version: 66.04
glider: 16
mission: 13
dive: 268
start: 7 25 109 20 20 31
data:
$ID,16
$MISSION,13
$DIVE,268
$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,-2112351.5
$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,36
$R_STBD_OVSHOOT,28
$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
$GPS1,201201,6230.736,-1146.229,38,2.0,38,-11.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-62.7
$GPS2,202014,6230.719,-1146.337,13,1.4,13,-11.1
$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,114.9,5581,-16.3,-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,-1.14,-110.5,0.0,0.0,0,78,0.00,0.00,-58.55,0.000,6,0.000,0.000,80,2602,3270
$GC,81,-1.14,-110.5,5.6,-9.9,3,102,11.90,2.35,0.00,0.000,4,0.189,0.056,2108,3857,3271
$GC,344,-1.05,-110.5,52.2,-13.0,14,351,0.08,2.20,0.00,0.000,6,0.104,0.025,2135,2573,3272
$GC,660,-1.05,-110.5,78.8,-8.7,30,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2573,3273
$GC,969,-1.05,-110.5,110.0,-10.5,45,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2573,3273
$GC,1279,-1.05,-110.5,142.0,-10.0,60,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2573,3273
$GC,1587,-1.05,-110.5,172.2,-9.5,75,1592,0.00,2.38,0.00,0.000,4,0.000,0.037,2136,1218,3273
$GC,1627,-1.15,-110.5,175.8,-9.2,77,1632,0.12,2.42,0.00,0.000,6,0.044,0.034,2096,2598,3273
$GC,1955,-1.08,-110.5,209.8,-10.1,93,1959,0.15,2.33,0.00,0.000,4,0.098,0.061,2124,3858,3273
$GC,2010,-1.08,-110.5,215.4,-9.9,95,2016,0.00,2.12,0.00,0.000,6,0.000,0.025,2124,2591,3273
$GC,2326,-1.08,-110.5,245.4,-10.1,111,2330,0.00,2.42,0.00,0.000,4,0.000,0.037,2124,1209,3273
$GC,2360,-1.13,-110.5,249.0,-9.8,112,2366,0.00,2.45,0.00,0.000,6,0.000,0.034,2124,2605,3273
$GC,2675,-1.13,-110.5,280.8,-9.9,128,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2605,3273
$GC,2985,-1.13,-110.5,311.6,-10.0,143,2989,0.00,2.45,0.00,0.000,4,0.000,0.036,2124,1212,3273
$GC,3029,-1.20,-110.5,316.2,-9.7,145,3034,0.12,2.45,0.00,0.000,6,0.048,0.034,2086,2607,3273
$GC,3351,-1.11,-110.5,353.5,-11.7,161,3356,0.15,2.33,0.00,0.000,4,0.097,0.063,2113,3863,3272
$GC,3391,-1.11,-110.5,358.1,-11.5,163,3395,0.00,2.12,0.00,0.000,6,0.000,0.025,2113,2598,3273
$GC,3723,-1.11,-110.5,392.4,-10.1,179,3727,0.00,2.42,0.00,0.000,4,0.000,0.038,2114,1212,3272
$GC,3774,-1.15,-110.5,397.7,-9.9,181,3778,0.00,2.42,0.00,0.000,6,0.000,0.034,2114,2600,3272
$GC,4090,-1.15,-110.5,430.7,-10.4,196,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2600,3272
$GC,4399,-1.15,-110.5,461.7,-9.6,211,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2600,3272
$GC,4709,-1.15,-110.5,491.4,-9.5,226,4713,0.00,2.42,0.00,0.000,4,0.000,0.038,2112,1210,3272
$GC,4755,-1.20,-110.5,495.8,-9.5,228,4759,0.00,2.42,0.00,0.000,6,0.000,0.035,2114,2599,3271
$GC,5087,-1.20,-110.5,527.7,-9.8,244,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2599,3272
$GC,5397,-1.20,-110.5,558.8,-10.5,259,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2599,3271
$GC,5705,-1.20,-110.5,590.6,-10.1,274,5710,0.00,2.42,0.00,0.000,4,0.000,0.036,2113,1218,3271
$GC,5733,-1.20,-110.5,593.6,-10.6,275,5737,0.00,2.42,0.00,0.000,6,0.000,0.035,2114,2600,3271
$GC,6050,-1.20,-110.5,626.4,-10.6,290,6054,0.00,2.33,0.00,0.000,4,0.000,0.067,2114,3856,3271
$GC,6134,-1.20,-110.5,635.7,-10.7,294,6138,0.00,2.12,0.00,0.000,6,0.000,0.025,2113,2593,3271
$GC,6467,-1.20,-110.5,665.1,-8.0,310,6471,0.00,2.35,0.00,0.000,4,0.000,0.065,2113,3856,3271
$GC,6545,-1.20,-110.5,672.1,-9.2,313,6551,0.00,2.12,0.00,0.000,6,0.000,0.026,2113,2596,3271
$GC,6861,-1.20,-110.5,696.8,-7.8,329,6865,0.00,2.45,0.00,0.000,4,0.000,0.040,2113,1210,3271
$GC,6951,-1.26,-110.5,703.6,-7.7,333,6956,0.12,2.45,0.00,0.000,6,0.049,0.035,2076,2609,3271
$GC,7272,-1.19,-110.5,735.7,-9.8,349,7276,0.12,2.33,0.00,0.000,4,0.101,0.068,2099,3856,3270
$GC,7316,-1.19,-110.5,740.2,-10.1,351,7319,0.00,2.12,0.00,0.000,6,0.000,0.027,2100,2602,3271
$GC,7643,-1.19,-110.5,769.7,-9.5,367,7647,0.00,2.47,0.00,0.000,4,0.000,0.043,2099,1209,3268
$GC,7664,-1.19,-110.5,772.1,-9.9,368,7668,0.00,2.45,0.00,0.000,6,0.000,0.037,2099,2601,3268
$GC,7992,-1.72,-146.6,787.3,-0.1,384,7997,0.50,2.38,0.00,0.000,4,0.048,0.074,1978,3860,3267
$STATE,8107,end dive,NO_VERTICAL_VELOCITY
$STATE,8107,begin apogee
$GC,8117,-0.31,0.0,787.3,0.0,389,8220,1.45,0.00,98.88,1.095,6,0.079,0.000,2287,2316,2818
$STATE,8221,end apogee,CONTROL_FINISHED_OK
$STATE,8221,begin climb
$GC,8224,1.18,146.6,787.3,0.0,394,8372,1.52,2.72,132.27,1.085,4,0.073,0.062,2611,3712,2218
$GC,8486,1.04,146.6,770.6,9.5,406,8491,0.12,2.50,0.00,0.000,6,0.104,0.030,2589,2302,2215
$GC,8814,1.00,156.7,746.0,7.0,422,8827,0.00,0.00,9.43,0.908,6,0.000,0.000,2589,2302,2178
$GC,9145,0.95,156.7,718.3,8.5,438,9150,0.00,2.65,0.00,0.000,4,0.000,0.063,2589,3710,2174
$GC,9225,0.82,156.7,711.1,8.8,441,9232,0.25,2.50,0.00,0.000,6,0.106,0.030,2540,2292,2174
$GC,9542,0.98,212.4,692.8,5.0,457,9604,0.15,2.62,51.70,1.034,4,0.050,0.052,2583,895,1948
$GC,9643,0.98,212.4,685.9,7.8,461,9649,0.00,2.53,0.00,0.000,6,0.000,0.035,2583,2307,1945
$GC,9960,1.03,212.4,661.5,8.0,477,9964,0.00,2.62,0.00,0.000,4,0.000,0.064,2583,3705,1943
$GC,9986,1.03,212.4,659.2,8.1,478,9991,0.00,2.47,0.00,0.000,6,0.000,0.029,2583,2298,1943
$GC,10302,1.09,212.4,634.6,8.7,493,10307,0.00,2.65,0.00,0.000,4,0.000,0.061,2583,3708,1942
$GC,10392,1.09,212.4,625.6,10.1,497,10396,0.00,2.45,0.00,0.000,6,0.000,0.030,2583,2300,1942
$GC,10720,1.14,212.4,598.2,7.6,513,10725,0.12,2.62,0.00,0.000,4,0.051,0.059,2619,3705,1941
$GC,10748,1.08,212.4,595.6,10.1,514,10753,0.12,2.47,0.00,0.000,6,0.105,0.028,2597,2293,1941
$GC,11063,1.08,212.4,566.9,9.4,529,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2292,1940
$GC,11373,1.08,212.4,538.7,8.7,544,11377,0.00,2.62,0.00,0.000,4,0.000,0.058,2597,3704,1941
$GC,11413,1.08,212.4,535.0,9.8,546,11417,0.00,2.45,0.00,0.000,6,0.000,0.027,2597,2293,1941
$GC,11739,1.08,212.4,504.5,9.8,562,11740,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2293,1940
$GC,12048,1.08,212.4,473.2,10.3,577,12053,0.00,2.60,0.00,0.000,4,0.000,0.056,2597,3707,1940
$GC,12081,1.08,212.4,469.4,11.1,578,12087,0.00,2.45,0.00,0.000,6,0.000,0.027,2597,2293,1941
$GC,12397,1.08,212.4,438.0,9.8,594,12399,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2293,1941
$GC,12706,1.08,212.4,408.2,9.3,609,12711,0.00,2.60,0.00,0.000,4,0.000,0.056,2597,3701,1941
$GC,12746,1.08,212.4,404.4,9.7,611,12751,0.00,2.42,0.00,0.000,6,0.000,0.026,2597,2295,1941
$GC,13074,1.08,212.4,374.6,9.0,627,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2294,1941
$GC,13382,1.08,212.4,346.5,8.8,642,13387,0.00,2.60,0.00,0.000,4,0.000,0.055,2596,3702,1942
$GC,13416,1.08,212.4,343.1,9.5,643,13422,0.00,2.42,0.00,0.000,6,0.000,0.025,2597,2295,1941
$GC,13732,1.08,212.4,313.6,9.5,659,13733,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2292,1941
$GC,14040,1.08,212.4,283.9,9.7,674,14045,0.00,2.60,0.00,0.000,4,0.000,0.054,2597,3705,1941
$GC,14097,1.08,212.4,278.1,10.5,676,14104,0.00,2.42,0.00,0.000,6,0.000,0.026,2597,2297,1941
$GC,14414,1.08,212.4,248.3,9.2,692,14415,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2297,1941
$GC,14722,1.08,212.4,220.1,9.1,707,14727,0.00,2.60,0.00,0.000,4,0.000,0.054,2597,3710,1942
$GC,14762,1.08,212.4,216.1,10.0,709,14766,0.00,2.42,0.00,0.000,6,0.000,0.025,2597,2300,1942
$GC,15089,1.12,212.4,186.3,9.1,725,15090,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2300,1942
$GC,15397,1.12,212.4,157.9,9.1,740,15402,0.00,2.55,0.00,0.000,4,0.000,0.054,2598,3702,1943
$GC,15442,1.12,212.4,153.4,10.4,742,15446,0.00,2.42,0.00,0.000,6,0.000,0.025,2597,2292,1942
$GC,15764,1.16,212.4,122.5,9.8,758,15765,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2292,1942
$GC,16072,1.16,212.4,93.2,9.5,773,16076,0.00,2.60,0.00,0.000,4,0.000,0.054,2597,3706,1942
$GC,16122,1.16,212.4,87.7,10.7,775,16126,0.00,2.42,0.00,0.000,6,0.000,0.025,2597,2296,1942
$GC,16438,1.21,212.4,57.8,9.1,790,16443,0.12,2.58,0.00,0.000,4,0.047,0.053,2637,3704,1943
$GC,16466,1.13,212.4,54.7,10.8,791,16471,0.15,2.40,0.00,0.000,6,0.095,0.025,2608,2300,1942
$GC,16783,1.13,212.4,26.3,8.4,806,16784,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2300,1943
$STATE,17068,end climb,SURFACE_DEPTH_REACHED
$STATE,17068,begin surface coast
$FINISH,0.8,1.026551
$STATE,17091,end surface coast,CONTROL_FINISHED_OK
$STATE,17092,begin surface
$SM_CCo,17115,22.92,0.564,0,0,1796,250.21
$SM_GC,1.88,0.00,0.00,22.92,0.000,0.000,0.564,78,2605,1796,-10.49,0.14,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1805
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,23.6,42.206
$10V_AH,10.1,21.891
$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,29.575,147.425,292.275,22.925,0.000,36.665,56.399,210.039,6.500,0.000,0.000,13.550,1524.735,13231.787,445.987,1829.311,598.996,0.000,1368.433,0.000,1783.254,0.000,43.686,0.000
$DEVICE_MAMPS,188.682,74.399,1095.276,563.745,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,596.724,559.016,476.950,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41156,821
$CAP_FILE_SIZE,130443,0
$CFSIZE,260165632,243273728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260709,010730,6230.727,-1141.414,41,1.4,41,-11.1