version: 66.03
glider: 16
mission: 9
dive: 378
start: 8 16 108 23 8 28
data:
$ID,16
$MISSION,9
$DIVE,378
$D_SURF,2
$D_FLARE,3
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,557.32159
$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,-2101739.2
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2330
$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,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2781
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.434687
$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,20
$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
$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
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,230210,6359.389,-929.208,44,1.5,58,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-53.2
$GPS2,230811,6359.385,-929.186,13,2.1,32,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.063,-0.212
$KALMAN_X,-156115.9,12.1,3.6,-35086.5,18146.7
$KALMAN_Y,22619.4,-3049.0,-1719.4,156073.3,43365.0
$MHEAD_RNG_PITCHd_Wd,120.4,77760,-11.0,-6.000
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-120.40,0.000,2,0.000,0.000,74,2241,2982
$GC,153,-0.85,-146.6,4.3,-3.5,6,180,11.75,2.62,-9.05,0.000,4,0.170,0.066,2140,815,3380
$GC,210,-0.76,-146.6,14.8,-10.2,9,215,0.12,2.55,0.00,0.000,6,0.094,0.046,2163,2227,3380
$GC,538,-0.69,-146.6,44.3,-11.2,25,542,0.00,2.62,0.00,0.000,4,0.000,0.063,2163,3646,3380
$GC,571,-0.62,-146.6,47.9,-10.2,26,578,0.15,2.55,0.00,0.000,6,0.095,0.042,2192,2219,3380
$GC,889,-0.62,-146.6,67.7,-5.7,42,894,0.00,2.62,0.00,0.000,4,0.000,0.064,2192,3640,3380
$GC,913,-0.67,-146.6,68.9,-4.4,43,917,0.00,2.53,0.00,0.000,6,0.000,0.041,2192,2224,3381
$GC,1236,-0.73,-146.6,82.0,-4.4,59,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2225,3381
$GC,1545,-0.79,-146.6,100.7,-6.7,74,1550,0.15,2.65,0.00,0.000,4,0.043,0.064,2139,3644,3381
$GC,1586,-0.66,-146.6,104.6,-10.2,76,1591,0.22,2.53,0.00,0.000,6,0.084,0.043,2184,2232,3381
$GC,1914,-0.66,-146.6,128.8,-7.3,92,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2233,3382
$GC,2223,-0.66,-146.6,150.2,-6.9,107,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2233,3381
$GC,2531,-0.66,-146.6,170.8,-6.5,122,2535,0.00,2.62,0.00,0.000,4,0.000,0.067,2184,3640,3381
$GC,2571,-0.70,-146.6,173.5,-7.3,124,2575,0.00,2.53,0.00,0.000,6,0.000,0.043,2184,2230,3381
$GC,2897,-0.70,-146.6,194.2,-6.4,140,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2230,3381
$GC,3207,-0.74,-146.6,214.8,-6.6,155,3211,0.00,2.65,0.00,0.000,4,0.000,0.067,2184,3647,3381
$GC,3240,-0.74,-146.6,217.2,-7.1,156,3246,0.00,2.55,0.00,0.000,6,0.000,0.043,2184,2221,3381
$GC,3556,-0.79,-146.6,237.0,-6.3,172,3558,0.12,0.00,0.00,0.000,6,0.047,0.000,2143,2221,3381
$GC,3865,-0.70,-146.6,261.9,-8.3,187,3870,0.15,2.65,0.00,0.000,4,0.087,0.068,2176,3638,3381
$GC,3906,-0.74,-146.6,265.1,-7.9,189,3910,0.00,2.55,0.00,0.000,6,0.000,0.045,2176,2224,3381
$GC,4232,-0.74,-146.6,288.9,-7.4,205,4237,0.00,2.58,0.00,0.000,4,0.000,0.057,2176,820,3381
$GC,4278,-0.83,-146.6,292.4,-7.8,207,4283,0.12,2.55,0.00,0.000,6,0.047,0.048,2135,2230,3381
$GC,4599,-0.73,-146.6,319.4,-7.7,223,4604,0.17,2.65,0.00,0.000,4,0.086,0.071,2173,3645,3381
$GC,4655,-0.78,-146.6,323.1,-6.0,225,4662,0.00,2.55,0.00,0.000,6,0.000,0.047,2173,2228,3381
$GC,4972,-0.78,-146.6,343.6,-6.7,241,4976,0.00,2.60,0.00,0.000,4,0.000,0.059,2173,817,3380
$GC,5007,-0.84,-146.6,346.0,-7.1,242,5013,0.12,2.58,0.00,0.000,6,0.048,0.049,2133,2234,3380
$GC,5323,-0.74,-146.6,373.4,-8.9,258,5325,0.17,0.00,0.00,0.000,6,0.085,0.000,2167,2234,3380
$GC,5631,-0.74,-146.6,395.4,-7.0,273,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2234,3379
$GC,5941,-0.74,-146.6,417.6,-7.0,288,5945,0.00,2.65,0.00,0.000,4,0.000,0.075,2167,3638,3378
$GC,5962,-0.74,-146.6,419.2,-7.6,289,5966,0.00,2.58,0.00,0.000,6,0.000,0.050,2167,2224,3378
$GC,6284,-0.74,-146.6,443.3,-7.6,305,6288,0.00,2.62,0.00,0.000,4,0.000,0.064,2167,815,3378
$GC,6317,-0.80,-146.6,445.9,-8.2,306,6322,0.00,2.60,0.00,0.000,6,0.000,0.053,2167,2230,3378
$GC,6633,-0.80,-146.6,468.7,-7.3,322,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2230,3377
$GC,6941,-0.80,-146.6,490.2,-6.9,337,6946,0.00,2.67,0.00,0.000,4,0.000,0.078,2167,3644,3376
$GC,6975,-0.80,-146.6,492.7,-7.5,338,6981,0.00,2.58,0.00,0.000,6,0.000,0.052,2167,2230,3376
$GC,7290,-0.80,-146.6,512.9,-6.1,354,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3374
$GC,7601,-0.80,-146.6,531.0,-6.0,369,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3374
$GC,7910,-0.80,-146.6,550.4,-6.6,384,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3373
$GC,8218,-0.80,-146.6,572.5,-7.3,399,8222,0.00,2.67,0.00,0.000,4,0.000,0.081,2167,3637,3372
$GC,8252,-0.80,-146.6,575.1,-7.9,400,8259,0.00,2.58,0.00,0.000,6,0.000,0.054,2167,2230,3372
$GC,8569,-0.84,-146.6,597.3,-6.7,416,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2229,3371
$GC,8877,-0.84,-146.6,617.2,-6.4,431,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2230,3370
$GC,9188,-0.89,-146.6,638.7,-7.1,446,9190,0.15,0.00,0.00,0.000,6,0.055,0.000,2129,2230,3368
$GC,9496,-0.81,-146.6,663.7,-7.4,461,9498,0.12,0.00,0.00,0.000,6,0.102,0.000,2152,2230,3367
$GC,9806,-0.81,-146.6,686.9,-7.5,476,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2230,3366
$GC,10115,-0.81,-146.6,708.5,-7.4,491,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2230,3365
$GC,10424,-0.81,-146.6,728.7,-6.0,506,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2230,3364
$STATE,10483,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10483,begin apogee
$GC,10490,-0.31,0.0,732.9,6.3,509,10626,0.52,0.00,130.90,1.197,6,0.097,0.000,2257,2230,2781
$STATE,10627,end apogee,CONTROL_FINISHED_OK
$STATE,10627,begin climb
$GC,10630,0.85,146.6,737.0,0.0,516,10766,1.20,0.00,132.12,1.177,6,0.081,0.000,2507,2229,2184
$GC,11063,0.77,148.4,721.5,6.0,537,11067,0.00,2.67,0.00,0.000,4,0.000,0.071,2506,829,2183
$GC,11200,0.72,158.1,713.5,5.7,543,11217,0.00,2.62,11.90,1.048,6,0.000,0.056,2506,2240,2136
$GC,11527,0.75,238.6,699.0,3.8,559,11606,0.00,0.00,72.88,1.164,6,0.000,0.000,2506,2239,1808
$GC,11916,0.75,238.6,676.0,6.6,578,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2239,1808
$GC,12225,0.75,238.6,654.6,6.7,593,12230,0.00,2.67,0.00,0.000,4,0.000,0.069,2506,832,1807
$GC,12266,0.75,238.6,651.5,7.3,595,12270,0.00,2.62,0.00,0.000,6,0.000,0.056,2506,2247,1806
$GC,12593,0.75,238.6,631.5,6.2,611,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2247,1806
$GC,12902,0.77,253.9,613.8,5.6,626,12924,0.00,2.75,14.60,1.055,4,0.000,0.069,2506,832,1745
$GC,12958,0.77,253.9,610.1,6.4,628,12963,0.00,2.62,0.00,0.000,6,0.000,0.056,2507,2240,1745
$GC,13274,0.77,253.9,590.2,6.1,643,13275,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2241,1745
$GC,13583,0.77,253.9,570.9,6.2,658,13587,0.00,2.70,0.00,0.000,4,0.000,0.071,2506,824,1744
$GC,13617,0.79,277.2,568.9,5.4,659,13644,0.00,2.62,21.88,1.065,6,0.000,0.056,2506,2240,1650
$GC,13956,0.85,278.0,549.2,6.0,676,13957,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2240,1649
$GC,14264,0.91,278.0,528.0,7.0,691,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2240,1649
$GC,14572,0.97,278.0,507.2,6.5,706,14577,0.15,2.70,0.00,0.000,4,0.077,0.071,2543,830,1648
$GC,14622,0.92,278.0,503.0,8.3,708,14627,0.00,2.62,0.00,0.000,6,0.000,0.058,2543,2242,1648
$GC,14939,0.88,278.0,477.7,7.7,723,14941,0.12,0.00,0.00,0.000,6,0.100,0.000,2520,2242,1648
$GC,15249,0.88,278.0,453.6,7.9,738,15250,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2242,1649
$GC,15556,0.88,278.0,427.3,8.7,753,15561,0.00,2.70,0.00,0.000,4,0.000,0.070,2519,829,1648
$GC,15602,0.88,278.0,423.1,9.7,755,15606,0.00,2.62,0.00,0.000,6,0.000,0.057,2519,2246,1648
$GC,15923,0.88,278.0,396.9,7.7,771,15927,0.00,2.67,0.00,0.000,4,0.000,0.080,2519,3652,1648
$GC,15984,0.88,278.0,391.7,7.9,774,15989,0.00,2.62,0.00,0.000,6,0.000,0.058,2519,2237,1648
$GC,16312,0.88,278.0,368.3,6.8,790,16316,0.00,2.65,0.00,0.000,4,0.000,0.069,2519,827,1648
$GC,16339,0.88,278.0,366.2,6.9,791,16343,0.00,2.60,0.00,0.000,6,0.000,0.054,2519,2243,1648
$GC,16655,0.88,278.0,342.7,7.6,806,16659,0.00,2.67,0.00,0.000,4,0.000,0.077,2520,3650,1648
$GC,16677,0.88,278.0,340.7,8.7,807,16682,0.00,2.60,0.00,0.000,6,0.000,0.055,2519,2240,1648
$GC,16999,0.88,278.0,314.5,8.5,823,17000,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2240,1648
$GC,17308,0.88,278.0,288.1,8.5,838,17312,0.00,2.65,0.00,0.000,4,0.000,0.067,2519,826,1648
$GC,17341,0.88,278.0,285.2,7.6,839,17347,0.00,2.60,0.00,0.000,6,0.000,0.051,2520,2244,1648
$GC,17657,0.88,278.0,261.8,6.9,855,17658,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2244,1648
$GC,17966,0.88,278.0,240.3,6.9,870,17971,0.00,2.65,0.00,0.000,4,0.000,0.062,2519,826,1649
$GC,18011,0.88,278.0,237.3,7.2,872,18015,0.00,2.58,0.00,0.000,6,0.000,0.049,2519,2242,1649
$GC,18331,0.88,278.0,216.1,6.8,888,18333,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2242,1649
$GC,18641,0.88,278.0,193.8,7.5,903,18645,0.00,2.62,0.00,0.000,4,0.000,0.060,2519,829,1651
$GC,18697,0.88,278.0,189.5,8.0,905,18703,0.00,2.55,0.00,0.000,6,0.000,0.048,2519,2240,1652
$GC,19012,0.88,278.0,163.5,8.8,921,19014,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2240,1652
$GC,19322,0.88,278.0,137.0,8.5,936,19323,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2240,1653
$GC,19633,0.88,278.0,111.2,8.0,951,19638,0.00,2.62,0.00,0.000,4,0.000,0.058,2519,825,1654
$GC,19661,0.88,278.0,108.7,8.0,952,19666,0.00,2.58,0.00,0.000,6,0.000,0.047,2520,2249,1654
$GC,19978,0.88,278.0,85.2,7.5,967,19979,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2249,1655
$GC,20286,0.88,278.0,61.2,7.9,982,20291,0.00,2.65,0.00,0.000,4,0.000,0.058,2519,823,1655
$GC,20343,0.88,278.0,56.7,7.5,984,20349,0.00,2.55,0.00,0.000,6,0.000,0.046,2519,2242,1655
$GC,20661,0.88,280.0,33.8,5.9,1000,20668,0.00,0.00,5.45,0.531,6,0.000,0.000,2519,2242,1639
$GC,20969,0.90,294.1,16.0,5.6,1015,20992,0.00,2.67,13.02,0.607,4,0.000,0.064,2520,3647,1580
$GC,21020,0.94,294.1,12.3,7.0,1017,21024,0.00,2.58,0.00,0.000,6,0.000,0.048,2520,2232,1580
$STATE,21173,end climb,SURFACE_DEPTH_REACHED
$STATE,21173,begin surface coast
$FINISH,0.7,1.026985
$STATE,21198,end surface coast,CONTROL_FINISHED_OK
$STATE,21198,begin surface
$SM_CCo,21219,131.27,0.613,0,0,509,557.32
$SM_GC,1.35,0.00,0.00,131.27,0.000,0.000,0.613,71,2228,509,-10.39,-0.06,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1891
$TCM_TEMP,17.60
$XPDR_PINGS,59
$ALTIM_TOP_PING,19.4,18.4
$ALTIM_BOTTOM_PING,725.2,17.4
$24V_AH,23.3,60.884
$10V_AH,10.1,29.940
$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
$DEVICE_SECS,26.225,151.750,402.750,131.275,0.000,18.223,30.910,157.127,21.250,0.000,0.000,33.014,1828.783,16535.039,732.980,2041.881,568.606,0.000,1749.196,0.000,1980.961,0.000,44.379
$DEVICE_MAMPS,169.507,81.302,1196.520,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,765.804,700.375,634.189,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53775,1026
$CAP_FILE_SIZE,144550,0
$CFSIZE,260165632,237473792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170808,050558,6356.165,-929.122,36,2.1,55,-10.4