version: 66.04
glider: 16
mission: 13
dive: 254
start: 7 22 109 23 17 48
data:
$ID,16
$MISSION,13
$DIVE,254
$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,-2112106.2
$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,36
$R_STBD_OVSHOOT,31
$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
$GPS1,230906,6240.979,-1212.689,35,1.0,41,-11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-59.4
$GPS2,231731,6241.004,-1212.741,11,1.1,16,-11.4
$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,137.4,34630,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-56.50,0.000,6,0.000,0.000,74,2604,3415
$GC,81,-1.03,-146.6,7.3,-13.6,3,102,11.85,2.53,0.00,0.000,4,0.182,0.034,2128,1193,3416
$GC,220,-1.03,-146.6,35.2,-11.1,9,225,0.00,2.47,0.00,0.000,6,0.000,0.035,2128,2593,3418
$GC,542,-0.98,-146.6,70.5,-10.3,25,547,0.00,2.35,0.00,0.000,4,0.000,0.062,2128,3863,3418
$GC,576,-0.93,-146.6,74.2,-10.2,26,583,0.15,2.17,0.00,0.000,6,0.102,0.025,2157,2570,3417
$GC,894,-0.93,-146.6,98.6,-7.3,42,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2569,3419
$GC,1202,-0.93,-146.6,120.7,-7.2,57,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2569,3419
$GC,1510,-0.93,-146.6,145.2,-8.2,72,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2569,3418
$GC,1820,-0.93,-146.6,170.5,-8.1,87,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2569,3418
$GC,2129,-0.93,-146.6,195.3,-8.0,102,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2569,3418
$GC,2438,-0.98,-146.6,220.3,-7.9,117,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2569,3418
$GC,2748,-1.02,-146.6,243.8,-7.6,132,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2569,3418
$GC,3057,-1.07,-146.6,267.5,-7.9,147,3059,0.15,0.00,0.00,0.000,6,0.041,0.000,2107,2569,3419
$GC,3367,-0.97,-146.6,299.9,-10.7,162,3375,0.17,2.40,0.00,0.000,4,0.098,0.062,2145,3863,3418
$GC,3397,-0.97,-146.6,303.2,-10.3,163,3401,0.00,2.12,0.00,0.000,6,0.000,0.025,2145,2597,3418
$GC,3724,-0.97,-146.6,331.2,-8.7,179,3728,0.00,2.42,0.00,0.000,4,0.000,0.038,2145,1215,3418
$GC,3769,-1.03,-146.6,335.2,-8.6,181,3773,0.00,2.45,0.00,0.000,6,0.000,0.035,2144,2612,3417
$GC,4089,-1.03,-146.6,363.4,-8.8,197,4093,0.00,2.45,0.00,0.000,4,0.000,0.036,2144,1217,3418
$GC,4119,-1.08,-146.6,365.9,-9.2,198,4123,0.00,2.42,0.00,0.000,6,0.000,0.034,2145,2599,3418
$GC,4435,-1.08,-146.6,394.1,-8.8,213,4439,0.00,2.33,0.00,0.000,4,0.000,0.065,2145,3857,3418
$GC,4468,-1.08,-146.6,397.4,-9.7,214,4474,0.00,2.12,0.00,0.000,6,0.000,0.025,2145,2592,3417
$GC,4783,-1.08,-146.6,424.4,-8.6,230,4787,0.00,2.40,0.00,0.000,4,0.000,0.039,2144,1216,3418
$GC,4834,-1.14,-146.6,428.7,-8.3,232,4839,0.15,2.42,0.00,0.000,6,0.043,0.035,2098,2600,3418
$GC,5156,-1.02,-146.6,464.1,-11.3,248,5158,0.20,0.00,0.00,0.000,6,0.092,0.000,2137,2600,3417
$GC,5464,-1.02,-146.6,492.4,-9.1,263,5469,0.00,2.42,0.00,0.000,4,0.000,0.038,2137,1218,3417
$GC,5492,-1.02,-146.6,494.9,-9.1,264,5496,0.00,2.40,0.00,0.000,6,0.000,0.035,2137,2600,3417
$GC,5814,-1.02,-146.6,523.0,-8.4,280,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2601,3417
$GC,6123,-1.02,-146.6,548.9,-8.4,295,6127,0.00,2.42,0.00,0.000,4,0.000,0.038,2137,1217,3417
$GC,6145,-1.02,-146.6,550.8,-8.9,296,6149,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2600,3416
$GC,6466,-1.02,-146.6,578.7,-9.2,312,6470,0.00,2.33,0.00,0.000,4,0.000,0.067,2137,3858,3416
$GC,6505,-1.02,-146.6,582.8,-10.8,314,6509,0.00,2.12,0.00,0.000,6,0.000,0.025,2137,2596,3416
$GC,6838,-1.02,-146.6,614.7,-8.9,330,6842,0.00,2.40,0.00,0.000,4,0.000,0.040,2137,1217,3416
$GC,6893,-1.07,-146.6,619.6,-8.2,332,6898,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2600,3416
$GC,7209,-1.07,-146.6,644.8,-7.7,347,7213,0.00,2.45,0.00,0.000,4,0.000,0.037,2137,1207,3416
$GC,7243,-1.14,-146.6,647.4,-8.2,348,7249,0.12,2.45,0.00,0.000,6,0.046,0.035,2095,2600,3416
$GC,7560,-1.07,-146.6,677.8,-9.7,364,7565,0.15,2.35,0.00,0.000,4,0.096,0.068,2125,3860,3416
$GC,7650,-1.07,-146.6,686.2,-9.2,368,7654,0.00,2.12,0.00,0.000,6,0.000,0.026,2125,2600,3415
$GC,7977,-1.07,-146.6,708.9,-6.7,384,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2597,3415
$GC,8286,-1.07,-146.6,733.8,-7.8,399,8290,0.00,2.45,0.00,0.000,4,0.000,0.041,2124,1206,3414
$GC,8336,-1.07,-146.6,737.6,-8.2,401,8341,0.00,2.47,0.00,0.000,6,0.000,0.038,2125,2607,3414
$STATE,8614,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8614,begin apogee
$GC,8621,-0.31,0.0,758.5,10.0,415,8756,0.82,0.00,128.82,1.081,6,0.105,0.000,2290,2305,2816
$STATE,8757,end apogee,CONTROL_FINISHED_OK
$STATE,8757,begin climb
$GC,8760,1.03,146.6,764.5,0.0,422,8899,1.35,2.70,130.45,1.071,4,0.069,0.064,2579,3707,2218
$GC,8935,0.89,146.6,757.8,9.1,429,8940,0.12,2.47,0.00,0.000,6,0.104,0.031,2557,2317,2216
$GC,9252,0.81,151.8,732.4,7.3,444,9259,0.00,0.00,4.97,0.732,6,0.000,0.000,2557,2317,2198
$GC,9561,0.79,179.6,711.9,6.6,459,9595,0.12,2.65,26.42,1.009,4,0.103,0.051,2534,899,2083
$GC,9618,0.83,179.6,708.0,7.6,461,9624,0.00,2.53,0.00,0.000,6,0.000,0.036,2534,2307,2081
$GC,9935,0.95,241.2,688.3,5.4,477,9998,0.15,2.75,57.33,1.032,4,0.050,0.064,2576,3702,1833
$GC,10057,0.90,241.2,679.7,7.8,482,10061,0.00,2.47,0.00,0.000,6,0.000,0.030,2576,2300,1830
$GC,10374,0.90,243.0,655.6,7.4,497,10375,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2299,1825
$GC,10682,0.90,243.0,632.8,7.6,512,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2299,1823
$GC,10991,0.90,243.0,609.0,8.6,527,10992,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2299,1823
$GC,11301,0.90,243.0,579.3,9.7,542,11302,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2299,1822
$GC,11610,0.90,243.0,550.9,8.7,557,11614,0.00,2.62,0.00,0.000,4,0.000,0.061,2576,3708,1822
$GC,11631,0.90,243.0,548.9,8.7,558,11635,0.00,2.47,0.00,0.000,6,0.000,0.029,2577,2294,1822
$GC,11952,0.90,243.0,522.0,8.3,574,11953,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2293,1822
$GC,12261,0.90,243.0,495.5,8.7,589,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2293,1822
$GC,12570,0.90,243.0,468.5,8.8,604,12575,0.00,2.60,0.00,0.000,4,0.000,0.058,2576,3707,1822
$GC,12598,0.90,243.0,465.8,9.6,605,12602,0.00,2.45,0.00,0.000,6,0.000,0.028,2576,2296,1822
$GC,12914,0.90,243.0,438.4,8.6,620,12918,0.00,2.47,0.00,0.000,4,0.000,0.046,2576,900,1822
$GC,12947,0.90,243.0,435.3,8.7,621,12951,0.00,2.47,0.00,0.000,6,0.000,0.033,2577,2312,1821
$GC,13267,0.90,243.0,409.2,8.1,637,13272,0.00,2.55,0.00,0.000,4,0.000,0.058,2576,3698,1821
$GC,13301,0.90,243.0,406.3,8.2,638,13307,0.00,2.42,0.00,0.000,6,0.000,0.027,2576,2297,1821
$GC,13617,0.90,243.0,381.1,7.7,654,13621,0.00,2.50,0.00,0.000,4,0.000,0.044,2576,900,1821
$GC,13634,0.90,243.0,379.7,8.1,655,13638,0.00,2.45,0.00,0.000,6,0.000,0.031,2576,2306,1821
$GC,13961,0.90,243.0,352.9,8.5,671,13965,0.00,2.55,0.00,0.000,4,0.000,0.058,2576,3704,1821
$GC,13982,0.90,243.0,350.8,8.9,672,13987,0.00,2.42,0.00,0.000,6,0.000,0.026,2576,2298,1821
$GC,14303,0.90,243.0,323.1,8.7,688,14307,0.00,2.47,0.00,0.000,4,0.000,0.044,2577,898,1821
$GC,14327,0.90,243.0,321.1,8.6,689,14331,0.00,2.45,0.00,0.000,6,0.000,0.031,2576,2305,1821
$GC,14653,0.90,243.0,292.3,9.0,705,14657,0.00,2.58,0.00,0.000,4,0.000,0.057,2576,3708,1821
$GC,14675,0.90,243.0,290.2,9.5,706,14679,0.00,2.42,0.00,0.000,6,0.000,0.026,2576,2298,1822
$GC,14996,0.90,243.0,261.2,9.1,722,15001,0.00,2.47,0.00,0.000,4,0.000,0.043,2576,902,1822
$GC,15018,0.90,243.0,259.1,9.3,723,15022,0.00,2.45,0.00,0.000,6,0.000,0.031,2577,2309,1821
$GC,15339,0.90,243.0,229.7,9.1,739,15344,0.00,2.55,0.00,0.000,4,0.000,0.057,2577,3700,1822
$GC,15361,0.90,243.0,227.5,8.8,740,15365,0.00,2.42,0.00,0.000,6,0.000,0.026,2576,2294,1822
$GC,15683,0.90,243.0,199.0,9.2,756,15685,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2294,1822
$GC,15992,0.90,243.0,171.9,8.6,771,15993,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2293,1822
$GC,16302,0.90,243.0,145.9,8.3,786,16306,0.00,2.58,0.00,0.000,4,0.000,0.055,2576,3705,1821
$GC,16325,0.90,243.0,143.8,9.0,787,16329,0.00,2.42,0.00,0.000,6,0.000,0.026,2576,2296,1823
$GC,16646,0.90,243.0,115.5,8.9,803,16650,0.00,2.47,0.00,0.000,4,0.000,0.043,2576,904,1823
$GC,16667,0.90,243.0,113.5,8.5,804,16672,0.00,2.45,0.00,0.000,6,0.000,0.031,2576,2311,1822
$GC,16990,0.94,243.0,83.4,10.5,820,16991,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2311,1823
$GC,17298,0.94,243.0,49.0,9.9,835,17302,0.00,2.50,0.00,0.000,4,0.000,0.041,2576,904,1823
$GC,17325,0.99,243.0,46.6,9.1,836,17330,0.00,2.42,0.00,0.000,6,0.000,0.031,2576,2302,1822
$GC,17643,1.09,271.1,25.7,6.5,851,17673,0.00,2.62,25.38,0.578,4,0.000,0.055,2576,3702,1710
$GC,17691,1.20,283.0,22.4,7.1,853,17708,0.20,2.45,11.75,0.536,6,0.044,0.025,2633,2295,1663
$STATE,17904,end climb,SURFACE_DEPTH_REACHED
$STATE,17904,begin surface coast
$FINISH,0.6,1.017555
$STATE,17928,end surface coast,CONTROL_FINISHED_OK
$STATE,17928,begin surface
$SM_CCo,18011,0.00,0.000,0,0,1654,285.28
$SM_GC,1.68,11.85,0.00,0.00,0.068,0.000,0.000,66,2606,1654,-10.47,0.17,285.28
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1795
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.9,92.3
$24V_AH,23.6,40.414
$10V_AH,10.1,20.811
$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,27.575,152.675,385.125,0.000,0.000,38.057,52.819,219.441,5.750,0.000,0.000,16.449,1570.902,14047.861,490.318,1783.242,618.869,0.000,1413.255,0.000,1735.562,0.000,40.283,0.000
$DEVICE_MAMPS,181.779,68.263,1081.470,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,632.918,590.767,513.181,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44346,865
$CAP_FILE_SIZE,133130,0
$CFSIZE,260165632,244117504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230709,041906,6240.064,-1213.604,30,1.1,30,-11.4