version: 66.04
glider: 16
mission: 13
dive: 285
start: 7 29 109 10 4 25
data:
$ID,16
$MISSION,13
$DIVE,285
$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,-2112672
$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,44
$R_STBD_OVSHOOT,40
$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
$GPS1,095625,6216.747,-1034.450,40,1.5,40,-10.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-63.1
$GPS2,100407,6216.776,-1034.515,12,1.8,12,-10.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,CE
$TGT_LATLONG,6205.000,-950.000
$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,129.9,44333,-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,-56.15,0.000,6,0.000,0.000,70,2614,3417
$GC,81,-1.03,-146.6,7.8,-15.1,3,102,12.05,2.30,0.00,0.000,4,0.188,0.054,2129,3843,3418
$GC,187,-0.92,-146.6,35.0,-12.6,7,194,0.15,2.12,0.00,0.000,6,0.135,0.025,2154,2580,3418
$GC,503,-0.92,-146.6,63.8,-8.5,23,507,0.00,2.40,0.00,0.000,4,0.000,0.036,2154,1217,3420
$GC,553,-1.01,-146.6,68.0,-7.9,25,557,0.00,2.40,0.00,0.000,6,0.000,0.034,2154,2584,3420
$GC,874,-1.01,-146.6,94.5,-8.3,41,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2585,3420
$GC,1183,-1.01,-146.6,120.4,-8.3,56,1187,0.00,2.40,0.00,0.000,4,0.000,0.035,2154,1217,3421
$GC,1211,-1.06,-146.6,122.8,-9.1,57,1216,0.12,2.42,0.00,0.000,6,0.047,0.034,2109,2600,3420
$GC,1527,-0.96,-146.6,156.7,-10.8,72,1529,0.20,0.00,0.00,0.000,6,0.097,0.000,2147,2600,3420
$GC,1837,-0.96,-146.6,185.3,-9.3,87,1841,0.00,2.45,0.00,0.000,4,0.000,0.036,2147,1209,3420
$GC,1877,-1.01,-146.6,188.9,-8.6,89,1881,0.00,2.45,0.00,0.000,6,0.000,0.035,2147,2603,3420
$GC,2203,-1.01,-146.6,220.2,-9.8,105,2207,0.00,2.45,0.00,0.000,4,0.000,0.036,2147,1212,3419
$GC,2237,-1.06,-146.6,223.3,-9.8,106,2243,0.00,2.45,0.00,0.000,6,0.000,0.035,2147,2605,3420
$GC,2553,-1.06,-146.6,253.7,-9.6,122,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2605,3421
$GC,2862,-1.06,-146.6,282.2,-9.0,137,2866,0.00,2.45,0.00,0.000,4,0.000,0.036,2147,1215,3420
$GC,2913,-1.12,-146.6,286.7,-8.4,139,2917,0.15,2.42,0.00,0.000,6,0.043,0.035,2100,2600,3419
$GC,3229,-0.99,-146.6,322.1,-11.4,154,3233,0.20,2.33,0.00,0.000,4,0.097,0.063,2141,3859,3419
$GC,3258,-0.99,-146.6,325.1,-10.3,155,3262,0.00,2.12,0.00,0.000,6,0.000,0.025,2141,2596,3419
$GC,3580,-0.99,-146.6,354.6,-9.1,171,3584,0.00,2.42,0.00,0.000,4,0.000,0.037,2141,1215,3419
$GC,3642,-1.03,-146.6,360.3,-9.2,174,3646,0.00,2.42,0.00,0.000,6,0.000,0.035,2141,2601,3419
$GC,3975,-1.03,-146.6,389.6,-8.8,190,3979,0.00,2.45,0.00,0.000,4,0.000,0.036,2141,1209,3419
$GC,4016,-1.08,-146.6,393.1,-8.5,192,4020,0.00,2.45,0.00,0.000,6,0.000,0.035,2141,2606,3419
$GC,4342,-1.08,-146.6,422.1,-9.0,208,4347,0.00,2.45,0.00,0.000,4,0.000,0.037,2141,1212,3419
$GC,4383,-1.13,-146.6,425.6,-9.0,210,4388,0.12,2.45,0.00,0.000,6,0.046,0.035,2100,2610,3419
$GC,4710,-1.01,-146.6,462.9,-11.5,226,4712,0.20,0.00,0.00,0.000,6,0.097,0.000,2138,2610,3418
$GC,5019,-1.01,-146.6,491.6,-9.0,241,5023,0.00,2.45,0.00,0.000,4,0.000,0.037,2138,1218,3418
$GC,5060,-1.01,-146.6,495.3,-9.3,243,5064,0.00,2.42,0.00,0.000,6,0.000,0.035,2138,2601,3418
$GC,5386,-1.01,-146.6,523.7,-8.6,259,5390,0.00,2.45,0.00,0.000,4,0.000,0.037,2138,1208,3418
$GC,5430,-1.06,-146.6,527.4,-8.3,261,5434,0.00,2.45,0.00,0.000,6,0.000,0.035,2138,2602,3418
$GC,5751,-1.06,-146.6,553.7,-8.1,277,5755,0.00,2.45,0.00,0.000,4,0.000,0.037,2138,1209,3418
$GC,5778,-1.06,-146.6,556.1,-7.9,278,5782,0.00,2.45,0.00,0.000,6,0.000,0.035,2138,2603,3418
$GC,6094,-1.06,-146.6,583.8,-9.3,293,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2603,3418
$GC,6404,-1.06,-146.6,611.8,-8.6,308,6408,0.00,2.45,0.00,0.000,4,0.000,0.037,2138,1209,3417
$GC,6472,-1.13,-146.6,617.4,-7.8,311,6477,0.12,2.45,0.00,0.000,6,0.048,0.035,2097,2602,3417
$GC,6800,-1.06,-146.6,648.5,-9.2,327,6805,0.15,2.45,0.00,0.000,4,0.097,0.036,2126,1210,3417
$GC,6840,-1.11,-146.6,651.8,-8.2,329,6844,0.00,2.45,0.00,0.000,6,0.000,0.035,2126,2604,3417
$GC,7167,-1.11,-146.6,677.1,-7.3,345,7171,0.00,2.35,0.00,0.000,4,0.000,0.069,2126,3863,3417
$GC,7257,-1.11,-146.6,683.0,-6.1,349,7261,0.00,2.12,0.00,0.000,6,0.000,0.026,2126,2608,3417
$GC,7584,-1.11,-146.6,705.5,-7.6,365,7588,0.00,2.47,0.00,0.000,4,0.000,0.041,2126,1209,3417
$GC,7629,-1.15,-146.6,708.9,-7.5,367,7633,0.00,2.45,0.00,0.000,6,0.000,0.037,2125,2599,3417
$GC,7950,-1.15,-146.6,732.4,-7.6,383,7954,0.00,2.35,0.00,0.000,4,0.000,0.071,2126,3857,3416
$GC,8024,-1.15,-146.6,738.4,-8.1,386,8027,0.00,2.15,0.00,0.000,6,0.000,0.028,2126,2599,3416
$GC,8345,-1.15,-146.6,764.1,-9.0,402,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2597,3414
$STATE,8651,end dive,NO_VERTICAL_VELOCITY
$STATE,8652,begin apogee
$GC,8659,-0.31,0.0,765.3,0.0,417,8794,0.85,0.00,130.25,1.090,6,0.118,0.000,2292,2290,2817
$STATE,8795,end apogee,CONTROL_FINISHED_OK
$STATE,8795,begin climb
$GC,8798,1.03,146.6,764.8,0.0,424,8938,1.35,2.58,132.12,1.077,4,0.074,0.050,2578,915,2218
$GC,9197,1.53,361.6,764.2,0.2,441,9404,0.52,2.45,196.60,1.080,6,0.056,0.035,2696,2302,1342
$GC,9731,1.29,361.6,699.1,14.3,467,9737,0.25,2.65,0.00,0.000,4,0.104,0.064,2645,3700,1330
$GC,9887,1.18,361.6,679.6,13.0,474,9892,0.15,2.45,0.00,0.000,6,0.106,0.032,2617,2317,1328
$GC,10213,1.18,361.6,640.5,12.5,490,10218,0.00,2.62,0.00,0.000,4,0.000,0.052,2617,890,1326
$GC,10237,1.18,361.6,637.6,12.9,491,10242,0.00,2.53,0.00,0.000,6,0.000,0.037,2617,2304,1326
$GC,10558,1.18,361.6,592.0,14.6,507,10562,0.00,2.58,0.00,0.000,4,0.000,0.049,2617,897,1326
$GC,10597,1.18,361.6,586.8,13.3,509,10602,0.00,2.50,0.00,0.000,6,0.000,0.037,2617,2302,1326
$GC,10925,1.18,361.6,545.9,12.2,525,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2302,1325
$GC,11233,1.18,361.6,508.2,12.8,540,11238,0.00,2.55,0.00,0.000,4,0.000,0.047,2617,896,1325
$GC,11273,1.18,361.6,502.9,13.8,542,11278,0.00,2.50,0.00,0.000,6,0.000,0.035,2617,2308,1325
$GC,11601,1.18,361.6,460.6,12.9,558,11605,0.00,2.55,0.00,0.000,4,0.000,0.046,2617,896,1325
$GC,11627,1.18,361.6,457.0,13.5,559,11632,0.00,2.47,0.00,0.000,6,0.000,0.033,2617,2305,1324
$GC,11943,1.18,361.6,417.6,12.6,574,11947,0.00,2.55,0.00,0.000,4,0.000,0.044,2617,895,1325
$GC,11983,1.18,361.6,412.5,13.2,576,11988,0.00,2.47,0.00,0.000,6,0.000,0.033,2617,2305,1325
$GC,12310,1.18,361.6,371.2,12.8,592,12314,0.00,2.55,0.00,0.000,4,0.000,0.043,2617,887,1324
$GC,12337,1.18,361.6,367.6,12.5,593,12341,0.00,2.47,0.00,0.000,6,0.000,0.032,2617,2299,1324
$GC,12658,1.18,361.6,326.9,12.6,609,12662,0.00,2.53,0.00,0.000,4,0.000,0.044,2617,894,1324
$GC,12686,1.18,361.6,323.0,13.1,610,12690,0.00,2.45,0.00,0.000,6,0.000,0.032,2617,2302,1324
$GC,13007,1.18,361.6,282.0,12.7,626,13011,0.00,2.53,0.00,0.000,4,0.000,0.043,2617,895,1325
$GC,13030,1.18,361.6,279.0,12.4,627,13034,0.00,2.47,0.00,0.000,6,0.000,0.031,2616,2308,1324
$GC,13350,1.18,361.6,240.2,11.9,643,13355,0.00,2.55,0.00,0.000,4,0.000,0.043,2617,890,1324
$GC,13383,1.18,361.6,236.1,11.7,644,13390,0.00,2.47,0.00,0.000,6,0.000,0.032,2617,2305,1325
$GC,13700,1.18,361.6,196.8,12.9,660,13704,0.00,2.55,0.00,0.000,4,0.000,0.043,2617,888,1325
$GC,13733,1.18,361.6,192.2,12.5,661,13739,0.00,2.47,0.00,0.000,6,0.000,0.032,2617,2302,1325
$GC,14048,1.18,361.6,151.2,12.7,677,14049,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2302,1325
$GC,14358,1.18,361.6,115.3,10.8,692,14362,0.00,2.53,0.00,0.000,4,0.000,0.043,2617,892,1325
$GC,14408,1.18,361.6,109.8,10.3,694,14412,0.00,2.47,0.00,0.000,6,0.000,0.033,2617,2305,1325
$GC,14724,1.18,361.6,75.6,11.0,709,14728,0.00,2.55,0.00,0.000,4,0.000,0.043,2617,889,1325
$GC,14764,1.18,361.6,71.1,11.3,711,14768,0.00,2.47,0.00,0.000,6,0.000,0.033,2617,2303,1325
$GC,15091,1.18,361.6,35.9,9.5,727,15095,0.00,2.53,0.00,0.000,4,0.000,0.043,2617,893,1325
$GC,15118,1.23,361.6,33.0,10.0,728,15123,0.00,2.47,0.00,0.000,6,0.000,0.032,2617,2308,1325
$STATE,15411,end climb,SURFACE_DEPTH_REACHED
$STATE,15411,begin surface coast
$FINISH,0.7,1.005591
$STATE,15433,end surface coast,CONTROL_FINISHED_OK
$STATE,15433,begin surface
$SM_CCo,15517,0.00,0.000,0,0,1323,366.48
$SM_GC,1.39,12.25,0.00,0.00,0.092,0.000,0.000,71,2603,1323,-10.46,0.08,366.48
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1819
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.5,44.513
$10V_AH,10.1,23.242
$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,28.850,162.700,458.975,0.000,0.000,36.096,59.666,176.969,7.000,0.000,0.000,12.283,1403.331,11737.051,536.262,1740.540,559.049,0.000,1451.082,0.000,1686.927,0.000,50.472,0.000
$DEVICE_MAMPS,187.915,71.331,1089.907,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,539.253,505.183,442.552,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37979,743
$CAP_FILE_SIZE,124225,0
$CFSIZE,260165632,242204672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,142424,6216.430,-1030.810,28,1.4,46,-10.3