version: 66.04
glider: 16
mission: 13
dive: 251
start: 7 22 109 7 50 43
data:
$ID,16
$MISSION,13
$DIVE,251
$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,-2112054.5
$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,33
$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
$GPS1,074406,6240.168,-1216.731,36,1.0,36,-11.5
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-61.7
$GPS2,075026,6240.191,-1216.771,10,1.6,10,-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,132.5,36675,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-58.92,0.000,6,0.000,0.000,76,2610,3416
$GC,81,-1.03,-146.6,6.1,-10.5,3,103,11.85,2.55,0.00,0.000,4,0.182,0.037,2129,1193,3418
$GC,210,-1.03,-146.6,34.0,-12.6,8,216,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2600,3419
$GC,527,-0.99,-146.6,69.0,-9.6,24,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3420
$GC,835,-0.99,-146.6,98.0,-9.2,39,839,0.00,2.47,0.00,0.000,4,0.000,0.036,2129,1191,3420
$GC,868,-0.99,-146.6,101.1,-8.8,40,875,0.00,2.47,0.00,0.000,6,0.000,0.034,2129,2600,3420
$GC,1186,-0.99,-146.6,129.9,-9.7,56,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,1494,-0.99,-146.6,160.8,-10.1,71,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3420
$GC,1803,-0.99,-146.6,192.0,-10.1,86,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3419
$GC,2112,-0.99,-146.6,223.7,-10.1,101,2116,0.00,2.47,0.00,0.000,4,0.000,0.037,2129,1192,3419
$GC,2153,-0.99,-146.6,227.7,-9.9,103,2157,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2601,3420
$GC,2479,-0.99,-146.6,261.2,-10.0,119,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3420
$GC,2789,-0.99,-146.6,292.7,-10.2,134,2793,0.00,2.47,0.00,0.000,4,0.000,0.036,2129,1192,3419
$GC,2817,-0.99,-146.6,295.8,-11.1,135,2821,0.00,2.47,0.00,0.000,6,0.000,0.034,2129,2601,3420
$GC,3132,-0.99,-146.6,328.7,-10.3,150,3136,0.00,2.33,0.00,0.000,4,0.000,0.066,2130,3864,3420
$GC,3159,-0.99,-146.6,331.7,-10.7,151,3163,0.00,2.17,0.00,0.000,6,0.000,0.025,2129,2573,3419
$GC,3486,-0.99,-146.6,364.1,-9.8,167,3490,0.00,2.40,0.00,0.000,4,0.000,0.038,2129,1205,3419
$GC,3514,-0.99,-146.6,367.0,-10.2,168,3518,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2601,3419
$GC,3830,-0.99,-146.6,397.7,-9.7,183,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3419
$GC,4139,-0.99,-146.6,427.8,-9.6,198,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3419
$GC,4448,-0.99,-146.6,458.6,-10.3,213,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,4757,-0.99,-146.6,490.7,-10.5,228,4762,0.00,2.45,0.00,0.000,4,0.000,0.038,2129,1209,3419
$GC,4797,-0.99,-146.6,494.8,-10.8,230,4802,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2608,3418
$GC,5125,-0.99,-146.6,528.2,-10.1,246,5129,0.00,2.33,0.00,0.000,4,0.000,0.066,2129,3860,3419
$GC,5152,-0.99,-146.6,531.4,-10.9,247,5156,0.00,2.12,0.00,0.000,6,0.000,0.025,2130,2594,3419
$GC,5474,-0.99,-146.6,564.2,-10.0,263,5477,0.00,2.40,0.00,0.000,4,0.000,0.039,2130,1217,3418
$GC,5519,-0.99,-146.6,568.7,-9.3,265,5523,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2599,3418
$GC,5852,-0.99,-146.6,602.0,-10.1,281,5856,0.00,2.42,0.00,0.000,4,0.000,0.037,2129,1217,3418
$GC,5874,-0.99,-146.6,604.0,-8.8,282,5879,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3418
$GC,6202,-0.99,-146.6,634.5,-9.0,298,6206,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1215,3418
$GC,6225,-0.99,-146.6,636.5,-8.8,299,6229,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2599,3418
$GC,6546,-0.99,-146.6,664.0,-8.1,315,6550,0.00,2.33,0.00,0.000,4,0.000,0.067,2129,3856,3418
$GC,6591,-0.99,-146.6,667.9,-7.8,317,6595,0.00,2.10,0.00,0.000,6,0.000,0.026,2129,2597,3417
$GC,6918,-0.99,-146.6,691.7,-7.2,333,6922,0.00,2.42,0.00,0.000,4,0.000,0.039,2129,1218,3417
$GC,6987,-1.04,-146.6,696.5,-7.5,336,6991,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2599,3417
$GC,7308,-1.04,-146.6,716.8,-6.2,352,7312,0.00,2.35,0.00,0.000,4,0.000,0.070,2129,3857,3417
$GC,7412,-1.04,-146.6,725.4,-8.4,356,7418,0.00,2.12,0.00,0.000,6,0.000,0.028,2129,2606,3417
$GC,7728,-1.04,-146.6,750.2,-7.5,372,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2605,3416
$STATE,7931,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7931,begin apogee
$GC,7939,-0.31,0.0,765.3,7.4,382,8074,0.80,0.00,129.40,1.086,6,0.104,0.000,2289,2305,2817
$STATE,8075,end apogee,CONTROL_FINISHED_OK
$STATE,8075,begin climb
$GC,8078,1.03,146.6,771.8,0.0,389,8217,1.38,2.70,131.02,1.073,4,0.076,0.063,2581,3704,2217
$GC,8309,0.91,146.6,759.3,9.8,399,8314,0.12,2.47,0.00,0.000,6,0.100,0.030,2558,2306,2214
$GC,8636,0.87,159.5,736.4,7.1,415,8658,0.00,2.70,11.57,0.936,4,0.000,0.063,2558,3698,2166
$GC,8714,0.76,159.5,729.6,9.3,418,8719,0.17,2.47,0.00,0.000,6,0.102,0.030,2525,2300,2165
$GC,9031,0.89,232.6,711.6,5.0,433,9107,0.12,2.72,67.75,1.046,4,0.052,0.062,2561,3698,1867
$GC,9154,0.90,246.9,704.0,7.0,438,9174,0.00,2.47,14.35,0.951,6,0.000,0.031,2561,2302,1810
$GC,9491,0.95,246.9,680.7,7.9,455,9492,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2301,1802
$GC,9800,1.01,248.4,657.2,7.4,470,9805,0.00,2.65,0.00,0.000,4,0.000,0.063,2561,3707,1800
$GC,9822,1.01,248.4,655.4,7.5,471,9827,0.00,2.50,0.00,0.000,6,0.000,0.031,2559,2292,1800
$GC,10144,1.07,248.4,630.5,8.4,487,10146,0.15,0.00,0.00,0.000,6,0.051,0.000,2598,2292,1798
$GC,10453,1.03,248.4,599.0,10.2,502,10457,0.00,2.55,0.00,0.000,4,0.000,0.051,2598,894,1797
$GC,10475,0.98,248.4,596.6,10.4,503,10480,0.12,2.50,0.00,0.000,6,0.094,0.035,2576,2305,1796
$GC,10796,0.98,248.4,568.1,8.7,519,10797,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2305,1797
$GC,11105,0.98,248.4,539.8,9.5,534,11106,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2305,1797
$GC,11414,0.98,248.4,509.4,10.2,549,11418,0.00,2.55,0.00,0.000,4,0.000,0.044,2575,890,1796
$GC,11437,0.98,248.4,507.1,10.0,550,11441,0.00,2.47,0.00,0.000,6,0.000,0.033,2575,2301,1796
$GC,11764,0.98,248.4,472.7,10.5,566,11768,0.00,2.60,0.00,0.000,4,0.000,0.059,2575,3702,1797
$GC,11803,0.98,248.4,468.4,11.5,568,11807,0.00,2.45,0.00,0.000,6,0.000,0.028,2575,2291,1796
$GC,12130,0.98,248.4,437.0,9.3,584,12131,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2291,1796
$GC,12438,0.98,248.4,408.8,9.1,599,12443,0.00,2.60,0.00,0.000,4,0.000,0.057,2575,3701,1796
$GC,12460,0.98,248.4,406.6,9.7,600,12465,0.00,2.42,0.00,0.000,6,0.000,0.027,2575,2298,1797
$GC,12783,0.98,248.4,376.5,9.3,616,12787,0.00,2.50,0.00,0.000,4,0.000,0.044,2575,898,1797
$GC,12804,0.98,248.4,374.2,9.5,617,12809,0.00,2.45,0.00,0.000,6,0.000,0.031,2575,2304,1796
$GC,13126,0.98,248.4,345.4,8.9,633,13127,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2304,1797
$GC,13435,0.98,248.4,317.8,8.6,648,13436,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2304,1797
$GC,13744,0.98,248.4,291.6,8.5,663,13745,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2304,1798
$GC,14053,0.98,248.4,265.0,8.7,678,14054,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2304,1798
$GC,14363,0.98,248.4,237.4,9.0,693,14364,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2304,1798
$GC,14672,0.98,248.4,208.2,9.6,708,14673,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2304,1798
$GC,14982,1.02,248.4,179.6,8.9,723,14986,0.00,2.55,0.00,0.000,4,0.000,0.057,2575,3699,1799
$GC,15021,1.02,248.4,175.8,9.8,725,15025,0.00,2.40,0.00,0.000,6,0.000,0.027,2575,2297,1799
$GC,15355,1.07,248.4,147.7,8.3,741,15356,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2298,1799
$GC,15663,1.07,248.4,121.4,8.0,756,15665,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2297,1799
$GC,15975,1.16,293.6,101.0,6.0,771,16019,0.17,0.00,40.70,0.634,6,0.044,0.000,2628,2296,1619
$GC,16324,1.09,293.6,69.6,10.3,788,16326,0.17,0.00,0.00,0.000,6,0.087,0.000,2593,2295,1613
$GC,16632,1.15,308.5,44.7,7.0,803,16654,0.00,2.65,13.18,0.561,4,0.000,0.054,2593,3698,1558
$GC,16702,1.20,313.1,39.1,7.3,806,16713,0.12,2.42,5.60,0.471,6,0.047,0.026,2632,2301,1540
$GC,17031,1.11,313.1,3.4,11.1,822,17036,0.15,2.05,0.00,0.000,3,0.080,0.043,2601,1141,1537
$STATE,17037,end climb,SURFACE_DEPTH_REACHED
$STATE,17037,begin surface coast
$FINISH,0.6,1.020316
$STATE,17074,end surface coast,CONTROL_FINISHED_OK
$STATE,17074,begin surface
$SM_CCo,17160,0.00,0.000,0,0,1532,315.21
$SM_GC,1.66,12.18,0.00,0.00,0.091,0.000,0.000,70,2601,1532,-10.46,0.03,315.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1804
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.4,48.8
$24V_AH,23.6,40.019
$10V_AH,10.1,20.565
$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,27.525,127.800,413.575,0.000,0.000,17.947,29.327,206.235,6.250,0.000,0.000,10.480,1494.117,13299.811,511.289,1694.667,536.054,0.000,1383.201,0.000,1656.758,0.000,43.088,0.000
$DEVICE_MAMPS,181.779,69.797,1086.072,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,605.027,563.898,489.020,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41199,824
$CAP_FILE_SIZE,120794,0
$CFSIZE,260165632,244318208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,220709,123805,6240.670,-1213.027,42,1.0,46,-11.4