version: 66.04
glider: 16
mission: 13
dive: 248
start: 7 21 109 16 32 50
data:
$ID,16
$MISSION,13
$DIVE,248
$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,-2112011.8
$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,38
$R_STBD_OVSHOOT,33
$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
$GPS1,162724,6240.509,-1223.415,49,1.3,49,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-60.3
$GPS2,163232,6240.498,-1223.481,12,1.8,12,-11.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$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,129.1,41959,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,61,0.00,0.00,-42.10,0.000,2,0.000,0.000,62,2613,2976
$GC,64,-1.03,-146.6,4.3,-12.1,2,90,11.93,2.53,-8.12,0.000,4,0.182,0.048,2129,1195,3416
$GC,158,-1.03,-146.6,22.3,-13.4,6,162,0.00,2.47,0.00,0.000,6,0.000,0.036,2129,2590,3417
$GC,479,-1.03,-146.6,59.7,-11.7,22,483,0.00,2.35,0.00,0.000,4,0.000,0.062,2129,3860,3418
$GC,501,-0.98,-146.6,62.3,-10.8,23,505,0.00,2.17,0.00,0.000,6,0.000,0.025,2129,2573,3418
$GC,823,-0.98,-146.6,96.0,-10.0,39,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2570,3418
$GC,1133,-0.98,-146.6,125.6,-9.4,54,1137,0.00,2.38,0.00,0.000,4,0.000,0.061,2129,3860,3418
$GC,1165,-0.98,-146.6,129.1,-10.0,55,1172,0.00,2.12,0.00,0.000,6,0.000,0.025,2129,2592,3418
$GC,1482,-0.98,-146.6,158.9,-9.2,71,1486,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1211,3418
$GC,1526,-0.98,-146.6,162.9,-8.8,73,1530,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2606,3419
$GC,1847,-0.98,-146.6,191.1,-8.7,89,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2606,3418
$GC,2156,-0.98,-146.6,218.2,-8.8,104,2161,0.00,2.45,0.00,0.000,4,0.000,0.038,2129,1214,3419
$GC,2197,-0.98,-146.6,221.7,-8.3,106,2201,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2611,3418
$GC,2524,-0.98,-146.6,250.5,-9.0,122,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2612,3419
$GC,2833,-0.98,-146.6,278.8,-9.3,137,2837,0.00,2.45,0.00,0.000,4,0.000,0.037,2129,1215,3418
$GC,2882,-0.98,-146.6,283.6,-9.0,139,2886,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3418
$GC,3198,-0.98,-146.6,313.4,-9.2,154,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,3507,-0.98,-146.6,341.5,-9.3,169,3512,0.00,2.42,0.00,0.000,4,0.000,0.037,2129,1218,3418
$GC,3557,-0.98,-146.6,346.1,-8.6,171,3562,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3418
$GC,3875,-0.98,-146.6,375.6,-9.4,186,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2600,3418
$GC,4183,-0.98,-146.6,404.9,-9.4,201,4187,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1218,3418
$GC,4222,-0.98,-146.6,408.7,-9.2,203,4227,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3418
$GC,4549,-0.98,-146.6,439.2,-9.2,219,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,4859,-0.98,-146.6,467.6,-9.2,234,4863,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1219,3418
$GC,4886,-0.98,-146.6,470.3,-9.9,235,4890,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2601,3418
$GC,5201,-0.98,-146.6,499.6,-9.5,250,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3418
$GC,5511,-0.98,-146.6,529.4,-9.6,265,5515,0.00,2.33,0.00,0.000,4,0.000,0.066,2129,3857,3418
$GC,5556,-0.98,-146.6,534.5,-11.3,267,5559,0.00,2.10,0.00,0.000,6,0.000,0.025,2129,2601,3418
$GC,5882,-0.98,-146.6,565.5,-10.5,283,5886,0.00,2.42,0.00,0.000,4,0.000,0.040,2129,1218,3418
$GC,5968,-0.98,-146.6,571.6,-6.3,287,5972,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2603,3418
$GC,6295,-0.98,-146.6,593.3,-6.2,303,6299,0.00,2.42,0.00,0.000,4,0.000,0.036,2129,1214,3418
$GC,6356,-0.98,-146.6,597.4,-6.5,305,6363,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3418
$GC,6673,-0.98,-146.6,621.4,-10.1,321,6677,0.00,2.33,0.00,0.000,4,0.000,0.067,2129,3859,3417
$GC,6689,-0.98,-146.6,623.2,-9.7,321,6695,0.00,2.12,0.00,0.000,6,0.000,0.026,2129,2594,3417
$GC,7004,-0.98,-146.6,653.4,-9.3,337,7009,0.00,2.42,0.00,0.000,4,0.000,0.040,2129,1214,3417
$GC,7084,-1.02,-146.6,660.0,-8.2,340,7090,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2609,3417
$GC,7399,-1.02,-146.6,686.0,-8.3,356,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2610,3417
$GC,7709,-1.02,-146.6,711.2,-8.3,371,7713,0.00,2.45,0.00,0.000,4,0.000,0.038,2129,1211,3417
$GC,7787,-1.07,-146.6,718.0,-8.4,374,7792,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2603,3416
$GC,8103,-1.07,-146.6,744.1,-8.1,389,8107,0.00,2.35,0.00,0.000,4,0.000,0.071,2129,3862,3416
$GC,8166,-1.11,-146.6,749.5,-9.4,392,8169,0.00,2.12,0.00,0.000,6,0.000,0.028,2129,2609,3416
$STATE,8310,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8310,begin apogee
$GC,8317,-0.31,0.0,760.8,8.2,399,8453,0.77,0.00,129.38,1.070,6,0.093,0.000,2288,2304,2815
$STATE,8454,end apogee,CONTROL_FINISHED_OK
$STATE,8454,begin climb
$GC,8457,1.03,146.6,763.7,0.0,406,8595,1.35,2.60,130.15,1.062,4,0.065,0.050,2579,911,2218
$GC,8802,1.02,217.6,747.0,5.1,421,8872,0.00,2.47,64.25,1.046,6,0.000,0.036,2579,2305,1929
$GC,9197,1.03,223.8,724.7,7.3,440,9208,0.00,2.65,5.93,0.788,4,0.000,0.064,2579,3701,1903
$GC,9253,1.03,223.8,719.2,10.2,442,9259,0.00,2.45,0.00,0.000,6,0.000,0.030,2579,2310,1904
$GC,9569,1.03,223.8,690.2,9.3,458,9573,0.00,2.58,0.00,0.000,4,0.000,0.051,2579,900,1901
$GC,9592,1.03,223.8,688.2,8.8,459,9596,0.00,2.50,0.00,0.000,6,0.000,0.035,2579,2306,1899
$GC,9912,1.03,223.8,657.1,8.8,475,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2307,1899
$GC,10222,1.03,223.8,630.1,7.8,490,10226,0.00,2.60,0.00,0.000,4,0.000,0.062,2579,3701,1898
$GC,10232,1.03,223.8,629.2,7.7,490,10239,0.00,2.45,0.00,0.000,6,0.000,0.028,2579,2293,1898
$GC,10549,1.07,264.4,609.4,6.1,506,10592,0.00,2.58,38.33,0.968,4,0.000,0.050,2579,907,1739
$GC,10621,1.07,264.4,600.9,16.8,509,10625,0.00,2.50,0.00,0.000,6,0.000,0.035,2579,2309,1735
$GC,10936,1.07,264.4,566.8,10.5,524,10940,0.00,2.55,0.00,0.000,4,0.000,0.047,2579,905,1732
$GC,10980,1.13,264.4,561.8,11.5,526,10985,0.12,2.45,0.00,0.000,6,0.061,0.035,2608,2301,1731
$GC,11302,1.13,264.4,527.9,9.9,542,11303,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2302,1731
$GC,11610,1.13,264.4,498.2,9.4,557,11615,0.00,2.60,0.00,0.000,4,0.000,0.060,2608,3703,1731
$GC,11673,1.07,264.4,491.7,10.3,560,11677,0.00,2.42,0.00,0.000,6,0.000,0.028,2608,2303,1731
$GC,12006,1.07,264.4,460.8,9.1,576,12007,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2303,1731
$GC,12315,1.07,264.4,433.6,8.8,591,12316,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2303,1730
$GC,12624,1.07,264.4,407.3,8.3,606,12628,0.00,2.58,0.00,0.000,4,0.000,0.058,2608,3701,1731
$GC,12646,1.01,264.4,405.2,8.6,607,12651,0.15,2.42,0.00,0.000,6,0.107,0.028,2582,2300,1731
$GC,12967,1.01,264.4,380.1,7.8,623,12971,0.00,2.53,0.00,0.000,4,0.000,0.046,2582,892,1731
$GC,12988,1.01,264.4,378.2,8.8,624,12992,0.00,2.47,0.00,0.000,6,0.000,0.032,2582,2309,1730
$GC,13309,1.01,264.4,351.0,8.5,640,13313,0.00,2.58,0.00,0.000,4,0.000,0.058,2582,3705,1730
$GC,13331,1.01,264.4,349.0,8.9,641,13335,0.00,2.45,0.00,0.000,6,0.000,0.027,2582,2290,1730
$GC,13653,1.01,264.4,320.0,9.3,657,13657,0.00,2.50,0.00,0.000,4,0.000,0.044,2582,895,1730
$GC,13675,1.01,264.4,317.8,9.3,658,13679,0.00,2.45,0.00,0.000,6,0.000,0.032,2582,2301,1730
$GC,13995,1.01,264.4,289.1,8.7,674,13997,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2301,1730
$GC,14305,1.01,264.4,262.5,8.6,689,14306,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2301,1730
$GC,14614,1.01,264.4,236.2,8.6,704,14616,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2301,1730
$GC,14923,1.01,264.4,210.1,8.5,719,14924,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2299,1731
$GC,15232,1.01,264.4,183.7,8.5,734,15234,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2301,1731
$GC,15542,1.01,264.4,157.8,8.2,749,15543,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2301,1731
$GC,15851,1.01,264.4,132.4,8.3,764,15853,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2301,1731
$GC,16161,1.01,264.4,105.7,8.7,779,16163,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2301,1731
$GC,16471,1.05,264.4,79.7,8.4,794,16472,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2301,1731
$GC,16780,1.10,264.4,53.5,8.1,809,16784,0.00,2.58,0.00,0.000,4,0.000,0.057,2581,3705,1731
$GC,16812,1.10,264.4,50.6,7.8,810,16819,0.00,2.42,0.00,0.000,6,0.000,0.027,2582,2292,1731
$GC,17131,1.20,282.9,27.6,6.9,826,17154,0.17,2.50,16.42,0.565,4,0.048,0.041,2637,901,1662
$GC,17201,1.20,282.9,19.7,8.9,829,17205,0.00,2.45,0.00,0.000,6,0.000,0.031,2637,2300,1660
$STATE,17360,end climb,SURFACE_DEPTH_REACHED
$STATE,17360,begin surface coast
$FINISH,0.7,1.025960
$STATE,17382,end surface coast,CONTROL_FINISHED_OK
$STATE,17382,begin surface
$SM_CCo,17465,0.00,0.000,0,0,1656,284.79
$SM_GC,1.64,12.15,0.00,0.00,0.082,0.000,0.000,59,2625,1656,-10.47,0.71,284.79
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1786
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.4,68.2
$24V_AH,23.6,39.614
$10V_AH,10.1,20.327
$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,26.650,142.375,384.450,0.000,0.000,17.983,26.886,143.591,6.000,0.000,0.000,12.819,1522.362,13512.519,475.086,1786.516,475.712,0.000,1390.226,0.000,1744.015,0.000,41.527,0.000
$DEVICE_MAMPS,181.779,70.564,1069.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,613.299,572.071,496.164,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44236,838
$CAP_FILE_SIZE,123376,0
$CFSIZE,260165632,244498432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210709,212507,6241.083,-1218.889,35,1.8,35,-11.5