version: 66.02
glider: 16
mission: 6
dive: 149
start: 12 9 107 0 3 19
data:
$ID,16
$MISSION,6
$DIVE,149
$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,-2078547.1
$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,12
$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
$GPS1,235432,6243.382,-958.812,42,1.1,42,-10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-54.5
$GPS2,000227,6243.305,-958.851,15,1.0,15,-10.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.195,-0.104
$KALMAN_X,-124072.0,1346.1,451.3,75404.7,-14297.4
$KALMAN_Y,116358.1,123.1,288.8,3806.6,-2413.5
$MHEAD_RNG_PITCHd_Wd,128.3,20195,-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,-102.60,0.000,2,0.000,0.000,68,2411,3092
$GC,126,-0.85,-146.6,3.7,-2.7,5,152,12.15,2.55,-7.43,0.000,4,0.173,0.084,2221,3762,3415
$GC,157,-0.85,-146.6,10.7,-19.1,6,162,0.00,2.53,0.00,0.000,6,0.000,0.050,2220,2387,3416
$GC,478,-0.85,-146.6,42.6,-12.2,22,483,0.00,2.60,0.00,0.000,4,0.000,0.071,2220,3762,3416
$GC,735,-0.85,-146.6,58.4,-5.1,33,742,0.00,2.50,0.00,0.000,6,0.000,0.047,2220,2393,3416
$GC,1051,-0.85,-146.6,86.2,-11.1,49,1055,0.00,2.58,0.00,0.000,4,0.000,0.071,2220,3762,3416
$GC,1139,-0.85,-146.6,98.6,-14.9,53,1143,0.00,2.45,0.00,0.000,6,0.000,0.047,2220,2398,3416
$GC,1467,-0.85,-146.6,140.0,-10.5,69,1471,0.00,2.58,0.00,0.000,4,0.000,0.060,2220,994,3416
$GC,1510,-0.85,-146.6,145.0,-10.6,71,1515,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,2390,3416
$GC,1837,-0.85,-146.6,168.8,-5.4,87,1842,0.00,2.60,0.00,0.000,4,0.000,0.067,2220,994,3416
$GC,1876,-0.85,-146.6,171.6,-7.5,89,1880,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,2405,3416
$GC,2201,-0.85,-146.6,191.5,-7.0,105,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3416
$GC,2511,-0.85,-146.6,212.6,-8.6,120,2515,0.00,2.65,0.00,0.000,4,0.000,0.068,2220,989,3416
$GC,2559,-0.85,-146.6,216.8,-8.2,122,2564,0.00,2.58,0.00,0.000,6,0.000,0.052,2220,2399,3417
$GC,2880,-0.85,-146.6,242.2,-7.8,138,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3416
$GC,3190,-0.85,-146.6,260.3,-4.1,153,3194,0.00,2.62,0.00,0.000,4,0.000,0.066,2220,989,3417
$GC,3228,-0.85,-146.6,261.6,-3.2,155,3233,0.00,2.55,0.00,0.000,6,0.000,0.054,2220,2397,3416
$GC,3555,-0.85,-146.6,280.4,-6.6,171,3559,0.00,2.65,0.00,0.000,4,0.000,0.071,2220,986,3416
$GC,3597,-0.85,-146.6,283.6,-6.7,173,3602,0.00,2.60,0.00,0.000,6,0.000,0.057,2218,2395,3416
$GC,3924,-0.85,-146.6,303.0,-5.5,189,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2395,3416
$GC,4234,-0.85,-146.6,324.7,-8.5,204,4238,0.00,2.62,0.00,0.000,4,0.000,0.070,2220,992,3416
$GC,4259,-0.85,-146.6,327.9,-12.3,205,4264,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2398,3416
$GC,4587,-0.85,-146.6,353.9,-7.5,221,4591,0.00,2.62,0.00,0.000,4,0.000,0.069,2220,992,3417
$GC,4647,-0.85,-146.6,358.4,-8.2,224,4652,0.00,2.55,0.00,0.000,6,0.000,0.055,2220,2403,3416
$GC,4973,-0.85,-146.6,382.9,-8.3,240,4977,0.00,2.65,0.00,0.000,4,0.000,0.069,2220,985,3416
$GC,5044,-0.85,-146.6,388.9,-8.8,243,5048,0.00,2.58,0.00,0.000,6,0.000,0.056,2220,2402,3416
$GC,5365,-0.85,-146.6,417.3,-9.5,259,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3417
$GC,5674,-0.85,-146.6,440.3,-6.4,274,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3417
$GC,5983,-0.85,-146.6,462.0,-7.2,289,5988,0.00,2.65,0.00,0.000,4,0.000,0.069,2220,988,3417
$GC,6056,-0.85,-146.6,467.3,-7.7,292,6061,0.00,2.58,0.00,0.000,6,0.000,0.055,2220,2397,3417
$STATE,6349,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6350,begin apogee
$GC,6354,-0.31,0.0,485.4,6.1,306,6476,0.60,0.00,118.65,0.997,6,0.104,0.000,2341,2202,2818
$STATE,6477,end apogee,CONTROL_FINISHED_OK
$STATE,6477,begin climb
$GC,6479,0.85,146.6,487.7,0.0,312,6603,1.25,2.72,117.07,0.980,4,0.093,0.066,2592,787,2218
$GC,6642,0.85,146.6,480.8,7.2,320,6647,0.00,2.62,0.00,0.000,6,0.000,0.052,2592,2202,2217
$GC,6957,0.85,146.6,459.6,7.1,335,6961,0.00,2.67,0.00,0.000,4,0.000,0.075,2592,3617,2216
$GC,7028,0.85,146.6,454.1,7.8,338,7032,0.00,2.62,0.00,0.000,6,0.000,0.060,2592,2204,2216
$GC,7349,0.88,175.5,435.8,5.2,354,7378,0.00,2.78,23.65,0.927,4,0.000,0.072,2592,776,2101
$GC,7435,0.88,175.5,430.8,6.2,358,7439,0.00,2.62,0.00,0.000,6,0.000,0.053,2592,2203,2100
$GC,7760,0.91,205.7,414.3,5.2,374,7790,0.00,2.75,24.70,0.927,4,0.000,0.077,2592,3613,1978
$GC,7828,0.91,205.7,410.0,6.2,377,7833,0.00,2.70,0.00,0.000,6,0.000,0.067,2592,2208,1977
$GC,8150,0.91,205.7,391.1,6.1,393,8154,0.00,2.72,0.00,0.000,4,0.000,0.084,2592,3611,1976
$GC,8188,0.91,205.7,388.4,7.7,395,8192,0.00,2.67,0.00,0.000,6,0.000,0.069,2592,2201,1976
$GC,8514,0.93,226.0,370.7,5.4,411,8536,0.00,2.80,16.92,0.884,4,0.000,0.076,2592,784,1895
$GC,8603,0.93,226.0,364.9,7.8,415,8608,0.00,2.62,0.00,0.000,6,0.000,0.058,2592,2196,1894
$GC,8929,0.93,226.0,339.7,7.5,431,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2196,1894
$GC,9239,0.93,226.0,312.8,9.3,446,9243,0.00,2.70,0.00,0.000,4,0.000,0.075,2592,778,1894
$GC,9283,0.93,226.0,308.7,9.6,448,9287,0.00,2.60,0.00,0.000,6,0.000,0.053,2591,2202,1893
$GC,9602,0.93,226.0,283.9,7.6,464,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2202,1893
$GC,9912,0.93,226.0,267.2,6.2,479,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2202,1893
$GC,10221,0.93,226.0,249.9,6.2,494,10226,0.00,2.70,0.00,0.000,4,0.000,0.075,2592,779,1894
$GC,10283,0.96,255.3,245.9,5.2,497,10313,0.12,2.60,24.00,0.814,6,0.066,0.053,2622,2204,1776
$GC,10634,0.96,255.3,215.1,9.8,514,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2204,1776
$GC,10942,0.96,255.3,185.7,10.6,529,10943,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2204,1776
$GC,11251,0.96,255.3,156.0,9.2,544,11256,0.00,2.70,0.00,0.000,4,0.000,0.073,2622,776,1775
$GC,11283,0.96,255.3,152.3,11.0,545,11290,0.00,2.60,0.00,0.000,6,0.000,0.051,2622,2191,1776
$GC,11600,0.98,268.8,125.1,5.6,561,11614,0.00,0.00,12.05,0.697,6,0.000,0.000,2622,2191,1721
$GC,11910,0.98,268.8,95.7,10.7,576,11914,0.00,2.65,0.00,0.000,4,0.000,0.071,2622,782,1721
$GC,11948,0.98,268.8,91.8,10.3,578,11953,0.00,2.58,0.00,0.000,6,0.000,0.051,2622,2198,1720
$GC,12275,0.98,268.8,65.0,11.1,594,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2198,1720
$GC,12584,0.98,268.8,31.1,10.2,609,12588,0.00,2.65,0.00,0.000,4,0.000,0.070,2622,782,1720
$GC,12626,0.98,268.8,26.4,9.8,611,12631,0.00,2.60,0.00,0.000,6,0.000,0.051,2622,2198,1720
$STATE,12910,end climb,SURFACE_DEPTH_REACHED
$STATE,12911,begin surface coast
$FINISH,0.6,1.027648
$STATE,12933,end surface coast,CONTROL_FINISHED_OK
$STATE,12933,begin surface
$SM_CCo,12952,165.62,0.667,1,0,509,566.15
$SM_GC,1.21,0.00,0.00,165.62,0.000,0.000,0.667,69,2411,509,-10.76,0.28,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2053
$TCM_TEMP,15.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,426.5,68.6
$24V_AH,23.6,26.558
$10V_AH,10.2,12.806
$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,25.350,121.425,337.050,165.625,0.000,65.296,73.734,180.084,5.000,0.000,0.000,15.273,1172.070,9903.615,654.865,1423.737,452.942,33.368,1376.411,0.000,1392.333,0.000,23.427
$DEVICE_MAMPS,172.575,84.370,997.100,667.290,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.434,439.245,426.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31654,626
$CFSIZE,260165632,250757120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,091207,034308,6241.395,-957.352,32,1.9,32,-10.2