version: 66.02
glider: 16
mission: 6
dive: 144
start: 12 8 107 4 42 31
data:
$ID,16
$MISSION,6
$DIVE,144
$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,-2078436.8
$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,26
$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
$GPS1,043628,6239.432,-1022.333,30,2.3,49,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-54.4
$GPS2,044141,6239.449,-1022.414,14,2.3,33,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.206,0.080
$KALMAN_X,-124846.2,1550.3,1025.9,54658.9,-27011.1
$KALMAN_Y,115241.5,-305.2,200.0,-1691.8,-5404.6
$MHEAD_RNG_PITCHd_Wd,79.2,40843,-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,-146.6,0.0,0.0,0,124,0.00,0.00,-101.82,0.000,2,0.000,0.000,65,2411,3103
$GC,126,-0.85,-146.6,3.6,-2.8,5,149,12.30,0.00,-7.30,0.000,6,0.173,0.000,2217,2411,3416
$GC,453,-0.85,-146.6,34.4,-8.1,21,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2411,3417
$GC,761,-0.85,-146.6,58.9,-8.9,36,765,0.00,2.65,0.00,0.000,4,0.000,0.063,2217,984,3417
$GC,792,-0.85,-146.6,61.9,-9.1,37,800,0.00,2.58,0.00,0.000,6,0.000,0.051,2217,2394,3417
$GC,1108,-0.85,-146.6,84.7,-7.0,53,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2394,3417
$GC,1418,-0.85,-146.6,106.1,-7.0,68,1422,0.00,2.62,0.00,0.000,4,0.000,0.066,2217,984,3417
$GC,1461,-0.85,-146.6,109.3,-7.0,70,1465,0.00,2.58,0.00,0.000,6,0.000,0.052,2217,2406,3417
$GC,1787,-0.85,-146.6,134.0,-7.8,86,1792,0.00,2.65,0.00,0.000,4,0.000,0.067,2217,985,3417
$GC,1814,-0.85,-146.6,136.3,-8.1,87,1819,0.00,2.58,0.00,0.000,6,0.000,0.053,2217,2405,3417
$GC,2135,-0.85,-146.6,161.5,-7.8,103,2139,0.00,2.67,0.00,0.000,4,0.000,0.068,2217,978,3417
$GC,2166,-0.85,-146.6,164.0,-8.1,104,2173,0.00,2.60,0.00,0.000,6,0.000,0.053,2217,2399,3417
$GC,2482,-0.85,-146.6,188.6,-8.0,120,2486,0.00,2.65,0.00,0.000,4,0.000,0.068,2217,980,3417
$GC,2513,-0.85,-146.6,191.4,-8.6,121,2520,0.00,2.60,0.00,0.000,6,0.000,0.054,2217,2398,3417
$GC,2829,-0.85,-146.6,216.8,-8.4,137,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2398,3417
$GC,3138,-0.85,-146.6,242.1,-8.5,152,3143,0.00,2.65,0.00,0.000,4,0.000,0.070,2217,983,3417
$GC,3200,-0.85,-146.6,247.4,-8.7,155,3204,0.00,2.55,0.00,0.000,6,0.000,0.052,2217,2403,3418
$GC,3525,-0.85,-146.6,274.1,-8.2,171,3529,0.00,2.65,0.00,0.000,4,0.000,0.069,2217,985,3417
$GC,3564,-0.85,-146.6,277.5,-8.9,173,3568,0.00,2.55,0.00,0.000,6,0.000,0.054,2217,2400,3417
$GC,3889,-0.85,-146.6,306.3,-8.8,189,3893,0.00,2.65,0.00,0.000,4,0.000,0.070,2217,983,3417
$GC,3928,-0.85,-146.6,309.7,-8.6,191,3932,0.00,2.58,0.00,0.000,6,0.000,0.054,2217,2407,3417
$GC,4253,-0.85,-146.6,337.6,-8.1,207,4257,0.00,2.67,0.00,0.000,4,0.000,0.070,2217,979,3417
$GC,4313,-0.85,-146.6,342.3,-7.5,210,4318,0.00,2.58,0.00,0.000,6,0.000,0.054,2217,2403,3417
$GC,4640,-0.85,-146.6,367.2,-7.8,226,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2403,3417
$GC,4949,-0.85,-146.6,392.9,-9.0,241,4954,0.00,2.67,0.00,0.000,4,0.000,0.071,2217,979,3417
$GC,4975,-0.85,-146.6,395.4,-9.2,242,4980,0.00,2.60,0.00,0.000,6,0.000,0.054,2217,2401,3417
$GC,5298,-0.85,-146.6,426.7,-9.6,258,5303,0.00,2.65,0.00,0.000,4,0.000,0.070,2217,984,3417
$GC,5347,-0.85,-146.6,431.4,-8.7,260,5352,0.00,2.58,0.00,0.000,6,0.000,0.055,2217,2406,3418
$GC,5669,-0.85,-146.6,454.1,-6.3,276,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2405,3418
$GC,5978,-0.85,-146.6,475.5,-6.4,291,5982,0.00,2.53,0.00,0.000,4,0.000,0.070,2217,3766,3418
$GC,6049,-0.85,-146.6,480.5,-7.1,294,6053,0.00,2.47,0.00,0.000,6,0.000,0.052,2217,2399,3418
$GC,6370,-0.85,-146.6,496.9,-3.4,310,6375,0.00,2.65,0.00,0.000,4,0.000,0.076,2217,988,3418
$GC,6447,-0.85,-146.6,498.9,-3.0,313,6453,0.00,2.58,0.00,0.000,6,0.000,0.058,2217,2404,3418
$GC,6763,-0.85,-146.6,510.4,-4.3,329,6767,0.00,2.55,0.00,0.000,4,0.000,0.077,2217,3763,3418
$GC,6839,-0.85,-146.6,514.8,-6.4,332,6846,0.00,2.53,0.00,0.000,6,0.000,0.059,2217,2401,3418
$GC,7154,-0.85,-146.6,533.0,-6.3,348,7159,0.00,2.65,0.00,0.000,4,0.000,0.073,2217,986,3418
$GC,7171,-0.85,-146.6,534.0,-6.6,349,7175,0.00,2.60,0.00,0.000,6,0.000,0.062,2217,2400,3418
$STATE,7268,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7268,begin apogee
$GC,7273,-0.31,0.0,540.3,6.4,354,7396,0.62,0.00,119.82,1.045,6,0.109,0.000,2341,2200,2818
$STATE,7396,end apogee,CONTROL_FINISHED_OK
$STATE,7396,begin climb
$GC,7398,0.85,146.6,543.1,0.0,360,7522,1.23,0.00,118.25,1.029,6,0.097,0.000,2588,2200,2219
$GC,7832,0.86,159.8,521.3,5.6,381,7853,0.00,2.78,11.85,0.908,4,0.000,0.077,2589,3610,2164
$GC,7920,0.86,159.8,515.3,7.0,385,7925,0.00,2.67,0.00,0.000,6,0.000,0.067,2589,2191,2164
$GC,8246,0.86,159.8,495.5,6.1,401,8250,0.00,2.72,0.00,0.000,4,0.000,0.080,2589,3614,2163
$GC,8290,0.86,159.8,492.6,6.7,403,8294,0.00,2.67,0.00,0.000,6,0.000,0.067,2589,2193,2163
$GC,8610,0.94,234.1,477.8,4.0,419,8675,0.12,2.75,59.22,1.006,4,0.065,0.077,2621,793,1862
$GC,8738,0.94,234.1,470.0,7.5,425,8742,0.00,2.62,0.00,0.000,6,0.000,0.058,2621,2201,1861
$GC,9063,0.94,234.1,445.4,7.4,441,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2201,1859
$GC,9373,0.97,260.9,426.8,5.3,456,9397,0.00,0.00,22.27,0.945,6,0.000,0.000,2621,2201,1753
$GC,9702,0.97,260.9,405.8,6.5,472,9706,0.00,2.67,0.00,0.000,4,0.000,0.074,2621,791,1751
$GC,9733,0.97,260.9,403.5,7.1,473,9740,0.00,2.60,0.00,0.000,6,0.000,0.050,2621,2197,1751
$GC,10049,0.97,260.9,381.4,7.5,489,10053,0.00,2.67,0.00,0.000,4,0.000,0.074,2621,785,1751
$GC,10074,0.97,260.9,379.3,7.7,490,10079,0.00,2.60,0.00,0.000,6,0.000,0.048,2621,2197,1751
$GC,10396,0.97,260.9,352.7,8.8,506,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2196,1751
$GC,10706,0.97,260.9,324.9,8.9,521,10710,0.00,2.65,0.00,0.000,4,0.000,0.071,2621,790,1751
$GC,10748,0.97,260.9,321.0,9.1,523,10753,0.00,2.58,0.00,0.000,6,0.000,0.048,2621,2195,1751
$GC,11075,0.97,260.9,292.7,8.7,539,11076,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2195,1751
$GC,11385,0.97,260.9,266.1,8.5,554,11389,0.00,2.65,0.00,0.000,4,0.000,0.069,2621,784,1751
$GC,11411,0.97,260.9,263.6,9.4,555,11415,0.00,2.55,0.00,0.000,6,0.000,0.047,2621,2202,1752
$GC,11732,0.97,260.9,237.2,8.0,571,11733,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2201,1752
$GC,12041,0.97,260.9,211.9,8.1,586,12046,0.00,2.65,0.00,0.000,4,0.000,0.068,2621,786,1752
$GC,12085,0.97,260.9,208.1,8.6,588,12089,0.00,2.58,0.00,0.000,6,0.000,0.047,2621,2197,1753
$GC,12411,0.97,260.9,182.3,7.7,604,12412,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2196,1753
$GC,12721,0.97,260.9,156.7,8.3,619,12725,0.00,2.62,0.00,0.000,4,0.000,0.067,2622,789,1753
$GC,12759,0.97,260.9,153.3,9.1,621,12764,0.00,2.53,0.00,0.000,6,0.000,0.044,2621,2203,1753
$GC,13085,0.97,260.9,126.0,8.4,637,13087,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2203,1753
$GC,13395,0.97,260.9,97.3,9.5,652,13399,0.00,2.62,0.00,0.000,4,0.000,0.066,2621,790,1754
$GC,13421,0.97,260.9,94.6,9.8,653,13425,0.00,2.53,0.00,0.000,6,0.000,0.044,2621,2199,1754
$GC,13742,0.97,260.9,71.2,6.9,669,13743,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2199,1754
$GC,14051,0.97,260.9,40.2,10.1,684,14056,0.00,2.62,0.00,0.000,4,0.000,0.065,2621,788,1754
$GC,14084,0.97,260.9,36.6,10.1,685,14091,0.00,2.55,0.00,0.000,6,0.000,0.044,2621,2198,1754
$GC,14399,0.97,260.9,6.0,9.2,701,14400,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2198,1755
$STATE,14459,end climb,SURFACE_DEPTH_REACHED
$STATE,14460,begin surface coast
$FINISH,0.6,1.027371
$STATE,14482,end surface coast,CONTROL_FINISHED_OK
$STATE,14482,begin surface
$SM_CCo,14501,169.60,0.655,1,0,509,566.15
$SM_GC,1.13,0.00,0.00,169.60,0.000,0.000,0.655,65,2401,509,-10.78,0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2068
$TCM_TEMP,15.90
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,450.2,98.9
$24V_AH,23.6,25.836
$10V_AH,10.2,12.476
$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,25.575,136.750,331.425,169.600,0.000,32.595,34.057,133.879,9.000,0.000,0.000,34.762,1283.192,11162.576,689.129,1520.252,340.198,33.366,1450.821,0.000,1470.931,0.000,25.123
$DEVICE_MAMPS,172.575,79.768,1045.421,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,500.472,496.024,485.054,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34777,705
$CFSIZE,260165632,250982400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,081207,084828,6241.458,-1017.826,27,2.8,46,-10.4