version: 66.02
glider: 16
mission: 6
dive: 132
start: 12 5 107 19 28 12
data:
$ID,16
$MISSION,6
$DIVE,132
$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,-2078115
$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,18
$R_STBD_OVSHOOT,20
$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
$GPS1,192102,6228.126,-1028.150,39,1.2,39,-10.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-66.9
$GPS2,192722,6228.090,-1028.136,18,1.7,18,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.178,0.132
$KALMAN_X,-80954.8,612.0,726.2,6985.3,-15526.6
$KALMAN_Y,124236.2,-704.0,268.0,-31402.8,-2301.5
$MHEAD_RNG_PITCHd_Wd,63.9,57474,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,84,0.00,0.00,-61.95,0.000,2,0.000,0.000,70,2406,3135
$GC,87,-0.85,-146.6,3.6,-5.6,3,112,12.25,2.67,-6.38,0.000,4,0.178,0.074,2219,988,3417
$GC,290,-0.85,-146.6,24.8,-7.6,12,295,0.00,2.58,0.00,0.000,6,0.000,0.048,2219,2402,3418
$GC,618,-0.85,-146.6,48.2,-6.7,28,622,0.00,2.62,0.00,0.000,4,0.000,0.061,2219,980,3418
$GC,660,-0.85,-146.6,51.2,-6.4,30,665,0.00,2.58,0.00,0.000,6,0.000,0.049,2219,2395,3417
$GC,988,-0.85,-146.6,72.5,-6.7,46,992,0.00,2.60,0.00,0.000,4,0.000,0.061,2219,986,3418
$GC,1030,-0.85,-146.6,75.6,-6.8,48,1035,0.00,2.58,0.00,0.000,6,0.000,0.049,2219,2399,3418
$GC,1357,-0.85,-146.6,100.2,-7.1,64,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3418
$GC,1667,-0.85,-146.6,126.4,-8.3,79,1671,0.00,2.62,0.00,0.000,4,0.000,0.062,2219,979,3418
$GC,1687,-0.85,-146.6,128.1,-7.5,80,1692,0.00,2.58,0.00,0.000,6,0.000,0.049,2219,2394,3418
$GC,2016,-0.85,-146.6,150.3,-6.9,96,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2394,3418
$GC,2324,-0.85,-146.6,170.7,-6.6,111,2328,0.00,2.60,0.00,0.000,4,0.000,0.061,2219,982,3419
$GC,2395,-0.85,-146.6,175.8,-7.6,114,2399,0.00,2.58,0.00,0.000,6,0.000,0.049,2219,2403,3418
$GC,2716,-0.85,-146.6,198.8,-7.3,130,2720,0.00,2.62,0.00,0.000,4,0.000,0.061,2219,978,3419
$GC,2748,-0.85,-146.6,201.2,-6.8,131,2754,0.00,2.55,0.00,0.000,6,0.000,0.049,2219,2401,3418
$GC,3063,-0.85,-146.6,223.1,-7.2,147,3067,0.00,2.60,0.00,0.000,4,0.000,0.061,2219,985,3418
$GC,3118,-0.85,-146.6,227.6,-7.9,149,3124,0.00,2.58,0.00,0.000,6,0.000,0.051,2219,2406,3418
$GC,3433,-0.85,-146.6,254.9,-9.2,165,3437,0.00,2.62,0.00,0.000,4,0.000,0.062,2219,983,3419
$GC,3488,-0.85,-146.6,259.8,-9.7,167,3494,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,2405,3419
$GC,3802,-0.85,-146.6,284.7,-7.6,183,3806,0.00,2.62,0.00,0.000,4,0.000,0.061,2219,978,3418
$GC,3846,-0.85,-146.6,288.0,-7.4,185,3850,0.00,2.60,0.00,0.000,6,0.000,0.050,2219,2398,3419
$GC,4173,-0.85,-146.6,318.2,-9.9,201,4177,0.00,2.60,0.00,0.000,4,0.000,0.062,2219,985,3418
$GC,4233,-0.85,-146.6,324.4,-9.9,204,4237,0.00,2.55,0.00,0.000,6,0.000,0.051,2219,2400,3419
$GC,4559,-0.85,-146.6,355.3,-9.3,220,4563,0.00,2.60,0.00,0.000,4,0.000,0.061,2220,985,3419
$GC,4585,-0.85,-146.6,357.9,-9.5,221,4589,0.00,2.60,0.00,0.000,6,0.000,0.051,2220,2401,3419
$GC,4906,-0.85,-146.6,387.2,-9.1,237,4910,0.00,2.60,0.00,0.000,4,0.000,0.064,2220,985,3418
$GC,4949,-0.85,-146.6,391.1,-8.7,239,4954,0.00,2.58,0.00,0.000,6,0.000,0.053,2219,2397,3419
$GC,5275,-0.85,-146.6,420.6,-8.9,255,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2397,3418
$GC,5585,-0.85,-146.6,448.7,-9.6,270,5589,0.00,2.60,0.00,0.000,4,0.000,0.063,2220,984,3418
$GC,5661,-0.85,-146.6,455.8,-9.0,273,5668,0.00,2.58,0.00,0.000,6,0.000,0.052,2220,2403,3418
$GC,5977,-0.85,-146.6,483.1,-8.6,289,5981,0.00,2.62,0.00,0.000,4,0.000,0.064,2220,982,3418
$GC,6002,-0.85,-146.6,485.4,-8.5,290,6007,0.00,2.60,0.00,0.000,6,0.000,0.052,2219,2399,3418
$GC,6324,-0.85,-146.6,510.2,-7.3,306,6329,0.00,2.60,0.00,0.000,4,0.000,0.063,2220,985,3418
$GC,6356,-0.85,-146.6,512.8,-7.7,307,6363,0.00,2.58,0.00,0.000,6,0.000,0.051,2219,2401,3418
$GC,6672,-0.85,-146.6,533.3,-6.0,323,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3418
$GC,6984,-0.85,-146.6,551.0,-5.6,338,6988,0.00,2.62,0.00,0.000,4,0.000,0.063,2219,978,3418
$GC,7027,-0.85,-146.6,553.7,-5.1,340,7031,0.00,2.58,0.00,0.000,6,0.000,0.052,2219,2401,3418
$GC,7354,-0.85,-146.6,570.0,-5.0,356,7358,0.00,2.62,0.00,0.000,4,0.000,0.065,2219,979,3418
$GC,7415,-0.85,-146.6,573.3,-5.4,359,7420,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2403,3418
$GC,7740,-0.85,-146.6,592.5,-6.8,375,7744,0.00,2.62,0.00,0.000,4,0.000,0.064,2219,982,3419
$GC,7817,-0.85,-146.6,597.6,-6.7,378,7824,0.00,2.58,0.00,0.000,6,0.000,0.056,2220,2400,3418
$GC,8133,-0.85,-146.6,617.3,-6.4,394,8137,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,984,3418
$GC,8164,-0.85,-146.6,619.5,-7.0,395,8171,0.00,2.60,0.00,0.000,6,0.000,0.056,2219,2392,3418
$STATE,8313,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8313,begin apogee
$GC,8318,-0.31,0.0,629.1,6.9,403,8442,0.60,0.00,120.97,1.096,6,0.110,0.000,2338,2199,2817
$STATE,8443,end apogee,CONTROL_FINISHED_OK
$STATE,8443,begin climb
$GC,8445,0.85,146.6,633.1,0.0,409,8571,1.17,2.72,118.62,1.082,4,0.075,0.066,2588,788,2218
$GC,8655,0.86,160.0,623.8,5.6,419,8673,0.00,2.60,12.20,0.949,6,0.000,0.050,2587,2199,2164
$GC,8981,0.88,181.8,605.5,5.4,435,9002,0.00,0.00,19.08,1.006,6,0.000,0.000,2587,2199,2074
$GC,9310,0.90,199.0,587.8,5.5,451,9332,0.00,2.70,14.85,0.987,4,0.000,0.066,2587,789,2005
$GC,9370,0.92,212.4,584.3,5.6,453,9389,0.00,2.60,12.12,0.956,6,0.000,0.050,2588,2202,1952
$GC,9706,0.93,220.3,564.9,5.8,470,9716,0.12,0.00,8.18,0.896,6,0.066,0.000,2619,2202,1918
$GC,10015,0.93,220.3,542.1,7.6,485,10019,0.00,2.65,0.00,0.000,4,0.000,0.066,2619,789,1916
$GC,10057,0.93,220.3,538.6,8.5,487,10062,0.00,2.60,0.00,0.000,6,0.000,0.048,2620,2196,1915
$GC,10384,0.93,220.3,512.9,7.8,503,10388,0.00,2.65,0.00,0.000,4,0.000,0.071,2620,3611,1915
$GC,10446,0.93,220.3,507.5,9.4,506,10450,0.00,2.60,0.00,0.000,6,0.000,0.056,2620,2203,1915
$GC,10771,0.93,220.3,478.5,9.2,522,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2203,1915
$GC,11080,0.93,220.3,448.4,10.0,537,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2204,1915
$GC,11389,0.93,220.3,419.3,9.3,552,11394,0.00,2.62,0.00,0.000,4,0.000,0.065,2619,784,1915
$GC,11443,0.93,220.3,413.8,9.7,554,11450,0.00,2.58,0.00,0.000,6,0.000,0.044,2619,2198,1914
$GC,11759,0.93,220.3,385.8,8.7,570,11763,0.00,2.62,0.00,0.000,4,0.000,0.068,2619,3611,1915
$GC,11824,0.93,220.3,379.8,9.6,573,11829,0.00,2.60,0.00,0.000,6,0.000,0.056,2619,2194,1914
$GC,12151,0.93,220.3,353.0,8.1,589,12152,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2194,1915
$GC,12460,0.93,220.3,328.7,7.8,604,12461,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2194,1915
$GC,12770,0.93,220.3,305.0,7.7,619,12771,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2194,1916
$GC,13078,0.93,220.3,281.4,7.5,634,13080,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2194,1915
$GC,13388,0.93,220.3,257.5,7.7,649,13389,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2194,1916
$GC,13697,0.93,220.3,234.9,7.2,664,13698,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2194,1915
$GC,14006,0.93,220.3,211.2,7.0,679,14011,0.00,2.60,0.00,0.000,4,0.000,0.063,2620,781,1916
$GC,14061,0.93,220.3,207.2,7.5,681,14068,0.00,2.55,0.00,0.000,6,0.000,0.043,2620,2195,1916
$GC,14377,0.93,220.3,184.2,7.4,697,14378,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2195,1917
$GC,14685,0.93,220.3,159.7,9.4,712,14687,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2195,1917
$GC,14997,0.93,220.3,134.8,8.1,727,14998,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2195,1917
$GC,15305,0.93,220.3,108.9,9.2,742,15306,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2195,1917
$GC,15614,0.93,220.3,79.5,9.3,757,15619,0.00,2.60,0.00,0.000,4,0.000,0.060,2620,779,1918
$GC,15653,0.93,220.3,75.9,8.7,759,15658,0.00,2.53,0.00,0.000,6,0.000,0.042,2620,2201,1918
$GC,15980,0.93,220.3,47.5,8.9,775,15984,0.00,2.58,0.00,0.000,4,0.000,0.061,2620,3614,1918
$GC,16029,0.93,220.3,42.5,10.5,777,16033,0.00,2.58,0.00,0.000,6,0.000,0.050,2620,2190,1918
$GC,16350,0.93,220.3,17.2,8.5,793,16354,0.00,2.58,0.00,0.000,4,0.000,0.061,2619,782,1918
$GC,16388,0.93,220.3,13.3,10.3,795,16393,0.00,2.53,0.00,0.000,6,0.000,0.041,2619,2206,1918
$STATE,16527,end climb,SURFACE_DEPTH_REACHED
$STATE,16527,begin surface coast
$FINISH,0.5,1.027400
$STATE,16549,end surface coast,CONTROL_FINISHED_OK
$STATE,16549,begin surface
$SM_CCo,16568,42.88,0.634,1,0,1594,300.00
$SM_GC,1.26,0.00,0.00,42.88,0.000,0.000,0.634,71,2407,1594,-10.76,0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2102
$TCM_TEMP,17.20
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,576.1,62.5
$24V_AH,23.6,24.129
$10V_AH,10.2,11.536
$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,25.375,151.475,306.025,42.875,0.000,32.587,61.523,191.103,10.250,0.000,0.000,18.894,1469.290,12834.237,506.354,1759.336,431.907,33.376,1383.744,0.000,1718.360,0.000,33.153
$DEVICE_MAMPS,177.944,73.632,1096.043,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,574.809,563.880,522.478,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41080,803
$CFSIZE,260165632,251654144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,061207,000626,6227.480,-1027.796,43,1.8,43,-10.4