version: 66.02
glider: 16
mission: 6
dive: 177
start: 12 13 107 10 32 31
data:
$ID,16
$MISSION,6
$DIVE,177
$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,-2079341.1
$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,15
$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
$GPS1,101838,6320.813,-849.380,31,1.7,31,-9.8
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-54.6
$GPS2,103139,6320.937,-849.171,13,1.8,13,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.062,0.213
$KALMAN_X,-123525.1,-2036.9,-8.6,140107.2,1502.8
$KALMAN_Y,100370.7,-878.7,1350.8,89411.0,-3370.5
$MHEAD_RNG_PITCHd_Wd,25.9,60069,-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,-146.6,0.0,0.0,0,125,0.00,0.00,-102.22,0.000,2,0.000,0.000,72,2400,3099
$GC,127,-0.85,-146.6,3.5,-2.6,5,152,12.27,2.62,-7.68,0.000,4,0.177,0.090,2219,3768,3415
$GC,170,-0.85,-146.6,10.7,-10.4,7,174,0.00,2.55,0.00,0.000,6,0.000,0.056,2219,2392,3416
$GC,497,-0.85,-146.6,39.1,-9.1,23,501,0.00,2.62,0.00,0.000,4,0.000,0.076,2219,3768,3416
$GC,732,-0.85,-146.6,61.3,-8.8,33,738,0.00,2.53,0.00,0.000,6,0.000,0.057,2219,2400,3416
$GC,1047,-0.85,-146.6,87.6,-8.5,49,1051,0.00,2.67,0.00,0.000,4,0.000,0.072,2220,983,3416
$GC,1085,-0.85,-146.6,90.9,-8.9,51,1090,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2400,3416
$GC,1412,-0.85,-146.6,116.2,-7.8,67,1416,0.00,2.67,0.00,0.000,4,0.000,0.070,2219,982,3416
$GC,1432,-0.85,-146.6,117.9,-7.8,68,1436,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2407,3416
$GC,1759,-0.85,-146.6,145.9,-8.9,84,1764,0.00,2.70,0.00,0.000,4,0.000,0.071,2219,977,3416
$GC,1791,-0.85,-146.6,149.2,-9.5,85,1799,0.00,2.65,0.00,0.000,6,0.000,0.058,2219,2392,3416
$GC,2108,-0.85,-146.6,177.6,-8.8,101,2112,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,977,3416
$GC,2134,-0.85,-146.6,180.1,-8.7,102,2138,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2404,3416
$GC,2455,-0.85,-146.6,206.6,-8.1,118,2459,0.00,2.70,0.00,0.000,4,0.000,0.073,2219,979,3417
$GC,2481,-0.85,-146.6,208.8,-8.1,119,2485,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2407,3416
$GC,2802,-0.85,-146.6,233.7,-7.7,135,2806,0.00,2.70,0.00,0.000,4,0.000,0.073,2219,980,3416
$GC,2827,-0.85,-146.6,235.8,-8.0,136,2832,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2393,3416
$GC,3149,-0.85,-146.6,259.3,-7.3,152,3153,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,976,3416
$GC,3175,-0.85,-146.6,261.2,-7.3,153,3179,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2405,3417
$GC,3496,-0.85,-146.6,284.2,-7.4,169,3500,0.00,2.70,0.00,0.000,4,0.000,0.072,2219,976,3416
$GC,3516,-0.85,-146.6,285.9,-7.6,170,3521,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2407,3416
$GC,3843,-0.85,-146.6,311.5,-8.6,186,3848,0.00,2.70,0.00,0.000,4,0.000,0.071,2219,974,3416
$GC,3875,-0.85,-146.6,314.4,-8.2,187,3882,0.00,2.62,0.00,0.000,6,0.000,0.059,2219,2401,3416
$GC,4191,-0.85,-146.6,339.0,-8.0,203,4196,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,974,3416
$GC,4268,-0.85,-146.6,345.9,-8.5,206,4275,0.00,2.62,0.00,0.000,6,0.000,0.059,2219,2400,3416
$GC,4584,-0.85,-146.6,373.8,-9.0,222,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,4894,-0.85,-146.6,401.6,-8.4,237,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3417
$GC,5202,-0.85,-146.6,423.0,-6.0,252,5207,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,975,3417
$GC,5296,-0.85,-146.6,429.4,-7.0,256,5301,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2406,3417
$GC,5618,-0.85,-146.6,454.2,-8.3,272,5622,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,982,3417
$GC,5639,-0.85,-146.6,456.0,-8.3,273,5644,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2400,3417
$GC,5961,-0.85,-146.6,478.8,-6.6,289,5965,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,976,3417
$GC,6015,-0.85,-146.6,482.4,-6.4,291,6022,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2405,3417
$GC,6331,-0.85,-146.6,502.1,-5.9,307,6335,0.00,2.70,0.00,0.000,4,0.000,0.073,2219,981,3417
$GC,6402,-0.85,-146.6,506.8,-6.4,310,6406,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2400,3417
$GC,6724,-0.85,-146.6,530.0,-7.2,326,6728,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,978,3416
$GC,6778,-0.85,-146.6,534.2,-7.6,328,6784,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2406,3416
$GC,7093,-0.85,-146.6,557.5,-6.8,344,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2406,3416
$STATE,7401,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7401,begin apogee
$GC,7406,-0.31,0.0,579.4,6.9,359,7530,0.62,0.00,120.05,1.118,6,0.115,0.000,2341,2189,2817
$STATE,7530,end apogee,CONTROL_FINISHED_OK
$STATE,7531,begin climb
$GC,7532,0.85,146.6,583.1,0.0,365,7655,1.27,0.00,119.03,1.091,6,0.100,0.000,2592,2189,2219
$GC,7953,0.85,146.6,560.2,6.0,386,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2189,2217
$GC,8262,0.88,177.7,545.0,5.1,401,8293,0.00,2.85,25.85,1.061,4,0.000,0.088,2592,3611,2092
$GC,8326,0.88,177.7,541.5,6.5,404,8330,0.00,2.70,0.00,0.000,6,0.000,0.068,2592,2206,2091
$GC,8653,0.88,179.0,523.4,6.0,420,8658,0.00,2.75,0.00,0.000,4,0.000,0.082,2592,785,2089
$GC,8724,0.88,179.0,518.5,7.0,423,8729,0.00,2.70,0.00,0.000,6,0.000,0.061,2592,2199,2088
$GC,9045,0.88,179.0,497.0,6.8,439,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2200,2087
$GC,9355,0.92,218.0,478.8,4.9,454,9397,0.00,2.88,32.03,1.061,4,0.000,0.089,2591,3617,1928
$GC,9420,0.97,260.8,475.7,4.8,457,9462,0.15,2.72,35.92,1.047,6,0.067,0.068,2629,2199,1753
$GC,9771,0.97,260.8,451.7,8.0,474,9775,0.00,2.72,0.00,0.000,4,0.000,0.081,2629,785,1750
$GC,9810,0.97,260.8,448.1,9.6,476,9814,0.00,2.65,0.00,0.000,6,0.000,0.059,2629,2201,1749
$GC,10135,0.97,260.8,417.3,9.4,492,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2201,1748
$GC,10444,0.97,260.8,389.6,9.1,507,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2201,1748
$GC,10753,0.97,260.8,365.9,7.4,522,10758,0.00,2.70,0.00,0.000,4,0.000,0.074,2629,782,1747
$GC,10792,0.97,260.8,362.9,7.6,524,10797,0.00,2.62,0.00,0.000,6,0.000,0.056,2629,2202,1747
$GC,11117,0.97,260.8,340.6,6.4,540,11122,0.00,2.70,0.00,0.000,4,0.000,0.073,2629,782,1747
$GC,11166,0.97,260.8,337.3,6.5,542,11171,0.00,2.65,0.00,0.000,6,0.000,0.054,2629,2200,1747
$GC,11487,0.97,260.8,312.7,8.3,558,11491,0.00,2.67,0.00,0.000,4,0.000,0.071,2629,782,1748
$GC,11536,0.97,260.8,308.4,8.7,560,11540,0.00,2.62,0.00,0.000,6,0.000,0.054,2629,2204,1747
$GC,11857,0.97,260.8,280.2,9.2,576,11858,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2204,1748
$GC,12166,0.97,260.8,252.2,9.0,591,12171,0.00,2.70,0.00,0.000,4,0.000,0.069,2629,773,1750
$GC,12200,0.97,260.8,249.2,8.7,592,12206,0.00,2.62,0.00,0.000,6,0.000,0.051,2629,2206,1750
$GC,12515,0.97,260.8,220.9,9.2,608,12516,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2206,1751
$GC,12824,0.97,260.8,193.5,8.6,623,12825,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2206,1752
$GC,13133,0.97,260.8,165.4,9.0,638,13134,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2206,1752
$GC,13443,0.97,260.8,137.6,9.0,653,13447,0.00,2.67,0.00,0.000,4,0.000,0.067,2629,781,1753
$GC,13469,0.97,260.8,135.1,9.0,654,13473,0.00,2.60,0.00,0.000,6,0.000,0.051,2629,2207,1753
$GC,13792,0.97,260.8,105.6,9.2,670,13793,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2207,1754
$GC,14100,0.97,260.8,76.2,9.5,685,14101,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2207,1754
$GC,14409,0.97,260.8,46.2,9.9,700,14410,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2207,1754
$GC,14718,0.97,260.8,20.0,8.3,715,14723,0.00,2.67,0.00,0.000,4,0.000,0.068,2629,782,1755
$GC,14773,0.97,260.8,14.7,9.3,717,14780,0.00,2.62,0.00,0.000,6,0.000,0.051,2629,2202,1755
$STATE,14922,end climb,SURFACE_DEPTH_REACHED
$STATE,14922,begin surface coast
$FINISH,0.9,1.015760
$STATE,14944,end surface coast,CONTROL_FINISHED_OK
$STATE,14944,begin surface
$SM_CCo,14964,179.95,0.673,1,0,509,566.15
$SM_GC,1.44,0.00,0.00,179.95,0.000,0.000,0.673,74,2399,509,-10.75,-0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2075
$TCM_TEMP,16.70
$XPDR_PINGS,54
$ALTIM_BOTTOM_PING,500.9,87.3
$24V_AH,23.5,30.606
$10V_AH,10.2,14.679
$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,25.750,144.775,332.875,179.950,0.000,97.885,110.593,313.265,17.750,0.000,0.000,13.841,1325.385,11618.813,708.636,1559.319,724.625,33.362,1492.892,0.000,1526.063,0.000,31.302
$DEVICE_MAMPS,177.177,89.739,1117.519,673.426,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,527.741,497.476,478.211,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38052,726
$CFSIZE,260165632,249430016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,131207,144628,6323.602,-845.363,34,2.3,53,-9.8