version: 66.02
glider: 16
mission: 6
dive: 114
start: 12 1 107 8 15 26
data:
$ID,16
$MISSION,6
$DIVE,114
$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,300
$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,-2077737.4
$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
$GPS1,080758,6208.167,-1021.935,29,3.3,49,-10.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-65.0
$GPS2,081435,6208.205,-1021.973,13,2.4,32,-10.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.175,-0.136
$KALMAN_X,-35452.0,-513.0,-1291.6,-29936.1,1878.0
$KALMAN_Y,108603.6,104.6,536.5,-53676.9,4934.9
$MHEAD_RNG_PITCHd_Wd,242.3,28752,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.85,-146.6,0.0,0.0,0,83,0.00,0.00,-62.47,0.000,2,0.000,0.000,72,2405,3193
$GC,85,-0.85,-146.6,4.1,-7.0,3,108,12.10,2.60,-4.72,0.000,4,0.173,0.078,2220,3766,3415
$GC,360,-0.85,-146.6,37.6,-8.7,15,364,0.00,2.50,0.00,0.000,6,0.000,0.046,2220,2395,3416
$GC,686,-0.85,-146.6,68.3,-9.0,31,691,0.00,2.55,0.00,0.000,4,0.000,0.068,2220,3763,3415
$GC,741,-0.85,-146.6,73.7,-10.5,33,748,0.00,2.47,0.00,0.000,6,0.000,0.047,2220,2402,3415
$GC,1057,-0.85,-146.6,103.0,-9.5,49,1061,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,986,3415
$GC,1118,-0.85,-146.6,108.0,-8.4,52,1122,0.00,2.55,0.00,0.000,6,0.000,0.049,2220,2400,3415
$GC,1444,-0.85,-146.6,137.2,-8.2,68,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3415
$GC,1752,-0.85,-146.6,163.3,-8.6,83,1757,0.00,2.62,0.00,0.000,4,0.000,0.064,2220,981,3415
$GC,1814,-0.85,-146.6,168.4,-8.3,86,1818,0.00,2.55,0.00,0.000,6,0.000,0.050,2220,2401,3415
$GC,2139,-0.85,-146.6,194.8,-8.2,102,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3415
$GC,2448,-0.85,-146.6,220.6,-8.6,117,2453,0.00,2.62,0.00,0.000,4,0.000,0.065,2220,982,3416
$GC,2520,-0.85,-146.6,227.0,-9.1,120,2524,0.00,2.55,0.00,0.000,6,0.000,0.050,2220,2392,3416
$GC,2841,-0.85,-146.6,256.8,-9.3,136,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2392,3415
$GC,3150,-0.85,-146.6,285.1,-9.0,151,3155,0.00,2.60,0.00,0.000,4,0.000,0.066,2220,986,3416
$GC,3205,-0.85,-146.6,290.1,-8.9,153,3212,0.00,2.55,0.00,0.000,6,0.000,0.051,2220,2393,3416
$GC,3520,-0.85,-146.6,316.1,-8.1,169,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2393,3416
$GC,3829,-0.85,-146.6,340.5,-7.4,184,3834,0.00,2.60,0.00,0.000,4,0.000,0.067,2220,987,3416
$GC,3895,-0.85,-146.6,345.8,-7.1,187,3900,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,2408,3416
$GC,4222,-0.85,-146.6,367.2,-6.4,203,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2409,3415
$GC,4531,-0.85,-146.6,386.6,-6.5,218,4535,0.00,2.65,0.00,0.000,4,0.000,0.067,2222,981,3416
$GC,4593,-0.85,-146.6,391.0,-7.3,221,4597,0.00,2.55,0.00,0.000,6,0.000,0.051,2220,2400,3415
$GC,4918,-0.85,-146.6,414.8,-7.4,237,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3416
$GC,5227,-0.85,-146.6,436.3,-6.4,252,5231,0.00,2.60,0.00,0.000,4,0.000,0.066,2221,988,3416
$GC,5316,-0.85,-146.6,441.3,-5.0,256,5320,0.00,2.55,0.00,0.000,6,0.000,0.052,2220,2406,3416
$GC,5642,-0.85,-146.6,456.7,-4.6,272,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2406,3416
$GC,5952,-0.85,-146.6,471.0,-4.8,287,5956,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,988,3416
$GC,6028,-0.85,-146.6,474.7,-5.4,290,6035,0.00,2.58,0.00,0.000,6,0.000,0.053,2220,2401,3416
$GC,6344,-0.85,-146.6,492.2,-7.0,306,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2401,3416
$GC,6653,-0.85,-146.6,516.5,-9.1,321,6658,0.00,2.62,0.00,0.000,4,0.000,0.066,2220,984,3415
$GC,6747,-0.85,-146.6,526.3,-10.6,325,6752,0.00,2.58,0.00,0.000,6,0.000,0.052,2220,2391,3416
$GC,7068,-0.85,-146.6,558.0,-9.3,341,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2392,3416
$GC,7378,-0.85,-146.6,584.2,-7.8,356,7382,0.00,2.60,0.00,0.000,4,0.000,0.067,2220,986,3416
$GC,7465,-0.85,-146.6,590.6,-7.4,360,7470,0.00,2.60,0.00,0.000,6,0.000,0.052,2220,2402,3416
$GC,7793,-0.85,-146.6,609.7,-5.4,376,7797,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,986,3416
$GC,7841,-0.85,-146.6,612.7,-6.1,378,7846,0.00,2.58,0.00,0.000,6,0.000,0.053,2220,2405,3416
$GC,8162,-0.85,-146.6,632.6,-6.9,394,8163,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3416
$GC,8471,-0.85,-146.6,654.9,-7.7,409,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3416
$GC,8781,-0.85,-146.6,677.4,-7.3,424,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3416
$GC,9090,-0.85,-146.6,697.3,-6.0,439,9094,0.00,2.55,0.00,0.000,4,0.000,0.076,2220,3769,3416
$GC,9150,-0.85,-146.6,700.4,-4.7,442,9155,0.00,2.47,0.00,0.000,6,0.000,0.054,2220,2397,3415
$GC,9476,-0.85,-146.6,718.1,-6.8,458,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3415
$GC,9785,-0.85,-146.6,737.0,-5.8,473,9790,0.00,2.60,0.00,0.000,4,0.000,0.071,2220,988,3415
$GC,9847,-0.85,-146.6,740.6,-6.2,476,9852,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2403,3415
$GC,10172,-0.85,-146.6,756.2,-4.3,492,10177,0.00,2.55,0.00,0.000,4,0.000,0.079,2220,3765,3415
$GC,10249,-0.85,-146.6,761.3,-7.5,495,10257,0.00,2.47,0.00,0.000,6,0.000,0.054,2220,2410,3415
$GC,10565,-0.85,-146.6,787.6,-8.7,511,10570,0.00,2.62,0.00,0.000,4,0.000,0.072,2220,985,3415
$GC,10636,-0.85,-146.6,793.8,-8.6,514,10641,0.00,2.60,0.00,0.000,6,0.000,0.056,2220,2395,3415
$GC,10958,-0.85,-146.6,814.6,-6.4,530,10962,0.00,2.62,0.00,0.000,4,0.000,0.068,2220,977,3415
$GC,11012,-0.85,-146.6,818.1,-6.3,532,11019,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2405,3415
$STATE,11202,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11202,begin apogee
$GC,11206,-0.31,0.0,831.8,6.7,542,11332,0.60,0.00,122.82,1.230,6,0.114,0.000,2339,2192,2817
$STATE,11333,end apogee,CONTROL_FINISHED_OK
$STATE,11333,begin climb
$GC,11335,0.85,146.6,834.3,0.0,548,11465,1.23,2.75,121.10,1.209,4,0.099,0.073,2584,796,2218
$GC,11522,0.85,146.6,828.3,6.5,557,11526,0.00,2.62,0.00,0.000,6,0.000,0.056,2584,2202,2218
$GC,11847,0.89,189.8,809.9,4.8,573,11889,0.00,2.78,36.00,1.180,4,0.000,0.074,2584,785,2042
$GC,11957,0.90,191.7,804.1,5.9,578,11961,0.00,2.62,0.00,0.000,6,0.000,0.055,2584,2201,2043
$GC,12282,0.90,191.7,770.4,10.5,594,12283,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2201,2040
$GC,12591,1.13,404.5,764.3,0.2,609,12772,0.32,0.00,173.30,1.212,6,0.058,0.000,2662,2201,1167
$GC,13080,1.13,404.5,710.1,11.1,633,13084,0.00,2.67,0.00,0.000,4,0.000,0.072,2662,789,1166
$GC,13163,1.13,404.5,701.3,9.6,637,13168,0.00,2.60,0.00,0.000,6,0.000,0.049,2663,2206,1166
$GC,13488,1.13,404.5,667.9,10.9,653,13489,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2205,1166
$GC,13797,1.13,404.5,632.2,11.6,668,13798,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2205,1166
$GC,14107,1.13,404.5,596.9,11.4,683,14111,0.00,2.67,0.00,0.000,4,0.000,0.067,2662,784,1167
$GC,14160,1.13,404.5,590.4,11.6,685,14168,0.00,2.58,0.00,0.000,6,0.000,0.045,2662,2197,1167
$GC,14476,1.13,404.5,554.9,11.3,701,14481,0.00,2.62,0.00,0.000,4,0.000,0.068,2662,789,1169
$GC,14538,1.13,404.5,547.7,11.4,704,14542,0.00,2.55,0.00,0.000,6,0.000,0.045,2662,2199,1168
$GC,14862,1.13,404.5,511.8,10.4,720,14867,0.00,2.65,0.00,0.000,4,0.000,0.067,2662,788,1168
$GC,14918,1.13,404.5,506.1,9.9,722,14924,0.00,2.55,0.00,0.000,6,0.000,0.046,2662,2202,1168
$GC,15233,1.13,404.5,474.5,10.2,738,15237,0.00,2.65,0.00,0.000,4,0.000,0.067,2662,786,1169
$GC,15287,1.13,404.5,468.9,10.1,740,15294,0.00,2.58,0.00,0.000,6,0.000,0.046,2663,2195,1169
$GC,15602,1.13,404.5,435.3,10.8,756,15604,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2195,1170
$GC,15912,1.13,404.5,398.8,12.4,771,15916,0.00,2.62,0.00,0.000,4,0.000,0.067,2662,788,1169
$GC,15983,1.13,404.5,389.4,12.3,774,15987,0.00,2.58,0.00,0.000,6,0.000,0.046,2662,2201,1170
$GC,16304,1.13,404.5,349.5,12.7,790,16308,0.00,2.62,0.00,0.000,4,0.000,0.067,2662,788,1171
$GC,16358,1.13,404.5,342.5,12.6,792,16365,0.00,2.58,0.00,0.000,6,0.000,0.046,2663,2214,1171
$GC,16673,1.13,404.5,302.7,12.8,808,16677,0.00,2.67,0.00,0.000,4,0.000,0.066,2662,778,1171
$GC,16722,1.13,404.5,296.3,13.0,810,16727,0.00,2.60,0.00,0.000,6,0.000,0.045,2662,2204,1171
$GC,17044,1.13,404.5,258.0,11.8,826,17048,0.00,2.62,0.00,0.000,4,0.000,0.066,2662,788,1171
$GC,17075,1.13,404.5,254.2,10.5,827,17082,0.00,2.58,0.00,0.000,6,0.000,0.045,2662,2202,1172
$GC,17390,1.13,404.5,220.2,10.4,843,17395,0.00,2.65,0.00,0.000,4,0.000,0.066,2663,779,1172
$GC,17433,1.13,404.5,215.9,9.1,845,17438,0.00,2.58,0.00,0.000,6,0.000,0.044,2662,2214,1171
$GC,17761,1.13,404.5,184.9,9.9,861,17762,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2214,1172
$GC,18070,1.13,404.5,149.7,11.2,876,18074,0.00,2.65,0.00,0.000,4,0.000,0.064,2662,786,1172
$GC,18141,1.13,404.5,141.8,9.9,879,18146,0.00,2.55,0.00,0.000,6,0.000,0.044,2662,2195,1172
$GC,18462,1.13,404.5,111.6,10.0,895,18467,0.00,2.62,0.00,0.000,4,0.000,0.067,2662,785,1172
$GC,18506,1.13,404.5,106.8,10.7,897,18510,0.00,2.55,0.00,0.000,6,0.000,0.044,2662,2207,1172
$GC,18833,1.13,404.5,70.1,11.5,913,18837,0.00,2.65,0.00,0.000,4,0.000,0.066,2662,781,1172
$GC,18886,1.13,404.5,63.7,13.8,915,18894,0.00,2.58,0.00,0.000,6,0.000,0.044,2662,2201,1173
$GC,19202,1.13,404.5,26.8,11.4,931,19203,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2201,1172
$STATE,19428,end climb,SURFACE_DEPTH_REACHED
$STATE,19428,begin surface coast
$FINISH,0.6,1.015922
$STATE,19450,end surface coast,CONTROL_FINISHED_OK
$STATE,19450,begin surface
$SM_CCo,19529,0.00,0.000,0,0,1172,403.52
$SM_GC,1.33,11.30,0.00,0.00,0.041,0.000,0.000,73,2406,1172,-10.68,0.17,403.52
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2090
$TCM_TEMP,17.40
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,776.6,64.4
$24V_AH,23.5,21.719
$10V_AH,10.2,9.886
$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,25.550,172.200,453.225,0.000,0.000,32.626,39.097,211.382,10.750,0.000,0.000,33.443,1716.202,15027.541,633.692,2117.470,431.024,33.365,1667.044,0.000,2048.574,0.000,46.154
$DEVICE_MAMPS,172.575,79.001,1230.268,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,655.398,674.377,521.212,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47539,943
$CFSIZE,260165632,252854272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,011207,134227,6209.155,-1029.110,40,2.1,59,-10.3