version: 66.02
glider: 16
mission: 6
dive: 154
start: 12 9 107 18 56 18
data:
$ID,16
$MISSION,6
$DIVE,154
$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,-2078680.1
$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,15
$R_STBD_OVSHOOT,22
$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
$GPS1,185037,6245.848,-944.025,42,1.2,47,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-50.0
$GPS2,185527,6245.877,-943.998,16,1.2,16,-10.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.190,0.114
$KALMAN_X,-133416.1,708.7,941.0,97971.8,-22639.4
$KALMAN_Y,112085.9,-48.8,345.3,12939.3,-8014.7
$MHEAD_RNG_PITCHd_Wd,69.2,8350,-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,-101.78,0.000,2,0.000,0.000,75,2411,3123
$GC,126,-0.85,-146.6,3.9,-2.8,5,151,12.07,2.72,-6.57,0.000,4,0.171,0.081,2219,988,3417
$GC,223,-0.85,-146.6,17.2,-8.4,9,228,0.00,2.60,0.00,0.000,6,0.000,0.055,2219,2391,3418
$GC,545,-0.85,-146.6,42.6,-8.6,25,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2390,3418
$GC,854,-0.85,-146.6,78.1,-12.5,40,858,0.00,2.65,0.00,0.000,4,0.000,0.069,2219,982,3418
$GC,893,-0.85,-146.6,82.5,-11.9,42,897,0.00,2.58,0.00,0.000,6,0.000,0.054,2219,2398,3418
$GC,1218,-0.85,-146.6,105.6,-8.0,58,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3418
$GC,1527,-0.85,-146.6,126.1,-7.1,73,1532,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,981,3418
$GC,1547,-0.85,-146.6,127.5,-6.9,74,1552,0.00,2.62,0.00,0.000,6,0.000,0.055,2219,2401,3418
$GC,1875,-0.85,-146.6,152.8,-7.4,90,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3418
$GC,2184,-0.85,-146.6,175.5,-7.8,105,2189,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,982,3418
$GC,2227,-0.85,-146.6,179.0,-7.5,107,2232,0.00,2.62,0.00,0.000,6,0.000,0.056,2219,2401,3418
$GC,2555,-0.85,-146.6,201.0,-6.8,123,2560,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,984,3418
$GC,2582,-0.85,-146.6,202.8,-6.8,124,2586,0.00,2.60,0.00,0.000,6,0.000,0.055,2219,2408,3418
$GC,2903,-0.85,-146.6,228.2,-8.4,140,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2408,3418
$GC,3212,-0.85,-146.6,252.4,-7.7,155,3217,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,980,3418
$GC,3261,-0.85,-146.6,256.5,-8.0,157,3265,0.00,2.62,0.00,0.000,6,0.000,0.055,2219,2404,3418
$GC,3582,-0.85,-146.6,281.7,-7.9,173,3586,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,979,3418
$GC,3608,-0.85,-146.6,283.9,-8.6,174,3612,0.00,2.60,0.00,0.000,6,0.000,0.055,2219,2406,3418
$GC,3929,-0.85,-146.6,307.4,-6.8,190,3933,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,985,3418
$GC,3954,-0.85,-146.6,309.1,-6.6,191,3959,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2393,3418
$GC,4276,-0.85,-146.6,332.0,-7.4,207,4280,0.00,2.62,0.00,0.000,4,0.000,0.070,2219,986,3418
$GC,4302,-0.85,-146.6,333.9,-7.6,208,4306,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2399,3419
$GC,4623,-0.85,-146.6,355.6,-6.5,224,4627,0.00,2.65,0.00,0.000,4,0.000,0.070,2219,985,3418
$GC,4644,-0.85,-146.6,357.1,-7.4,225,4649,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2403,3418
$GC,4965,-0.85,-146.6,379.7,-7.1,241,4970,0.00,2.65,0.00,0.000,4,0.000,0.072,2219,984,3418
$GC,4985,-0.85,-146.6,381.4,-7.3,242,4990,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2398,3419
$GC,5313,-0.85,-146.6,400.9,-5.2,258,5318,0.00,2.67,0.00,0.000,4,0.000,0.074,2219,984,3418
$GC,5353,-0.85,-146.6,402.7,-4.7,260,5357,0.00,2.60,0.00,0.000,6,0.000,0.061,2219,2403,3418
$GC,5678,-0.85,-146.6,419.1,-6.4,276,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3419
$GC,5988,-0.85,-146.6,442.8,-8.0,291,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3419
$GC,6297,-0.85,-146.6,467.1,-8.0,306,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3419
$STATE,6583,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6584,begin apogee
$GC,6588,-0.31,0.0,488.8,7.5,320,6711,0.60,0.00,119.38,0.999,6,0.110,0.000,2339,2189,2816
$STATE,6712,end apogee,CONTROL_FINISHED_OK
$STATE,6712,begin climb
$GC,6714,0.85,146.6,492.3,0.0,326,6840,1.17,2.80,116.65,0.988,4,0.073,0.079,2589,3600,2218
$GC,6895,0.86,160.4,485.4,5.6,334,6914,0.00,2.62,12.25,0.869,6,0.000,0.061,2589,2199,2163
$GC,7231,0.88,173.3,467.4,5.6,351,7252,0.00,2.80,11.77,0.877,4,0.000,0.076,2589,788,2110
$GC,7275,0.88,173.3,464.4,6.8,353,7279,0.00,2.65,0.00,0.000,6,0.000,0.057,2589,2205,2110
$GC,7600,0.88,173.3,442.0,6.9,369,7604,0.00,2.67,0.00,0.000,4,0.000,0.081,2589,3607,2109
$GC,7665,0.88,173.3,437.0,7.7,372,7669,0.00,2.62,0.00,0.000,6,0.000,0.062,2589,2203,2109
$GC,7992,0.92,217.8,418.4,4.8,388,8034,0.10,2.78,35.40,0.948,4,0.070,0.074,2616,781,1929
$GC,8073,0.92,217.8,413.1,6.9,391,8079,0.00,2.65,0.00,0.000,6,0.000,0.056,2616,2201,1928
$GC,8388,0.92,217.8,390.9,7.4,407,8392,0.00,2.70,0.00,0.000,4,0.000,0.080,2616,3617,1928
$GC,8432,0.92,217.8,387.3,8.2,409,8436,0.00,2.67,0.00,0.000,6,0.000,0.065,2616,2195,1927
$GC,8752,0.92,217.8,359.8,9.2,425,8756,0.00,2.67,0.00,0.000,4,0.000,0.074,2616,784,1926
$GC,8777,0.92,217.8,357.3,9.4,426,8782,0.00,2.62,0.00,0.000,6,0.000,0.055,2616,2193,1925
$GC,9098,0.92,217.8,330.0,8.8,442,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2193,1925
$GC,9408,0.92,217.8,303.4,8.3,457,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2193,1925
$GC,9717,0.92,217.8,280.6,7.3,472,9722,0.00,2.65,0.00,0.000,4,0.000,0.071,2616,785,1926
$GC,9756,0.92,217.8,277.6,7.8,474,9760,0.00,2.60,0.00,0.000,6,0.000,0.053,2616,2208,1925
$GC,10081,0.92,217.8,252.5,7.8,490,10085,0.00,2.65,0.00,0.000,4,0.000,0.075,2616,3611,1925
$GC,10107,0.92,217.8,250.4,7.7,491,10111,0.00,2.62,0.00,0.000,6,0.000,0.060,2616,2199,1926
$GC,10428,0.92,217.8,224.6,8.0,507,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2198,1926
$GC,10737,0.92,217.8,201.0,7.8,522,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2198,1926
$GC,11047,0.92,217.8,178.9,7.2,537,11048,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2198,1926
$GC,11356,0.92,217.8,156.3,8.2,552,11357,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2199,1926
$GC,11665,0.92,217.8,131.2,7.5,567,11667,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2199,1927
$GC,11975,0.92,217.8,112.7,7.9,582,11976,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2198,1927
$GC,12284,0.94,234.4,89.9,5.5,597,12304,0.00,0.00,14.45,0.690,6,0.000,0.000,2616,2199,1862
$GC,12615,0.94,234.4,60.9,9.7,613,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2199,1861
$GC,12923,0.94,234.4,32.7,8.9,628,12924,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2199,1861
$GC,13232,0.94,234.4,9.4,8.0,643,13236,0.00,2.65,0.00,0.000,4,0.000,0.071,2616,782,1860
$GC,13274,0.94,234.4,5.6,9.1,645,13279,0.00,2.60,0.00,0.000,6,0.000,0.050,2617,2199,1860
$STATE,13332,end climb,SURFACE_DEPTH_REACHED
$STATE,13332,begin surface coast
$FINISH,0.8,1.015742
$STATE,13354,end surface coast,CONTROL_FINISHED_OK
$STATE,13354,begin surface
$SM_CCo,13373,194.25,0.653,2,0,509,566.15
$SM_GC,1.52,0.00,0.00,194.25,0.000,0.000,0.653,67,2400,509,-10.77,-0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2037
$TCM_TEMP,17.00
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,425.2,72.6
$24V_AH,23.6,27.243
$10V_AH,10.2,13.128
$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,25.250,112.125,309.900,194.250,0.000,32.634,37.784,128.705,6.250,0.000,0.000,16.471,1175.114,10355.549,660.144,1356.228,329.337,33.364,1353.885,0.000,1329.046,0.000,23.435
$DEVICE_MAMPS,171.041,80.535,999.401,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.659,463.561,474.687,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31644,649
$CFSIZE,260165632,250535936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
$GPS,091207,224357,6248.049,-936.624,27,2.6,46,-10.0