version: 66.04
glider: 16
mission: 13
dive: 244
start: 7 20 109 20 53 1
data:
$ID,16
$MISSION,13
$DIVE,244
$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,-2111937.2
$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,38
$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
$GPS1,204636,6245.350,-1232.962,36,1.3,36,-11.7
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-62.9
$GPS2,205244,6245.332,-1233.064,13,1.3,13,-11.7
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$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,143.3,14863,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-54.85,0.000,6,0.000,0.000,71,2601,3416
$GC,81,-1.03,-146.6,8.4,-16.0,3,103,11.90,2.53,0.00,0.000,4,0.183,0.038,2131,1198,3417
$GC,149,-1.03,-146.6,30.6,-12.4,6,154,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2597,3419
$GC,476,-1.03,-146.6,63.5,-9.6,22,481,0.00,2.47,0.00,0.000,4,0.000,0.036,2131,1194,3419
$GC,522,-1.03,-146.6,68.1,-10.0,24,526,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2599,3419
$GC,843,-1.03,-146.6,99.2,-9.7,40,847,0.00,2.35,0.00,0.000,4,0.000,0.064,2132,3866,3419
$GC,876,-1.03,-146.6,102.8,-10.5,41,882,0.00,2.17,0.00,0.000,6,0.000,0.026,2132,2575,3419
$GC,1193,-1.03,-146.6,133.5,-9.6,57,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2574,3419
$GC,1501,-1.03,-146.6,162.3,-9.4,72,1505,0.00,2.40,0.00,0.000,4,0.000,0.038,2132,1210,3419
$GC,1528,-1.03,-146.6,165.0,-9.8,73,1532,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2603,3419
$GC,1843,-1.03,-146.6,194.7,-9.7,88,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3419
$GC,2154,-1.03,-146.6,226.0,-10.1,103,2158,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1211,3419
$GC,2193,-1.03,-146.6,230.3,-10.0,105,2197,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2607,3419
$GC,2520,-1.03,-146.6,264.4,-10.6,121,2524,0.00,2.33,0.00,0.000,4,0.000,0.064,2131,3863,3419
$GC,2555,-1.03,-146.6,268.3,-11.2,122,2562,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2597,3419
$GC,2871,-1.03,-146.6,300.8,-10.1,138,2875,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1218,3419
$GC,2915,-1.03,-146.6,305.6,-10.2,140,2919,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2600,3418
$GC,3236,-1.03,-146.6,338.3,-10.0,156,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,3545,-1.03,-146.6,369.4,-9.8,171,3549,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1208,3418
$GC,3590,-1.07,-146.6,373.8,-9.5,173,3594,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2603,3419
$GC,3911,-1.07,-146.6,402.8,-8.9,189,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3419
$GC,4220,-1.07,-146.6,429.9,-8.7,204,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3418
$GC,4530,-1.07,-146.6,455.6,-8.3,219,4534,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1209,3418
$GC,4574,-1.07,-146.6,459.4,-8.1,221,4578,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2605,3418
$GC,4894,-1.07,-146.6,486.3,-8.8,237,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3418
$GC,5204,-1.07,-146.6,514.9,-9.1,252,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3418
$GC,5513,-1.07,-146.6,543.1,-8.8,267,5517,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1212,3417
$GC,5557,-1.12,-146.6,547.1,-8.9,269,5562,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2608,3418
$GC,5880,-1.12,-146.6,576.2,-9.5,285,5884,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1215,3417
$GC,5919,-1.17,-146.6,580.2,-9.6,287,5924,0.12,2.42,0.00,0.000,6,0.046,0.036,2092,2600,3417
$GC,6246,-1.07,-146.6,618.7,-11.7,303,6251,0.17,2.35,0.00,0.000,4,0.098,0.067,2124,3863,3417
$GC,6274,-1.07,-146.6,622.1,-11.9,304,6277,0.00,2.12,0.00,0.000,6,0.000,0.026,2124,2599,3417
$GC,6595,-1.07,-146.6,652.4,-9.3,320,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2597,3417
$GC,6904,-1.07,-146.6,681.7,-8.9,335,6908,0.00,2.42,0.00,0.000,4,0.000,0.041,2124,1219,3416
$GC,6960,-1.07,-146.6,686.4,-9.0,337,6966,0.00,2.42,0.00,0.000,6,0.000,0.037,2124,2600,3416
$GC,7275,-1.07,-146.6,713.2,-8.8,353,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2600,3416
$GC,7584,-1.07,-146.6,739.3,-8.1,368,7589,0.00,2.45,0.00,0.000,4,0.000,0.041,2124,1215,3415
$GC,7630,-1.13,-146.6,743.2,-9.2,370,7634,0.00,2.45,0.00,0.000,6,0.000,0.038,2124,2601,3415
$STATE,7783,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7783,begin apogee
$GC,7790,-0.31,0.0,756.1,8.4,378,7926,0.85,0.00,129.10,1.078,6,0.119,0.000,2290,2307,2816
$STATE,7926,end apogee,CONTROL_FINISHED_OK
$STATE,7926,begin climb
$GC,7930,1.03,146.6,760.5,0.0,385,8069,1.38,2.70,130.70,1.070,4,0.067,0.064,2582,3705,2218
$GC,8100,0.87,146.6,757.6,8.1,393,8105,0.17,2.45,0.00,0.000,6,0.097,0.029,2550,2318,2216
$GC,8421,0.91,180.8,736.9,6.3,409,8455,0.00,0.00,31.27,1.022,6,0.000,0.000,2550,2318,2078
$GC,8774,0.93,203.4,712.4,6.7,426,8801,0.00,2.67,20.65,0.991,4,0.000,0.051,2550,906,1986
$GC,8814,0.95,220.2,709.6,6.9,428,8837,0.00,2.50,17.52,0.969,6,0.000,0.036,2550,2305,1919
$GC,9146,1.00,222.8,685.2,7.4,444,9151,0.12,2.62,0.00,0.000,4,0.054,0.064,2586,3705,1913
$GC,9174,0.93,222.8,682.5,9.6,445,9179,0.12,2.47,0.00,0.000,6,0.100,0.030,2564,2302,1913
$GC,9490,0.93,222.8,656.3,8.3,460,9494,0.00,2.58,0.00,0.000,4,0.000,0.052,2564,891,1910
$GC,9539,0.93,222.8,651.7,8.9,462,9543,0.00,2.50,0.00,0.000,6,0.000,0.036,2564,2299,1909
$GC,9855,0.93,222.8,623.2,9.3,477,9859,0.00,2.62,0.00,0.000,4,0.000,0.064,2564,3701,1909
$GC,9894,0.93,222.8,619.5,9.2,479,9898,0.00,2.47,0.00,0.000,6,0.000,0.030,2564,2290,1910
$GC,10221,0.97,222.8,590.2,8.9,495,10225,0.00,2.53,0.00,0.000,4,0.000,0.051,2564,902,1909
$GC,10254,0.97,222.8,587.1,8.6,496,10260,0.00,2.47,0.00,0.000,6,0.000,0.036,2564,2301,1908
$GC,10570,0.97,222.8,560.9,7.8,512,10574,0.00,2.62,0.00,0.000,4,0.000,0.063,2564,3707,1909
$GC,10602,0.97,222.8,558.1,8.4,513,10608,0.00,2.47,0.00,0.000,6,0.000,0.029,2564,2290,1908
$GC,10918,1.00,244.3,535.0,6.8,529,10947,0.00,2.62,22.08,0.905,4,0.000,0.048,2564,900,1820
$GC,10971,1.07,262.7,531.4,6.9,531,10996,0.12,2.50,18.48,0.883,6,0.052,0.035,2600,2305,1745
$GC,11312,1.07,262.7,501.5,9.1,548,11313,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2305,1741
$GC,11621,1.07,262.7,473.2,9.1,563,11626,0.00,2.60,0.00,0.000,4,0.000,0.061,2600,3705,1740
$GC,11646,1.02,262.7,470.9,10.0,564,11650,0.00,2.45,0.00,0.000,6,0.000,0.028,2600,2299,1740
$GC,11967,1.02,262.7,440.7,9.5,580,11971,0.00,2.53,0.00,0.000,4,0.000,0.048,2600,898,1740
$GC,11999,1.02,262.7,437.4,9.8,581,12006,0.00,2.47,0.00,0.000,6,0.000,0.034,2600,2308,1738
$GC,12315,1.02,262.7,407.2,9.5,597,12320,0.00,2.58,0.00,0.000,4,0.000,0.059,2600,3703,1738
$GC,12338,0.98,262.7,405.0,10.0,598,12343,0.15,2.45,0.00,0.000,6,0.104,0.028,2573,2293,1738
$GC,12659,1.03,262.7,379.3,7.6,614,12663,0.00,2.50,0.00,0.000,4,0.000,0.046,2573,900,1738
$GC,12681,1.07,262.7,377.5,7.5,615,12685,0.00,2.45,0.00,0.000,6,0.000,0.033,2573,2302,1738
$GC,13009,1.12,262.7,352.2,7.7,631,13011,0.15,0.00,0.00,0.000,6,0.049,0.000,2613,2302,1738
$GC,13318,1.07,262.7,323.6,9.1,646,13320,0.12,0.00,0.00,0.000,6,0.091,0.000,2590,2303,1738
$GC,13628,1.07,262.7,297.7,8.4,661,13629,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2302,1738
$GC,13936,1.07,262.7,271.6,8.3,676,13940,0.00,2.50,0.00,0.000,4,0.000,0.043,2590,899,1738
$GC,13959,1.07,262.7,269.7,8.7,677,13963,0.00,2.45,0.00,0.000,6,0.000,0.033,2590,2304,1738
$GC,14286,1.07,262.7,242.2,8.5,693,14287,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2304,1738
$GC,14595,1.07,262.7,212.7,9.9,708,14596,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2304,1738
$GC,14904,1.07,262.7,183.4,9.0,723,14905,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2304,1739
$GC,15214,1.07,262.7,154.7,9.6,738,15215,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2304,1739
$GC,15523,1.07,262.7,127.4,8.4,753,15527,0.00,2.50,0.00,0.000,4,0.000,0.043,2590,899,1739
$GC,15544,1.07,262.7,125.5,8.1,754,15548,0.00,2.45,0.00,0.000,6,0.000,0.033,2590,2303,1739
$GC,15866,1.07,262.7,100.2,7.9,770,15870,0.00,2.58,0.00,0.000,4,0.000,0.058,2590,3706,1739
$GC,15893,1.07,262.7,97.6,8.9,771,15897,0.00,2.42,0.00,0.000,6,0.000,0.028,2590,2295,1739
$GC,16209,1.13,320.9,77.3,5.5,786,16263,0.00,0.00,51.45,0.627,6,0.000,0.000,2590,2294,1508
$GC,16561,1.22,320.9,52.3,8.3,803,16566,0.17,2.60,0.00,0.000,4,0.044,0.055,2647,3702,1502
$GC,16625,1.13,320.9,44.2,13.9,806,16630,0.22,2.42,0.00,0.000,6,0.089,0.027,2603,2300,1501
$GC,16953,1.17,320.9,9.6,11.5,822,16957,0.00,2.53,0.00,0.000,4,0.000,0.045,2603,895,1500
$STATE,17028,end climb,SURFACE_DEPTH_REACHED
$STATE,17028,begin surface coast
$FINISH,0.9,1.026609
$STATE,17051,end surface coast,CONTROL_FINISHED_OK
$STATE,17051,begin surface
$SM_CCo,17137,0.00,0.000,0,0,1496,324.29
$SM_GC,1.50,11.77,0.00,0.00,0.072,0.000,0.000,61,2601,1496,-10.47,0.00,324.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1782
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.7,14.1
$24V_AH,23.6,39.132
$10V_AH,10.1,20.017
$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,27.575,154.100,421.250,0.000,0.000,18.055,26.766,197.950,6.750,0.000,0.000,13.151,1505.136,13211.400,546.937,1706.501,529.938,0.000,1425.563,0.000,1660.699,0.000,47.482,0.000
$DEVICE_MAMPS,182.546,67.496,1077.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,603.935,565.187,492.658,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41141,826
$CAP_FILE_SIZE,126283,0
$CFSIZE,260165632,244744192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210709,013955,6244.146,-1229.899,40,1.8,40,-11.6