version: 66.04
glider: 16
mission: 13
dive: 296
start: 7 31 109 14 34 1
data:
$ID,16
$MISSION,13
$DIVE,296
$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,-2112881.5
$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,37
$R_STBD_OVSHOOT,27
$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
$GPS1,142837,6205.605,-947.664,28,1.7,28,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-67.5
$GPS2,143344,6205.628,-947.723,15,1.7,15,-9.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$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,153.0,47773,-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,14,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,-55.08,0.000,6,0.000,0.000,75,2604,3417
$GC,83,-1.03,-146.6,8.4,-16.4,3,104,12.10,2.38,0.00,0.000,4,0.189,0.059,2132,3863,3419
$GC,323,-0.96,-146.6,53.4,-12.8,13,330,0.00,2.17,0.00,0.000,6,0.000,0.026,2132,2576,3419
$GC,640,-0.91,-146.6,85.3,-8.5,29,645,0.15,2.40,0.00,0.000,4,0.132,0.038,2158,1213,3419
$GC,674,-0.98,-146.6,87.7,-6.2,30,681,0.00,2.42,0.00,0.000,6,0.000,0.035,2158,2597,3420
$GC,990,-1.02,-146.6,114.8,-9.5,46,994,0.00,2.33,0.00,0.000,4,0.000,0.061,2158,3859,3420
$GC,1023,-1.02,-146.6,117.8,-8.9,47,1030,0.00,2.12,0.00,0.000,6,0.000,0.025,2158,2593,3420
$GC,1341,-1.02,-146.6,143.0,-7.9,63,1346,0.00,2.42,0.00,0.000,4,0.000,0.038,2158,1217,3420
$GC,1370,-1.09,-146.6,145.6,-8.3,64,1375,0.17,2.42,0.00,0.000,6,0.039,0.035,2103,2600,3420
$GC,1686,-0.96,-146.6,180.4,-11.3,79,1690,0.20,2.33,0.00,0.000,4,0.097,0.061,2145,3865,3420
$GC,1726,-0.96,-146.6,184.4,-9.5,81,1730,0.00,2.12,0.00,0.000,6,0.000,0.026,2145,2601,3420
$GC,2059,-0.96,-146.6,214.1,-9.2,97,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2601,3420
$GC,2368,-0.96,-146.6,242.5,-9.2,112,2372,0.00,2.45,0.00,0.000,4,0.000,0.038,2145,1211,3420
$GC,2418,-1.02,-146.6,247.0,-8.8,114,2423,0.00,2.45,0.00,0.000,6,0.000,0.035,2145,2601,3420
$GC,2734,-1.02,-146.6,274.7,-8.6,129,2742,0.00,2.45,0.00,0.000,4,0.000,0.037,2145,1211,3420
$GC,2770,-1.07,-146.6,277.8,-8.2,130,2774,0.00,2.45,0.00,0.000,6,0.000,0.035,2145,2603,3420
$GC,3086,-1.07,-146.6,304.9,-8.6,145,3090,0.00,2.45,0.00,0.000,4,0.000,0.038,2145,1212,3419
$GC,3127,-1.12,-146.6,308.2,-8.5,147,3132,0.15,2.45,0.00,0.000,6,0.042,0.035,2099,2607,3420
$GC,3454,-0.99,-146.6,344.0,-11.3,163,3456,0.22,0.00,0.00,0.000,6,0.099,0.000,2141,2607,3419
$GC,3762,-0.99,-146.6,372.0,-9.0,178,3766,0.00,2.45,0.00,0.000,4,0.000,0.038,2141,1217,3419
$GC,3813,-1.04,-146.6,376.7,-8.9,180,3817,0.00,2.45,0.00,0.000,6,0.000,0.035,2141,2609,3418
$GC,4129,-1.04,-146.6,407.1,-9.4,195,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2609,3419
$GC,4437,-1.04,-146.6,438.8,-10.7,210,4442,0.00,2.45,0.00,0.000,4,0.000,0.038,2141,1217,3418
$GC,4505,-1.09,-146.6,446.0,-10.6,213,4509,0.00,2.45,0.00,0.000,6,0.000,0.036,2141,2608,3419
$GC,4826,-1.09,-146.6,478.3,-9.6,229,4830,0.00,2.45,0.00,0.000,4,0.000,0.038,2141,1216,3419
$GC,4870,-1.14,-146.6,482.3,-9.0,231,4875,0.15,2.45,0.00,0.000,6,0.043,0.035,2096,2609,3419
$GC,5192,-1.02,-146.6,518.1,-11.4,247,5194,0.20,0.00,0.00,0.000,6,0.097,0.000,2134,2610,3418
$GC,5500,-1.02,-146.6,547.2,-8.8,262,5504,0.00,2.45,0.00,0.000,4,0.000,0.038,2134,1218,3418
$GC,5608,-1.06,-146.6,556.6,-8.7,267,5612,0.00,2.42,0.00,0.000,6,0.000,0.036,2134,2600,3418
$GC,5935,-1.06,-146.6,586.6,-9.2,283,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2600,3417
$GC,6243,-1.06,-146.6,613.5,-8.2,298,6248,0.00,2.45,0.00,0.000,4,0.000,0.038,2134,1211,3417
$GC,6294,-1.11,-146.6,618.0,-8.5,300,6299,0.00,2.45,0.00,0.000,6,0.000,0.036,2134,2601,3417
$GC,6610,-1.11,-146.6,643.7,-7.2,315,6614,0.00,2.35,0.00,0.000,4,0.000,0.068,2134,3862,3416
$GC,6650,-1.11,-146.6,646.8,-8.3,317,6654,0.00,2.12,0.00,0.000,6,0.000,0.027,2134,2605,3416
$GC,6984,-1.17,-146.6,672.4,-8.5,333,6989,0.12,2.47,0.00,0.000,4,0.046,0.041,2094,1209,3416
$GC,7050,-1.13,-146.6,678.4,-8.5,336,7054,0.00,2.47,0.00,0.000,6,0.000,0.038,2095,2610,3416
$GC,7372,-1.05,-146.6,708.9,-10.3,352,7374,0.17,0.00,0.00,0.000,6,0.100,0.000,2128,2610,3415
$STATE,7512,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7512,begin apogee
$GC,7520,-0.31,0.0,721.4,8.1,359,7656,0.82,0.00,129.62,1.052,6,0.119,0.000,2287,2308,2816
$STATE,7656,end apogee,CONTROL_FINISHED_OK
$STATE,7656,begin climb
$GC,7659,1.03,146.6,726.2,0.0,366,7798,1.35,2.70,130.77,1.040,4,0.067,0.063,2580,3702,2219
$GC,7953,0.91,146.6,710.5,8.7,379,7958,0.12,2.47,0.00,0.000,6,0.092,0.029,2557,2302,2215
$GC,8269,0.86,146.6,686.4,7.5,394,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2302,2212
$GC,8578,0.88,202.7,666.7,5.6,409,8638,0.00,2.72,50.62,1.004,4,0.000,0.062,2556,3700,1989
$GC,8650,0.91,236.9,662.3,6.3,412,8689,0.00,2.50,33.08,0.979,6,0.000,0.028,2556,2296,1850
$GC,9015,1.01,271.0,636.3,6.3,430,9053,0.10,2.62,31.83,0.970,4,0.056,0.051,2588,894,1710
$GC,9099,1.01,271.0,630.3,7.6,433,9103,0.00,2.53,0.00,0.000,6,0.000,0.036,2588,2305,1706
$GC,9426,1.01,271.0,602.3,8.9,449,9430,0.00,2.65,0.00,0.000,4,0.000,0.064,2588,3708,1704
$GC,9475,1.01,271.0,597.5,10.4,451,9480,0.00,2.50,0.00,0.000,6,0.000,0.030,2588,2295,1704
$GC,9791,1.01,271.0,568.7,8.7,466,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2295,1704
$GC,10103,1.01,271.0,540.5,9.3,481,10108,0.00,2.65,0.00,0.000,4,0.000,0.061,2588,3707,1702
$GC,10125,1.01,271.0,537.9,10.1,482,10130,0.00,2.47,0.00,0.000,6,0.000,0.029,2588,2298,1702
$GC,10446,1.01,271.0,507.9,9.1,498,10450,0.00,2.55,0.00,0.000,4,0.000,0.048,2588,896,1702
$GC,10480,1.01,271.0,504.7,9.1,499,10486,0.00,2.47,0.00,0.000,6,0.000,0.035,2588,2301,1701
$GC,10796,1.01,271.0,476.2,8.8,515,10800,0.00,2.60,0.00,0.000,4,0.000,0.061,2588,3701,1700
$GC,10835,1.01,271.0,472.7,9.1,517,10840,0.00,2.45,0.00,0.000,6,0.000,0.029,2588,2299,1701
$GC,11162,1.01,271.0,447.1,8.2,533,11166,0.00,2.53,0.00,0.000,4,0.000,0.047,2588,898,1701
$GC,11190,1.01,271.0,444.5,8.9,534,11194,0.00,2.45,0.00,0.000,6,0.000,0.034,2588,2302,1700
$GC,11511,1.01,271.0,414.4,9.3,550,11512,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2303,1701
$GC,11820,1.01,271.0,386.1,9.1,565,11821,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2302,1700
$GC,12130,1.01,271.0,357.6,9.5,580,12131,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2302,1700
$GC,12439,1.01,271.0,329.3,9.1,595,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2302,1701
$GC,12748,1.01,271.0,301.1,8.9,610,12749,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2302,1701
$GC,13058,1.01,271.0,273.2,9.0,625,13062,0.00,2.60,0.00,0.000,4,0.000,0.058,2588,3709,1701
$GC,13079,1.01,271.0,271.1,9.0,626,13084,0.00,2.45,0.00,0.000,6,0.000,0.028,2588,2295,1702
$GC,13400,1.01,271.0,243.0,8.7,642,13401,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2295,1701
$GC,13710,1.01,271.0,215.9,8.7,657,13711,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2295,1701
$GC,14018,1.01,271.0,189.1,8.8,672,14023,0.00,2.60,0.00,0.000,4,0.000,0.056,2588,3703,1702
$GC,14045,1.01,271.0,186.5,9.2,673,14049,0.00,2.42,0.00,0.000,6,0.000,0.028,2588,2299,1702
$GC,14361,1.01,271.0,158.8,8.5,688,14362,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2298,1702
$GC,14670,1.01,271.0,129.5,9.7,703,14671,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2298,1702
$GC,14980,1.01,271.0,101.8,8.5,718,14981,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2298,1702
$GC,15289,1.01,271.0,79.3,8.1,733,15291,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2298,1702
$GC,15598,1.02,283.2,57.0,7.1,748,15611,0.00,0.00,10.48,0.556,6,0.000,0.000,2588,2298,1661
$GC,15909,1.07,283.2,31.7,8.7,763,15914,0.00,2.58,0.00,0.000,4,0.000,0.055,2588,3701,1660
$GC,15977,1.07,283.2,24.8,9.0,766,15981,0.00,2.42,0.00,0.000,6,0.000,0.027,2588,2299,1660
$STATE,16234,end climb,SURFACE_DEPTH_REACHED
$STATE,16234,begin surface coast
$FINISH,1.3,1.026350
$STATE,16256,end surface coast,CONTROL_FINISHED_OK
$STATE,16256,begin surface
$SM_CCo,16340,0.00,0.000,0,0,1657,284.55
$SM_GC,1.71,12.00,0.00,0.00,0.087,0.000,0.000,73,2605,1657,-10.45,0.14,284.55
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1807
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.1,55.7
$24V_AH,23.6,46.081
$10V_AH,10.1,24.088
$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,28.050,128.700,386.400,0.000,0.000,18.335,31.200,134.311,6.000,0.000,0.000,15.688,1432.732,12568.970,490.993,1691.365,459.457,0.000,1350.553,0.000,1646.107,0.000,42.805,0.000
$DEVICE_MAMPS,189.449,68.263,1051.557,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,570.966,533.068,478.508,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41156,780
$CAP_FILE_SIZE,118245,0
$CFSIZE,260165632,241541120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,310709,190737,6204.736,-947.444,40,1.7,40,-9.9