version: 66.04
glider: 16
mission: 13
dive: 203
start: 7 13 109 7 10 0
data:
$ID,16
$MISSION,13
$DIVE,203
$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,-2111224.8
$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,34
$R_STBD_OVSHOOT,28
$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
$GPS1,070436,6321.091,-1303.591,27,1.2,27,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-59.4
$GPS2,070944,6321.065,-1303.632,9,1.5,9,-12.2
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-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,232.4,14696,-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,-61.25,0.000,2,0.000,0.000,72,2601,3357
$GC,82,-1.03,-146.6,5.8,-9.9,3,104,11.75,2.35,-0.90,0.000,4,0.179,0.072,2129,3854,3418
$GC,357,-0.95,-146.6,45.7,-9.7,15,362,0.12,2.15,0.00,0.000,6,0.102,0.026,2152,2579,3419
$GC,678,-0.95,-146.6,72.6,-9.7,31,683,0.00,2.35,0.00,0.000,4,0.000,0.061,2152,3856,3420
$GC,729,-0.95,-146.6,78.5,-11.7,33,733,0.00,2.12,0.00,0.000,6,0.000,0.026,2152,2591,3420
$GC,1050,-0.95,-146.6,109.8,-9.2,49,1055,0.00,2.40,0.00,0.000,4,0.000,0.038,2152,1218,3420
$GC,1091,-1.03,-146.6,113.4,-9.2,51,1095,0.00,2.40,0.00,0.000,6,0.000,0.035,2152,2599,3420
$GC,1424,-1.07,-146.6,146.0,-10.2,67,1426,0.12,0.00,0.00,0.000,6,0.044,0.000,2109,2599,3421
$GC,1733,-1.00,-146.6,182.4,-10.8,82,1737,0.17,2.42,0.00,0.000,4,0.094,0.038,2146,1217,3421
$GC,1783,-1.07,-146.6,186.6,-7.9,84,1787,0.00,2.42,0.00,0.000,6,0.000,0.035,2146,2600,3421
$GC,2099,-1.07,-146.6,207.8,-6.5,99,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2600,3420
$GC,2408,-1.07,-146.6,229.6,-7.3,114,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2599,3420
$GC,2717,-1.07,-146.6,252.7,-7.4,129,2721,0.00,2.42,0.00,0.000,4,0.000,0.038,2146,1217,3420
$GC,2762,-1.14,-146.6,256.2,-7.8,131,2767,0.15,2.42,0.00,0.000,6,0.044,0.035,2101,2600,3420
$GC,3083,-1.05,-146.6,289.9,-11.1,147,3085,0.15,0.00,0.00,0.000,6,0.099,0.000,2129,2600,3420
$GC,3392,-1.05,-146.6,319.2,-9.4,162,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3420
$GC,3701,-1.05,-146.6,347.2,-9.1,177,3705,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1215,3419
$GC,3746,-1.05,-146.6,351.5,-8.9,179,3750,0.00,2.42,0.00,0.000,6,0.000,0.035,2127,2599,3420
$GC,4067,-1.05,-146.6,381.1,-9.1,195,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2599,3420
$GC,4376,-1.05,-146.6,409.8,-9.1,210,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3420
$GC,4685,-1.05,-146.6,437.1,-8.5,225,4689,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1217,3419
$GC,4748,-1.05,-146.6,442.2,-7.8,228,4752,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2601,3420
$GC,5080,-1.05,-146.6,468.0,-7.4,244,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3419
$GC,5389,-1.05,-146.6,491.1,-7.7,259,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3419
$GC,5698,-1.05,-146.6,515.5,-8.0,274,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,6008,-1.05,-146.6,540.8,-8.2,289,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3418
$GC,6317,-1.05,-146.6,566.4,-8.4,304,6321,0.00,2.33,0.00,0.000,4,0.000,0.068,2129,3863,3418
$GC,6363,-1.05,-146.6,570.6,-9.9,306,6367,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2596,3418
$GC,6696,-1.05,-146.6,599.7,-8.4,322,6700,0.00,2.42,0.00,0.000,4,0.000,0.041,2129,1212,3418
$GC,6797,-1.09,-146.6,608.0,-8.5,326,6803,0.00,2.45,0.00,0.000,6,0.000,0.037,2129,2610,3419
$GC,7112,-1.09,-146.6,633.5,-8.1,342,7116,0.00,2.45,0.00,0.000,4,0.000,0.039,2129,1213,3417
$GC,7152,-1.16,-146.6,636.6,-8.1,344,7156,0.00,2.42,0.00,0.000,6,0.000,0.037,2129,2599,3417
$STATE,7352,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7352,begin apogee
$GC,7359,-0.31,0.0,652.7,8.2,354,7495,0.80,0.00,128.05,0.999,6,0.094,0.000,2293,2304,2817
$STATE,7496,end apogee,CONTROL_FINISHED_OK
$STATE,7496,begin climb
$GC,7499,1.03,146.6,658.6,0.0,361,7636,1.35,2.60,128.55,0.989,4,0.074,0.045,2579,914,2217
$GC,7819,0.97,146.6,643.6,8.5,375,7825,0.00,2.45,0.00,0.000,6,0.000,0.035,2578,2302,2212
$GC,8135,0.94,165.3,621.1,6.9,391,8155,0.00,0.00,16.58,0.904,6,0.000,0.000,2578,2302,2143
$GC,8464,0.96,184.0,597.2,6.9,407,8484,0.00,0.00,18.00,0.908,6,0.000,0.000,2579,2302,2067
$GC,8793,0.99,210.6,575.1,6.6,423,8823,0.00,2.58,24.98,0.920,4,0.000,0.047,2579,914,1957
$GC,8876,0.99,210.8,569.4,7.5,427,8880,0.00,2.47,0.00,0.000,6,0.000,0.035,2578,2311,1953
$GC,9202,1.06,270.9,549.3,5.4,443,9265,0.00,2.65,55.38,0.934,4,0.000,0.063,2578,3699,1711
$GC,9299,1.10,270.9,542.7,7.9,447,9303,0.00,2.42,0.00,0.000,6,0.000,0.029,2578,2316,1710
$GC,9616,1.20,286.5,520.5,7.0,462,9635,0.20,0.00,14.38,0.843,6,0.054,0.000,2632,2314,1649
$GC,9944,1.14,286.5,488.4,9.8,478,9946,0.12,0.00,0.00,0.000,6,0.091,0.000,2608,2313,1645
$GC,10254,1.10,286.5,458.0,10.2,493,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2313,1643
$GC,10563,1.06,286.5,424.5,10.8,508,10564,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2313,1643
$GC,10872,1.06,286.5,389.4,11.3,523,10876,0.00,2.53,0.00,0.000,4,0.000,0.048,2608,901,1644
$GC,10927,1.06,286.5,382.9,11.6,525,10934,0.00,2.45,0.00,0.000,6,0.000,0.034,2608,2302,1641
$GC,11243,1.06,286.5,347.7,11.0,541,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2302,1642
$GC,11552,1.06,286.5,313.8,10.7,556,11557,0.00,2.53,0.00,0.000,4,0.000,0.044,2608,892,1642
$GC,11586,1.06,286.5,309.9,11.1,557,11592,0.00,2.47,0.00,0.000,6,0.000,0.033,2608,2309,1641
$GC,11902,1.06,286.5,275.8,10.4,573,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2309,1640
$GC,12211,1.06,286.5,243.3,10.5,588,12215,0.00,2.50,0.00,0.000,4,0.000,0.044,2608,898,1642
$GC,12280,1.06,286.5,236.2,10.4,591,12284,0.00,2.45,0.00,0.000,6,0.000,0.033,2608,2305,1641
$GC,12607,1.06,286.5,205.5,8.7,607,12608,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2305,1642
$GC,12916,1.06,286.5,175.8,9.7,622,12920,0.00,2.50,0.00,0.000,4,0.000,0.044,2608,899,1642
$GC,12966,1.06,286.5,170.5,10.4,624,12970,0.00,2.45,0.00,0.000,6,0.000,0.033,2608,2308,1641
$GC,13282,1.06,286.5,141.0,10.0,639,13283,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2308,1642
$GC,13591,1.06,286.5,109.7,9.8,654,13595,0.00,2.50,0.00,0.000,4,0.000,0.044,2608,898,1642
$GC,13636,1.06,286.5,105.3,10.0,656,13640,0.00,2.45,0.00,0.000,6,0.000,0.032,2608,2308,1641
$GC,13957,1.06,286.5,74.1,10.0,672,13961,0.00,2.55,0.00,0.000,4,0.000,0.058,2608,3702,1642
$GC,13997,1.06,286.5,69.9,11.2,674,14001,0.00,2.42,0.00,0.000,6,0.000,0.027,2608,2292,1642
$GC,14324,1.06,286.5,35.1,10.3,690,14329,0.00,2.47,0.00,0.000,4,0.000,0.044,2608,895,1642
$GC,14432,1.06,286.5,23.5,10.8,695,14436,0.00,2.45,0.00,0.000,6,0.000,0.032,2608,2308,1642
$STATE,14653,end climb,SURFACE_DEPTH_REACHED
$STATE,14653,begin surface coast
$FINISH,1.0,1.026526
$STATE,14676,end surface coast,CONTROL_FINISHED_OK
$STATE,14676,begin surface
$SM_CCo,14760,0.00,0.000,0,0,1639,288.96
$SM_GC,1.60,11.68,0.00,0.00,0.069,0.000,0.000,71,2608,1639,-10.46,0.23,288.96
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1770
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.4,85.9
$24V_AH,23.6,33.897
$10V_AH,10.1,17.098
$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,26.625,98.225,385.900,0.000,0.000,33.167,39.243,126.921,5.000,0.000,0.000,9.865,1292.114,11316.415,471.451,1556.028,430.583,0.000,1254.039,0.000,1520.824,0.000,36.435,0.000
$DEVICE_MAMPS,178.711,72.098,999.401,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,512.831,483.074,437.679,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34949,707
$CAP_FILE_SIZE,103282,0
$CFSIZE,260165632,246988800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130709,111706,6319.293,-1304.243,30,1.4,30,-12.2