version: 66.02
glider: 16
mission: 6
dive: 108
start: 11 30 107 1 30 46
data:
$ID,16
$MISSION,6
$DIVE,108
$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,120
$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,300
$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,-2077560.6
$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,16
$R_STBD_OVSHOOT,20
$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
$GPS1,012150,6148.387,-956.386,38,1.1,56,-9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-43.7
$GPS2,012956,6148.519,-956.544,17,1.0,34,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.097,0.199
$KALMAN_X,-50120.5,196.5,5329.8,-253.4,-62364.7
$KALMAN_Y,104849.2,-235.4,-2497.2,-83004.4,17152.0
$MHEAD_RNG_PITCHd_Wd,35.7,64325,-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,-146.6,0.0,0.0,0,103,0.00,0.00,-82.20,0.000,2,0.000,0.000,72,2408,3264
$GC,106,-0.85,-146.6,3.3,-3.5,4,128,12.02,2.55,-3.53,0.000,4,0.170,0.082,2222,3766,3415
$GC,346,-0.85,-146.6,35.0,-9.1,14,354,0.00,2.47,0.00,0.000,6,0.000,0.044,2223,2401,3415
$GC,662,-0.85,-146.6,64.4,-10.8,30,666,0.00,2.62,0.00,0.000,4,0.000,0.066,2223,986,3416
$GC,728,-0.85,-146.6,68.7,-4.8,33,732,0.00,2.58,0.00,0.000,6,0.000,0.049,2223,2404,3415
$GC,1055,-0.85,-146.6,89.8,-8.1,49,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3415
$GC,1364,-0.85,-146.6,110.0,-7.5,64,1369,0.00,2.62,0.00,0.000,4,0.000,0.065,2222,988,3416
$GC,1385,-0.85,-146.6,111.4,-6.4,65,1390,0.00,2.58,0.00,0.000,6,0.000,0.050,2222,2395,3416
$GC,1714,-0.85,-146.6,136.8,-8.2,81,1718,0.00,2.60,0.00,0.000,4,0.000,0.062,2222,987,3415
$GC,1753,-0.85,-146.6,139.6,-6.3,83,1757,0.00,2.55,0.00,0.000,6,0.000,0.050,2222,2400,3415
$GC,2078,-0.85,-146.6,165.1,-8.2,99,2082,0.00,2.60,0.00,0.000,4,0.000,0.061,2222,988,3415
$GC,2103,-0.85,-146.6,167.9,-10.5,100,2108,0.00,2.58,0.00,0.000,6,0.000,0.049,2222,2395,3416
$GC,2426,-0.85,-146.6,200.3,-9.6,116,2430,0.00,2.60,0.00,0.000,4,0.000,0.064,2222,988,3415
$GC,2457,-0.85,-146.6,204.3,-11.6,117,2464,0.00,2.58,0.00,0.000,6,0.000,0.050,2222,2395,3415
$GC,2773,-0.85,-146.6,235.5,-11.7,133,2777,0.00,2.60,0.00,0.000,4,0.000,0.063,2222,979,3415
$GC,2811,-0.85,-146.6,240.1,-12.4,135,2815,0.00,2.58,0.00,0.000,6,0.000,0.052,2222,2400,3415
$GC,3137,-0.85,-146.6,273.4,-8.9,151,3141,0.00,2.60,0.00,0.000,4,0.000,0.063,2223,988,3416
$GC,3175,-0.85,-146.6,276.4,-8.1,153,3179,0.00,2.58,0.00,0.000,6,0.000,0.053,2222,2403,3416
$GC,3501,-0.85,-146.6,312.7,-11.2,169,3505,0.00,2.55,0.00,0.000,4,0.000,0.073,2222,3771,3415
$GC,3527,-0.85,-146.6,315.8,-11.2,170,3531,0.00,2.50,0.00,0.000,6,0.000,0.051,2222,2405,3415
$GC,3848,-0.85,-146.6,353.5,-11.5,186,3852,0.00,2.62,0.00,0.000,4,0.000,0.071,2222,984,3415
$GC,3909,-0.85,-146.6,360.1,-11.1,189,3913,0.00,2.58,0.00,0.000,6,0.000,0.053,2222,2401,3415
$GC,4234,-0.85,-146.6,394.2,-10.3,205,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3415
$GC,4543,-0.85,-146.6,422.9,-8.7,220,4547,0.00,2.65,0.00,0.000,4,0.000,0.070,2223,982,3415
$GC,4574,-0.85,-146.6,425.9,-9.2,221,4581,0.00,2.60,0.00,0.000,6,0.000,0.052,2223,2396,3415
$GC,4890,-0.85,-146.6,448.5,-6.4,237,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2394,3415
$GC,5199,-0.85,-146.6,463.4,-4.3,252,5204,0.00,2.60,0.00,0.000,4,0.000,0.066,2223,983,3415
$GC,5243,-0.85,-146.6,464.9,-3.1,254,5248,0.00,2.58,0.00,0.000,6,0.000,0.053,2222,2403,3415
$GC,5569,-0.85,-146.6,472.2,-2.0,270,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3415
$STATE,5753,end dive,NO_VERTICAL_VELOCITY
$STATE,5753,begin apogee
$GC,5758,-0.31,0.0,473.3,0.0,279,5879,0.57,0.00,118.07,0.968,6,0.107,0.000,2338,2200,2817
$STATE,5879,end apogee,CONTROL_FINISHED_OK
$STATE,5880,begin climb
$GC,5881,0.85,146.6,469.6,0.0,285,6005,1.23,2.78,116.15,0.953,4,0.098,0.071,2587,3619,2218
$GC,6027,0.85,146.6,456.7,10.6,292,6032,0.00,2.65,0.00,0.000,6,0.000,0.057,2586,2200,2218
$GC,6353,0.85,146.6,427.6,7.8,308,6357,0.00,2.65,0.00,0.000,4,0.000,0.067,2587,776,2218
$GC,6424,0.85,146.6,422.1,7.5,311,6428,0.00,2.60,0.00,0.000,6,0.000,0.046,2587,2207,2217
$GC,6745,0.85,150.5,400.9,5.9,327,6755,0.00,2.67,4.80,0.637,4,0.000,0.072,2587,3620,2203
$GC,6783,0.85,150.5,398.1,7.9,329,6787,0.00,2.65,0.00,0.000,6,0.000,0.058,2587,2197,2203
$GC,7108,0.85,150.5,372.3,8.3,345,7112,0.00,2.65,0.00,0.000,4,0.000,0.067,2587,772,2203
$GC,7173,0.85,150.5,366.7,9.1,348,7177,0.00,2.60,0.00,0.000,6,0.000,0.045,2587,2195,2203
$GC,7500,0.85,150.5,340.6,8.1,364,7504,0.00,2.67,0.00,0.000,4,0.000,0.074,2587,3620,2203
$GC,7542,0.85,150.5,336.3,9.6,366,7547,0.00,2.65,0.00,0.000,6,0.000,0.058,2586,2203,2203
$GC,7869,0.85,150.5,304.3,9.6,382,7873,0.00,2.62,0.00,0.000,4,0.000,0.065,2586,779,2203
$GC,7912,0.85,150.5,299.5,12.2,384,7916,0.00,2.58,0.00,0.000,6,0.000,0.044,2586,2196,2203
$GC,8238,0.85,150.5,265.9,9.1,400,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2197,2202
$GC,8547,0.85,150.5,241.1,7.0,415,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2197,2203
$GC,8857,0.85,150.5,222.2,6.2,430,8861,0.00,2.62,0.00,0.000,4,0.000,0.061,2587,771,2203
$GC,8922,0.85,150.5,217.8,6.7,433,8927,0.00,2.58,0.00,0.000,6,0.000,0.044,2587,2195,2203
$GC,9249,0.85,150.5,199.1,6.1,449,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2195,2203
$GC,9558,0.85,153.3,180.1,5.9,464,9564,0.00,0.00,3.83,0.502,6,0.000,0.000,2586,2195,2192
$GC,9867,0.85,153.3,159.6,7.6,479,9872,0.00,2.60,0.00,0.000,4,0.000,0.061,2587,775,2192
$GC,9899,0.85,153.3,157.0,7.7,480,9907,0.00,2.58,0.00,0.000,6,0.000,0.043,2587,2203,2191
$GC,10215,0.85,153.3,137.4,6.3,496,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2203,2191
$GC,10525,0.85,153.3,115.5,7.6,511,10529,0.00,2.60,0.00,0.000,4,0.000,0.058,2587,779,2190
$GC,10556,0.85,153.3,113.1,7.5,512,10563,0.00,2.55,0.00,0.000,6,0.000,0.042,2586,2197,2191
$GC,10873,0.85,153.3,90.4,7.2,528,10874,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2196,2191
$GC,11182,0.85,153.3,73.5,6.3,543,11183,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2196,2191
$GC,11491,0.85,153.3,55.3,8.1,558,11495,0.00,2.60,0.00,0.000,4,0.000,0.058,2587,772,2191
$GC,11522,0.85,153.3,52.4,8.7,559,11530,0.00,2.55,0.00,0.000,6,0.000,0.042,2587,2193,2191
$GC,11838,0.85,153.3,28.3,6.1,575,11843,0.00,2.60,0.00,0.000,4,0.000,0.066,2586,3610,2191
$GC,11887,0.85,153.3,24.6,6.5,577,11892,0.00,2.58,0.00,0.000,6,0.000,0.050,2586,2200,2191
$STATE,12207,end climb,SURFACE_DEPTH_REACHED
$STATE,12207,begin surface coast
$FINISH,0.4,1.027281
$STATE,12229,end surface coast,CONTROL_FINISHED_OK
$STATE,12230,begin surface
$SM_CCo,12248,85.45,0.629,3,0,1592,300.00
$SM_GC,1.10,0.00,0.00,85.45,0.000,0.000,0.629,74,2402,1592,-10.74,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2069
$TCM_TEMP,16.30
$XPDR_PINGS,5
$24V_AH,23.7,20.832
$10V_AH,10.2,9.374
$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,24.750,120.300,242.850,85.450,0.000,65.220,67.271,192.465,4.500,0.000,0.000,34.498,1105.574,9456.251,510.773,1340.361,435.642,33.354,1164.251,0.000,1297.323,0.000,22.043
$DEVICE_MAMPS,169.507,82.069,967.954,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.470,425.068,478.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28555,594
$CFSIZE,260165632,253276160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,3,0
$GPS,301107,045738,6150.393,-958.765,30,1.9,30,-9.9