version: 66.02
glider: 16
mission: 6
dive: 109
start: 11 30 107 5 3 7
data:
$ID,16
$MISSION,6
$DIVE,109
$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,1
$FERRY_MAX,22
$KALMAN_USE,1
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-2077577
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2410
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,21
$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,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.08235
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,3
$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,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,045738,6150.393,-958.765,30,1.9,30,-9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-54.1
$GPS2,050215,6150.438,-958.882,15,1.9,15,-9.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.024,0.220
$KALMAN_X,-48193.1,1015.0,2744.6,-2497.6,-44913.3
$KALMAN_Y,97039.1,-565.9,734.2,-74516.4,-4101.4
$MHEAD_RNG_PITCHd_Wd,3.7,60557,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.85,-146.6,0.0,0.0,0,82,0.00,0.00,-62.03,0.000,2,0.000,0.000,73,2403,3155
$GC,85,-0.85,-146.6,3.1,-3.3,3,110,12.10,2.58,-6.10,0.000,4,0.173,0.083,2220,3760,3416
$GC,278,-0.85,-146.6,28.4,-13.9,11,285,0.00,2.47,0.00,0.000,6,0.000,0.047,2220,2404,3418
$GC,594,-0.85,-146.6,49.7,-7.2,27,598,0.00,2.62,0.00,0.000,4,0.000,0.065,2220,985,3418
$GC,636,-0.85,-146.6,52.7,-6.7,29,641,0.00,2.58,0.00,0.000,6,0.000,0.049,2220,2389,3418
$GC,963,-0.85,-146.6,72.4,-9.5,45,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2389,3418
$GC,1273,-0.85,-146.6,109.3,-11.6,60,1277,0.00,2.60,0.00,0.000,4,0.000,0.061,2220,976,3417
$GC,1311,-0.85,-146.6,113.2,-10.4,62,1315,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,2399,3418
$GC,1637,-0.85,-146.6,143.6,-7.8,78,1641,0.00,2.60,0.00,0.000,4,0.000,0.063,2220,985,3417
$GC,1698,-0.85,-146.6,147.9,-7.7,81,1703,0.00,2.58,0.00,0.000,6,0.000,0.052,2220,2401,3418
$GC,2023,-0.85,-146.6,174.6,-8.6,97,2028,0.00,2.62,0.00,0.000,4,0.000,0.065,2220,985,3418
$GC,2068,-0.85,-146.6,178.8,-9.8,99,2072,0.00,2.58,0.00,0.000,6,0.000,0.052,2220,2401,3418
$GC,2393,-0.85,-146.6,212.4,-10.6,115,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3418
$GC,2702,-0.85,-146.6,241.8,-8.6,130,2706,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,985,3418
$GC,2740,-0.85,-146.6,245.3,-8.9,132,2745,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2401,3418
$GC,3066,-0.85,-146.6,274.8,-9.2,148,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3417
$GC,3375,-0.85,-146.6,303.9,-9.6,163,3379,0.00,2.62,0.00,0.000,4,0.000,0.064,2220,982,3418
$GC,3414,-0.85,-146.6,308.1,-11.0,165,3418,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2408,3418
$GC,3740,-0.85,-146.6,339.9,-10.0,181,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2408,3418
$GC,4049,-0.85,-146.6,371.6,-10.2,196,4053,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,977,3418
$GC,4088,-0.85,-146.6,375.6,-11.3,198,4092,0.00,2.60,0.00,0.000,6,0.000,0.055,2220,2401,3418
$GC,4413,-0.85,-146.6,404.4,-7.7,214,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3418
$GC,4723,-0.85,-146.6,426.0,-7.3,229,4727,0.00,2.62,0.00,0.000,4,0.000,0.066,2220,982,3418
$GC,4794,-0.85,-146.6,431.4,-7.0,232,4798,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2397,3418
$GC,5115,-0.85,-146.6,454.5,-7.2,248,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2397,3418
$GC,5424,-0.85,-146.6,477.2,-7.5,263,5428,0.00,2.60,0.00,0.000,4,0.000,0.065,2220,979,3418
$GC,5507,-0.85,-146.6,483.9,-8.2,267,5512,0.00,2.58,0.00,0.000,6,0.000,0.053,2220,2398,3418
$GC,5833,-0.85,-146.6,508.3,-7.1,283,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3418
$GC,6142,-0.85,-146.6,528.7,-6.6,298,6146,0.00,2.60,0.00,0.000,4,0.000,0.066,2220,984,3418
$GC,6191,-0.85,-146.6,532.0,-6.9,300,6196,0.00,2.60,0.00,0.000,6,0.000,0.052,2220,2402,3418
$GC,6512,-0.85,-146.6,553.7,-7.1,316,6517,0.00,2.60,0.00,0.000,4,0.000,0.063,2220,984,3418
$GC,6551,-0.85,-146.6,556.5,-7.5,318,6555,0.00,2.58,0.00,0.000,6,0.000,0.052,2220,2404,3418
$GC,6876,-0.85,-146.6,580.1,-7.7,334,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3418
$GC,7185,-0.85,-146.6,606.2,-7.9,349,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3418
$GC,7495,-0.85,-146.6,630.7,-7.4,364,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3417
$GC,7805,-0.85,-146.6,651.0,-6.5,379,7809,0.00,2.62,0.00,0.000,4,0.000,0.065,2220,979,3417
$GC,7836,-0.85,-146.6,653.4,-7.6,380,7843,0.00,2.60,0.00,0.000,6,0.000,0.053,2220,2397,3417
$GC,8152,-0.85,-146.6,673.9,-5.1,396,8157,0.00,2.58,0.00,0.000,4,0.000,0.064,2220,984,3417
$GC,8218,-0.85,-146.6,677.9,-6.1,399,8222,0.00,2.60,0.00,0.000,6,0.000,0.051,2220,2404,3417
$GC,8545,-0.85,-146.6,704.5,-7.2,415,8549,0.00,2.62,0.00,0.000,4,0.000,0.066,2220,982,3417
$GC,8678,-0.85,-146.6,712.8,-6.9,421,8682,0.00,2.58,0.00,0.000,6,0.000,0.052,2220,2405,3417
$GC,9004,-0.85,-146.6,736.2,-5.7,437,9009,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,985,3416
$GC,9149,-0.85,-146.6,744.3,-4.7,443,9155,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2403,3417
$GC,9464,-0.85,-146.6,756.9,-4.4,459,9468,0.00,2.58,0.00,0.000,4,0.000,0.081,2220,3768,3417
$GC,9536,-0.85,-146.6,760.2,-3.9,462,9540,0.00,2.53,0.00,0.000,6,0.000,0.057,2220,2399,3417
$GC,9857,-0.85,-146.6,770.3,-3.7,478,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3417
$GC,10166,-0.85,-146.6,791.1,-8.0,493,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3417
$GC,10475,-0.85,-146.6,821.4,-10.9,508,10479,0.00,2.67,0.00,0.000,4,0.000,0.079,2220,985,3416
$GC,10518,-0.85,-146.6,824.6,-6.7,510,10522,0.00,2.60,0.00,0.000,6,0.000,0.064,2220,2398,3416
$GC,10845,-0.85,-146.6,845.2,-6.7,526,10846,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3415
$GC,11155,-0.85,-146.6,861.2,-3.4,541,11159,0.00,2.62,0.00,0.000,4,0.000,0.091,2220,3765,3413
$STATE,11291,end dive,NO_VERTICAL_VELOCITY
$STATE,11292,begin apogee
$GC,11300,-0.31,0.0,861.1,0.0,547,11425,0.55,0.00,122.88,1.297,6,0.100,0.000,2335,2206,2817
$STATE,11426,end apogee,CONTROL_FINISHED_OK
$STATE,11427,begin climb
$GC,11428,0.85,146.6,861.1,0.0,553,11559,1.27,2.85,121.57,1.261,4,0.105,0.079,2588,779,2218
$GC,11654,0.85,146.6,848.0,8.1,563,11661,0.00,2.67,0.00,0.000,6,0.000,0.057,2588,2197,2216
$GC,11970,0.85,146.6,825.5,7.4,579,11975,0.00,2.72,0.00,0.000,4,0.000,0.084,2588,3613,2215
$GC,12046,0.85,146.6,819.7,7.3,582,12053,0.00,2.67,0.00,0.000,6,0.000,0.061,2588,2199,2214
$GC,12362,0.85,146.6,794.8,8.4,598,12366,0.00,2.70,0.00,0.000,4,0.000,0.079,2588,784,2214
$GC,12406,0.85,146.6,791.2,7.4,600,12411,0.00,2.62,0.00,0.000,6,0.000,0.058,2588,2201,2213
$GC,12727,0.95,246.4,773.6,3.3,616,12816,0.15,2.78,80.93,1.237,4,0.064,0.074,2632,784,1811
$GC,12844,0.96,253.5,767.4,5.8,621,12858,0.00,2.65,7.53,0.994,6,0.000,0.056,2632,2200,1783
$GC,13179,0.96,253.5,733.1,17.4,638,13184,0.00,2.70,0.00,0.000,4,0.000,0.081,2632,3613,1780
$GC,13218,0.96,253.5,724.8,21.7,640,13222,0.00,2.65,0.00,0.000,6,0.000,0.061,2632,2191,1780
$GC,13543,0.96,253.5,673.1,13.1,656,13548,0.00,2.65,0.00,0.000,4,0.000,0.075,2632,786,1778
$GC,13665,0.96,253.5,657.2,12.5,661,13672,0.00,2.62,0.00,0.000,6,0.000,0.051,2632,2204,1777
$GC,13980,0.96,253.5,619.4,11.9,677,13984,0.00,2.67,0.00,0.000,4,0.000,0.068,2632,778,1777
$GC,14012,0.96,253.5,615.3,12.6,678,14019,0.00,2.60,0.00,0.000,6,0.000,0.048,2632,2207,1777
$GC,14327,0.96,253.5,575.7,12.1,694,14329,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2207,1777
$GC,14637,0.96,253.5,543.8,9.0,709,14638,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2207,1778
$GC,14946,0.96,253.5,519.7,7.4,724,14947,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2207,1778
$GC,15255,0.96,253.5,491.3,10.1,739,15256,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2207,1779
$GC,15564,0.96,253.5,462.2,8.6,754,15569,0.00,2.65,0.00,0.000,4,0.000,0.067,2632,783,1780
$GC,15607,0.96,253.5,458.4,8.3,756,15612,0.00,2.58,0.00,0.000,6,0.000,0.045,2632,2213,1779
$GC,15934,0.96,253.5,434.6,6.7,772,15935,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2213,1780
$GC,16243,0.96,253.5,414.5,6.8,787,16248,0.00,2.65,0.00,0.000,4,0.000,0.065,2632,783,1781
$GC,16305,0.96,253.5,410.1,6.6,790,16309,0.00,2.55,0.00,0.000,6,0.000,0.046,2632,2201,1781
$GC,16630,0.96,253.5,389.4,6.3,806,16635,0.00,2.65,0.00,0.000,4,0.000,0.066,2632,773,1783
$GC,16679,0.96,253.5,386.1,7.4,808,16684,0.00,2.60,0.00,0.000,6,0.000,0.046,2632,2203,1783
$GC,17000,0.96,253.5,364.7,6.6,824,17002,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2203,1782
$GC,17309,0.96,253.5,340.5,8.6,839,17314,0.00,2.65,0.00,0.000,4,0.000,0.067,2632,779,1784
$GC,17364,0.96,253.5,335.6,8.6,841,17371,0.00,2.58,0.00,0.000,6,0.000,0.045,2632,2199,1785
$GC,17680,0.96,253.5,305.5,10.3,857,17681,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2199,1785
$GC,17989,0.96,253.5,272.0,10.8,872,17990,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2199,1785
$GC,18298,0.96,253.5,237.5,10.9,887,18302,0.00,2.62,0.00,0.000,4,0.000,0.064,2632,776,1786
$GC,18336,0.96,253.5,233.1,11.3,889,18340,0.00,2.55,0.00,0.000,6,0.000,0.046,2632,2201,1786
$GC,18661,0.96,253.5,202.7,8.3,905,18662,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2201,1786
$GC,18970,0.96,253.5,177.8,8.5,920,18971,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2201,1786
$GC,19280,0.96,253.5,157.4,6.5,935,19284,0.00,2.62,0.00,0.000,4,0.000,0.064,2632,782,1786
$GC,19351,0.96,253.5,151.4,8.8,938,19355,0.00,2.55,0.00,0.000,6,0.000,0.044,2632,2196,1787
$GC,19672,0.96,253.5,123.0,9.6,954,19673,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2196,1786
$GC,19981,0.96,253.5,100.0,7.9,969,19982,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2197,1787
$GC,20290,0.96,253.5,72.1,8.8,984,20291,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2197,1787
$GC,20600,0.96,253.5,41.4,10.0,999,20601,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2196,1787
$GC,20909,0.96,253.5,10.0,10.9,1014,20910,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2196,1786
$STATE,21011,end climb,SURFACE_DEPTH_REACHED
$STATE,21011,begin surface coast
$FINISH,0.5,1.027274
$STATE,21032,end surface coast,CONTROL_FINISHED_OK
$STATE,21032,begin surface
$SM_CCo,21051,29.88,0.593,2,0,1593,300.00
$SM_GC,1.28,0.00,0.00,29.88,0.000,0.000,0.593,72,2400,1593,-10.75,-0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2102
$TCM_TEMP,17.30
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,800.3,71.5
$24V_AH,23.5,20.970
$10V_AH,10.2,9.464
$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,25.250,168.150,332.900,29.875,0.000,32.590,27.578,136.156,17.000,0.000,0.000,15.786,1840.848,16441.297,523.832,2227.266,345.572,33.375,1622.720,0.000,2172.130,0.000,50.745
$DEVICE_MAMPS,173.342,91.273,1296.997,592.891,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,716.785,727.974,574.569,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50512,1020
$CFSIZE,260165632,253153280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,301107,105607,6154.121,-1006.363,43,1.3,55,-10.0