version: 66.04
glider: 16
mission: 13
dive: 271
start: 7 26 109 11 17 40
data:
$ID,16
$MISSION,13
$DIVE,271
$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,-2112420.8
$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,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
$GPS1,111127,6227.177,-1136.804,41,2.4,60,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-57.3
$GPS2,111722,6227.202,-1136.883,11,2.7,30,-11.0
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$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,108.3,31890,-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,15,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-57.95,0.000,6,0.000,0.000,71,2605,3417
$GC,81,-1.03,-146.6,7.0,-12.9,3,102,11.80,2.35,0.00,0.000,4,0.179,0.055,2132,3858,3418
$GC,195,-0.95,-146.6,34.5,-12.7,8,200,0.10,2.17,0.00,0.000,6,0.106,0.025,2150,2574,3419
$GC,522,-0.95,-146.6,71.2,-11.5,24,526,0.00,2.40,0.00,0.000,4,0.000,0.036,2150,1209,3420
$GC,562,-1.00,-146.6,75.4,-9.9,26,567,0.00,2.45,0.00,0.000,6,0.000,0.033,2150,2601,3420
$GC,890,-1.00,-146.6,110.6,-10.6,42,894,0.00,2.45,0.00,0.000,4,0.000,0.035,2150,1209,3420
$GC,946,-1.06,-146.6,116.5,-11.1,44,952,0.00,2.45,0.00,0.000,6,0.000,0.033,2150,2605,3420
$GC,1262,-1.06,-146.6,145.0,-8.2,60,1266,0.00,2.45,0.00,0.000,4,0.000,0.035,2150,1211,3420
$GC,1307,-1.13,-146.6,148.6,-7.5,62,1312,0.17,2.45,0.00,0.000,6,0.038,0.033,2095,2607,3420
$GC,1628,-0.99,-146.6,182.0,-10.5,78,1633,0.20,2.33,0.00,0.000,4,0.096,0.060,2138,3866,3420
$GC,1668,-0.99,-146.6,186.0,-9.0,80,1672,0.00,2.12,0.00,0.000,6,0.000,0.025,2138,2597,3420
$GC,2001,-0.99,-146.6,216.3,-9.3,96,2005,0.00,2.42,0.00,0.000,4,0.000,0.037,2138,1214,3420
$GC,2056,-0.99,-146.6,221.6,-9.5,98,2062,0.00,2.45,0.00,0.000,6,0.000,0.034,2138,2610,3421
$GC,2373,-0.99,-146.6,251.5,-9.3,114,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2610,3420
$GC,2681,-0.99,-146.6,280.9,-9.5,129,2685,0.00,2.45,0.00,0.000,4,0.000,0.036,2138,1218,3420
$GC,2713,-0.99,-146.6,284.0,-9.4,130,2720,0.00,2.42,0.00,0.000,6,0.000,0.034,2138,2601,3420
$GC,3030,-0.99,-146.6,311.8,-8.4,146,3034,0.00,2.42,0.00,0.000,4,0.000,0.035,2138,1218,3420
$GC,3057,-0.99,-146.6,314.3,-8.2,147,3061,0.00,2.42,0.00,0.000,6,0.000,0.034,2138,2605,3420
$GC,3378,-0.99,-146.6,341.5,-8.4,163,3382,0.00,2.45,0.00,0.000,4,0.000,0.036,2138,1210,3420
$GC,3406,-0.99,-146.6,344.0,-8.8,164,3410,0.00,2.45,0.00,0.000,6,0.000,0.034,2138,2607,3419
$GC,3721,-0.99,-146.6,372.3,-9.2,179,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2607,3419
$GC,4031,-0.99,-146.6,401.3,-9.6,194,4035,0.00,2.42,0.00,0.000,4,0.000,0.037,2138,1218,3419
$GC,4093,-0.99,-146.6,407.3,-9.2,196,4099,0.00,2.42,0.00,0.000,6,0.000,0.034,2138,2602,3419
$GC,4409,-0.99,-146.6,436.0,-9.1,212,4413,0.00,2.42,0.00,0.000,4,0.000,0.036,2138,1217,3419
$GC,4436,-0.99,-146.6,438.6,-8.9,213,4440,0.00,2.42,0.00,0.000,6,0.000,0.034,2138,2600,3419
$GC,4757,-0.99,-146.6,466.1,-8.4,229,4761,0.00,2.42,0.00,0.000,4,0.000,0.037,2138,1218,3419
$GC,4784,-0.99,-146.6,468.5,-8.4,230,4789,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2599,3419
$GC,5100,-0.99,-146.6,495.0,-8.7,245,5104,0.00,2.42,0.00,0.000,4,0.000,0.037,2138,1218,3418
$GC,5127,-0.99,-146.6,497.6,-9.2,246,5131,0.00,2.42,0.00,0.000,6,0.000,0.034,2138,2601,3418
$GC,5444,-0.99,-146.6,525.5,-9.0,261,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2601,3418
$GC,5752,-0.99,-146.6,553.3,-9.2,276,5756,0.00,2.42,0.00,0.000,4,0.000,0.036,2138,1218,3418
$GC,5808,-1.04,-146.6,558.4,-8.7,278,5814,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2600,3418
$GC,6124,-1.04,-146.6,586.0,-8.9,294,6128,0.00,2.42,0.00,0.000,4,0.000,0.036,2138,1219,3418
$GC,6157,-1.08,-146.6,589.1,-9.1,295,6164,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2603,3418
$GC,6474,-1.08,-146.6,616.1,-8.6,311,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2603,3418
$GC,6783,-1.08,-146.6,640.0,-7.1,326,6787,0.00,2.45,0.00,0.000,4,0.000,0.036,2138,1211,3418
$GC,6850,-1.15,-146.6,644.8,-7.3,329,6855,0.15,2.45,0.00,0.000,6,0.042,0.035,2090,2608,3418
$GC,7173,-1.04,-146.6,677.4,-11.0,345,7178,0.17,2.30,0.00,0.000,4,0.097,0.066,2126,3857,3418
$GC,7205,-1.04,-146.6,681.1,-10.4,346,7212,0.00,2.12,0.00,0.000,6,0.000,0.026,2127,2601,3417
$GC,7522,-1.04,-146.6,713.6,-10.8,362,7526,0.00,2.45,0.00,0.000,4,0.000,0.039,2127,1209,3418
$GC,7562,-1.09,-146.6,717.9,-10.4,364,7566,0.00,2.45,0.00,0.000,6,0.000,0.035,2127,2605,3417
$GC,7888,-1.09,-146.6,746.5,-7.6,380,7892,0.00,2.33,0.00,0.000,4,0.000,0.068,2126,3856,3417
$GC,8000,-1.09,-146.6,755.6,-8.3,385,8004,0.00,2.12,0.00,0.000,6,0.000,0.026,2127,2602,3417
$GC,8327,-1.09,-146.6,780.4,-8.7,401,8331,0.00,2.47,0.00,0.000,4,0.000,0.043,2127,1209,3416
$GC,8390,-1.13,-146.6,786.0,-9.1,404,8394,0.00,2.45,0.00,0.000,6,0.000,0.037,2127,2599,3417
$STATE,8611,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8611,begin apogee
$GC,8618,-0.31,0.0,806.9,8.5,415,8754,0.82,0.00,131.00,1.105,6,0.106,0.000,2291,2298,2816
$STATE,8755,end apogee,CONTROL_FINISHED_OK
$STATE,8755,begin climb
$GC,8757,1.03,146.6,812.2,0.0,422,8902,1.35,2.75,132.48,1.096,4,0.071,0.064,2580,3702,2216
$GC,9026,0.89,146.6,801.1,7.6,434,9031,0.15,2.45,0.00,0.000,6,0.094,0.029,2553,2316,2214
$GC,9342,0.87,170.4,781.0,6.7,449,9370,0.00,2.67,22.02,1.024,4,0.000,0.061,2552,3698,2123
$GC,9384,0.89,188.5,778.1,6.9,451,9409,0.00,2.50,18.17,1.002,6,0.000,0.028,2552,2293,2048
$GC,9737,0.89,188.5,750.9,8.1,468,9738,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2293,2042
$GC,10047,0.89,188.5,724.2,8.9,483,10051,0.00,2.65,0.00,0.000,4,0.000,0.061,2552,3702,2041
$GC,10113,0.89,188.5,717.5,10.8,486,10117,0.00,2.47,0.00,0.000,6,0.000,0.028,2552,2297,2041
$GC,10433,0.89,188.5,689.6,8.3,502,10438,0.00,2.65,0.00,0.000,4,0.000,0.061,2552,3709,2040
$GC,10461,0.89,188.5,687.1,9.0,503,10465,0.00,2.47,0.00,0.000,6,0.000,0.028,2552,2299,2040
$GC,10777,0.91,207.5,664.6,6.9,518,10797,0.00,0.00,17.33,0.957,6,0.000,0.000,2552,2299,1971
$GC,11106,0.99,239.7,643.5,6.4,534,11145,0.10,0.00,31.90,0.979,6,0.054,0.000,2583,2298,1837
$GC,11455,0.99,239.7,613.7,8.7,551,11459,0.00,2.53,0.00,0.000,4,0.000,0.048,2583,902,1834
$GC,11482,0.99,239.7,610.9,9.8,552,11487,0.00,2.47,0.00,0.000,6,0.000,0.034,2583,2305,1832
$GC,11803,0.99,239.7,581.8,9.2,568,11807,0.00,2.60,0.00,0.000,4,0.000,0.060,2583,3701,1832
$GC,11843,0.94,239.7,578.0,10.4,570,11847,0.00,2.42,0.00,0.000,6,0.000,0.028,2583,2300,1832
$GC,12170,0.94,239.7,547.0,9.7,586,12174,0.00,2.50,0.00,0.000,4,0.000,0.047,2583,901,1832
$GC,12203,0.94,239.7,543.5,10.0,587,12207,0.00,2.47,0.00,0.000,6,0.000,0.033,2583,2308,1831
$GC,12518,0.94,239.7,513.4,9.4,602,12519,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2308,1831
$GC,12827,0.94,239.7,485.3,8.7,617,12829,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2308,1831
$GC,13137,0.94,239.7,459.1,8.2,632,13141,0.00,2.58,0.00,0.000,4,0.000,0.058,2583,3705,1831
$GC,13164,0.94,239.7,456.7,8.3,633,13169,0.00,2.45,0.00,0.000,6,0.000,0.027,2583,2291,1831
$GC,13480,0.94,239.7,431.1,8.2,648,13484,0.00,2.47,0.00,0.000,4,0.000,0.044,2583,900,1831
$GC,13513,0.94,239.7,428.2,8.4,649,13517,0.00,2.45,0.00,0.000,6,0.000,0.031,2583,2301,1831
$GC,13828,0.94,239.7,402.3,8.6,664,13832,0.00,2.58,0.00,0.000,4,0.000,0.057,2583,3702,1831
$GC,13867,0.94,239.7,398.5,10.1,665,13874,0.00,2.42,0.00,0.000,6,0.000,0.026,2583,2291,1831
$GC,14183,0.94,239.7,370.5,8.9,681,14184,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2291,1831
$GC,14492,0.94,239.7,342.9,9.1,696,14497,0.00,2.60,0.00,0.000,4,0.000,0.056,2583,3702,1831
$GC,14520,0.94,239.7,340.0,9.8,697,14525,0.00,2.42,0.00,0.000,6,0.000,0.025,2583,2294,1832
$GC,14836,0.94,239.7,310.8,9.4,712,14837,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2294,1832
$GC,15145,0.94,239.7,283.0,8.8,727,15146,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2294,1831
$GC,15455,0.94,239.7,255.8,8.7,742,15459,0.00,2.58,0.00,0.000,4,0.000,0.055,2583,3702,1832
$GC,15494,0.94,239.7,252.1,9.5,744,15498,0.00,2.40,0.00,0.000,6,0.000,0.026,2583,2301,1832
$GC,15827,0.94,239.7,223.3,8.7,760,15828,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2300,1832
$GC,16137,0.94,239.7,196.2,9.0,775,16138,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2300,1832
$GC,16445,0.94,239.7,167.6,9.5,790,16446,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2300,1832
$GC,16755,0.95,241.5,142.4,7.4,805,16759,0.00,2.58,0.00,0.000,4,0.000,0.055,2583,3708,1832
$GC,16777,0.95,241.5,140.6,8.5,806,16781,0.00,2.42,0.00,0.000,6,0.000,0.025,2583,2297,1832
$GC,17098,0.95,241.5,116.0,7.9,822,17099,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2297,1832
$GC,17408,1.00,287.6,95.1,5.9,837,17455,0.00,2.65,42.38,0.628,4,0.000,0.053,2583,3708,1643
$GC,17496,1.02,307.4,89.2,6.8,841,17521,0.00,2.45,18.60,0.598,6,0.000,0.026,2583,2302,1562
$GC,17846,1.10,307.4,59.9,9.6,858,17850,0.00,2.53,0.00,0.000,4,0.000,0.042,2583,895,1555
$GC,17869,1.19,307.4,57.7,8.7,859,17874,0.17,2.47,0.00,0.000,6,0.045,0.031,2635,2310,1555
$GC,18191,1.14,307.4,24.6,9.7,875,18196,0.15,2.55,0.00,0.000,4,0.088,0.054,2605,3700,1555
$GC,18224,1.14,307.4,21.2,9.0,876,18230,0.00,2.40,0.00,0.000,6,0.000,0.026,2605,2300,1554
$STATE,18413,end climb,SURFACE_DEPTH_REACHED
$STATE,18413,begin surface coast
$FINISH,0.9,1.026547
$STATE,18436,end surface coast,CONTROL_FINISHED_OK
$STATE,18436,begin surface
$SM_CCo,18520,0.00,0.000,0,0,1550,310.80
$SM_GC,1.72,12.23,0.00,0.00,0.093,0.000,0.000,62,2616,1550,-10.45,0.45,310.80
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1815
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.7,14.0
$24V_AH,23.6,42.596
$10V_AH,10.1,22.130
$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,27.575,177.450,413.875,0.000,0.000,18.356,29.439,160.286,7.000,0.000,0.000,31.569,1622.046,14242.197,558.651,1918.920,529.032,0.000,1538.050,0.000,1856.493,0.000,47.858,0.000
$DEVICE_MAMPS,178.711,68.263,1105.247,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,650.459,603.414,513.218,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44254,887
$CAP_FILE_SIZE,136951,0
$CFSIZE,260165632,243073024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,260709,162756,6227.703,-1131.438,39,2.2,58,-11.0