version: 66.04
glider: 16
mission: 13
dive: 230
start: 7 18 109 2 20 38
data:
$ID,16
$MISSION,13
$DIVE,230
$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,-2111706
$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,37
$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
$GPS1,021524,6300.436,-1256.190,29,1.3,46,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-62.4
$GPS2,022022,6300.436,-1256.195,14,2.6,33,-12.0
$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,213.1,20712,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-57.90,0.000,6,0.000,0.000,73,2607,3417
$GC,81,-1.03,-146.6,7.4,-13.7,3,102,11.93,2.55,0.00,0.000,4,0.184,0.036,2132,1187,3419
$GC,256,-1.03,-146.6,39.3,-11.3,10,263,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2601,3421
$GC,574,-1.03,-146.6,66.4,-8.3,26,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3421
$GC,882,-1.03,-146.6,91.4,-8.1,41,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3421
$GC,1191,-1.03,-146.6,117.2,-8.6,56,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3421
$GC,1500,-1.03,-146.6,148.5,-10.6,71,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2601,3421
$GC,1809,-1.03,-146.6,181.8,-10.9,86,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3421
$GC,2119,-1.03,-146.6,214.5,-10.3,101,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3421
$GC,2428,-1.03,-146.6,243.9,-9.5,116,2432,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1191,3421
$GC,2466,-1.03,-146.6,247.7,-9.2,117,2473,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2606,3420
$GC,2783,-1.03,-146.6,276.4,-9.3,133,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3420
$GC,3091,-1.03,-146.6,305.6,-9.4,148,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3420
$GC,3400,-1.03,-146.6,335.4,-9.7,163,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3420
$GC,3710,-1.03,-146.6,365.5,-9.7,178,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3419
$GC,4019,-1.03,-146.6,395.7,-9.6,193,4023,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1191,3420
$GC,4081,-1.03,-146.6,401.4,-8.9,196,4086,0.00,2.47,0.00,0.000,6,0.000,0.036,2132,2607,3420
$GC,4409,-1.03,-146.6,433.3,-9.6,212,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2608,3420
$GC,4717,-1.03,-146.6,464.1,-9.8,227,4722,0.00,2.47,0.00,0.000,4,0.000,0.038,2133,1196,3419
$GC,4751,-1.03,-146.6,467.5,-9.4,228,4757,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2600,3419
$GC,5067,-1.03,-146.6,499.9,-10.0,244,5071,0.00,2.33,0.00,0.000,4,0.000,0.068,2132,3857,3419
$GC,5134,-1.03,-146.6,506.8,-10.2,247,5138,0.00,2.15,0.00,0.000,6,0.000,0.026,2133,2579,3419
$GC,5466,-1.03,-146.6,536.1,-8.4,263,5470,0.00,2.40,0.00,0.000,4,0.000,0.040,2133,1205,3419
$GC,5517,-1.09,-146.6,540.3,-8.1,265,5521,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2610,3419
$GC,5845,-1.09,-146.6,564.5,-7.2,281,5849,0.00,2.33,0.00,0.000,4,0.000,0.068,2133,3860,3419
$GC,5923,-1.09,-146.6,570.9,-7.9,284,5927,0.00,2.12,0.00,0.000,6,0.000,0.027,2133,2593,3419
$GC,6244,-1.09,-146.6,596.8,-8.5,300,6249,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1211,3418
$GC,6289,-1.17,-146.6,600.7,-8.3,302,6294,0.12,2.42,0.00,0.000,6,0.047,0.036,2093,2602,3418
$STATE,6463,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6464,begin apogee
$GC,6471,-0.31,0.0,617.8,10.1,311,6605,1.00,0.00,126.70,0.984,6,0.109,0.000,2291,2306,2816
$STATE,6606,end apogee,CONTROL_FINISHED_OK
$STATE,6606,begin climb
$GC,6609,1.03,146.6,623.5,0.0,318,6741,1.35,0.00,127.50,0.975,6,0.071,0.000,2580,2305,2219
$GC,7043,1.01,180.2,602.0,6.4,339,7079,0.00,2.65,30.15,0.930,4,0.000,0.061,2580,3701,2082
$GC,7148,0.93,180.2,594.5,7.8,343,7152,0.00,2.42,0.00,0.000,6,0.000,0.028,2580,2309,2080
$GC,7474,0.96,202.4,572.4,6.7,359,7496,0.00,0.00,20.38,0.900,6,0.000,0.000,2580,2309,1991
$GC,7804,0.96,202.4,541.9,9.6,375,7808,0.00,2.60,0.00,0.000,4,0.000,0.061,2580,3708,1987
$GC,7847,0.96,202.4,536.9,11.0,377,7852,0.00,2.45,0.00,0.000,6,0.000,0.028,2579,2300,1987
$GC,8169,0.96,202.4,505.9,8.9,393,8173,0.00,2.53,0.00,0.000,4,0.000,0.049,2580,905,1986
$GC,8202,0.96,202.4,502.9,8.6,394,8208,0.00,2.45,0.00,0.000,6,0.000,0.035,2580,2303,1985
$GC,8518,1.00,246.2,481.0,6.0,410,8564,0.00,2.65,40.50,0.887,4,0.000,0.061,2580,3698,1812
$GC,8598,1.00,246.2,475.5,8.1,414,8603,0.00,2.45,0.00,0.000,6,0.000,0.028,2580,2298,1810
$GC,8925,1.06,246.2,450.4,8.1,430,8929,0.00,2.53,0.00,0.000,4,0.000,0.049,2579,900,1805
$GC,8959,1.12,246.2,447.3,8.7,431,8965,0.10,2.47,0.00,0.000,6,0.058,0.035,2610,2309,1804
$GC,9275,1.08,246.2,415.9,10.2,447,9280,0.00,2.58,0.00,0.000,4,0.000,0.061,2610,3699,1803
$GC,9303,1.01,246.2,412.8,11.2,448,9308,0.15,2.42,0.00,0.000,6,0.095,0.028,2582,2299,1803
$GC,9619,1.01,246.2,384.0,8.8,463,9623,0.00,2.53,0.00,0.000,4,0.000,0.048,2582,894,1802
$GC,9669,1.01,246.2,379.4,9.3,465,9673,0.00,2.47,0.00,0.000,6,0.000,0.033,2582,2308,1802
$GC,9984,1.01,246.2,352.1,8.5,480,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2308,1802
$GC,10293,1.01,246.2,325.2,8.9,495,10297,0.00,2.55,0.00,0.000,4,0.000,0.059,2582,3702,1802
$GC,10339,1.01,246.2,320.9,9.4,497,10343,0.00,2.42,0.00,0.000,6,0.000,0.028,2582,2295,1802
$GC,10665,1.01,246.2,292.1,8.8,513,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2294,1802
$GC,10974,1.01,246.2,264.6,9.0,528,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2294,1802
$GC,11284,1.01,246.2,236.5,9.2,543,11285,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2294,1802
$GC,11593,1.01,246.2,208.1,9.3,558,11594,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2294,1802
$GC,11902,1.01,246.2,178.5,9.9,573,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2294,1802
$GC,12212,1.01,246.2,146.9,10.1,588,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2294,1802
$GC,12521,1.01,246.2,117.7,8.9,603,12522,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2294,1802
$GC,12830,1.01,246.2,91.3,8.0,618,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2294,1802
$GC,13140,1.06,289.7,70.4,6.0,633,13180,0.00,0.00,37.55,0.620,6,0.000,0.000,2582,2294,1635
$GC,13491,1.20,349.6,49.6,5.5,650,13549,0.17,0.00,51.97,0.603,6,0.044,0.000,2633,2293,1390
$GC,13860,1.20,349.6,14.2,11.6,668,13864,0.00,2.50,0.00,0.000,4,0.000,0.046,2634,904,1381
$GC,13924,1.20,349.6,6.4,11.3,671,13929,0.00,2.45,0.00,0.000,6,0.000,0.032,2633,2305,1380
$STATE,13960,end climb,SURFACE_DEPTH_REACHED
$STATE,13960,begin surface coast
$FINISH,0.8,1.013407
$STATE,13982,end surface coast,CONTROL_FINISHED_OK
$STATE,13982,begin surface
$SM_CCo,14066,0.00,0.000,0,0,1376,353.48
$SM_GC,1.44,12.10,0.00,0.00,0.080,0.000,0.000,72,2611,1376,-10.46,0.31,353.48
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1791
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,551.1,75.9
$24V_AH,23.6,37.351
$10V_AH,10.1,18.963
$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,26.925,84.550,434.750,0.000,0.000,18.123,26.625,123.518,4.500,0.000,0.000,34.221,1202.951,10836.279,521.026,1411.180,392.630,0.000,1222.507,0.000,1361.762,0.000,31.844,0.000
$DEVICE_MAMPS,184.080,68.263,984.061,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,495.313,461.422,451.356,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34796,674
$CAP_FILE_SIZE,93233,0
$CFSIZE,260165632,245596160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180709,061624,6258.680,-1253.969,27,1.2,44,-11.9