version: 66.02
glider: 16
mission: 6
dive: 142
start: 12 7 107 20 12 13
data:
$ID,16
$MISSION,6
$DIVE,142
$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,-2078361.8
$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,16
$R_STBD_OVSHOOT,24
$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
$GPS1,195601,6239.793,-1027.079,40,1.1,46,-10.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-60.5
$GPS2,201121,6239.836,-1027.025,15,1.1,15,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.215,0.052
$KALMAN_X,-122114.0,2207.1,1961.7,46232.9,-28090.6
$KALMAN_Y,120650.8,-219.2,240.4,-6536.5,1953.4
$MHEAD_RNG_PITCHd_Wd,86.8,43994,-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,-146.6,0.0,0.0,0,124,0.00,0.00,-102.12,0.000,2,0.000,0.000,67,2412,3123
$GC,126,-0.85,-146.6,3.5,-2.6,5,151,12.27,2.67,-6.75,0.000,4,0.176,0.069,2221,987,3417
$GC,184,-0.85,-146.6,13.2,-9.1,7,191,0.00,2.58,0.00,0.000,6,0.000,0.050,2222,2391,3417
$GC,500,-0.85,-146.6,37.8,-7.6,23,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2390,3418
$GC,809,-0.85,-146.6,63.0,-8.2,38,813,0.00,2.60,0.00,0.000,4,0.000,0.061,2222,982,3418
$GC,835,-0.85,-146.6,65.4,-8.9,39,840,0.00,2.58,0.00,0.000,6,0.000,0.050,2221,2391,3418
$GC,1158,-0.85,-146.6,92.1,-8.4,55,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2390,3418
$GC,1466,-0.85,-146.6,115.8,-7.1,70,1470,0.00,2.62,0.00,0.000,4,0.000,0.064,2221,977,3418
$GC,1514,-0.85,-146.6,119.8,-7.4,72,1519,0.00,2.60,0.00,0.000,6,0.000,0.051,2222,2401,3418
$GC,1836,-0.85,-146.6,142.6,-6.9,88,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3418
$GC,2145,-0.85,-146.6,165.3,-7.5,103,2149,0.00,2.62,0.00,0.000,4,0.000,0.064,2222,983,3418
$GC,2193,-0.85,-146.6,169.0,-7.8,105,2198,0.00,2.58,0.00,0.000,6,0.000,0.051,2221,2401,3418
$GC,2515,-0.85,-146.6,193.2,-7.5,121,2519,0.00,2.65,0.00,0.000,4,0.000,0.065,2222,976,3418
$GC,2546,-0.85,-146.6,195.7,-7.6,122,2553,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2404,3418
$GC,2861,-0.85,-146.6,219.0,-7.4,138,2866,0.00,2.65,0.00,0.000,4,0.000,0.067,2222,982,3418
$GC,2893,-0.85,-146.6,221.6,-7.9,139,2900,0.00,2.58,0.00,0.000,6,0.000,0.052,2222,2397,3418
$GC,3209,-0.85,-146.6,245.2,-7.3,155,3213,0.00,2.65,0.00,0.000,4,0.000,0.067,2222,977,3418
$GC,3240,-0.85,-146.6,247.6,-7.8,156,3247,0.00,2.58,0.00,0.000,6,0.000,0.052,2221,2392,3419
$GC,3556,-0.85,-146.6,270.8,-7.3,172,3560,0.00,2.62,0.00,0.000,4,0.000,0.067,2222,984,3417
$GC,3582,-0.85,-146.6,272.8,-7.1,173,3587,0.00,2.55,0.00,0.000,6,0.000,0.052,2221,2398,3418
$GC,3903,-0.85,-146.6,297.0,-7.3,189,3907,0.00,2.65,0.00,0.000,4,0.000,0.070,2222,982,3417
$GC,3934,-0.85,-146.6,299.4,-7.4,190,3941,0.00,2.58,0.00,0.000,6,0.000,0.052,2222,2397,3418
$GC,4250,-0.85,-146.6,322.3,-7.3,206,4255,0.00,2.65,0.00,0.000,4,0.000,0.069,2222,982,3418
$GC,4276,-0.85,-146.6,324.3,-7.7,207,4281,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2397,3417
$GC,4597,-0.85,-146.6,348.6,-7.7,223,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2397,3418
$GC,4908,-0.85,-146.6,375.2,-9.0,238,4912,0.00,2.65,0.00,0.000,4,0.000,0.069,2222,979,3417
$GC,4946,-0.85,-146.6,378.6,-9.3,240,4950,0.00,2.58,0.00,0.000,6,0.000,0.052,2222,2408,3417
$GC,5272,-0.85,-146.6,406.4,-7.8,256,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2408,3418
$GC,5581,-0.85,-146.6,428.3,-6.9,271,5585,0.00,2.67,0.00,0.000,4,0.000,0.068,2222,978,3418
$GC,5624,-0.85,-146.6,431.1,-6.8,273,5628,0.00,2.60,0.00,0.000,6,0.000,0.053,2222,2401,3418
$GC,5950,-0.85,-146.6,453.2,-7.2,289,5955,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,981,3418
$GC,6022,-0.85,-146.6,458.3,-6.8,292,6027,0.00,2.58,0.00,0.000,6,0.000,0.054,2222,2405,3418
$GC,6337,-0.85,-146.6,478.6,-6.3,307,6338,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3419
$GC,6646,-0.85,-146.6,498.9,-6.9,322,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3419
$GC,6956,-0.85,-146.6,519.9,-6.6,337,6960,0.00,2.65,0.00,0.000,4,0.000,0.069,2222,985,3419
$GC,7010,-0.85,-146.6,523.7,-6.9,339,7017,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2398,3419
$STATE,7283,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7283,begin apogee
$GC,7288,-0.31,0.0,541.5,6.7,353,7411,0.60,0.00,120.05,1.039,6,0.106,0.000,2341,2192,2817
$STATE,7412,end apogee,CONTROL_FINISHED_OK
$STATE,7412,begin climb
$GC,7413,0.85,146.6,545.3,0.0,359,7539,1.20,2.78,117.70,1.020,4,0.094,0.071,2586,3612,2218
$GC,7585,0.86,157.6,539.7,5.7,367,7601,0.00,2.60,10.48,0.877,6,0.000,0.054,2586,2204,2173
$GC,7910,0.87,167.4,521.1,5.7,383,7924,0.00,2.72,9.43,0.874,4,0.000,0.072,2586,789,2134
$GC,7962,0.87,167.4,517.8,6.3,384,7970,0.00,2.62,0.00,0.000,6,0.000,0.053,2586,2195,2132
$GC,8278,0.87,167.4,496.8,6.4,400,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2195,2131
$GC,8587,0.87,167.4,478.5,6.3,415,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2195,2130
$GC,8896,0.87,167.4,456.2,7.4,430,8901,0.00,2.65,0.00,0.000,4,0.000,0.069,2586,788,2129
$GC,8923,0.87,167.4,454.2,7.7,431,8928,0.00,2.62,0.00,0.000,6,0.000,0.052,2586,2202,2128
$GC,9244,0.91,204.9,435.2,5.0,447,9276,0.00,0.00,30.02,0.967,6,0.000,0.000,2586,2202,1981
$GC,9573,0.98,271.8,421.2,4.2,463,9636,0.17,2.72,53.62,0.969,4,0.062,0.066,2634,795,1707
$GC,9681,0.98,271.8,413.7,7.9,468,9686,0.00,2.60,0.00,0.000,6,0.000,0.049,2634,2207,1706
$GC,10007,0.98,271.8,386.7,8.4,484,10008,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2207,1705
$GC,10316,0.98,271.8,360.7,8.4,499,10321,0.00,2.67,0.00,0.000,4,0.000,0.067,2634,786,1705
$GC,10355,0.98,271.8,357.5,8.3,501,10359,0.00,2.58,0.00,0.000,6,0.000,0.048,2634,2201,1705
$GC,10680,0.98,271.8,329.4,8.7,517,10681,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2202,1704
$GC,10989,0.98,271.8,300.8,9.3,532,10994,0.00,2.65,0.00,0.000,4,0.000,0.065,2634,781,1704
$GC,11039,0.98,271.8,295.9,10.0,534,11043,0.00,2.58,0.00,0.000,6,0.000,0.046,2633,2206,1704
$GC,11359,0.98,271.8,264.3,10.1,550,11363,0.00,2.65,0.00,0.000,4,0.000,0.064,2634,785,1705
$GC,11390,0.98,271.8,260.8,10.9,551,11397,0.00,2.58,0.00,0.000,6,0.000,0.045,2633,2196,1705
$GC,11706,0.98,271.8,228.7,10.1,567,11707,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2196,1706
$GC,12015,0.98,271.8,197.3,10.1,582,12020,0.00,2.60,0.00,0.000,4,0.000,0.063,2634,787,1707
$GC,12058,0.98,271.8,192.7,10.7,584,12063,0.00,2.55,0.00,0.000,6,0.000,0.044,2634,2192,1706
$GC,12385,0.98,271.8,160.2,10.0,600,12387,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2192,1707
$GC,12696,0.98,271.8,130.6,9.3,615,12701,0.00,2.60,0.00,0.000,4,0.000,0.061,2634,785,1708
$GC,12728,0.98,271.8,127.3,9.6,616,12735,0.00,2.55,0.00,0.000,6,0.000,0.043,2634,2193,1708
$GC,13044,0.98,271.8,98.2,9.4,632,13046,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2193,1708
$GC,13353,0.98,271.8,68.6,9.2,647,13358,0.00,2.60,0.00,0.000,4,0.000,0.062,2634,786,1708
$GC,13392,0.98,271.8,65.5,8.3,649,13397,0.00,2.53,0.00,0.000,6,0.000,0.043,2634,2204,1708
$GC,13718,0.98,271.8,36.9,8.8,665,13719,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2204,1708
$GC,14027,0.98,271.8,10.8,8.6,680,14031,0.00,2.62,0.00,0.000,4,0.000,0.062,2634,783,1709
$GC,14066,0.98,271.8,7.0,9.7,682,14070,0.00,2.53,0.00,0.000,6,0.000,0.043,2634,2202,1709
$STATE,14122,end climb,SURFACE_DEPTH_REACHED
$STATE,14122,begin surface coast
$FINISH,0.7,1.027423
$STATE,14144,end surface coast,CONTROL_FINISHED_OK
$STATE,14144,begin surface
$SM_CCo,14164,165.90,0.652,1,0,509,566.15
$SM_GC,1.31,0.00,0.00,165.90,0.000,0.000,0.652,67,2405,509,-10.78,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2069
$TCM_TEMP,17.10
$XPDR_PINGS,30
$ALTIM_BOTTOM_PING,476.0,74.6
$24V_AH,23.6,25.531
$10V_AH,10.2,12.329
$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,25.425,131.450,341.300,165.900,0.000,97.925,133.033,462.082,11.500,0.000,0.000,15.313,1246.847,11040.655,677.179,1453.229,843.203,33.371,1430.445,0.000,1421.830,0.000,29.632
$DEVICE_MAMPS,175.643,72.098,1039.285,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,490.142,482.146,475.740,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34849,686
$CFSIZE,260165632,251084800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,081207,001228,6239.871,-1022.137,26,2.8,45,-10.4