version: 66.02
glider: 16
mission: 6
dive: 146
start: 12 8 107 12 39 20
data:
$ID,16
$MISSION,6
$DIVE,146
$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,-2078479.6
$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,13
$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
$GPS1,122007,6241.649,-1012.909,38,2.0,49,-10.3
$_CALLS,5
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-50.4
$GPS2,123829,6241.549,-1012.997,11,5.9,30,-10.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.214,-0.058
$KALMAN_X,-124312.3,1972.9,561.3,62446.4,-20981.6
$KALMAN_Y,114569.0,787.2,-291.4,2254.8,-5573.9
$MHEAD_RNG_PITCHd_Wd,115.5,31991,-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,20,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-102.05,0.000,2,0.000,0.000,65,2405,3053
$GC,126,-0.85,-146.6,3.3,-2.3,5,151,12.23,0.00,-9.05,0.000,6,0.170,0.000,2218,2405,3415
$GC,473,-0.85,-146.6,41.9,-8.6,22,477,0.00,2.67,0.00,0.000,4,0.000,0.065,2219,979,3415
$GC,505,-0.85,-146.6,43.8,-5.7,23,512,0.00,2.60,0.00,0.000,6,0.000,0.051,2219,2397,3415
$GC,822,-0.85,-146.6,63.6,-4.6,39,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2397,3415
$GC,1130,-0.85,-146.6,91.5,-8.3,54,1134,0.00,2.65,0.00,0.000,4,0.000,0.065,2218,979,3415
$GC,1172,-0.85,-146.6,94.9,-7.7,56,1177,0.00,2.60,0.00,0.000,6,0.000,0.051,2219,2400,3415
$GC,1500,-0.85,-146.6,120.6,-6.7,72,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3414
$GC,1809,-0.85,-146.6,140.4,-5.9,87,1814,0.00,2.65,0.00,0.000,4,0.000,0.067,2218,981,3415
$GC,1853,-0.85,-146.6,143.9,-9.0,89,1857,0.00,2.60,0.00,0.000,6,0.000,0.051,2219,2401,3415
$GC,2179,-0.85,-146.6,170.8,-7.2,105,2184,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,981,3415
$GC,2223,-0.85,-146.6,174.1,-7.6,107,2227,0.00,2.58,0.00,0.000,6,0.000,0.052,2218,2403,3415
$GC,2549,-0.85,-146.6,197.2,-7.0,123,2554,0.00,2.67,0.00,0.000,4,0.000,0.067,2219,974,3415
$GC,2588,-0.85,-146.6,199.9,-6.5,125,2593,0.00,2.58,0.00,0.000,6,0.000,0.051,2219,2400,3415
$GC,2920,-0.85,-146.6,223.0,-7.5,141,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,3228,-0.85,-146.6,247.6,-8.4,156,3233,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,982,3414
$GC,3294,-0.85,-146.6,253.3,-8.5,159,3299,0.00,2.58,0.00,0.000,6,0.000,0.052,2219,2396,3415
$GC,3621,-0.85,-146.6,278.5,-7.3,175,3625,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,978,3416
$GC,3652,-0.85,-146.6,280.8,-6.9,176,3659,0.00,2.60,0.00,0.000,6,0.000,0.052,2219,2401,3415
$GC,3968,-0.85,-146.6,305.3,-8.2,192,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3415
$GC,4277,-0.85,-146.6,333.4,-9.5,207,4282,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,981,3415
$GC,4325,-0.85,-146.6,338.6,-10.3,209,4330,0.00,2.58,0.00,0.000,6,0.000,0.053,2219,2393,3415
$GC,4647,-0.85,-146.6,365.7,-6.8,225,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2392,3415
$GC,4956,-0.85,-146.6,383.1,-6.6,240,4960,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,980,3416
$GC,5004,-0.85,-146.6,386.8,-8.1,242,5009,0.00,2.58,0.00,0.000,6,0.000,0.052,2219,2393,3416
$GC,5325,-0.85,-146.6,415.2,-9.3,258,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2393,3416
$GC,5634,-0.85,-146.6,443.4,-9.4,273,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2393,3415
$GC,5944,-0.85,-146.6,471.3,-8.6,288,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2393,3415
$GC,6253,-0.85,-146.6,496.6,-8.9,303,6257,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,982,3415
$GC,6324,-0.85,-146.6,503.1,-9.4,306,6329,0.00,2.60,0.00,0.000,6,0.000,0.054,2219,2397,3415
$STATE,6417,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6417,begin apogee
$GC,6422,-0.31,0.0,510.8,8.2,311,6545,0.60,0.00,119.38,1.011,6,0.104,0.000,2340,2191,2817
$STATE,6545,end apogee,CONTROL_FINISHED_OK
$STATE,6545,begin climb
$GC,6547,0.85,146.6,515.9,0.0,317,6670,1.20,0.00,118.25,0.995,6,0.081,0.000,2590,2189,2218
$GC,6977,0.85,146.6,494.3,6.7,338,6982,0.00,2.62,0.00,0.000,4,0.000,0.068,2590,792,2217
$GC,7054,0.85,146.6,488.3,8.0,341,7061,0.00,2.62,0.00,0.000,6,0.000,0.051,2590,2200,2216
$GC,7370,0.85,146.6,463.8,7.5,357,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2200,2215
$GC,7679,0.85,146.6,442.5,7.4,372,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2200,2214
$GC,7988,0.86,162.1,422.2,5.6,387,8003,0.00,0.00,12.98,0.881,6,0.000,0.000,2590,2200,2156
$GC,8298,0.94,235.2,408.2,4.0,402,8359,0.12,0.00,58.62,0.949,6,0.066,0.000,2621,2200,1857
$GC,8667,1.00,290.9,390.5,4.5,420,8717,0.00,2.75,44.47,0.924,4,0.000,0.068,2623,789,1630
$GC,8756,1.00,290.9,385.7,6.1,424,8760,0.00,2.60,0.00,0.000,6,0.000,0.050,2623,2204,1629
$GC,9082,1.00,290.9,362.1,7.3,440,9087,0.00,2.67,0.00,0.000,4,0.000,0.068,2623,792,1629
$GC,9131,1.00,290.9,358.2,7.6,442,9136,0.00,2.60,0.00,0.000,6,0.000,0.049,2623,2200,1629
$GC,9453,1.00,290.9,330.7,8.4,458,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2200,1629
$GC,9762,1.00,290.9,302.6,9.2,473,9766,0.00,2.65,0.00,0.000,4,0.000,0.067,2623,784,1629
$GC,9805,1.00,290.9,298.0,10.3,475,9810,0.00,2.60,0.00,0.000,6,0.000,0.048,2623,2198,1629
$GC,10132,1.00,290.9,265.5,10.1,491,10137,0.00,2.65,0.00,0.000,4,0.000,0.067,2623,786,1629
$GC,10158,1.00,290.9,263.1,9.4,492,10163,0.00,2.60,0.00,0.000,6,0.000,0.048,2623,2196,1629
$GC,10480,1.00,290.9,235.8,9.5,508,10484,0.00,2.65,0.00,0.000,4,0.000,0.067,2623,783,1630
$GC,10506,1.00,290.9,233.1,10.1,509,10510,0.00,2.58,0.00,0.000,6,0.000,0.048,2623,2202,1629
$GC,10826,1.00,290.9,200.1,9.9,525,10831,0.00,2.65,0.00,0.000,4,0.000,0.067,2623,791,1629
$GC,10843,1.00,290.9,198.4,9.8,526,10847,0.00,2.58,0.00,0.000,6,0.000,0.048,2623,2207,1629
$GC,11168,1.00,290.9,164.7,11.3,542,11173,0.00,2.65,0.00,0.000,4,0.000,0.069,2623,791,1630
$GC,11213,1.00,290.9,159.1,12.8,544,11218,0.00,2.55,0.00,0.000,6,0.000,0.049,2623,2198,1630
$GC,11534,1.00,290.9,130.1,9.8,560,11535,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2198,1630
$GC,11843,1.00,290.9,106.2,9.0,575,11847,0.00,2.65,0.00,0.000,4,0.000,0.069,2623,789,1630
$GC,11885,1.00,290.9,101.4,10.7,577,11890,0.00,2.58,0.00,0.000,6,0.000,0.049,2623,2192,1631
$GC,12212,1.00,290.9,68.2,10.8,593,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2192,1631
$GC,12522,1.00,290.9,39.1,8.4,608,12526,0.00,2.62,0.00,0.000,4,0.000,0.068,2623,790,1631
$GC,12587,1.00,290.9,33.1,9.2,611,12592,0.00,2.58,0.00,0.000,6,0.000,0.050,2622,2194,1631
$GC,12914,1.00,290.9,2.0,9.6,627,12918,0.00,2.12,0.00,0.000,3,0.000,0.076,2623,1061,1631
$STATE,12919,end climb,SURFACE_DEPTH_REACHED
$STATE,12919,begin surface coast
$FINISH,0.6,1.027703
$STATE,12957,end surface coast,CONTROL_FINISHED_OK
$STATE,12957,begin surface
$SM_CCo,12979,152.40,0.658,1,0,509,566.15
$SM_GC,1.21,0.00,0.00,152.40,0.000,0.000,0.658,66,2402,509,-10.78,0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2070
$TCM_TEMP,17.00
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,426.4,92.9
$24V_AH,23.6,26.136
$10V_AH,10.2,12.610
$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,25.325,109.800,353.700,152.400,0.000,163.118,238.209,336.796,7.500,0.000,0.000,31.279,1145.434,10207.852,679.363,1334.245,880.099,33.363,1341.334,0.000,1291.869,0.000,23.491
$DEVICE_MAMPS,169.507,75.933,1010.906,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.406,438.762,452.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31695,629
$CFSIZE,260165632,250896384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,081207,161952,6240.885,-1010.660,42,2.7,61,-10.3