version: 66.02
glider: 16
mission: 6
dive: 181
start: 12 14 107 5 23 54
data:
$ID,16
$MISSION,6
$DIVE,181
$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,-2079477.8
$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,16
$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
$GPS1,051358,6329.792,-837.978,30,3.3,49,-9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-54.3
$GPS2,052304,6329.790,-838.127,16,3.2,35,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.099,0.198
$KALMAN_X,-126141.4,6.9,-503.8,150816.9,1036.5
$KALMAN_Y,91850.8,620.1,259.9,113914.0,-8407.6
$MHEAD_RNG_PITCHd_Wd,343.1,42058,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.85,-146.6,0.0,0.0,0,126,0.00,0.00,-102.00,0.000,2,0.000,0.000,69,2398,3143
$GC,128,-0.85,-146.6,4.2,-3.1,5,154,12.20,2.70,-6.10,0.000,4,0.173,0.080,2222,988,3417
$GC,401,-0.85,-146.6,31.8,-8.4,17,406,0.00,2.60,0.00,0.000,6,0.000,0.056,2223,2404,3418
$GC,722,-0.85,-146.6,59.0,-8.6,33,726,0.00,2.70,0.00,0.000,4,0.000,0.070,2223,977,3418
$GC,770,-0.85,-146.6,63.1,-8.3,35,775,0.00,2.62,0.00,0.000,6,0.000,0.059,2222,2398,3418
$GC,1092,-0.85,-146.6,89.8,-8.6,51,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2398,3418
$GC,1403,-0.85,-146.6,116.0,-7.7,66,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2398,3417
$GC,1711,-0.85,-146.6,138.1,-7.4,81,1715,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,981,3418
$GC,1760,-0.85,-146.6,142.4,-9.2,83,1764,0.00,2.62,0.00,0.000,6,0.000,0.060,2223,2405,3418
$GC,2075,-0.85,-146.6,167.6,-7.5,98,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2405,3418
$GC,2384,-0.85,-146.6,190.5,-8.2,113,2388,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,981,3418
$GC,2422,-0.85,-146.6,193.6,-7.7,115,2427,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2401,3418
$GC,2748,-0.85,-146.6,217.1,-7.1,131,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3418
$GC,3058,-0.85,-146.6,236.9,-5.9,146,3062,0.00,2.70,0.00,0.000,4,0.000,0.073,2223,974,3418
$GC,3101,-0.85,-146.6,239.8,-6.4,148,3105,0.00,2.62,0.00,0.000,6,0.000,0.059,2223,2401,3418
$GC,3427,-0.85,-146.6,263.6,-7.7,164,3432,0.00,2.67,0.00,0.000,4,0.000,0.072,2223,981,3418
$GC,3459,-0.85,-146.6,266.2,-8.2,165,3466,0.00,2.65,0.00,0.000,6,0.000,0.060,2223,2403,3418
$GC,3775,-0.85,-146.6,289.8,-7.5,181,3779,0.00,2.67,0.00,0.000,4,0.000,0.074,2222,981,3418
$GC,3824,-0.85,-146.6,293.9,-8.0,183,3828,0.00,2.62,0.00,0.000,6,0.000,0.059,2223,2408,3418
$GC,4144,-0.85,-146.6,316.8,-7.0,199,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2408,3418
$GC,4454,-0.85,-146.6,337.4,-6.0,214,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2408,3418
$GC,4763,-0.85,-146.6,355.8,-6.1,229,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2409,3419
$GC,5072,-0.85,-146.6,377.3,-6.8,244,5077,0.00,2.70,0.00,0.000,4,0.000,0.075,2223,982,3419
$GC,5184,-0.85,-146.6,384.8,-6.7,249,5188,0.00,2.60,0.00,0.000,6,0.000,0.060,2223,2399,3418
$GC,5504,-0.85,-146.6,402.7,-5.2,265,5508,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,974,3419
$GC,5559,-0.85,-146.6,405.9,-6.2,267,5565,0.00,2.65,0.00,0.000,6,0.000,0.063,2223,2400,3418
$GC,5875,-0.85,-146.6,424.5,-5.9,283,5879,0.00,2.62,0.00,0.000,4,0.000,0.087,2223,3766,3419
$GC,5936,-0.85,-146.6,428.3,-6.1,286,5940,0.00,2.55,0.00,0.000,6,0.000,0.062,2223,2396,3419
$GC,6262,-0.85,-146.6,449.8,-7.3,302,6269,0.00,2.70,0.00,0.000,4,0.000,0.081,2222,979,3419
$GC,6341,-0.85,-146.6,456.1,-8.1,305,6346,0.00,2.65,0.00,0.000,6,0.000,0.067,2223,2398,3419
$GC,6663,-0.85,-146.6,479.2,-7.4,321,6667,0.00,2.72,0.00,0.000,4,0.000,0.081,2223,980,3419
$GC,6706,-0.85,-146.6,482.5,-7.9,323,6710,0.00,2.65,0.00,0.000,6,0.000,0.068,2223,2401,3418
$GC,7032,-0.85,-146.6,506.2,-7.0,339,7037,0.00,2.75,0.00,0.000,4,0.000,0.084,2223,980,3418
$GC,7115,-0.85,-146.6,512.0,-6.5,343,7120,0.00,2.67,0.00,0.000,6,0.000,0.071,2223,2401,3417
$GC,7441,-0.85,-146.6,534.3,-6.9,359,7446,0.00,2.75,0.00,0.000,4,0.000,0.084,2223,980,3415
$GC,7480,-0.85,-146.6,537.1,-6.9,361,7485,0.00,2.70,0.00,0.000,6,0.000,0.073,2223,2409,3415
$GC,7806,-0.85,-146.6,560.0,-6.9,377,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2410,3414
$GC,8116,-0.85,-146.6,580.2,-6.7,392,8120,0.00,2.75,0.00,0.000,4,0.000,0.085,2223,986,3413
$GC,8170,-0.85,-146.6,584.2,-7.5,394,8177,0.00,2.70,0.00,0.000,6,0.000,0.073,2223,2403,3412
$GC,8485,-0.85,-146.6,606.2,-7.5,410,8486,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2403,3411
$STATE,8797,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8797,begin apogee
$GC,8803,-0.31,0.0,625.9,7.4,425,8926,0.60,0.00,120.25,1.172,6,0.120,0.000,2339,2197,2817
$STATE,8927,end apogee,CONTROL_FINISHED_OK
$STATE,8927,begin climb
$GC,8929,0.85,146.6,631.4,0.0,431,9056,1.25,0.00,120.32,1.145,6,0.104,0.000,2586,2197,2219
$GC,9365,0.87,167.5,612.1,5.4,453,9389,0.00,2.88,18.40,1.071,4,0.000,0.091,2586,3610,2133
$GC,9456,0.87,167.5,605.6,9.3,457,9461,0.00,2.72,0.00,0.000,6,0.000,0.074,2586,2199,2133
$GC,9783,0.87,171.1,584.7,5.9,473,9789,0.00,0.00,4.12,0.745,6,0.000,0.000,2586,2199,2119
$GC,10092,0.87,171.8,567.3,6.0,488,10093,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2199,2118
$GC,10402,0.88,181.3,550.4,5.7,503,10417,0.00,2.85,9.77,1.002,4,0.000,0.097,2586,3610,2077
$GC,10455,0.88,181.3,546.9,7.4,504,10462,0.00,2.72,0.00,0.000,6,0.000,0.073,2586,2197,2076
$GC,10770,0.88,181.3,527.1,6.8,520,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2197,2076
$GC,11079,0.88,181.3,506.6,6.3,535,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2197,2075
$GC,11389,0.89,188.3,488.9,5.8,550,11403,0.00,2.85,7.05,0.922,4,0.000,0.087,2586,784,2048
$GC,11455,0.90,194.1,484.9,5.8,553,11468,0.00,2.67,6.40,0.884,6,0.000,0.068,2586,2198,2025
$GC,11784,0.90,194.1,464.9,6.4,569,11785,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2198,2024
$GC,12094,0.90,194.9,445.1,6.0,584,12099,0.00,2.75,0.00,0.000,4,0.000,0.084,2586,786,2023
$GC,12143,0.90,194.9,441.9,6.4,586,12148,0.00,2.67,0.00,0.000,6,0.000,0.067,2586,2199,2023
$GC,12465,0.91,201.4,423.2,5.8,602,12474,0.00,0.00,7.15,0.889,6,0.000,0.000,2586,2201,1995
$GC,12790,0.91,201.4,403.5,6.1,618,12795,0.00,2.78,0.00,0.000,4,0.000,0.093,2586,3619,1995
$GC,12828,0.91,201.4,401.1,6.8,620,12833,0.00,2.70,0.00,0.000,6,0.000,0.073,2586,2201,1995
$GC,13155,0.91,208.7,382.5,5.8,636,13170,0.10,2.80,7.38,0.871,4,0.083,0.081,2608,786,1967
$GC,13221,0.91,208.7,378.0,6.5,639,13226,0.00,2.65,0.00,0.000,6,0.000,0.064,2608,2199,1965
$GC,13546,0.91,208.7,354.8,6.9,655,13551,0.00,2.72,0.00,0.000,4,0.000,0.077,2608,781,1965
$GC,13585,0.91,208.7,352.1,7.4,657,13590,0.00,2.65,0.00,0.000,6,0.000,0.061,2608,2200,1965
$GC,13911,0.91,208.7,330.8,6.6,673,13912,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2200,1965
$GC,14220,0.91,208.7,308.8,6.8,688,14225,0.00,2.70,0.00,0.000,4,0.000,0.083,2608,3613,1965
$GC,14283,0.91,208.7,304.4,7.2,691,14287,0.00,2.67,0.00,0.000,6,0.000,0.068,2608,2196,1965
$GC,14608,0.91,208.7,283.2,6.8,707,14609,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2196,1965
$GC,14917,0.91,208.7,259.6,8.0,722,14918,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2196,1966
$GC,15227,0.91,208.7,237.9,6.4,737,15228,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2195,1967
$GC,15536,0.91,209.1,219.3,6.0,752,15537,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2196,1969
$GC,15845,0.93,220.6,202.5,5.7,767,15859,0.00,0.00,12.07,0.764,6,0.000,0.000,2609,2196,1917
$GC,16154,0.93,220.6,183.1,6.7,782,16155,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2196,1916
$GC,16463,0.93,220.6,161.8,6.7,797,16468,0.00,2.65,0.00,0.000,4,0.000,0.071,2608,784,1917
$GC,16507,0.93,220.6,158.8,6.7,799,16512,0.00,2.60,0.00,0.000,6,0.000,0.054,2608,2201,1917
$GC,16830,0.93,220.6,137.1,6.6,815,16831,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2201,1918
$GC,17137,0.93,220.6,114.8,7.1,830,17139,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2201,1918
$GC,17447,0.93,220.6,94.1,7.2,845,17448,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2202,1919
$GC,17756,0.93,220.6,71.9,7.1,860,17758,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2201,1920
$GC,18065,0.93,220.6,51.5,9.3,875,18066,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2201,1920
$GC,18374,1.06,344.9,39.4,2.6,890,18477,0.15,2.80,96.38,0.698,4,0.054,0.071,2653,784,1408
$GC,18516,1.06,344.9,27.3,13.0,896,18523,0.00,2.67,0.00,0.000,6,0.000,0.053,2654,2205,1408
$STATE,18768,end climb,SURFACE_DEPTH_REACHED
$STATE,18768,begin surface coast
$FINISH,0.8,1.011767
$STATE,18790,end surface coast,CONTROL_FINISHED_OK
$STATE,18790,begin surface
$SM_CCo,18810,135.15,0.647,2,0,508,566.15
$SM_GC,1.31,0.00,0.00,135.15,0.000,0.000,0.647,75,2405,508,-10.74,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2046
$TCM_TEMP,16.60
$XPDR_PINGS,67
$ALTIM_BOTTOM_PING,625.9,10.0
$24V_AH,23.5,31.240
$10V_AH,10.2,15.007
$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,25.775,135.375,409.300,135.150,0.000,65.175,73.929,215.305,22.500,0.000,0.000,35.861,1637.300,14661.848,738.939,1922.299,542.595,33.373,1671.240,0.000,1862.324,0.000,41.934
$DEVICE_MAMPS,173.342,97.409,1171.976,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,668.087,629.204,578.046,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47409,910
$CFSIZE,260165632,249171968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,2,0
$GPS,141207,104122,6332.674,-839.692,38,2.7,57,-9.8