version: 66.02
glider: 16
mission: 6
dive: 178
start: 12 13 107 14 55 50
data:
$ID,16
$MISSION,6
$DIVE,178
$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,-2079374.6
$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,12
$R_STBD_OVSHOOT,18
$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
$GPS1,144628,6323.602,-845.363,34,2.3,53,-9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-55.3
$GPS2,145459,6323.591,-845.332,13,2.2,32,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.078,0.207
$KALMAN_X,-123099.4,-291.2,-911.9,142166.3,4484.7
$KALMAN_Y,99662.2,193.1,-933.3,96254.3,180.0
$MHEAD_RNG_PITCHd_Wd,30.4,54322,-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,-102.60,0.000,2,0.000,0.000,71,2401,3134
$GC,127,-0.85,-146.6,4.1,-3.1,5,153,12.15,2.72,-6.35,0.000,4,0.173,0.082,2220,986,3417
$GC,405,-0.85,-146.6,32.5,-8.3,17,410,0.00,2.60,0.00,0.000,6,0.000,0.057,2220,2402,3418
$GC,727,-0.85,-146.6,58.4,-8.4,33,731,0.00,2.70,0.00,0.000,4,0.000,0.068,2220,971,3418
$GC,798,-0.85,-146.6,64.6,-8.9,36,803,0.00,2.62,0.00,0.000,6,0.000,0.057,2220,2398,3418
$GC,1119,-0.85,-146.6,91.3,-8.2,52,1124,0.00,2.67,0.00,0.000,4,0.000,0.067,2220,971,3418
$GC,1140,-0.85,-146.6,93.0,-8.2,53,1144,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2400,3418
$GC,1469,-0.85,-146.6,120.2,-8.4,69,1473,0.00,2.67,0.00,0.000,4,0.000,0.068,2220,979,3419
$GC,1495,-0.85,-146.6,123.0,-9.2,70,1499,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2403,3418
$GC,1817,-0.85,-146.6,150.6,-8.7,86,1821,0.00,2.67,0.00,0.000,4,0.000,0.067,2220,973,3419
$GC,1844,-0.85,-146.6,153.2,-9.5,87,1848,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2402,3418
$GC,2165,-0.85,-146.6,178.5,-7.5,103,2169,0.00,2.67,0.00,0.000,4,0.000,0.068,2220,979,3418
$GC,2191,-0.85,-146.6,180.6,-7.5,104,2195,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2400,3418
$GC,2512,-0.85,-146.6,204.9,-7.7,120,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,2821,-0.85,-146.6,229.3,-8.1,135,2825,0.00,2.65,0.00,0.000,4,0.000,0.071,2220,979,3418
$GC,2864,-0.85,-146.6,232.9,-7.9,137,2868,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2400,3418
$GC,3191,-0.85,-146.6,259.7,-8.3,153,3195,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,976,3419
$GC,3229,-0.85,-146.6,262.9,-8.4,155,3234,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2406,3418
$GC,3555,-0.85,-146.6,287.5,-7.3,171,3559,0.00,2.70,0.00,0.000,4,0.000,0.071,2220,973,3418
$GC,3587,-0.85,-146.6,289.9,-7.5,172,3593,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2404,3419
$GC,3902,-0.85,-146.6,312.0,-7.2,188,3906,0.00,2.67,0.00,0.000,4,0.000,0.070,2220,979,3419
$GC,3963,-0.85,-146.6,316.3,-7.1,191,3967,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2404,3419
$GC,4288,-0.85,-146.6,343.1,-7.9,207,4293,0.00,2.70,0.00,0.000,4,0.000,0.071,2220,971,3418
$GC,4320,-0.85,-146.6,345.6,-7.5,208,4327,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2401,3418
$GC,4636,-0.85,-146.6,366.3,-7.0,224,4640,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,979,3419
$GC,4685,-0.85,-146.6,370.3,-8.1,226,4689,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2403,3419
$GC,5005,-0.85,-146.6,395.1,-6.9,242,5010,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,979,3418
$GC,5055,-0.85,-146.6,398.1,-5.8,244,5059,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2400,3419
$GC,5376,-0.85,-146.6,417.0,-7.1,260,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3419
$GC,5685,-0.85,-146.6,440.3,-7.3,275,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3419
$GC,5994,-0.85,-146.6,458.1,-5.0,290,5999,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,979,3419
$GC,6044,-0.85,-146.6,461.1,-6.1,292,6048,0.00,2.60,0.00,0.000,6,0.000,0.061,2220,2401,3419
$GC,6364,-0.85,-146.6,485.2,-7.9,308,6369,0.00,2.62,0.00,0.000,4,0.000,0.084,2220,3768,3419
$GC,6408,-0.85,-146.6,488.7,-8.0,310,6412,0.00,2.58,0.00,0.000,6,0.000,0.061,2220,2381,3419
$GC,6736,-0.85,-146.6,508.8,-5.9,326,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2382,3419
$GC,7046,-0.85,-146.6,528.6,-6.0,341,7050,0.00,2.65,0.00,0.000,4,0.000,0.080,2220,985,3419
$GC,7111,-0.85,-146.6,533.0,-6.6,344,7116,0.00,2.65,0.00,0.000,6,0.000,0.067,2220,2400,3419
$GC,7438,-0.85,-146.6,553.3,-6.3,360,7443,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,978,3417
$GC,7482,-0.85,-146.6,556.1,-6.8,362,7486,0.00,2.65,0.00,0.000,6,0.000,0.067,2220,2400,3417
$GC,7808,-0.85,-146.6,578.7,-6.8,378,7813,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,982,3416
$GC,7841,-0.85,-146.6,581.0,-7.6,379,7847,0.00,2.67,0.00,0.000,6,0.000,0.068,2220,2404,3416
$STATE,7948,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7948,begin apogee
$GC,7953,-0.31,0.0,588.0,6.7,385,8076,0.62,0.00,120.57,1.131,6,0.118,0.000,2342,2198,2817
$STATE,8077,end apogee,CONTROL_FINISHED_OK
$STATE,8077,begin climb
$GC,8079,0.85,146.6,591.9,0.0,391,8205,1.20,2.80,118.78,1.103,4,0.086,0.079,2589,787,2219
$GC,8240,0.85,146.6,587.1,6.3,399,8245,0.00,2.67,0.00,0.000,6,0.000,0.060,2589,2199,2219
$GC,8566,0.85,151.5,567.7,5.9,415,8576,0.00,2.80,5.35,0.825,4,0.000,0.091,2589,3615,2199
$GC,8654,0.85,151.5,561.7,7.5,419,8659,0.00,2.70,0.00,0.000,6,0.000,0.070,2589,2204,2198
$GC,8975,0.85,151.5,541.9,6.1,435,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,2198
$GC,9284,0.85,151.5,522.0,6.6,450,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,2196
$GC,9594,0.86,161.0,502.6,5.7,465,9604,0.00,0.00,8.70,0.943,6,0.000,0.000,2589,2204,2160
$GC,9903,0.88,179.9,485.1,5.5,480,9924,0.00,0.00,16.52,1.023,6,0.000,0.000,2589,2204,2082
$GC,10233,0.88,180.0,465.4,6.0,496,10234,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,2082
$GC,10542,0.89,190.0,446.4,5.7,511,10554,0.00,0.00,9.62,0.942,6,0.000,0.000,2589,2204,2041
$GC,10851,0.89,190.0,427.3,6.5,526,10852,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,2040
$GC,11160,0.92,216.0,409.2,5.3,541,11189,0.00,2.88,21.58,0.994,4,0.000,0.086,2589,3622,1936
$GC,11217,0.92,216.0,405.8,6.4,543,11223,0.00,2.72,0.00,0.000,6,0.000,0.067,2589,2199,1935
$GC,11532,0.92,218.0,387.0,5.9,559,11537,0.10,2.70,0.00,0.000,4,0.074,0.077,2613,783,1935
$GC,11598,0.92,218.0,382.1,7.4,562,11603,0.00,2.65,0.00,0.000,6,0.000,0.058,2613,2206,1934
$GC,11925,0.92,218.0,357.0,8.6,578,11929,0.00,2.72,0.00,0.000,4,0.000,0.084,2613,3619,1934
$GC,11956,0.92,218.0,354.0,8.9,579,11963,0.00,2.70,0.00,0.000,6,0.000,0.068,2613,2196,1934
$GC,12272,0.92,218.0,325.2,8.7,595,12277,0.00,2.70,0.00,0.000,4,0.000,0.075,2613,776,1934
$GC,12298,0.92,218.0,322.8,8.9,596,12302,0.00,2.62,0.00,0.000,6,0.000,0.054,2613,2200,1934
$GC,12619,0.92,218.0,298.8,6.6,612,12623,0.00,2.70,0.00,0.000,4,0.000,0.081,2613,3613,1934
$GC,12663,0.92,218.0,295.6,6.8,614,12667,0.00,2.65,0.00,0.000,6,0.000,0.064,2613,2200,1934
$GC,12990,0.92,218.0,273.9,6.8,630,12991,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2200,1935
$GC,13299,0.92,218.0,251.5,7.3,645,13300,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2200,1936
$GC,13608,0.92,218.0,229.1,7.0,660,13614,0.00,0.00,4.00,0.571,6,0.000,0.000,2613,2200,1928
$GC,13917,0.92,218.0,205.3,7.9,675,13922,0.00,2.67,0.00,0.000,4,0.000,0.074,2613,3614,1928
$GC,13949,0.92,218.0,202.2,9.1,676,13956,0.00,2.65,0.00,0.000,6,0.000,0.062,2613,2195,1928
$GC,14264,0.92,218.0,176.1,8.0,692,14269,0.00,2.65,0.00,0.000,4,0.000,0.070,2613,782,1928
$GC,14303,0.92,218.0,172.9,8.2,694,14308,0.00,2.60,0.00,0.000,6,0.000,0.049,2613,2208,1929
$GC,14629,0.92,218.0,146.7,7.8,710,14633,0.00,2.65,0.00,0.000,4,0.000,0.074,2613,3617,1929
$GC,14668,0.92,218.0,143.4,8.4,712,14672,0.00,2.65,0.00,0.000,6,0.000,0.061,2613,2197,1930
$GC,14993,0.92,218.0,118.4,7.8,728,14995,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2197,1930
$GC,15302,0.92,218.0,94.1,7.8,743,15303,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2197,1930
$GC,15612,0.92,218.0,69.4,8.4,758,15613,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2197,1931
$GC,15921,0.92,218.0,44.1,8.1,773,15922,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2197,1931
$GC,16230,0.92,218.0,22.6,6.3,788,16231,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2197,1931
$STATE,16497,end climb,SURFACE_DEPTH_REACHED
$STATE,16497,begin surface coast
$FINISH,0.9,1.027402
$STATE,16518,end surface coast,CONTROL_FINISHED_OK
$STATE,16518,begin surface
$SM_CCo,16538,203.43,0.660,2,0,509,566.15
$SM_GC,1.45,0.00,0.00,203.43,0.000,0.000,0.660,74,2403,509,-10.75,0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2055
$TCM_TEMP,16.60
$XPDR_PINGS,59
$ALTIM_BOTTOM_PING,526.2,71.5
$24V_AH,23.5,30.758
$10V_AH,10.2,14.759
$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,25.375,150.100,305.125,203.425,0.000,65.271,70.673,193.007,19.000,0.000,0.000,32.901,1462.120,12861.689,710.453,1728.837,506.304,33.361,1564.171,0.000,1679.507,0.000,30.859
$DEVICE_MAMPS,173.342,90.506,1130.558,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,583.498,556.538,523.051,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41073,802
$CFSIZE,260165632,249368576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,2,0
$GPS,131207,193627,6324.990,-846.907,30,2.6,49,-9.8