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7102,begin apogee
$GC,7109,-0.31,0.0,707.1,8.5,343,7244,0.82,0.00,129.15,1.033,6,0.127,0.000,2287,2305,2817
$STATE,7245,end apogee,CONTROL_FINISHED_OK
$STATE,7245,begin climb
$GC,7248,1.03,146.6,712.1,0.0,350,7386,1.38,2.58,129.90,1.022,4,0.072,0.044,2582,921,2219
$GC,7423,0.95,167.3,707.3,6.8,358,7448,0.00,2.45,19.88,0.952,6,0.000,0.035,2582,2303,2134
$GC,7767,0.90,167.3,681.2,7.9,375,7772,0.15,2.62,0.00,0.000,4,0.093,0.063,2553,3707,2128
$GC,7829,0.83,167.3,675.7,8.8,378,7834,0.00,2.42,0.00,0.000,6,0.000,0.028,2553,2305,2129
$GC,8162,0.87,203.0,653.1,6.3,394,8201,0.00,0.00,32.50,0.967,6,0.000,0.000,2553,2305,1988
$GC,8511,0.92,246.6,631.7,6.0,411,8554,0.00,0.00,41.25,0.966,6,0.000,0.000,2553,2305,1810
$GC,8861,1.00,247.6,607.2,7.5,428,8866,0.12,2.53,0.00,0.000,4,0.049,0.049,2589,904,1804
$GC,8923,1.00,247.6,601.0,10.1,431,8928,0.00,2.45,0.00,0.000,6,0.000,0.035,2589,2302,1802
$GC,9250,1.00,247.6,569.6,10.0,447,9254,0.00,2.58,0.00,0.000,4,0.000,0.061,2589,3700,1801
$GC,9328,0.95,247.6,560.7,11.5,450,9335,0.12,2.42,0.00,0.000,6,0.096,0.028,2566,2300,1801
$GC,9645,1.00,247.6,530.3,9.6,466,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2300,1801
$GC,9954,1.04,247.6,501.0,9.0,481,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2300,1800
$GC,10264,1.10,258.0,477.3,7.1,496,10276,0.15,0.00,9.88,0.776,6,0.049,0.000,2608,2299,1765
$GC,10572,1.05,258.0,447.3,10.0,511,10574,0.12,0.00,0.00,0.000,6,0.092,0.000,2585,2299,1762
$GC,10881,1.05,258.0,418.9,9.3,526,10882,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2299,1763
$GC,11190,1.05,258.0,390.2,9.4,541,11191,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2300,1762
$GC,11499,1.05,258.0,360.4,9.6,556,11503,0.00,2.50,0.00,0.000,4,0.000,0.045,2585,891,1762
$GC,11551,1.05,258.0,355.4,9.6,558,11556,0.00,2.45,0.00,0.000,6,0.000,0.032,2585,2302,1760
$GC,11872,1.05,258.0,326.5,8.7,574,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2302,1761
$GC,12181,1.05,258.0,299.7,8.7,589,12182,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2302,1761
$GC,12490,1.05,258.0,271.1,9.7,604,12492,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2302,1761
$GC,12799,1.05,258.0,239.9,10.1,619,12803,0.00,2.47,0.00,0.000,4,0.000,0.042,2585,898,1761
$GC,12846,1.05,258.0,235.1,10.8,621,12850,0.00,2.42,0.00,0.000,6,0.000,0.032,2585,2301,1760
$GC,13173,1.05,258.0,202.4,10.1,637,13174,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2301,1761
$GC,13481,1.05,258.0,171.8,9.6,652,13483,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2301,1761
$GC,13791,1.05,258.0,143.4,9.0,667,13792,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2301,1761
$GC,14101,1.06,268.7,118.6,7.1,682,14114,0.00,0.00,10.85,0.595,6,0.000,0.000,2585,2301,1721
$GC,14411,1.12,328.0,101.1,5.5,697,14469,0.00,0.00,53.33,0.639,6,0.000,0.000,2585,2301,1478
$GC,14781,1.28,400.0,78.8,5.0,715,14849,0.22,2.60,60.22,0.618,4,0.041,0.043,2652,896,1185
$GC,14957,1.28,400.0,58.6,12.6,723,14961,0.00,2.45,0.00,0.000,6,0.000,0.032,2652,2298,1177
$GC,15283,1.28,400.0,15.2,11.6,739,15288,0.00,2.53,0.00,0.000,4,0.000,0.044,2652,892,1174
$GC,15362,1.28,400.0,5.2,12.7,742,15368,0.00,2.45,0.00,0.000,6,0.000,0.033,2652,2302,1172
$STATE,15386,end climb,SURFACE_DEPTH_REACHED
$STATE,15386,begin surface coast
$FINISH,0.6,1.026510
$STATE,15408,end surface coast,CONTROL_FINISHED_OK
$STATE,15408,begin surface
$SM_CCo,15492,0.00,0.000,0,0,1170,403.76
$SM_GC,1.47,12.38,0.00,0.00,0.089,0.000,0.000,72,2605,1170,-10.45,0.14,403.76
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1768
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.3,39.6
$24V_AH,23.6,28.750
$10V_AH,10.1,14.324
$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,27.425,78.500,486.950,0.000,0.000,18.093,26.424,126.722,6.000,0.000,0.000,16.732,1327.177,11929.262,554.970,1560.584,402.968,0.000,1337.545,0.000,1521.315,0.000,42.724,0.000
$DEVICE_MAMPS,184.080,68.263,1033.149,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,546.952,509.910,439.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37939,745
$CAP_FILE_SIZE,101996,0
$CFSIZE,260165632,249069568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060709,070625,6351.877,-1302.396,43,1.3,43,-12.4