version: 66.02
glider: 16
mission: 6
dive: 150
start: 12 9 107 3 53 1
data:
$ID,16
$MISSION,6
$DIVE,150
$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,-2078582
$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,29
$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
$GPS1,034308,6241.395,-957.352,32,1.9,32,-10.2
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-52.9
$GPS2,035211,6241.358,-957.589,14,2.2,33,-10.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.199,0.097
$KALMAN_X,-128326.4,1264.8,673.1,80653.4,-20318.0
$KALMAN_Y,116693.2,-50.9,243.5,72.9,-1429.9
$MHEAD_RNG_PITCHd_Wd,74.2,21849,-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,21,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-102.00,0.000,2,0.000,0.000,68,2412,3072
$GC,127,-0.85,-146.6,3.5,-2.6,5,150,12.18,0.00,-8.32,0.000,6,0.173,0.000,2221,2412,3415
$GC,458,-0.85,-146.6,44.6,-11.3,21,463,0.00,2.67,0.00,0.000,4,0.000,0.067,2222,982,3416
$GC,507,-0.85,-146.6,50.3,-10.3,23,512,0.00,2.60,0.00,0.000,6,0.000,0.054,2222,2390,3416
$GC,829,-0.85,-146.6,75.5,-5.9,39,834,0.00,2.60,0.00,0.000,4,0.000,0.074,2221,3769,3416
$GC,869,-0.85,-146.6,78.1,-6.9,41,873,0.00,2.53,0.00,0.000,6,0.000,0.057,2221,2397,3416
$GC,1194,-0.85,-146.6,105.4,-8.8,57,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3416
$GC,1503,-0.85,-146.6,131.2,-8.3,72,1508,0.00,2.62,0.00,0.000,4,0.000,0.064,2221,978,3416
$GC,1535,-0.85,-146.6,134.3,-9.8,73,1542,0.00,2.62,0.00,0.000,6,0.000,0.057,2221,2399,3416
$GC,1850,-0.85,-146.6,158.3,-6.8,89,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3416
$GC,2160,-0.85,-146.6,182.4,-9.2,104,2164,0.00,2.67,0.00,0.000,4,0.000,0.074,2221,985,3416
$GC,2220,-0.85,-146.6,188.9,-10.3,107,2225,0.00,2.58,0.00,0.000,6,0.000,0.057,2221,2401,3416
$GC,2547,-0.85,-146.6,215.8,-7.5,123,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3416
$GC,2856,-0.85,-146.6,236.7,-6.4,138,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3416
$GC,3165,-0.85,-146.6,255.4,-7.2,153,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3416
$GC,3475,-0.85,-146.6,275.3,-6.8,168,3479,0.00,2.67,0.00,0.000,4,0.000,0.073,2222,980,3416
$GC,3513,-0.85,-146.6,277.7,-6.3,170,3518,0.00,2.58,0.00,0.000,6,0.000,0.055,2222,2400,3416
$GC,3840,-0.85,-146.6,298.7,-6.3,186,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3415
$GC,4149,-0.85,-146.6,316.5,-6.1,201,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3416
$GC,4458,-0.85,-146.6,337.6,-6.9,216,4462,0.00,2.65,0.00,0.000,4,0.000,0.071,2221,984,3416
$GC,4512,-0.85,-146.6,341.8,-8.1,218,4519,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2393,3416
$GC,4827,-0.85,-146.6,366.6,-8.2,234,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2393,3417
$GC,5137,-0.85,-146.6,387.3,-6.3,249,5141,0.00,2.58,0.00,0.000,4,0.000,0.074,2222,3769,3416
$GC,5157,-0.85,-146.6,388.8,-6.8,250,5162,0.00,2.53,0.00,0.000,6,0.000,0.054,2222,2400,3417
$GC,5484,-0.85,-146.6,409.5,-7.2,266,5489,0.00,2.65,0.00,0.000,4,0.000,0.072,2221,982,3417
$GC,5591,-0.85,-146.6,417.3,-6.7,271,5596,0.00,2.58,0.00,0.000,6,0.000,0.056,2222,2400,3417
$GC,5917,-0.85,-146.6,435.6,-4.8,287,5921,0.00,2.55,0.00,0.000,4,0.000,0.074,2222,3763,3417
$GC,5961,-0.85,-146.6,437.6,-4.8,289,5965,0.00,2.47,0.00,0.000,6,0.000,0.051,2222,2395,3417
$GC,6282,-0.85,-146.6,458.1,-7.0,305,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2396,3417
$GC,6591,-0.85,-146.6,478.7,-7.0,320,6595,0.00,2.62,0.00,0.000,4,0.000,0.071,2221,986,3418
$GC,6622,-0.85,-146.6,480.7,-6.6,321,6629,0.00,2.60,0.00,0.000,6,0.000,0.057,2221,2401,3418
$STATE,6689,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6689,begin apogee
$GC,6694,-0.31,0.0,484.7,6.1,325,6816,0.60,0.00,118.65,1.008,6,0.108,0.000,2341,2200,2817
$STATE,6816,end apogee,CONTROL_FINISHED_OK
$STATE,6816,begin climb
$GC,6818,0.85,146.6,487.3,0.0,331,6944,1.23,2.80,116.47,0.988,4,0.097,0.077,2587,789,2218
$GC,6977,0.87,164.6,481.5,5.5,338,6997,0.00,2.65,15.50,0.914,6,0.000,0.059,2588,2201,2146
$GC,7307,0.87,164.6,462.1,6.4,354,7312,0.00,2.65,0.00,0.000,4,0.000,0.075,2588,3609,2145
$GC,7334,0.87,164.6,460.2,6.8,355,7338,0.00,2.70,0.00,0.000,6,0.000,0.069,2588,2200,2145
$GC,7656,0.93,223.0,443.8,4.4,371,7705,0.12,0.00,46.60,0.983,6,0.068,0.000,2620,2200,1907
$GC,8004,0.93,223.0,422.0,6.8,388,8008,0.00,2.72,0.00,0.000,4,0.000,0.081,2620,3616,1905
$GC,8065,0.93,223.0,417.2,8.5,391,8070,0.00,2.70,0.00,0.000,6,0.000,0.073,2620,2200,1905
$GC,8391,0.95,240.9,395.2,5.5,407,8412,0.00,2.72,15.40,0.893,4,0.000,0.074,2620,788,1833
$GC,8462,0.98,271.0,391.3,5.2,410,8492,0.00,2.62,24.67,0.919,6,0.000,0.057,2620,2200,1711
$GC,8809,0.98,271.0,370.2,6.7,427,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2199,1710
$GC,9118,0.98,271.0,348.1,8.2,442,9122,0.00,2.70,0.00,0.000,4,0.000,0.077,2620,787,1710
$GC,9160,0.98,271.0,344.2,9.4,444,9165,0.00,2.60,0.00,0.000,6,0.000,0.052,2620,2193,1709
$GC,9487,0.98,271.0,311.7,10.2,460,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2193,1710
$GC,9796,0.98,271.0,286.4,7.3,475,9801,0.00,2.67,0.00,0.000,4,0.000,0.077,2621,787,1709
$GC,9844,0.98,271.0,282.7,8.0,477,9849,0.00,2.60,0.00,0.000,6,0.000,0.051,2620,2199,1709
$GC,10166,0.98,271.0,258.0,7.4,493,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2199,1709
$GC,10475,0.98,271.0,232.7,8.1,508,10479,0.00,2.67,0.00,0.000,4,0.000,0.076,2619,786,1709
$GC,10523,0.98,271.0,228.8,8.4,510,10528,0.00,2.58,0.00,0.000,6,0.000,0.050,2620,2204,1710
$GC,10845,0.98,271.0,206.3,7.0,526,10849,0.00,2.67,0.00,0.000,4,0.000,0.072,2620,786,1710
$GC,10871,0.98,271.0,204.2,7.6,527,10875,0.00,2.60,0.00,0.000,6,0.000,0.049,2621,2202,1710
$GC,11192,0.98,271.0,176.5,9.2,543,11196,0.00,2.67,0.00,0.000,4,0.000,0.071,2622,785,1710
$GC,11217,0.98,271.0,173.7,10.8,544,11222,0.00,2.60,0.00,0.000,6,0.000,0.049,2620,2202,1711
$GC,11539,0.98,271.0,143.3,8.6,560,11541,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2202,1710
$GC,11848,0.98,271.0,117.6,8.8,575,11853,0.00,2.67,0.00,0.000,4,0.000,0.070,2620,778,1711
$GC,11887,0.98,271.0,114.2,8.7,577,11892,0.00,2.58,0.00,0.000,6,0.000,0.048,2621,2201,1710
$GC,12214,0.98,271.0,85.8,8.2,593,12215,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2201,1710
$GC,12523,0.98,271.0,56.3,10.3,608,12528,0.00,2.65,0.00,0.000,4,0.000,0.070,2620,788,1711
$GC,12562,0.98,271.0,52.8,9.3,610,12567,0.00,2.55,0.00,0.000,6,0.000,0.048,2620,2208,1711
$GC,12889,0.98,271.0,19.7,10.3,626,12893,0.00,2.67,0.00,0.000,4,0.000,0.070,2620,782,1711
$GC,12927,0.98,271.0,16.1,9.6,628,12932,0.00,2.55,0.00,0.000,6,0.000,0.048,2621,2201,1711
$STATE,13088,end climb,SURFACE_DEPTH_REACHED
$STATE,13088,begin surface coast
$FINISH,0.7,1.014902
$STATE,13109,end surface coast,CONTROL_FINISHED_OK
$STATE,13109,begin surface
$SM_CCo,13128,164.50,0.660,1,0,509,566.15
$SM_GC,1.24,0.00,0.00,164.50,0.000,0.000,0.660,68,2406,509,-10.77,0.17,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2064
$TCM_TEMP,17.00
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,426.0,68.5
$24V_AH,23.6,26.703
$10V_AH,10.2,12.873
$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,25.275,116.325,337.300,164.500,0.000,65.272,78.011,223.291,5.500,0.000,0.000,34.264,1160.577,10151.982,651.992,1380.912,502.875,33.362,1352.409,0.000,1331.954,0.000,23.421
$DEVICE_MAMPS,173.342,81.302,1007.838,660.387,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.328,445.149,445.450,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31649,637
$CFSIZE,260165632,250716160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,091207,073616,6242.909,-954.440,43,2.9,62,-10.2