version: 66.04
glider: 16
mission: 13
dive: 282
start: 7 28 109 18 59 31
data:
$ID,16
$MISSION,13
$DIVE,282
$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,-2112614.5
$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,52
$R_STBD_OVSHOOT,26
$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
$GPS1,185230,6220.587,-1048.673,36,1.4,36,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-63.4
$GPS2,185914,6220.629,-1048.685,16,1.9,16,-10.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,DE
$TGT_LATLONG,6215.000,-1035.000
$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,142.0,15746,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-56.60,0.000,6,0.000,0.000,72,2572,3416
$GC,83,-1.03,-146.6,6.9,-12.2,3,105,11.80,2.42,0.00,0.000,4,0.178,0.054,2132,3865,3417
$GC,270,-0.95,-146.6,43.9,-12.5,11,274,0.00,2.15,0.00,0.000,6,0.000,0.025,2132,2593,3418
$GC,598,-0.90,-146.6,73.5,-8.0,27,603,0.15,2.35,0.00,0.000,4,0.131,0.059,2157,3860,3418
$GC,625,-0.90,-146.6,75.9,-8.3,28,629,0.00,2.12,0.00,0.000,6,0.000,0.025,2157,2600,3419
$GC,947,-0.90,-146.6,100.6,-7.9,44,951,0.00,2.42,0.00,0.000,4,0.000,0.037,2157,1216,3419
$GC,997,-0.99,-146.6,104.6,-7.8,46,1001,0.00,2.42,0.00,0.000,6,0.000,0.034,2157,2599,3419
$GC,1315,-0.99,-146.6,130.6,-8.7,61,1319,0.00,2.45,0.00,0.000,4,0.000,0.035,2157,1207,3419
$GC,1344,-1.06,-146.6,133.3,-8.8,62,1349,0.15,2.45,0.00,0.000,6,0.042,0.034,2107,2599,3419
$GC,1660,-0.96,-146.6,169.5,-11.6,77,1662,0.22,0.00,0.00,0.000,6,0.094,0.000,2151,2600,3419
$GC,1968,-0.96,-146.6,196.9,-8.7,92,1972,0.00,2.45,0.00,0.000,4,0.000,0.036,2150,1206,3419
$GC,2016,-1.03,-146.6,200.8,-8.7,94,2020,0.00,2.45,0.00,0.000,6,0.000,0.035,2151,2601,3419
$GC,2343,-1.03,-146.6,230.7,-9.3,110,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2601,3419
$GC,2651,-1.03,-146.6,258.1,-9.0,125,2655,0.00,2.45,0.00,0.000,4,0.000,0.036,2151,1209,3418
$GC,2707,-1.10,-146.6,263.1,-9.1,127,2714,0.15,2.45,0.00,0.000,6,0.041,0.035,2103,2602,3419
$GC,3024,-0.99,-146.6,300.0,-11.8,143,3029,0.17,2.33,0.00,0.000,4,0.096,0.063,2140,3858,3419
$GC,3051,-0.99,-146.6,303.3,-10.5,144,3055,0.00,2.12,0.00,0.000,6,0.000,0.025,2140,2597,3419
$GC,3378,-0.99,-146.6,334.5,-9.2,160,3382,0.00,2.42,0.00,0.000,4,0.000,0.038,2140,1218,3418
$GC,3425,-1.03,-146.6,338.5,-9.1,162,3429,0.00,2.42,0.00,0.000,6,0.000,0.035,2140,2601,3418
$GC,3751,-1.03,-146.6,366.9,-8.6,178,3755,0.00,2.45,0.00,0.000,4,0.000,0.036,2140,1209,3418
$GC,3791,-1.07,-146.6,370.2,-8.4,180,3795,0.00,2.45,0.00,0.000,6,0.000,0.035,2140,2605,3418
$GC,4118,-1.07,-146.6,397.2,-8.1,196,4123,0.00,2.45,0.00,0.000,4,0.000,0.036,2140,1212,3418
$GC,4146,-1.07,-146.6,399.6,-7.9,197,4150,0.00,2.45,0.00,0.000,6,0.000,0.035,2140,2609,3418
$GC,4462,-1.07,-146.6,424.6,-7.9,212,4470,0.00,2.45,0.00,0.000,4,0.000,0.037,2140,1215,3417
$GC,4498,-1.12,-146.6,427.5,-7.6,213,4503,0.12,2.42,0.00,0.000,6,0.046,0.035,2099,2601,3417
$GC,4814,-1.00,-146.6,459.4,-10.3,228,4819,0.20,2.45,0.00,0.000,4,0.094,0.036,2141,1209,3417
$GC,4842,-1.00,-146.6,462.1,-8.8,229,4846,0.00,2.42,0.00,0.000,6,0.000,0.035,2141,2599,3417
$GC,5164,-1.00,-146.6,487.2,-7.7,245,5168,0.00,2.45,0.00,0.000,4,0.000,0.036,2141,1208,3417
$GC,5191,-1.00,-146.6,489.4,-7.4,246,5195,0.00,2.45,0.00,0.000,6,0.000,0.035,2141,2601,3417
$GC,5508,-1.00,-146.6,513.0,-7.5,261,5512,0.00,2.45,0.00,0.000,4,0.000,0.037,2141,1208,3417
$GC,5535,-1.00,-146.6,515.1,-7.3,262,5540,0.00,2.45,0.00,0.000,6,0.000,0.035,2141,2601,3417
$GC,5856,-1.00,-146.6,540.2,-8.2,278,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2601,3416
$GC,6166,-1.00,-146.6,566.0,-8.0,293,6170,0.00,2.45,0.00,0.000,4,0.000,0.037,2141,1211,3416
$GC,6252,-1.06,-146.6,572.7,-8.2,297,6256,0.00,2.45,0.00,0.000,6,0.000,0.035,2141,2606,3416
$GC,6578,-1.06,-146.6,597.3,-7.5,313,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2606,3416
$GC,6888,-1.06,-146.6,621.7,-7.8,328,6892,0.00,2.45,0.00,0.000,4,0.000,0.037,2141,1212,3416
$GC,6955,-1.12,-146.6,626.8,-7.5,331,6960,0.12,2.45,0.00,0.000,6,0.046,0.035,2101,2607,3416
$GC,7277,-1.05,-146.6,660.3,-10.8,347,7279,0.15,0.00,0.00,0.000,6,0.096,0.000,2129,2607,3416
$GC,7585,-1.05,-146.6,689.2,-7.7,362,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2607,3415
$GC,7895,-1.05,-146.6,709.0,-5.5,377,7899,0.00,2.45,0.00,0.000,4,0.000,0.038,2129,1218,3415
$GC,7974,-1.10,-146.6,713.4,-5.8,380,7980,0.00,2.42,0.00,0.000,6,0.000,0.037,2129,2600,3415
$GC,8290,-1.10,-146.6,731.5,-5.8,396,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3414
$GC,8600,-1.10,-146.6,754.9,-8.1,411,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3414
$STATE,8761,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8761,begin apogee
$GC,8768,-0.31,0.0,768.4,8.5,419,8904,0.82,0.00,130.00,1.091,6,0.117,0.000,2290,2309,2816
$STATE,8905,end apogee,CONTROL_FINISHED_OK
$STATE,8905,begin climb
$GC,8908,1.03,146.6,774.4,0.0,426,9047,1.38,2.60,131.15,1.079,4,0.077,0.046,2579,914,2217
$GC,9305,0.95,181.9,751.7,6.3,443,9343,0.00,2.47,32.15,1.030,6,0.000,0.035,2579,2304,2074
$GC,9655,0.95,220.4,727.0,6.2,460,9697,0.00,2.70,36.17,1.027,4,0.000,0.065,2578,3701,1918
$GC,9737,0.90,220.4,721.2,8.3,463,9744,0.12,2.47,0.00,0.000,6,0.097,0.030,2556,2307,1915
$GC,10053,0.90,220.4,697.9,8.1,479,10057,0.00,2.58,0.00,0.000,4,0.000,0.052,2556,901,1910
$GC,10074,0.90,220.4,696.1,8.0,480,10079,0.00,2.50,0.00,0.000,6,0.000,0.036,2556,2304,1909
$GC,10396,0.98,246.6,671.6,6.6,496,10423,0.00,0.00,24.77,0.989,6,0.000,0.000,2556,2303,1811
$GC,10728,1.06,262.6,648.8,7.0,512,10751,0.15,2.67,15.98,0.943,4,0.049,0.063,2598,3700,1745
$GC,10768,0.99,262.6,645.2,9.6,513,10775,0.12,2.50,0.00,0.000,6,0.099,0.030,2576,2293,1744
$GC,11084,0.99,262.6,615.6,9.7,529,11085,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2293,1741
$GC,11393,0.99,262.6,586.6,9.0,544,11397,0.00,2.65,0.00,0.000,4,0.000,0.061,2576,3705,1741
$GC,11442,0.99,262.6,581.8,9.6,546,11446,0.00,2.47,0.00,0.000,6,0.000,0.030,2576,2293,1741
$GC,11764,0.99,262.6,555.3,8.3,562,11765,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2292,1740
$GC,12073,0.99,262.6,528.4,8.9,577,12074,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2292,1740
$GC,12382,0.99,262.6,500.2,9.3,592,12383,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2292,1740
$GC,12692,0.99,262.6,470.9,9.3,607,12696,0.00,2.60,0.00,0.000,4,0.000,0.058,2576,3700,1740
$GC,12719,0.99,262.6,468.1,9.5,608,12723,0.00,2.45,0.00,0.000,6,0.000,0.028,2576,2290,1740
$GC,13034,0.99,262.6,440.4,8.6,623,13036,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2290,1740
$GC,13344,0.99,262.6,413.6,8.7,638,13345,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2289,1739
$GC,13654,0.99,262.6,386.4,8.9,653,13658,0.00,2.60,0.00,0.000,4,0.000,0.058,2576,3706,1740
$GC,13675,0.99,262.6,384.4,8.8,654,13679,0.00,2.45,0.00,0.000,6,0.000,0.027,2576,2290,1740
$GC,13995,0.99,262.6,355.0,9.2,670,13997,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2289,1740
$GC,14305,0.99,262.6,325.8,9.3,685,14306,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2291,1740
$GC,14614,0.99,262.6,296.8,9.3,700,14615,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2290,1740
$GC,14923,0.99,262.6,269.1,8.9,715,14927,0.00,2.60,0.00,0.000,4,0.000,0.056,2576,3704,1740
$GC,14945,0.99,262.6,267.0,9.1,716,14949,0.00,2.42,0.00,0.000,6,0.000,0.027,2576,2297,1741
$GC,15266,1.03,262.6,239.1,8.5,732,15267,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2296,1741
$GC,15575,1.08,262.6,213.4,8.2,747,15576,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2296,1741
$GC,15885,1.12,262.6,186.4,9.0,762,15890,0.12,2.58,0.00,0.000,4,0.046,0.055,2616,3701,1741
$GC,15909,1.08,262.6,184.0,10.8,763,15913,0.00,2.42,0.00,0.000,6,0.000,0.026,2616,2294,1741
$GC,16231,1.01,262.6,147.0,11.6,779,16233,0.17,0.00,0.00,0.000,6,0.086,0.000,2581,2293,1741
$GC,16539,1.01,262.6,116.1,9.6,794,16540,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2293,1741
$GC,16850,1.01,262.6,85.3,10.5,809,16854,0.00,2.58,0.00,0.000,4,0.000,0.055,2581,3701,1741
$GC,16877,1.01,262.6,82.1,11.3,810,16881,0.00,2.42,0.00,0.000,6,0.000,0.026,2581,2293,1741
$GC,17194,1.06,262.6,51.6,8.0,825,17195,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2293,1741
$GC,17503,1.15,280.6,30.5,6.9,840,17526,0.15,2.50,16.48,0.565,4,0.044,0.043,2629,899,1672
$GC,17566,1.11,280.6,24.5,11.1,842,17573,0.15,2.45,0.00,0.000,6,0.084,0.031,2600,2304,1669
$STATE,17818,end climb,SURFACE_DEPTH_REACHED
$STATE,17818,begin surface coast
$FINISH,0.5,1.026479
$STATE,17840,end surface coast,CONTROL_FINISHED_OK
$STATE,17840,begin surface
$SM_CCo,17923,0.00,0.000,0,0,1664,282.59
$SM_GC,1.54,12.00,0.00,0.00,0.084,0.000,0.000,70,2594,1664,-10.47,-0.17,282.59
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1814
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.5,76.4
$24V_AH,23.6,44.118
$10V_AH,10.1,23.013
$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,28.450,138.600,386.700,0.000,0.000,17.976,27.792,227.842,6.250,0.000,0.000,16.235,1568.020,13874.178,487.124,1816.817,576.214,0.000,1415.581,0.000,1767.885,0.000,44.518,0.000
$DEVICE_MAMPS,177.944,65.195,1090.674,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,628.115,583.219,497.668,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44289,856
$CAP_FILE_SIZE,130643,0
$CFSIZE,260165632,242380800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280709,235930,6219.869,-1043.587,39,1.1,39,-10.5