version: 66.04
glider: 16
mission: 13
dive: 223
start: 7 16 109 21 9 36
data:
$ID,16
$MISSION,13
$DIVE,223
$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,566.1524
$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,-2111572.5
$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,36
$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
$GPS1,205257,6308.981,-1301.960,38,2.5,57,-12.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-60.3
$GPS2,210919,6308.924,-1302.316,13,1.6,18,-12.1
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$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,195.8,35121,-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,16,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-60.20,0.000,6,0.000,0.000,71,2604,3417
$GC,81,-1.03,-146.6,5.7,-9.9,3,103,11.77,2.53,0.00,0.000,4,0.179,0.035,2129,1194,3418
$GC,268,-1.03,-146.6,37.8,-10.7,11,272,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2596,3419
$GC,589,-1.03,-146.6,73.9,-11.9,27,593,0.00,2.33,0.00,0.000,4,0.000,0.063,2129,3860,3418
$GC,629,-1.03,-146.6,78.8,-12.7,29,633,0.00,2.15,0.00,0.000,6,0.000,0.025,2129,2576,3418
$GC,961,-1.03,-146.6,116.2,-11.2,45,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2574,3419
$GC,1271,-1.03,-146.6,150.7,-11.2,60,1275,0.00,2.38,0.00,0.000,4,0.000,0.061,2130,3863,3419
$GC,1311,-1.03,-146.6,155.4,-11.7,61,1317,0.00,2.12,0.00,0.000,6,0.000,0.026,2130,2596,3419
$GC,1627,-1.03,-146.6,190.0,-10.5,77,1631,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1216,3419
$GC,1671,-1.03,-146.6,194.7,-10.4,79,1675,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2599,3419
$GC,1992,-1.03,-146.6,227.4,-9.8,95,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3418
$GC,2301,-1.03,-146.6,258.0,-9.3,110,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3419
$GC,2610,-1.03,-146.6,287.8,-10.1,125,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,2920,-1.03,-146.6,320.1,-10.3,140,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$GC,3229,-1.03,-146.6,350.8,-9.5,155,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,3538,-1.03,-146.6,378.6,-8.7,170,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$GC,3847,-1.03,-146.6,406.3,-9.2,185,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3417
$GC,4156,-1.03,-146.6,434.6,-9.0,200,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$GC,4465,-1.03,-146.6,461.3,-9.1,215,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$GC,4775,-1.03,-146.6,492.9,-10.4,230,4779,0.00,2.40,0.00,0.000,4,0.000,0.039,2130,1220,3416
$GC,4831,-1.08,-146.6,498.8,-9.8,232,4836,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2601,3416
$GC,5147,-1.08,-146.6,530.2,-9.6,247,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3416
$GC,5457,-1.08,-146.6,562.7,-11.0,262,5461,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1219,3416
$GC,5501,-1.14,-146.6,567.9,-10.8,264,5506,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2601,3416
$GC,5823,-1.14,-146.6,605.2,-11.1,280,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3415
$GC,6132,-1.14,-146.6,634.6,-8.8,295,6136,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1220,3415
$GC,6183,-1.19,-146.6,639.6,-9.2,297,6188,0.15,2.42,0.00,0.000,6,0.047,0.037,2086,2601,3415
$STATE,6269,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6269,begin apogee
$GC,6277,-0.31,0.0,649.3,11.4,301,6412,1.02,0.00,126.97,1.008,6,0.107,0.000,2290,2307,2816
$STATE,6412,end apogee,CONTROL_FINISHED_OK
$STATE,6412,begin climb
$GC,6415,1.03,146.6,656.0,0.0,308,6553,1.35,2.62,128.15,0.997,4,0.073,0.044,2579,911,2218
$GC,6800,0.95,146.6,635.6,8.2,325,6804,0.00,2.47,0.00,0.000,6,0.000,0.035,2578,2309,2212
$GC,7116,0.88,146.6,611.7,8.0,340,7121,0.15,2.60,0.00,0.000,4,0.100,0.063,2551,3707,2212
$GC,7156,0.81,146.6,608.4,7.8,342,7161,0.00,2.42,0.00,0.000,6,0.000,0.028,2550,2314,2212
$GC,7483,0.86,194.4,586.7,5.9,358,7533,0.00,2.67,42.20,0.953,4,0.000,0.049,2550,904,2023
$GC,7579,0.90,234.2,581.1,6.1,362,7621,0.00,2.47,36.67,0.941,6,0.000,0.035,2550,2301,1862
$GC,7940,1.03,284.2,560.4,5.8,380,7988,0.15,0.00,46.17,0.939,6,0.050,0.000,2586,2301,1658
$GC,8286,1.07,284.2,528.8,9.9,397,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2301,1650
$GC,8596,1.07,284.2,502.4,7.6,412,8600,0.00,2.53,0.00,0.000,4,0.000,0.048,2586,901,1648
$GC,8674,1.07,284.2,496.2,8.0,415,8678,0.00,2.47,0.00,0.000,6,0.000,0.035,2587,2302,1647
$GC,8989,1.10,305.5,474.9,6.8,430,9011,0.00,0.00,19.42,0.853,6,0.000,0.000,2586,2302,1570
$GC,9320,1.14,305.5,447.1,8.6,446,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2302,1566
$GC,9629,1.18,305.5,418.8,9.3,461,9634,0.15,2.53,0.00,0.000,4,0.054,0.045,2630,902,1565
$GC,9685,1.12,305.5,412.4,11.9,463,9692,0.12,2.45,0.00,0.000,6,0.095,0.034,2607,2301,1564
$GC,10001,1.12,305.5,379.0,10.7,479,10005,0.00,2.53,0.00,0.000,4,0.000,0.045,2607,895,1564
$GC,10034,1.12,305.5,375.0,11.3,480,10040,0.00,2.45,0.00,0.000,6,0.000,0.033,2606,2302,1564
$GC,10350,1.12,305.5,340.4,11.0,496,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2302,1564
$GC,10659,1.12,305.5,307.2,10.5,511,10663,0.00,2.50,0.00,0.000,4,0.000,0.044,2606,902,1564
$GC,10715,1.12,305.5,301.0,10.6,513,10719,0.00,2.45,0.00,0.000,6,0.000,0.032,2606,2305,1564
$GC,11031,1.12,305.5,267.7,10.3,528,11032,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2305,1564
$GC,11339,1.12,305.5,234.6,10.5,543,11344,0.00,2.50,0.00,0.000,4,0.000,0.044,2607,901,1564
$GC,11402,1.12,305.5,227.8,10.6,546,11406,0.00,2.42,0.00,0.000,6,0.000,0.033,2606,2303,1564
$GC,11735,1.12,305.5,192.5,10.5,562,11736,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2303,1564
$GC,12044,1.12,305.5,157.2,12.0,577,12048,0.00,2.50,0.00,0.000,4,0.000,0.044,2606,899,1564
$GC,12088,1.12,305.5,151.7,11.8,579,12092,0.00,2.45,0.00,0.000,6,0.000,0.033,2606,2306,1564
$GC,12410,1.12,305.5,110.1,12.9,595,12411,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2306,1564
$GC,12718,1.12,305.5,71.8,11.1,610,12723,0.00,2.50,0.00,0.000,4,0.000,0.043,2606,901,1564
$GC,12763,1.12,305.5,67.0,9.9,612,12767,0.00,2.45,0.00,0.000,6,0.000,0.032,2606,2311,1564
$GC,13084,1.12,305.5,34.3,10.7,628,13088,0.00,2.53,0.00,0.000,4,0.000,0.044,2606,892,1564
$GC,13170,1.19,305.5,25.7,9.1,632,13174,0.00,2.45,0.00,0.000,6,0.000,0.031,2607,2305,1564
$STATE,13417,end climb,SURFACE_DEPTH_REACHED
$STATE,13417,begin surface coast
$FINISH,0.9,1.026532
$STATE,13439,end surface coast,CONTROL_FINISHED_OK
$STATE,13439,begin surface
$SM_CCo,13463,160.23,0.574,0,0,508,566.15
$SM_GC,1.58,0.00,0.00,160.23,0.000,0.000,0.574,72,2605,508,-10.52,0.17,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1779
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.6,58.5
$24V_AH,23.6,36.520
$10V_AH,10.1,18.485
$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,26.475,89.275,399.600,160.225,0.000,87.642,147.552,362.256,5.250,0.000,0.000,18.194,1177.310,10528.599,633.793,1420.725,849.332,0.000,1353.376,0.000,1378.262,0.000,38.884,0.000
$DEVICE_MAMPS,178.711,62.894,1007.838,574.483,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.241,438.740,394.496,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31768,645
$CAP_FILE_SIZE,104165,0
$CFSIZE,260165632,245940224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170709,005820,6307.259,-1304.882,41,3.9,60,-12.1