version: 66.02
glider: 16
mission: 6
dive: 176
start: 12 13 107 6 0 37
data:
$ID,16
$MISSION,6
$DIVE,176
$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,-2079326.6
$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,17
$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
$GPS1,055407,6317.345,-849.582,31,1.9,31,-9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-46.9
$GPS2,055945,6317.391,-849.694,16,1.9,16,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.107,0.193
$KALMAN_X,-117169.4,-1308.0,-1801.2,134383.5,13260.8
$KALMAN_Y,99813.8,228.1,150.7,83522.4,-3583.2
$MHEAD_RNG_PITCHd_Wd,38.8,65356,-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,20,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-102.10,0.000,2,0.000,0.000,69,2402,3152
$GC,126,-0.85,-146.6,4.1,-3.4,5,152,12.18,2.75,-5.72,0.000,4,0.173,0.080,2221,977,3417
$GC,359,-0.85,-146.6,38.1,-12.2,15,364,0.00,2.62,0.00,0.000,6,0.000,0.055,2221,2404,3418
$GC,681,-0.85,-146.6,61.7,-6.9,31,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,990,-0.85,-146.6,88.4,-9.1,46,994,0.00,2.70,0.00,0.000,4,0.000,0.071,2221,976,3418
$GC,1074,-0.85,-146.6,95.0,-6.6,50,1079,0.00,2.62,0.00,0.000,6,0.000,0.057,2221,2403,3418
$GC,1400,-0.85,-146.6,118.1,-7.1,66,1405,0.00,2.67,0.00,0.000,4,0.000,0.070,2221,982,3419
$GC,1427,-0.85,-146.6,120.0,-7.9,67,1431,0.00,2.60,0.00,0.000,6,0.000,0.057,2221,2400,3418
$GC,1749,-0.85,-146.6,142.7,-7.5,83,1753,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,982,3418
$GC,1775,-0.85,-146.6,144.7,-7.7,84,1779,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2400,3418
$GC,2096,-0.85,-146.6,168.3,-7.6,100,2100,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,980,3418
$GC,2134,-0.85,-146.6,171.4,-8.2,102,2139,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2405,3418
$GC,2460,-0.85,-146.6,194.4,-6.9,118,2464,0.00,2.70,0.00,0.000,4,0.000,0.071,2220,974,3419
$GC,2503,-0.85,-146.6,197.5,-7.5,120,2507,0.00,2.62,0.00,0.000,6,0.000,0.056,2221,2405,3419
$GC,2830,-0.85,-146.6,220.6,-6.8,136,2835,0.00,2.70,0.00,0.000,4,0.000,0.072,2221,977,3419
$GC,2869,-0.85,-146.6,223.2,-7.3,138,2874,0.00,2.62,0.00,0.000,6,0.000,0.057,2221,2408,3419
$GC,3194,-0.85,-146.6,246.5,-7.8,154,3199,0.00,2.70,0.00,0.000,4,0.000,0.071,2221,976,3418
$GC,3256,-0.85,-146.6,251.5,-7.8,157,3260,0.00,2.60,0.00,0.000,6,0.000,0.056,2221,2400,3419
$GC,3581,-0.85,-146.6,277.7,-7.6,173,3585,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,982,3418
$GC,3619,-0.85,-146.6,280.6,-7.9,175,3624,0.00,2.60,0.00,0.000,6,0.000,0.056,2221,2403,3418
$GC,3946,-0.85,-146.6,300.0,-5.2,191,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3418
$GC,4255,-0.85,-146.6,313.9,-4.2,206,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3418
$GC,4564,-0.85,-146.6,332.7,-7.4,221,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3418
$GC,4873,-0.85,-146.6,357.9,-8.4,236,4878,0.00,2.67,0.00,0.000,4,0.000,0.070,2221,980,3419
$GC,4899,-0.85,-146.6,360.1,-8.8,237,4904,0.00,2.60,0.00,0.000,6,0.000,0.052,2221,2395,3419
$GC,5220,-0.85,-146.6,384.1,-6.7,253,5225,0.00,2.65,0.00,0.000,4,0.000,0.066,2221,974,3418
$GC,5327,-0.85,-146.6,390.8,-5.5,258,5331,0.00,2.60,0.00,0.000,6,0.000,0.056,2221,2399,3419
$GC,5652,-0.85,-146.6,405.7,-4.7,274,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3419
$GC,5962,-0.85,-146.6,423.3,-5.3,289,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3419
$GC,6270,-0.85,-146.6,439.8,-6.1,304,6275,0.00,2.60,0.00,0.000,4,0.000,0.081,2221,3766,3419
$GC,6319,-0.85,-146.6,443.0,-6.7,306,6324,0.00,2.55,0.00,0.000,6,0.000,0.058,2221,2396,3419
$GC,6641,-0.85,-146.6,460.6,-5.7,322,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2396,3419
$GC,6950,-0.85,-146.6,485.2,-6.8,337,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2396,3419
$GC,7259,-0.85,-146.6,507.1,-7.6,352,7263,0.00,2.67,0.00,0.000,4,0.000,0.075,2221,980,3418
$GC,7320,-0.85,-146.6,511.9,-8.5,355,7325,0.00,2.62,0.00,0.000,6,0.000,0.063,2221,2398,3418
$GC,7646,-0.85,-146.6,533.7,-6.0,371,7650,0.00,2.67,0.00,0.000,4,0.000,0.074,2221,985,3417
$GC,7729,-0.85,-146.6,538.7,-6.6,375,7734,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2403,3417
$STATE,7930,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7930,begin apogee
$GC,7935,-0.31,0.0,551.6,6.5,385,8059,0.60,0.00,120.43,1.088,6,0.116,0.000,2338,2192,2817
$STATE,8060,end apogee,CONTROL_FINISHED_OK
$STATE,8060,begin climb
$GC,8061,0.85,146.6,555.2,0.0,391,8184,1.27,0.00,117.85,1.071,6,0.104,0.000,2589,2192,2220
$GC,8492,0.85,146.6,532.7,6.7,412,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2192,2218
$GC,8801,0.85,146.6,510.8,7.4,427,8805,0.00,2.78,0.00,0.000,4,0.000,0.089,2589,3613,2216
$GC,8855,0.85,146.6,506.6,7.2,429,8862,0.00,2.67,0.00,0.000,6,0.000,0.068,2589,2205,2216
$GC,9171,0.90,191.9,488.0,4.8,445,9214,0.00,2.88,36.78,1.048,4,0.000,0.082,2589,784,2033
$GC,9246,0.96,249.2,484.5,4.4,448,9300,0.15,2.65,46.28,1.039,6,0.078,0.058,2622,2201,1801
$GC,9610,0.96,249.2,456.7,8.5,466,9615,0.00,2.75,0.00,0.000,4,0.000,0.088,2622,3613,1799
$GC,9672,0.96,249.2,450.7,8.7,469,9676,0.00,2.70,0.00,0.000,6,0.000,0.071,2622,2200,1799
$GC,9997,0.96,249.2,423.5,8.0,485,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2200,1798
$GC,10306,0.96,249.2,400.3,8.5,500,10311,0.00,2.75,0.00,0.000,4,0.000,0.084,2622,3616,1796
$GC,10350,0.96,249.2,395.9,10.6,502,10354,0.00,2.70,0.00,0.000,6,0.000,0.069,2622,2198,1796
$GC,10676,0.96,249.2,367.3,8.7,518,10678,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2198,1796
$GC,10986,0.96,249.2,342.3,7.4,533,10990,0.00,2.67,0.00,0.000,4,0.000,0.074,2622,784,1795
$GC,11012,0.96,249.2,340.1,7.7,534,11017,0.00,2.62,0.00,0.000,6,0.000,0.054,2623,2203,1795
$GC,11333,0.96,249.2,314.1,8.2,550,11338,0.00,2.70,0.00,0.000,4,0.000,0.081,2622,3614,1795
$GC,11389,0.96,249.2,309.3,8.6,552,11395,0.00,2.65,0.00,0.000,6,0.000,0.064,2621,2200,1795
$GC,11703,0.96,249.2,283.3,8.6,568,11708,0.00,2.67,0.00,0.000,4,0.000,0.073,2622,784,1795
$GC,11742,0.96,249.2,279.7,9.8,570,11747,0.00,2.60,0.00,0.000,6,0.000,0.051,2622,2202,1795
$GC,12069,0.96,249.2,251.1,8.8,586,12073,0.00,2.67,0.00,0.000,4,0.000,0.077,2623,3613,1795
$GC,12102,0.96,249.2,248.1,9.1,587,12108,0.00,2.65,0.00,0.000,6,0.000,0.063,2622,2194,1795
$GC,12416,0.96,249.2,222.1,8.2,603,12421,0.00,2.67,0.00,0.000,4,0.000,0.072,2623,777,1797
$GC,12455,0.96,249.2,218.7,8.8,605,12460,0.00,2.62,0.00,0.000,6,0.000,0.051,2623,2208,1797
$GC,12781,0.96,249.2,191.9,7.9,621,12786,0.00,2.65,0.00,0.000,4,0.000,0.075,2621,3613,1797
$GC,12815,0.96,249.2,189.0,8.9,622,12821,0.00,2.65,0.00,0.000,6,0.000,0.064,2623,2194,1798
$GC,13130,0.96,249.2,164.3,7.8,638,13134,0.00,2.65,0.00,0.000,4,0.000,0.071,2623,785,1798
$GC,13172,0.96,249.2,160.8,7.9,640,13177,0.00,2.60,0.00,0.000,6,0.000,0.050,2622,2208,1798
$GC,13500,0.96,249.2,136.3,7.5,656,13501,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2208,1799
$GC,13809,0.96,249.2,112.1,8.1,671,13810,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2208,1799
$GC,14119,0.96,249.2,87.0,7.8,686,14123,0.00,2.70,0.00,0.000,4,0.000,0.069,2622,778,1800
$GC,14173,0.96,249.2,82.6,7.6,688,14180,0.00,2.62,0.00,0.000,6,0.000,0.049,2622,2203,1800
$GC,14488,0.96,249.2,57.6,8.0,704,14490,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2203,1800
$GC,14798,0.96,249.2,33.0,8.0,719,14802,0.00,2.67,0.00,0.000,4,0.000,0.067,2622,781,1801
$GC,14859,0.96,249.2,27.4,8.4,722,14864,0.00,2.60,0.00,0.000,6,0.000,0.049,2623,2205,1801
$STATE,15183,end climb,SURFACE_DEPTH_REACHED
$STATE,15183,begin surface coast
$FINISH,0.8,1.014673
$STATE,15205,end surface coast,CONTROL_FINISHED_OK
$STATE,15205,begin surface
$SM_CCo,15225,185.27,0.672,1,0,509,566.15
$SM_GC,1.45,0.00,0.00,185.27,0.000,0.000,0.672,74,2397,509,-10.74,-0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2074
$TCM_TEMP,16.70
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,476.0,84.4
$24V_AH,23.5,30.439
$10V_AH,10.2,14.604
$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,25.425,144.425,321.325,185.275,0.000,32.589,36.290,170.659,18.750,0.000,0.000,16.325,1358.056,11678.828,673.550,1647.786,401.796,33.367,1503.636,0.000,1613.091,0.000,26.711
$DEVICE_MAMPS,172.575,88.972,1088.373,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,534.027,508.713,502.426,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37944,739
$CFSIZE,260165632,249487360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,131207,101838,6320.813,-849.380,31,1.7,31,-9.8