version: 66.02
glider: 16
mission: 6
dive: 152
start: 12 9 107 11 28 1
data:
$ID,16
$MISSION,6
$DIVE,152
$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,-2078632.1
$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,14
$R_STBD_OVSHOOT,21
$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
$GPS1,112207,6244.656,-947.288,27,1.2,27,-10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-51.6
$GPS2,112709,6244.607,-947.274,13,1.6,13,-10.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.195,0.105
$KALMAN_X,-127494.6,1314.4,553.1,88936.0,-14812.2
$KALMAN_Y,116764.9,292.1,116.3,5805.9,-1458.1
$MHEAD_RNG_PITCHd_Wd,71.8,11729,-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,-102.50,0.000,2,0.000,0.000,67,2407,3128
$GC,126,-0.85,-146.6,4.1,-3.0,5,151,12.18,2.75,-6.53,0.000,4,0.172,0.085,2223,985,3417
$GC,201,-0.85,-146.6,14.5,-7.8,8,205,0.00,2.62,0.00,0.000,6,0.000,0.057,2223,2401,3418
$GC,523,-0.85,-146.6,41.0,-8.7,24,527,0.00,2.70,0.00,0.000,4,0.000,0.076,2223,977,3418
$GC,561,-0.85,-146.6,45.8,-13.4,26,566,0.00,2.60,0.00,0.000,6,0.000,0.058,2223,2400,3418
$GC,887,-0.85,-146.6,81.2,-9.5,42,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3418
$GC,1197,-0.85,-146.6,103.1,-6.0,57,1202,0.00,2.70,0.00,0.000,4,0.000,0.076,2223,981,3418
$GC,1236,-0.85,-146.6,105.5,-6.0,59,1241,0.00,2.60,0.00,0.000,6,0.000,0.060,2223,2406,3418
$GC,1562,-0.85,-146.6,125.6,-6.8,75,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2406,3418
$GC,1871,-0.85,-146.6,145.7,-6.6,90,1876,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,977,3418
$GC,1925,-0.85,-146.6,149.2,-6.0,92,1933,0.00,2.62,0.00,0.000,6,0.000,0.056,2223,2401,3418
$GC,2241,-0.85,-146.6,167.7,-6.6,108,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3418
$GC,2551,-0.85,-146.6,185.4,-5.8,123,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3418
$GC,2859,-0.85,-146.6,207.4,-8.3,138,2864,0.00,2.67,0.00,0.000,4,0.000,0.074,2223,982,3418
$GC,2891,-0.85,-146.6,211.2,-11.5,139,2898,0.00,2.60,0.00,0.000,6,0.000,0.055,2223,2400,3418
$GC,3207,-0.85,-146.6,237.8,-7.7,155,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3418
$GC,3516,-0.85,-146.6,257.2,-6.9,170,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3418
$GC,3826,-0.85,-146.6,280.1,-8.9,185,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3418
$GC,4135,-0.85,-146.6,302.9,-8.1,200,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2400,3418
$GC,4444,-0.85,-146.6,327.2,-8.7,215,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3418
$GC,4753,-0.85,-146.6,354.5,-8.4,230,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3418
$GC,5063,-0.85,-146.6,377.1,-6.9,245,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3418
$GC,5372,-0.85,-146.6,397.1,-6.5,260,5376,0.00,2.65,0.00,0.000,4,0.000,0.070,2223,982,3418
$GC,5433,-0.85,-146.6,401.0,-6.0,263,5438,0.00,2.58,0.00,0.000,6,0.000,0.056,2223,2398,3418
$GC,5759,-0.85,-146.6,417.3,-4.4,279,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2398,3418
$GC,6067,-0.85,-146.6,435.2,-7.3,294,6072,0.00,2.65,0.00,0.000,4,0.000,0.073,2223,982,3418
$GC,6129,-0.85,-146.6,440.2,-8.7,297,6133,0.00,2.60,0.00,0.000,6,0.000,0.059,2223,2408,3418
$GC,6454,-0.85,-146.6,465.2,-7.3,313,6458,0.00,2.72,0.00,0.000,4,0.000,0.078,2223,979,3418
$GC,6525,-0.85,-146.6,470.7,-7.3,316,6530,0.00,2.65,0.00,0.000,6,0.000,0.064,2223,2401,3417
$STATE,6762,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6762,begin apogee
$GC,6767,-0.31,0.0,487.6,7.1,328,6889,0.57,0.00,118.85,1.009,6,0.109,0.000,2337,2195,2816
$STATE,6890,end apogee,CONTROL_FINISHED_OK
$STATE,6890,begin climb
$GC,6892,0.85,146.6,491.6,0.0,334,7013,1.27,0.00,117.15,0.989,6,0.093,0.000,2593,2195,2218
$GC,7313,0.85,146.6,468.6,7.0,355,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2196,2217
$GC,7622,0.85,146.6,445.5,7.2,370,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2195,2216
$GC,7932,0.93,223.9,429.5,3.9,385,7998,0.00,2.78,60.75,0.966,4,0.000,0.081,2593,785,1904
$GC,8042,0.97,263.8,425.0,4.9,390,8083,0.12,2.65,32.83,0.936,6,0.068,0.059,2623,2198,1741
$GC,8405,0.97,263.8,397.0,9.5,408,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2198,1739
$GC,8713,0.97,263.8,362.2,10.9,423,8718,0.00,2.72,0.00,0.000,4,0.000,0.081,2623,785,1738
$GC,8740,0.97,263.8,359.2,11.5,424,8744,0.00,2.62,0.00,0.000,6,0.000,0.057,2623,2200,1737
$GC,9061,0.97,263.8,331.5,8.4,440,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2199,1738
$GC,9370,0.97,263.8,302.1,9.8,455,9374,0.00,2.72,0.00,0.000,4,0.000,0.077,2623,777,1737
$GC,9425,0.97,263.8,296.3,10.7,457,9431,0.00,2.62,0.00,0.000,6,0.000,0.054,2623,2207,1738
$GC,9740,0.97,263.8,265.8,9.6,473,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2207,1737
$GC,10049,0.97,263.8,235.0,10.6,488,10053,0.00,2.72,0.00,0.000,4,0.000,0.077,2622,781,1737
$GC,10080,0.97,263.8,231.5,10.6,489,10087,0.00,2.62,0.00,0.000,6,0.000,0.053,2623,2196,1737
$GC,10396,0.97,263.8,198.8,9.9,505,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2196,1736
$GC,10705,0.97,263.8,170.9,10.5,520,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2196,1738
$GC,11015,0.97,263.8,139.7,10.7,535,11019,0.00,2.70,0.00,0.000,4,0.000,0.077,2623,780,1738
$GC,11041,0.97,263.8,137.2,9.6,536,11045,0.00,2.60,0.00,0.000,6,0.000,0.052,2623,2207,1738
$GC,11362,0.97,263.8,112.6,7.1,552,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2207,1738
$GC,11672,0.97,263.8,88.3,9.0,567,11676,0.00,2.70,0.00,0.000,4,0.000,0.076,2623,784,1738
$GC,11710,0.97,263.8,84.2,10.7,569,11715,0.00,2.58,0.00,0.000,6,0.000,0.051,2623,2205,1738
$GC,12036,0.97,263.8,59.5,8.6,585,12037,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2204,1738
$GC,12345,0.97,263.8,33.8,7.9,600,12350,0.00,2.70,0.00,0.000,4,0.000,0.077,2623,783,1739
$GC,12372,0.97,263.8,31.4,8.9,601,12376,0.00,2.58,0.00,0.000,6,0.000,0.054,2623,2200,1739
$GC,12693,0.97,263.8,6.0,9.4,617,12695,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2199,1739
$STATE,12733,end climb,SURFACE_DEPTH_REACHED
$STATE,12733,begin surface coast
$FINISH,0.9,1.010813
$STATE,12755,end surface coast,CONTROL_FINISHED_OK
$STATE,12755,begin surface
$SM_CCo,12774,172.12,0.677,1,0,508,566.15
$SM_GC,1.34,0.00,0.00,172.12,0.000,0.000,0.677,73,2404,508,-10.75,0.11,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2080
$TCM_TEMP,15.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,400.3,96.0
$24V_AH,23.6,26.974
$10V_AH,10.2,12.999
$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,25.375,80.525,329.575,172.125,0.000,32.718,48.375,133.334,4.250,0.000,0.000,13.078,1098.102,9929.316,652.807,1247.889,336.227,33.362,1268.016,0.000,1228.861,0.000,21.870
$DEVICE_MAMPS,171.808,85.137,1009.372,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.313,435.907,466.091,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31691,620
$CFSIZE,260165632,250634240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$GPS,091207,150509,6244.322,-945.476,41,1.9,42,-10.1