version: 66.02
glider: 16
mission: 6
dive: 156
start: 12 10 107 2 46 43
data:
$ID,16
$MISSION,6
$DIVE,156
$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,566.1524
$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,-2078709.8
$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,14
$R_STBD_OVSHOOT,14
$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
$GPS1,023655,6246.272,-932.586,40,1.2,40,-10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-60.6
$GPS2,024550,6246.184,-932.727,14,1.7,14,-10.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.142,0.170
$KALMAN_X,-132719.4,1785.1,319.3,106753.9,-17098.6
$KALMAN_Y,112418.4,1021.3,129.7,12322.1,-7168.7
$MHEAD_RNG_PITCHd_Wd,49.9,55070,-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,-146.6,0.0,0.0,0,124,0.00,0.00,-102.57,0.000,2,0.000,0.000,70,2395,3147
$GC,126,-0.85,-146.6,3.6,-2.5,5,148,12.18,0.00,-6.20,0.000,6,0.173,0.000,2222,2396,3416
$GC,458,-0.85,-146.6,36.7,-7.7,21,462,0.00,2.67,0.00,0.000,4,0.000,0.069,2222,978,3417
$GC,478,-0.85,-146.6,38.5,-7.8,22,483,0.00,2.65,0.00,0.000,6,0.000,0.058,2222,2401,3417
$GC,805,-0.85,-146.6,64.5,-6.2,38,809,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,982,3417
$GC,822,-0.85,-146.6,65.5,-5.4,39,826,0.00,2.62,0.00,0.000,6,0.000,0.060,2222,2400,3417
$GC,1148,-0.85,-146.6,97.9,-10.9,55,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3418
$GC,1457,-0.85,-146.6,130.5,-8.1,70,1461,0.00,2.70,0.00,0.000,4,0.000,0.072,2222,975,3417
$GC,1500,-0.85,-146.6,133.0,-4.6,72,1505,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2406,3417
$GC,1821,-0.85,-146.6,152.1,-6.5,88,1825,0.00,2.70,0.00,0.000,4,0.000,0.073,2222,984,3417
$GC,1841,-0.85,-146.6,153.6,-7.2,89,1846,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2392,3417
$GC,2168,-0.85,-146.6,172.9,-6.9,105,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2392,3417
$GC,2477,-0.85,-146.6,198.7,-8.4,120,2481,0.00,2.65,0.00,0.000,4,0.000,0.071,2222,983,3417
$GC,2508,-0.85,-146.6,201.2,-7.5,121,2515,0.00,2.62,0.00,0.000,6,0.000,0.060,2222,2390,3416
$GC,2824,-0.85,-146.6,223.7,-7.1,137,2828,0.00,2.65,0.00,0.000,4,0.000,0.072,2222,979,3417
$GC,2855,-0.85,-146.6,226.2,-7.3,138,2862,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2400,3417
$GC,3172,-0.85,-146.6,250.9,-7.7,154,3176,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,983,3417
$GC,3210,-0.85,-146.6,254.0,-7.9,156,3215,0.00,2.60,0.00,0.000,6,0.000,0.061,2222,2397,3417
$GC,3536,-0.85,-146.6,279.6,-7.8,172,3541,0.00,2.67,0.00,0.000,4,0.000,0.072,2222,980,3417
$GC,3575,-0.85,-146.6,282.8,-7.9,174,3579,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2403,3417
$GC,3900,-0.85,-146.6,311.1,-9.0,190,3905,0.00,2.67,0.00,0.000,4,0.000,0.074,2223,979,3417
$GC,3943,-0.85,-146.6,315.1,-9.0,192,3948,0.00,2.65,0.00,0.000,6,0.000,0.061,2223,2416,3417
$GC,4270,-0.85,-146.6,344.3,-8.9,208,4274,0.00,2.70,0.00,0.000,4,0.000,0.073,2223,982,3417
$GC,4324,-0.85,-146.6,349.1,-9.0,210,4331,0.00,2.65,0.00,0.000,6,0.000,0.062,2222,2400,3417
$GC,4640,-0.85,-146.6,373.8,-7.9,226,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3417
$GC,4949,-0.85,-146.6,396.0,-6.5,241,4954,0.00,2.67,0.00,0.000,4,0.000,0.073,2223,979,3417
$GC,4989,-0.85,-146.6,398.3,-5.8,243,4993,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2401,3417
$GC,5314,-0.85,-146.6,421.7,-8.6,259,5318,0.00,2.65,0.00,0.000,4,0.000,0.073,2222,981,3417
$GC,5380,-0.85,-146.6,427.4,-9.0,262,5385,0.00,2.65,0.00,0.000,6,0.000,0.062,2223,2407,3417
$GC,5701,-0.85,-146.6,450.6,-6.4,278,5705,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,976,3418
$GC,5766,-0.85,-146.6,454.9,-6.4,281,5770,0.00,2.65,0.00,0.000,6,0.000,0.064,2223,2406,3418
$GC,6092,-0.85,-146.6,475.1,-6.9,297,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3418
$STATE,6256,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6256,begin apogee
$GC,6261,-0.31,0.0,486.3,6.5,305,6384,0.57,0.00,119.30,0.999,6,0.109,0.000,2338,2197,2817
$STATE,6384,end apogee,CONTROL_FINISHED_OK
$STATE,6384,begin climb
$GC,6386,0.85,146.6,489.3,0.0,311,6512,1.23,2.80,116.62,0.986,4,0.087,0.075,2590,786,2218
$GC,6562,0.85,146.6,480.7,7.7,319,6566,0.00,2.70,0.00,0.000,6,0.000,0.060,2589,2201,2217
$GC,6883,0.88,179.0,460.3,5.1,335,6916,0.00,2.83,26.38,0.950,4,0.000,0.088,2589,3622,2086
$GC,7007,0.88,179.0,452.3,6.9,340,7014,0.00,2.72,0.00,0.000,6,0.000,0.069,2589,2207,2086
$GC,7323,0.88,181.1,433.4,5.9,356,7327,0.00,2.75,0.00,0.000,4,0.000,0.079,2590,775,2084
$GC,7406,0.88,181.1,427.4,7.6,360,7411,0.00,2.67,0.00,0.000,6,0.000,0.061,2589,2201,2085
$GC,7732,0.88,181.1,404.0,6.8,376,7736,0.00,2.72,0.00,0.000,4,0.000,0.075,2589,777,2083
$GC,7770,0.88,181.1,401.2,6.5,378,7774,0.00,2.65,0.00,0.000,6,0.000,0.058,2589,2201,2083
$GC,8096,0.88,181.1,380.8,6.6,394,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2082
$GC,8405,0.88,181.1,358.4,6.9,409,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2201,2082
$GC,8715,0.89,190.6,339.7,5.7,424,8726,0.00,0.00,9.70,0.815,6,0.000,0.000,2590,2201,2040
$GC,9024,0.89,191.1,321.4,6.0,439,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2039
$GC,9333,0.89,191.1,301.5,6.8,454,9338,0.00,2.67,0.00,0.000,4,0.000,0.071,2589,781,2039
$GC,9381,0.89,191.1,298.2,6.5,456,9386,0.00,2.65,0.00,0.000,6,0.000,0.054,2590,2202,2039
$GC,9703,0.90,192.2,278.2,6.0,472,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2201,2039
$GC,10012,0.90,197.9,259.7,5.8,487,10026,0.00,2.70,7.55,0.721,4,0.000,0.069,2589,789,2010
$GC,10060,0.90,197.9,256.7,6.3,489,10065,0.00,2.62,0.00,0.000,6,0.000,0.054,2589,2195,2010
$GC,10387,0.90,197.9,235.5,7.1,505,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2193,2010
$GC,10696,0.90,197.9,214.0,6.4,520,10697,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2195,2009
$GC,11006,0.90,199.5,196.3,6.0,535,11010,0.00,2.65,0.00,0.000,4,0.000,0.069,2589,781,2009
$GC,11037,0.92,218.0,194.5,5.5,536,11064,0.00,2.60,17.20,0.762,6,0.000,0.053,2589,2204,1927
$GC,11372,0.96,255.8,178.9,5.0,553,11405,0.15,0.00,30.52,0.772,6,0.060,0.000,2634,2204,1774
$GC,11701,0.96,255.8,153.8,7.1,569,11702,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2204,1773
$GC,12011,0.96,255.8,129.6,6.9,584,12015,0.00,2.67,0.00,0.000,4,0.000,0.069,2634,782,1773
$GC,12072,0.97,259.0,126.0,5.9,587,12082,0.00,2.60,4.40,0.535,6,0.000,0.052,2633,2203,1761
$GC,12398,0.97,259.0,103.7,7.4,603,12399,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2202,1761
$GC,12707,0.97,259.0,78.4,8.8,618,12708,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2202,1761
$GC,13017,0.97,259.0,48.1,9.6,633,13021,0.00,2.67,0.00,0.000,4,0.000,0.070,2634,781,1761
$GC,13065,0.97,259.0,42.5,11.0,635,13070,0.00,2.60,0.00,0.000,6,0.000,0.051,2634,2204,1761
$GC,13387,0.97,259.0,8.6,10.6,651,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2204,1761
$STATE,13468,end climb,SURFACE_DEPTH_REACHED
$STATE,13468,begin surface coast
$FINISH,0.8,1.025171
$STATE,13489,end surface coast,CONTROL_FINISHED_OK
$STATE,13489,begin surface
$SM_CCo,13509,181.07,0.667,1,0,508,566.15
$SM_GC,1.38,0.00,0.00,181.07,0.000,0.000,0.667,70,2398,508,-10.76,-0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2072
$TCM_TEMP,16.90
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,425.4,70.3
$24V_AH,23.6,27.544
$10V_AH,10.2,13.266
$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,25.500,118.150,331.675,181.075,0.000,65.235,72.300,216.928,6.750,0.000,0.000,13.965,1198.550,10447.700,670.510,1404.976,519.356,33.361,1390.458,0.000,1377.461,0.000,24.292
$DEVICE_MAMPS,173.342,88.205,998.634,667.290,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.222,452.892,462.659,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31737,656
$CFSIZE,260165632,250445824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,101207,063628,6247.021,-933.189,35,3.7,54,-10.0