version: 66.04
glider: 16
mission: 13
dive: 297
start: 7 31 109 19 16 10
data:
$ID,16
$MISSION,13
$DIVE,297
$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,-2112894.8
$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,35
$R_STBD_OVSHOOT,30
$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
$GPS1,190737,6204.736,-947.444,40,1.7,40,-9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-67.0
$GPS2,191550,6204.772,-947.436,12,1.5,12,-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,152.1,46361,-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,11,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,-58.50,0.000,6,0.000,0.000,72,2607,3417
$GC,80,-1.03,-146.6,6.9,-13.1,3,101,11.80,2.35,0.00,0.000,4,0.178,0.056,2132,3860,3419
$GC,240,-0.96,-146.6,40.6,-13.7,10,245,0.00,2.17,0.00,0.000,6,0.000,0.026,2132,2577,3420
$GC,569,-0.90,-146.6,81.6,-11.5,26,574,0.15,2.35,0.00,0.000,4,0.102,0.058,2161,3853,3420
$GC,655,-0.94,-146.6,90.2,-9.3,30,659,0.00,2.12,0.00,0.000,6,0.000,0.026,2161,2597,3419
$GC,988,-0.94,-146.6,121.6,-9.5,46,992,0.00,2.42,0.00,0.000,4,0.000,0.037,2161,1215,3420
$GC,1060,-1.03,-146.6,128.5,-9.4,49,1065,0.12,2.42,0.00,0.000,6,0.043,0.035,2116,2594,3420
$GC,1377,-0.94,-146.6,164.5,-11.4,64,1382,0.17,2.33,0.00,0.000,4,0.093,0.061,2153,3863,3421
$GC,1418,-0.94,-146.6,168.8,-10.2,66,1422,0.00,2.12,0.00,0.000,6,0.000,0.026,2154,2600,3420
$GC,1752,-0.94,-146.6,200.5,-9.0,82,1756,0.00,2.42,0.00,0.000,4,0.000,0.038,4095,1211,3420
$GC,1813,-1.01,-146.6,206.0,-9.0,84,1819,0.00,2.45,0.00,0.000,6,0.000,0.035,2152,2603,3420
$GC,2129,-1.01,-146.6,228.3,-6.2,100,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2603,3420
$GC,2439,-1.01,-146.6,247.0,-6.3,115,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2603,3420
$GC,2748,-1.01,-146.6,267.7,-7.4,130,2752,0.00,2.45,0.00,0.000,4,0.000,0.038,4095,1214,3420
$GC,2788,-1.09,-146.6,270.8,-7.6,132,2793,0.38,2.45,0.00,0.000,6,0.032,0.035,2052,2603,3420
$GC,3118,-0.83,-146.6,318.6,-16.4,148,3129,6.00,2.28,0.00,0.000,4,0.051,0.054,598,3863,3419
$GC,3383,1.41,-146.6,487.6,-67.1,160,3408,11.70,2.15,0.00,0.000,6,0.176,0.031,2660,2594,3418
$GC,3714,-0.74,-146.6,523.8,-8.7,176,3722,2.15,2.33,0.00,0.000,4,0.086,0.068,2201,3858,3419
$GC,3921,-1.06,-146.6,538.6,-7.5,185,3926,0.38,2.12,0.00,0.000,6,0.110,0.025,2128,2597,3419
$GC,4243,-1.24,-146.6,568.4,-9.5,201,4247,0.20,2.35,0.00,0.000,4,0.113,0.064,2088,3860,3418
$GC,4369,-1.16,-146.6,583.2,-11.9,206,4375,0.00,2.15,0.00,0.000,6,0.000,0.027,2088,2593,3418
$GC,4685,-1.07,-146.6,618.6,-11.5,222,4689,0.20,2.45,0.00,0.000,4,0.121,0.040,2127,1209,3419
$GC,4827,-1.15,-146.6,632.3,-9.5,228,4831,0.00,2.45,0.00,0.000,6,0.000,0.036,2127,2599,3417
$GC,5143,-1.21,-146.6,661.5,-8.4,243,5148,0.15,2.35,0.00,0.000,4,0.044,0.067,2094,3858,3417
$GC,5188,-1.12,-146.6,666.0,-10.8,245,5193,0.12,2.15,0.00,0.000,6,0.107,0.028,2115,2592,3417
$GC,5509,-1.12,-146.6,697.9,-9.9,261,5513,0.00,2.45,0.00,0.000,4,0.000,0.042,2115,1209,3417
$GC,5535,-1.12,-146.6,700.4,-10.4,262,5539,0.00,2.45,0.00,0.000,6,0.000,0.037,2115,2599,3417
$GC,5856,-1.12,-146.6,731.1,-8.4,278,5860,0.00,2.35,0.00,0.000,4,0.000,0.071,2115,3857,3416
$STATE,5864,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5864,begin apogee
$GC,5873,-0.31,0.0,732.2,7.4,278,6007,0.85,0.00,129.75,1.058,6,0.115,0.000,2285,2320,2817
$STATE,6007,end apogee,CONTROL_FINISHED_OK
$STATE,6007,begin climb
$GC,6011,1.03,146.6,735.4,0.0,285,6150,1.42,2.65,131.12,1.049,4,0.088,0.047,4095,894,2217
$GC,6391,0.96,146.6,716.3,7.8,301,6412,13.85,2.53,0.00,0.000,6,0.165,0.035,4094,2311,2204
$STATE,6415,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,6419,458.92,0.802,52,1,528,561.49
$SM_CCo,7143,6.70,0.669,0,0,509,566.15
$SM_GC,1.56,13.85,0.00,0.00,0.559,0.000,0.000,4094,2311,501,7.98,0.31,568.11
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1834
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.4,41.8
$24V_AH,23.6,46.282
$10V_AH,10.1,24.135
$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,63.500,65.975,260.875,465.625,0.000,41.216,127.711,141.915,6.250,0.000,0.000,12.540,686.523,5496.975,1094.528,890.865,492.944,0.000,1588.546,0.000,858.069,0.000,44.381,0.000
$DEVICE_MAMPS,559.143,70.564,1058.460,801.515,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,221.641,204.130,184.222,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15953,302
$CAP_FILE_SIZE,71277,24
$CFSIZE,260165632,241565696
$ERRORS,0,0,0,0,0,0,0,0,2,0,1,109,0,52,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,PITCH_DEAD
$SM_CCo,8287,0.00,0.000,0,0,501,568.11
$SM_GC,1.50,13.85,0.00,0.00,0.552,0.000,0.000,4094,2310,501,7.98,0.28,568.11
$GPS,310709,213438,6203.940,-949.644,13,1.9,13,-9.9