version: 66.02
glider: 16
mission: 6
dive: 143
start: 12 8 107 0 32 59
data:
$ID,16
$MISSION,6
$DIVE,143
$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,-2078401.4
$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,17
$R_STBD_OVSHOOT,27
$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
$GPS1,001228,6239.871,-1022.137,26,2.8,45,-10.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-53.7
$GPS2,003207,6239.723,-1022.380,34,1.2,39,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.213,0.061
$KALMAN_X,-120949.2,2125.0,1256.9,49946.7,-23273.6
$KALMAN_Y,119113.6,-200.6,-667.7,-4293.3,1611.0
$MHEAD_RNG_PITCHd_Wd,84.4,40577,-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,-102.65,0.000,2,0.000,0.000,64,2406,3121
$GC,126,-0.85,-146.6,3.9,-3.1,5,152,12.15,2.55,-6.70,0.000,4,0.172,0.078,2220,3757,3418
$GC,196,-0.85,-146.6,14.1,-7.9,8,200,0.00,2.47,0.00,0.000,6,0.000,0.043,2220,2384,3418
$GC,523,-0.85,-146.6,42.9,-9.1,24,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2384,3417
$GC,833,-0.85,-146.6,70.9,-9.0,39,837,0.00,2.60,0.00,0.000,4,0.000,0.065,2220,983,3417
$GC,876,-0.85,-146.6,75.5,-9.9,41,880,0.00,2.58,0.00,0.000,6,0.000,0.049,2220,2394,3417
$GC,1203,-0.85,-146.6,101.8,-8.1,57,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2393,3418
$GC,1512,-0.85,-146.6,126.1,-7.4,72,1517,0.00,2.62,0.00,0.000,4,0.000,0.063,2220,980,3417
$GC,1543,-0.85,-146.6,128.7,-8.3,73,1551,0.00,2.58,0.00,0.000,6,0.000,0.048,2220,2396,3417
$GC,1859,-0.85,-146.6,154.5,-8.1,89,1864,0.00,2.62,0.00,0.000,4,0.000,0.064,2220,983,3417
$GC,1891,-0.85,-146.6,157.1,-7.6,90,1898,0.00,2.58,0.00,0.000,6,0.000,0.049,2220,2400,3418
$GC,2207,-0.85,-146.6,184.2,-9.0,106,2212,0.00,2.62,0.00,0.000,4,0.000,0.064,2220,985,3417
$GC,2239,-0.85,-146.6,187.1,-8.7,107,2246,0.00,2.55,0.00,0.000,6,0.000,0.048,2220,2395,3418
$GC,2555,-0.85,-146.6,213.6,-8.4,123,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2395,3417
$GC,2864,-0.85,-146.6,239.3,-8.2,138,2868,0.00,2.62,0.00,0.000,4,0.000,0.066,2220,985,3417
$GC,2929,-0.85,-146.6,244.9,-7.9,141,2934,0.00,2.53,0.00,0.000,6,0.000,0.048,2220,2400,3417
$GC,3256,-0.85,-146.6,270.2,-7.7,157,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,3565,-0.85,-146.6,292.9,-6.9,172,3569,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,979,3417
$GC,3608,-0.85,-146.6,296.1,-7.4,174,3612,0.00,2.55,0.00,0.000,6,0.000,0.048,2220,2403,3417
$GC,3934,-0.85,-146.6,320.4,-7.9,190,3939,0.00,2.62,0.00,0.000,4,0.000,0.068,2220,985,3417
$GC,3989,-0.85,-146.6,324.8,-8.1,192,3997,0.00,2.58,0.00,0.000,6,0.000,0.050,2220,2404,3417
$GC,4307,-0.85,-146.6,350.7,-8.0,208,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3418
$GC,4614,-0.85,-146.6,372.8,-6.0,223,4618,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,983,3417
$GC,4685,-0.85,-146.6,377.0,-6.2,226,4689,0.00,2.55,0.00,0.000,6,0.000,0.049,2220,2405,3417
$GC,5006,-0.85,-146.6,396.8,-7.0,242,5010,0.00,2.65,0.00,0.000,4,0.000,0.068,2220,985,3417
$GC,5054,-0.85,-146.6,400.6,-7.5,244,5059,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,2401,3417
$GC,5376,-0.85,-146.6,420.7,-5.2,260,5380,0.00,2.65,0.00,0.000,4,0.000,0.070,2220,984,3418
$GC,5398,-0.85,-146.6,421.7,-4.8,261,5402,0.00,2.58,0.00,0.000,6,0.000,0.050,2220,2407,3418
$GC,5717,-0.85,-146.6,440.5,-7.4,277,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3418
$GC,6027,-0.85,-146.6,467.2,-8.8,292,6031,0.00,2.65,0.00,0.000,4,0.000,0.069,2220,985,3418
$GC,6058,-0.85,-146.6,470.0,-8.9,293,6065,0.00,2.55,0.00,0.000,6,0.000,0.051,2220,2403,3418
$GC,6373,-0.85,-146.6,493.8,-7.5,309,6378,0.00,2.65,0.00,0.000,4,0.000,0.070,2220,985,3418
$GC,6422,-0.85,-146.6,497.7,-7.8,311,6427,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2392,3418
$GC,6744,-0.85,-146.6,521.7,-6.4,327,6748,0.00,2.58,0.00,0.000,4,0.000,0.074,2221,3766,3418
$GC,6765,-0.85,-146.6,523.2,-7.0,328,6770,0.00,2.47,0.00,0.000,6,0.000,0.050,2220,2403,3418
$GC,7085,-0.85,-146.6,542.2,-6.8,344,7089,0.00,2.65,0.00,0.000,4,0.000,0.074,2220,983,3419
$GC,7116,-0.85,-146.6,544.3,-6.5,345,7124,0.00,2.60,0.00,0.000,6,0.000,0.057,2220,2398,3418
$STATE,7142,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7142,begin apogee
$GC,7147,-0.31,0.0,546.1,7.0,347,7270,0.60,0.00,120.15,1.039,6,0.111,0.000,2339,2197,2817
$STATE,7271,end apogee,CONTROL_FINISHED_OK
$STATE,7271,begin climb
$GC,7273,0.85,146.6,550.6,0.0,353,7399,1.17,2.78,117.55,1.032,4,0.076,0.074,2588,795,2218
$GC,7439,0.85,146.6,542.8,9.1,361,7443,0.00,2.60,0.00,0.000,6,0.000,0.051,2588,2203,2218
$GC,7764,0.88,176.0,523.1,5.2,377,7794,0.00,2.75,24.42,0.981,4,0.000,0.078,2588,3616,2099
$GC,7832,0.88,176.0,519.1,7.1,380,7837,0.00,2.67,0.00,0.000,6,0.000,0.064,2588,2205,2098
$GC,8154,0.91,209.3,502.4,5.1,396,8188,0.00,2.80,27.42,1.003,4,0.000,0.075,2588,789,1962
$GC,8239,0.91,209.3,497.0,6.9,400,8243,0.00,2.62,0.00,0.000,6,0.000,0.058,2588,2199,1961
$GC,8565,0.94,231.3,477.6,5.4,416,8586,0.12,0.00,18.65,0.952,6,0.067,0.000,2621,2199,1873
$GC,8893,0.94,231.3,454.8,6.8,432,8898,0.00,2.72,0.00,0.000,4,0.000,0.076,2621,776,1871
$GC,8914,0.94,231.3,453.5,6.3,433,8919,0.00,2.65,0.00,0.000,6,0.000,0.054,2621,2193,1871
$GC,9241,0.94,231.3,430.2,7.0,449,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2193,1871
$GC,9550,0.94,231.3,405.8,8.9,464,9554,0.00,2.67,0.00,0.000,4,0.000,0.074,2621,782,1871
$GC,9598,0.94,231.3,401.0,9.4,466,9603,0.00,2.62,0.00,0.000,6,0.000,0.053,2621,2195,1871
$GC,9920,0.94,231.3,374.9,7.6,482,9921,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2195,1871
$GC,10229,0.94,231.3,351.8,8.4,497,10233,0.00,2.65,0.00,0.000,4,0.000,0.072,2621,3611,1871
$GC,10254,0.94,231.3,349.3,9.8,498,10259,0.00,2.62,0.00,0.000,6,0.000,0.061,2621,2196,1870
$GC,10576,0.94,231.3,319.7,9.1,514,10580,0.00,2.65,0.00,0.000,4,0.000,0.071,2621,780,1870
$GC,10624,0.94,231.3,315.2,9.1,516,10629,0.00,2.60,0.00,0.000,6,0.000,0.050,2621,2193,1871
$GC,10945,0.94,231.3,288.3,8.2,532,10946,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2193,1870
$GC,11255,0.94,231.3,262.5,8.2,547,11256,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2193,1871
$GC,11563,0.94,231.3,236.9,8.1,562,11565,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2193,1871
$GC,11873,0.94,231.3,213.3,7.3,577,11877,0.00,2.65,0.00,0.000,4,0.000,0.070,2621,782,1871
$GC,11904,0.94,231.3,210.7,8.1,578,11911,0.00,2.60,0.00,0.000,6,0.000,0.049,2621,2204,1871
$GC,12220,0.94,231.3,185.8,8.2,594,12221,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2204,1871
$GC,12529,0.94,231.3,158.8,9.0,609,12530,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2204,1871
$GC,12840,0.94,231.3,132.4,8.3,624,12844,0.00,2.65,0.00,0.000,4,0.000,0.067,2621,785,1871
$GC,12883,0.94,231.3,128.4,9.1,626,12887,0.00,2.55,0.00,0.000,6,0.000,0.048,2621,2202,1871
$GC,13210,0.94,231.3,101.6,8.6,642,13211,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2202,1872
$GC,13519,0.94,231.3,72.3,9.3,657,13520,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2200,1872
$GC,13829,0.94,231.3,44.0,9.6,672,13833,0.00,2.65,0.00,0.000,4,0.000,0.068,2621,783,1873
$GC,13860,0.94,231.3,40.9,9.5,673,13867,0.00,2.58,0.00,0.000,6,0.000,0.047,2621,2201,1873
$GC,14177,0.94,231.3,12.5,9.8,689,14179,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2201,1873
$STATE,14298,end climb,SURFACE_DEPTH_REACHED
$STATE,14298,begin surface coast
$FINISH,0.6,1.026596
$STATE,14320,end surface coast,CONTROL_FINISHED_OK
$STATE,14320,begin surface
$SM_CCo,14340,184.88,0.656,0,0,509,566.15
$SM_GC,1.21,0.00,0.00,184.88,0.000,0.000,0.656,66,2410,509,-10.78,0.31,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2060
$TCM_TEMP,17.00
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,450.9,103.9
$24V_AH,23.6,25.696
$10V_AH,10.2,12.406
$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,25.300,131.550,308.200,184.875,0.000,163.070,192.491,431.077,8.750,0.000,0.000,38.944,1267.193,11323.561,663.209,1497.463,960.338,33.365,1419.139,0.000,1445.735,0.000,25.150
$DEVICE_MAMPS,171.808,78.234,1039.285,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,491.421,491.053,471.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34890,696
$CFSIZE,260165632,251031552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,081207,043628,6239.432,-1022.333,30,2.3,49,-10.4