version: 66.02
glider: 16
mission: 6
dive: 148
start: 12 8 107 20 10 54
data:
$ID,16
$MISSION,6
$DIVE,148
$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,-2078531.2
$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,18
$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
$GPS1,200438,6242.592,-1005.529,30,1.6,30,-10.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-49.1
$GPS2,201002,6242.632,-1005.480,14,2.0,14,-10.3
$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,-125513.5,998.4,990.1,70806.6,-19884.5
$KALMAN_Y,118064.2,51.7,-308.4,1501.5,1527.7
$MHEAD_RNG_PITCHd_Wd,84.3,25503,-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,-146.6,0.0,0.0,0,128,0.00,0.00,-107.35,0.000,2,0.000,0.000,69,2400,3191
$GC,131,-0.85,-146.6,3.6,-3.1,6,154,12.27,2.65,-5.07,0.000,4,0.176,0.085,2222,3766,3417
$GC,244,-0.85,-146.6,20.4,-9.7,11,249,0.00,2.55,0.00,0.000,6,0.000,0.058,2222,2395,3417
$GC,570,-0.85,-146.6,44.9,-7.6,27,575,0.00,2.67,0.00,0.000,4,0.000,0.074,2222,979,3417
$GC,587,-0.85,-146.6,46.0,-7.5,28,591,0.00,2.62,0.00,0.000,6,0.000,0.060,2222,2401,3417
$GC,913,-0.85,-146.6,69.3,-7.3,44,917,0.00,2.70,0.00,0.000,4,0.000,0.073,2222,979,3418
$GC,934,-0.85,-146.6,71.1,-8.8,45,939,0.00,2.62,0.00,0.000,6,0.000,0.058,2222,2403,3418
$GC,1255,-0.85,-146.6,95.6,-7.2,61,1259,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,981,3417
$GC,1293,-0.85,-146.6,98.9,-8.5,63,1298,0.00,2.60,0.00,0.000,6,0.000,0.059,2222,2406,3417
$GC,1620,-0.85,-146.6,125.4,-8.0,79,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3417
$GC,1928,-0.85,-146.6,146.0,-6.5,94,1933,0.00,2.70,0.00,0.000,4,0.000,0.072,2222,976,3417
$GC,1989,-0.85,-146.6,149.9,-6.2,97,1994,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2401,3417
$GC,2321,-0.85,-146.6,170.9,-5.6,113,2325,0.00,2.67,0.00,0.000,4,0.000,0.073,2222,982,3417
$GC,2364,-0.85,-146.6,173.4,-5.7,115,2368,0.00,2.60,0.00,0.000,6,0.000,0.059,2222,2404,3417
$GC,2691,-0.85,-146.6,197.3,-7.3,131,2695,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,976,3417
$GC,2733,-0.85,-146.6,200.7,-7.7,133,2738,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2400,3417
$GC,3060,-0.85,-146.6,227.3,-8.0,149,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3418
$GC,3370,-0.85,-146.6,250.4,-7.9,164,3374,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,979,3417
$GC,3419,-0.85,-146.6,255.7,-9.7,166,3423,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2413,3417
$GC,3739,-0.85,-146.6,286.7,-8.5,182,3744,0.00,2.70,0.00,0.000,4,0.000,0.071,2222,978,3417
$GC,3778,-0.85,-146.6,289.7,-8.5,184,3783,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2405,3418
$GC,4104,-0.85,-146.6,313.0,-7.5,200,4108,0.00,2.67,0.00,0.000,4,0.000,0.070,2222,978,3417
$GC,4130,-0.85,-146.6,315.2,-8.0,201,4134,0.00,2.60,0.00,0.000,6,0.000,0.054,2222,2401,3417
$GC,4451,-0.85,-146.6,337.3,-6.4,217,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3417
$GC,4760,-0.85,-146.6,357.4,-6.8,232,4765,0.00,2.65,0.00,0.000,4,0.000,0.067,2222,980,3417
$GC,4787,-0.85,-146.6,359.4,-7.6,233,4791,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2395,3417
$GC,5108,-0.85,-146.6,384.5,-8.1,249,5112,0.00,2.65,0.00,0.000,4,0.000,0.071,2222,982,3417
$GC,5139,-0.85,-146.6,387.2,-8.6,250,5146,0.00,2.60,0.00,0.000,6,0.000,0.060,2222,2390,3417
$GC,5455,-0.85,-146.6,415.2,-8.9,266,5459,0.00,2.65,0.00,0.000,4,0.000,0.073,2222,982,3417
$GC,5481,-0.85,-146.6,417.7,-8.9,267,5486,0.00,2.60,0.00,0.000,6,0.000,0.060,2222,2403,3417
$GC,5802,-0.85,-146.6,441.8,-7.6,283,5806,0.00,2.58,0.00,0.000,4,0.000,0.080,2222,3763,3418
$GC,5856,-0.85,-146.6,446.4,-8.7,285,5864,0.00,2.53,0.00,0.000,6,0.000,0.058,2222,2405,3418
$GC,6172,-0.85,-146.6,468.8,-6.7,301,6176,0.00,2.67,0.00,0.000,4,0.000,0.077,2222,985,3418
$GC,6310,-0.85,-146.6,478.4,-7.2,307,6315,0.00,2.60,0.00,0.000,6,0.000,0.062,2222,2401,3418
$STATE,6403,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6403,begin apogee
$GC,6408,-0.31,0.0,484.7,6.6,312,6530,0.57,0.00,119.43,0.988,6,0.104,0.000,2338,2197,2817
$STATE,6531,end apogee,CONTROL_FINISHED_OK
$STATE,6531,begin climb
$GC,6533,0.85,146.6,488.1,0.0,318,6659,1.23,2.80,117.60,0.972,4,0.071,0.074,2594,787,2218
$GC,6688,0.85,146.6,482.1,6.3,326,6693,0.00,2.65,0.00,0.000,6,0.000,0.056,2594,2202,2217
$GC,7014,0.85,146.6,461.4,6.5,342,7018,0.00,2.70,0.00,0.000,4,0.000,0.081,2595,3611,2216
$GC,7052,0.85,146.6,458.7,7.5,344,7057,0.00,2.67,0.00,0.000,6,0.000,0.067,2594,2197,2216
$GC,7378,0.85,146.6,436.3,6.1,360,7382,0.00,2.70,0.00,0.000,4,0.000,0.079,2594,785,2215
$GC,7454,0.85,146.6,431.3,6.5,363,7461,0.00,2.65,0.00,0.000,6,0.000,0.058,2594,2195,2215
$GC,7770,0.86,156.9,413.2,5.7,379,7781,0.00,0.00,8.95,0.823,6,0.000,0.000,2594,2195,2177
$GC,8079,0.86,156.9,391.6,6.8,394,8083,0.00,2.70,0.00,0.000,4,0.000,0.080,2594,3618,2176
$GC,8155,0.86,156.9,385.7,7.5,397,8162,0.00,2.70,0.00,0.000,6,0.000,0.064,2594,2179,2176
$GC,8471,0.87,166.3,366.2,5.7,413,8485,0.00,2.70,9.00,0.807,4,0.000,0.076,2594,782,2138
$GC,8514,0.87,166.3,363.6,6.4,415,8519,0.00,2.62,0.00,0.000,6,0.000,0.054,2594,2199,2138
$GC,8841,0.92,214.5,346.8,4.7,431,8884,0.00,2.75,38.47,0.900,4,0.000,0.071,2594,778,1942
$GC,8907,0.95,245.1,343.6,5.2,434,8939,0.10,2.62,25.77,0.873,6,0.064,0.050,2620,2201,1817
$GC,9247,0.95,245.1,320.9,8.0,450,9248,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2199,1816
$GC,9557,0.95,245.1,296.5,7.3,465,9561,0.00,2.67,0.00,0.000,4,0.000,0.070,2620,782,1816
$GC,9595,0.95,245.1,293.6,7.8,467,9599,0.00,2.60,0.00,0.000,6,0.000,0.051,2620,2204,1815
$GC,9920,0.95,245.1,270.8,6.7,483,9924,0.00,2.65,0.00,0.000,4,0.000,0.073,2620,3618,1815
$GC,9951,0.95,245.1,268.7,6.8,484,9958,0.00,2.70,0.00,0.000,6,0.000,0.067,2620,2202,1815
$GC,10267,0.95,245.1,247.1,7.4,500,10272,0.00,2.67,0.00,0.000,4,0.000,0.072,2620,776,1815
$GC,10299,0.95,245.1,244.5,7.7,501,10306,0.00,2.62,0.00,0.000,6,0.000,0.053,2620,2195,1815
$GC,10615,0.95,245.1,216.4,9.6,517,10616,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2195,1815
$GC,10924,0.95,245.1,188.8,8.9,532,10925,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2195,1815
$GC,11233,0.95,245.1,156.9,10.5,547,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2195,1816
$GC,11543,0.95,245.1,130.2,9.0,562,11547,0.00,2.65,0.00,0.000,4,0.000,0.069,2620,781,1816
$GC,11575,0.95,245.1,126.9,10.6,563,11581,0.00,2.60,0.00,0.000,6,0.000,0.051,2620,2195,1816
$GC,11892,0.95,245.1,97.8,10.1,579,11893,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2195,1816
$GC,12200,0.95,245.1,70.3,10.5,594,12204,0.00,2.65,0.00,0.000,4,0.000,0.068,2620,779,1816
$GC,12222,0.95,245.1,68.2,9.4,595,12226,0.00,2.58,0.00,0.000,6,0.000,0.051,2620,2201,1816
$GC,12542,0.95,245.3,39.9,6.0,611,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2201,1816
$GC,12851,0.95,245.3,23.0,6.7,626,12852,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2201,1817
$STATE,13117,end climb,SURFACE_DEPTH_REACHED
$STATE,13117,begin surface coast
$FINISH,0.5,1.013808
$STATE,13139,end surface coast,CONTROL_FINISHED_OK
$STATE,13139,begin surface
$SM_CCo,13159,178.43,0.661,1,0,509,566.15
$SM_GC,1.11,0.00,0.00,178.43,0.000,0.000,0.661,70,2410,509,-10.77,0.28,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2069
$TCM_TEMP,17.00
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,400.2,94.1
$24V_AH,23.6,26.419
$10V_AH,10.2,12.741
$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,25.225,138.400,319.225,178.425,0.000,32.589,37.690,165.902,5.250,0.000,0.000,13.969,1183.088,10037.178,693.492,1397.129,364.897,33.359,1399.767,0.000,1372.517,0.000,21.872
$DEVICE_MAMPS,176.410,85.137,987.896,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.231,449.507,478.108,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31700,640
$CFSIZE,260165632,250806272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,081207,235432,6243.382,-958.812,42,1.1,42,-10.2