version: 66.02
glider: 16
mission: 6
dive: 153
start: 12 9 107 15 11 35
data:
$ID,16
$MISSION,6
$DIVE,153
$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,-2078663
$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,23
$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
$GPS1,150509,6244.322,-945.476,41,1.9,42,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-54.8
$GPS2,151044,6244.293,-945.583,18,1.9,29,-10.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.185,0.122
$KALMAN_X,-131272.0,1685.5,382.6,94030.5,-20581.0
$KALMAN_Y,113113.5,-141.0,-180.4,9615.9,-6304.8
$MHEAD_RNG_PITCHd_Wd,66.6,11575,-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,18,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-101.82,0.000,2,0.000,0.000,72,2404,3135
$GC,126,-0.85,-146.6,3.8,-3.1,5,151,12.05,2.70,-6.47,0.000,4,0.170,0.081,2220,989,3417
$GC,195,-0.85,-146.6,15.2,-10.0,8,200,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2400,3417
$GC,522,-0.85,-146.6,46.5,-8.8,24,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3417
$GC,832,-0.85,-146.6,73.4,-8.2,39,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3417
$GC,1141,-0.85,-146.6,102.6,-10.1,54,1145,0.00,2.67,0.00,0.000,4,0.000,0.069,2220,977,3417
$GC,1173,-0.85,-146.6,106.0,-10.1,55,1180,0.00,2.60,0.00,0.000,6,0.000,0.053,2220,2391,3417
$GC,1490,-0.85,-146.6,134.9,-7.3,71,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2391,3417
$GC,1798,-0.85,-146.6,155.7,-6.6,86,1802,0.00,2.65,0.00,0.000,4,0.000,0.071,2220,983,3417
$GC,1824,-0.85,-146.6,157.7,-7.9,87,1828,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2400,3418
$GC,2144,-0.85,-146.6,187.9,-8.0,103,2149,0.00,2.65,0.00,0.000,4,0.000,0.074,2220,983,3417
$GC,2183,-0.85,-146.6,191.1,-8.3,105,2188,0.00,2.58,0.00,0.000,6,0.000,0.056,2220,2406,3417
$GC,2510,-0.85,-146.6,213.0,-6.7,121,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2406,3417
$GC,2819,-0.85,-146.6,236.6,-7.1,136,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2406,3417
$GC,3128,-0.85,-146.6,257.3,-7.2,151,3132,0.00,2.70,0.00,0.000,4,0.000,0.076,2220,982,3417
$GC,3154,-0.85,-146.6,259.5,-8.0,152,3158,0.00,2.60,0.00,0.000,6,0.000,0.057,2220,2394,3417
$GC,3475,-0.85,-146.6,285.4,-7.9,168,3479,0.00,2.70,0.00,0.000,4,0.000,0.081,2220,982,3417
$GC,3506,-0.85,-146.6,287.9,-7.5,169,3513,0.00,2.62,0.00,0.000,6,0.000,0.060,2220,2401,3417
$GC,3822,-0.85,-146.6,311.5,-7.7,185,3827,0.00,2.70,0.00,0.000,4,0.000,0.078,2220,983,3417
$GC,3871,-0.85,-146.6,315.3,-7.6,187,3876,0.00,2.60,0.00,0.000,6,0.000,0.057,2220,2396,3417
$GC,4192,-0.85,-146.6,339.2,-7.0,203,4197,0.00,2.67,0.00,0.000,4,0.000,0.075,2220,983,3418
$GC,4212,-0.85,-146.6,340.8,-7.3,204,4217,0.00,2.60,0.00,0.000,6,0.000,0.055,2220,2397,3418
$GC,4539,-0.85,-146.6,364.7,-7.7,220,4544,0.00,2.70,0.00,0.000,4,0.000,0.077,2220,977,3417
$GC,4566,-0.85,-146.6,367.0,-8.5,221,4570,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2395,3418
$GC,4887,-0.85,-146.6,393.4,-8.6,237,4891,0.00,2.70,0.00,0.000,4,0.000,0.080,2220,982,3418
$GC,4913,-0.85,-146.6,395.8,-9.1,238,4917,0.00,2.60,0.00,0.000,6,0.000,0.059,2220,2404,3418
$GC,5235,-0.85,-146.6,426.8,-10.0,254,5239,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,977,3418
$GC,5295,-0.85,-146.6,432.5,-10.0,257,5300,0.00,2.60,0.00,0.000,6,0.000,0.061,2220,2400,3418
$GC,5621,-0.85,-146.6,461.1,-8.0,273,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,5930,-0.85,-146.6,483.9,-7.5,288,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$STATE,5970,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5970,begin apogee
$GC,5975,-0.31,0.0,486.5,7.0,290,6096,0.60,0.00,118.50,1.013,6,0.106,0.000,2340,2201,2817
$STATE,6097,end apogee,CONTROL_FINISHED_OK
$STATE,6097,begin climb
$GC,6099,0.85,146.6,490.8,0.0,296,6225,1.17,2.83,116.45,0.990,4,0.075,0.077,2589,782,2217
$GC,6246,0.85,146.6,484.5,7.7,303,6251,0.00,2.67,0.00,0.000,6,0.000,0.056,2589,2195,2217
$GC,6573,0.85,146.6,464.4,6.0,319,6578,0.00,2.67,0.00,0.000,4,0.000,0.075,2589,3613,2216
$GC,6702,0.85,146.6,455.9,6.6,325,6706,0.00,2.67,0.00,0.000,6,0.000,0.067,2589,2196,2216
$GC,7028,0.88,178.7,439.3,5.1,341,7056,0.00,0.00,26.05,0.941,6,0.000,0.000,2589,2196,2088
$GC,7356,0.88,178.7,420.3,6.2,357,7361,0.00,2.67,0.00,0.000,4,0.000,0.077,2589,784,2086
$GC,7411,0.88,178.7,416.8,6.6,359,7418,0.00,2.65,0.00,0.000,6,0.000,0.058,2587,2200,2086
$GC,7727,0.89,190.7,398.2,5.7,375,7740,0.00,0.00,10.90,0.858,6,0.000,0.000,2589,2200,2038
$GC,8036,0.90,195.0,380.8,5.9,390,8043,0.00,0.00,5.15,0.696,6,0.000,0.000,2589,2200,2021
$GC,8345,0.91,204.8,362.3,5.7,405,8356,0.00,0.00,9.32,0.814,6,0.000,0.000,2589,2200,1981
$GC,8655,0.92,212.3,344.7,5.8,420,8664,0.00,0.00,7.43,0.765,6,0.000,0.000,2589,2200,1950
$GC,8964,0.94,233.6,327.4,5.4,435,8988,0.12,2.75,18.45,0.861,4,0.060,0.072,2622,789,1863
$GC,9015,0.94,233.6,323.7,7.7,437,9020,0.00,2.62,0.00,0.000,6,0.000,0.053,2621,2194,1862
$GC,9337,0.94,233.6,297.8,9.1,453,9341,0.00,2.60,0.00,0.000,4,0.000,0.065,2622,3610,1862
$GC,9363,0.94,233.6,295.3,9.8,454,9367,0.00,2.65,0.00,0.000,6,0.000,0.061,2621,2197,1862
$GC,9684,0.94,233.6,269.2,7.4,470,9688,0.00,2.65,0.00,0.000,4,0.000,0.071,2621,790,1862
$GC,9710,0.94,233.6,267.2,7.4,471,9714,0.00,2.58,0.00,0.000,6,0.000,0.051,2622,2201,1862
$GC,10030,0.94,233.6,244.3,7.9,487,10032,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2201,1862
$GC,10340,0.94,233.6,220.1,8.1,502,10344,0.00,2.67,0.00,0.000,4,0.000,0.071,2621,786,1862
$GC,10371,0.94,233.6,217.8,7.2,503,10378,0.00,2.60,0.00,0.000,6,0.000,0.052,2622,2196,1862
$GC,10687,0.94,233.6,191.9,8.4,519,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2196,1863
$GC,10996,0.94,233.6,160.9,10.0,534,11000,0.00,2.65,0.00,0.000,4,0.000,0.074,2622,3611,1863
$GC,11027,0.94,233.6,157.5,10.1,535,11035,0.00,2.65,0.00,0.000,6,0.000,0.063,2621,2203,1863
$GC,11344,0.94,233.6,126.7,9.8,551,11348,0.00,2.65,0.00,0.000,4,0.000,0.071,2622,784,1863
$GC,11397,0.94,233.6,121.2,9.9,553,11405,0.00,2.60,0.00,0.000,6,0.000,0.051,2622,2196,1863
$GC,11713,0.94,233.6,91.7,8.2,569,11715,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2196,1864
$GC,12023,1.00,287.5,71.8,4.5,584,12067,0.00,0.00,42.00,0.714,6,0.000,0.000,2623,2197,1645
$GC,12375,1.00,287.5,45.8,10.9,601,12380,0.00,2.67,0.00,0.000,4,0.000,0.072,2621,786,1644
$GC,12429,1.00,287.5,38.5,13.2,603,12436,0.00,2.60,0.00,0.000,6,0.000,0.051,2622,2196,1643
$GC,12745,1.00,287.5,9.4,8.8,619,12746,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2196,1643
$STATE,12847,end climb,SURFACE_DEPTH_REACHED
$STATE,12847,begin surface coast
$FINISH,0.6,1.014097
$STATE,12868,end surface coast,CONTROL_FINISHED_OK
$STATE,12868,begin surface
$SM_CCo,12888,162.45,0.657,2,0,509,566.15
$SM_GC,1.42,0.00,0.00,162.45,0.000,0.000,0.657,76,2410,509,-10.74,0.31,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2037
$TCM_TEMP,17.10
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,451.1,45.0
$24V_AH,23.6,27.110
$10V_AH,10.2,13.063
$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,25.150,112.050,354.250,162.450,0.000,32.601,40.152,140.812,5.750,0.000,0.000,30.301,1130.315,9909.923,680.941,1326.726,357.614,33.362,1356.436,0.000,1284.177,0.000,24.977
$DEVICE_MAMPS,169.507,80.535,1013.207,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.253,445.642,443.176,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31759,625
$CFSIZE,260165632,250585088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
$GPS,091207,185037,6245.848,-944.025,42,1.2,47,-10.1