version: 66.02
glider: 16
mission: 6
dive: 155
start: 12 9 107 23 1 13
data:
$ID,16
$MISSION,6
$DIVE,155
$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,-2078695.1
$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,13
$R_STBD_OVSHOOT,20
$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
$GPS1,224357,6248.049,-936.624,27,2.6,46,-10.0
$_CALLS,4
$_XMS_NAKs,12
$_XMS_TOUTs,2
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-54.2
$GPS2,230021,6247.979,-936.327,14,1.6,14,-10.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.205,-0.083
$KALMAN_X,-129627.1,991.3,461.3,101109.6,-11969.1
$KALMAN_Y,113147.5,806.0,-331.5,15582.6,-4487.3
$MHEAD_RNG_PITCHd_Wd,122.0,53845,-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,21,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-100.93,0.000,2,0.000,0.000,65,2400,3092
$GC,126,-0.85,-146.6,3.7,-2.6,5,151,12.15,2.67,-7.70,0.000,4,0.172,0.081,2222,982,3415
$GC,282,-0.85,-146.6,17.6,-7.0,12,287,0.00,2.60,0.00,0.000,6,0.000,0.058,2223,2396,3416
$GC,609,-0.85,-146.6,41.0,-6.6,28,614,0.00,2.67,0.00,0.000,4,0.000,0.068,2223,977,3416
$GC,648,-0.85,-146.6,44.6,-8.4,30,653,0.00,2.62,0.00,0.000,6,0.000,0.056,2222,2400,3417
$GC,975,-0.85,-146.6,68.8,-8.1,46,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3416
$GC,1284,-0.85,-146.6,99.2,-11.6,61,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3416
$GC,1593,-0.85,-146.6,133.8,-10.0,76,1597,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,980,3416
$GC,1642,-0.85,-146.6,138.8,-10.1,78,1646,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2400,3416
$GC,1957,-0.85,-146.6,173.9,-10.7,93,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3416
$GC,2266,-0.85,-146.6,204.6,-8.9,108,2270,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,979,3416
$GC,2331,-0.85,-146.6,209.9,-8.4,111,2336,0.00,2.60,0.00,0.000,6,0.000,0.056,2222,2405,3416
$GC,2658,-0.85,-146.6,236.4,-8.7,127,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2405,3416
$GC,2967,-0.85,-146.6,259.8,-6.8,142,2971,0.00,2.67,0.00,0.000,4,0.000,0.070,2223,982,3417
$GC,3051,-0.85,-146.6,265.8,-7.5,146,3056,0.00,2.60,0.00,0.000,6,0.000,0.058,2223,2401,3416
$GC,3376,-0.85,-146.6,290.5,-7.8,162,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3416
$GC,3686,-0.85,-146.6,315.6,-7.9,177,3690,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,977,3417
$GC,3762,-0.85,-146.6,321.9,-8.0,180,3769,0.00,2.62,0.00,0.000,6,0.000,0.058,2223,2394,3417
$GC,4078,-0.85,-146.6,347.1,-8.2,196,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2394,3417
$GC,4388,-0.85,-146.6,373.8,-8.4,211,4392,0.00,2.65,0.00,0.000,4,0.000,0.071,2223,981,3417
$GC,4471,-0.85,-146.6,380.9,-8.6,215,4475,0.00,2.60,0.00,0.000,6,0.000,0.058,2223,2403,3417
$GC,4796,-0.85,-146.6,405.6,-7.2,231,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3417
$GC,5106,-0.85,-146.6,429.1,-8.6,246,5110,0.00,2.58,0.00,0.000,4,0.000,0.080,2223,3766,3417
$GC,5149,-0.85,-146.6,433.1,-9.0,248,5153,0.00,2.53,0.00,0.000,6,0.000,0.054,2223,2396,3417
$GC,5475,-0.85,-146.6,458.2,-7.5,264,5480,0.00,2.65,0.00,0.000,4,0.000,0.074,2222,986,3417
$GC,5530,-0.85,-146.6,462.2,-7.1,266,5537,0.00,2.62,0.00,0.000,6,0.000,0.064,2223,2406,3417
$GC,5845,-0.85,-146.6,484.2,-6.7,282,5850,0.00,2.67,0.00,0.000,4,0.000,0.075,2223,983,3417
$STATE,5899,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5899,begin apogee
$GC,5905,-0.31,0.0,488.0,6.8,284,6032,0.55,0.00,119.20,1.000,6,0.110,0.000,2334,2203,2817
$STATE,6033,end apogee,CONTROL_FINISHED_OK
$STATE,6033,begin climb
$GC,6035,0.85,146.6,492.0,0.0,291,6157,1.25,0.00,117.03,0.986,6,0.095,0.000,2589,2203,2218
$GC,6465,0.87,166.6,471.0,5.5,312,6486,0.00,0.00,17.38,0.916,6,0.000,0.000,2589,2202,2136
$GC,6795,0.90,193.1,453.5,5.3,328,6823,0.00,2.78,22.00,0.933,4,0.000,0.074,2589,795,2028
$GC,6840,0.94,231.3,450.9,5.0,330,6879,0.12,2.65,31.20,0.946,6,0.073,0.058,2617,2202,1874
$GC,7187,0.94,231.3,426.9,7.4,347,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2202,1873
$GC,7495,0.94,231.3,399.6,9.8,362,7500,0.00,2.72,0.00,0.000,4,0.000,0.085,2617,3617,1872
$GC,7534,0.94,231.3,395.7,10.6,364,7538,0.00,2.65,0.00,0.000,6,0.000,0.067,2617,2205,1871
$GC,7859,0.94,231.3,364.3,9.1,380,7863,0.00,2.72,0.00,0.000,4,0.000,0.077,2617,774,1870
$GC,7897,0.94,231.3,360.9,8.7,382,7901,0.00,2.65,0.00,0.000,6,0.000,0.057,2617,2202,1869
$GC,8223,0.94,231.3,335.4,7.5,398,8227,0.00,2.70,0.00,0.000,4,0.000,0.072,2617,782,1869
$GC,8265,0.94,231.3,332.1,7.6,400,8270,0.00,2.65,0.00,0.000,6,0.000,0.056,2618,2199,1869
$GC,8593,0.94,231.3,306.4,8.1,416,8598,0.00,2.70,0.00,0.000,4,0.000,0.081,2617,3620,1869
$GC,8632,0.94,231.3,303.1,8.5,418,8637,0.00,2.65,0.00,0.000,6,0.000,0.064,2617,2196,1869
$GC,8957,0.94,231.3,280.4,7.5,434,8962,0.00,2.67,0.00,0.000,4,0.000,0.074,2616,777,1869
$GC,8984,0.94,231.3,278.1,8.2,435,8988,0.00,2.65,0.00,0.000,6,0.000,0.055,2617,2199,1869
$GC,9305,0.94,231.3,249.8,8.5,451,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2200,1869
$GC,9615,0.94,231.3,224.5,8.9,466,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2199,1869
$GC,9924,0.94,231.3,202.2,7.4,481,9928,0.00,2.65,0.00,0.000,4,0.000,0.070,2618,783,1869
$GC,9973,0.94,231.3,198.5,7.3,483,9977,0.00,2.60,0.00,0.000,6,0.000,0.053,2617,2206,1869
$GC,10294,0.94,231.3,177.8,7.0,499,10295,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2206,1869
$GC,10603,0.94,231.3,153.5,7.1,514,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2206,1870
$GC,10912,0.94,231.3,132.9,7.7,529,10917,0.00,2.67,0.00,0.000,4,0.000,0.069,2617,780,1870
$GC,10939,0.94,231.3,131.0,7.4,530,10943,0.00,2.62,0.00,0.000,6,0.000,0.052,2618,2201,1870
$GC,11262,0.97,259.6,111.2,5.2,546,11287,0.00,0.00,23.12,0.723,6,0.000,0.000,2617,2202,1757
$GC,11591,0.97,259.6,85.2,8.4,562,11596,0.00,2.67,0.00,0.000,4,0.000,0.068,2617,779,1756
$GC,11630,0.97,259.6,82.0,8.1,564,11634,0.00,2.60,0.00,0.000,6,0.000,0.052,2617,2203,1756
$GC,11956,0.97,259.6,56.1,8.0,580,11960,0.00,2.67,0.00,0.000,4,0.000,0.068,2617,779,1756
$GC,11987,0.97,259.6,53.4,8.1,581,11994,0.00,2.62,0.00,0.000,6,0.000,0.051,2619,2198,1756
$GC,12303,0.97,259.6,27.7,8.1,597,12304,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2198,1756
$GC,12613,0.97,259.6,2.3,7.1,612,12617,0.00,2.12,0.00,0.000,3,0.000,0.072,2617,1058,1756
$STATE,12617,end climb,SURFACE_DEPTH_REACHED
$STATE,12617,begin surface coast
$FINISH,0.7,1.014292
$STATE,12655,end surface coast,CONTROL_FINISHED_OK
$STATE,12655,begin surface
$SM_CCo,12676,180.90,0.657,2,0,509,566.15
$SM_GC,1.46,0.00,0.00,180.90,0.000,0.000,0.657,71,2395,509,-10.76,-0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2045
$TCM_TEMP,16.90
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,401.2,96.6
$24V_AH,23.6,27.401
$10V_AH,10.2,13.198
$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,25.250,110.250,329.925,180.900,0.000,131.618,338.774,240.530,6.750,0.000,0.000,14.414,1125.112,9886.677,674.371,1334.648,840.296,33.364,1349.650,0.000,1308.296,0.000,22.216
$DEVICE_MAMPS,171.808,85.137,1000.168,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.304,429.351,458.779,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31579,614
$CFSIZE,260165632,250486784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
$GPS,101207,023655,6246.272,-932.586,40,1.2,40,-10.0