version: 66.02
glider: 16
mission: 6
dive: 243
start: 1 3 108 11 3 13
data:
$ID,16
$MISSION,6
$DIVE,243
$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,-2081514
$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,17
$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
$GPS1,103822,6248.870,-600.449,39,2.2,58,-8.0
$_CALLS,5
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-47.9
$GPS2,110223,6249.024,-600.200,13,3.8,32,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.182,-0.126
$KALMAN_X,18912.2,282.8,-341.6,144287.5,8408.4
$KALMAN_Y,53258.8,-1419.4,-285.7,79646.7,13683.4
$MHEAD_RNG_PITCHd_Wd,243.4,17204,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.85,-146.6,0.0,0.0,0,126,0.00,0.00,-102.15,0.000,2,0.000,0.000,65,2410,3176
$GC,129,-0.85,-146.6,4.8,-3.7,5,152,12.40,2.78,-4.88,0.000,4,0.180,0.082,2219,976,3416
$GC,310,-0.85,-146.6,31.4,-10.9,13,314,0.00,2.62,0.00,0.000,6,0.000,0.056,2219,2402,3417
$GC,635,-0.85,-146.6,58.0,-7.4,29,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3417
$GC,945,-0.85,-146.6,87.0,-8.9,44,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3417
$GC,1255,-0.85,-146.6,108.9,-7.7,59,1259,0.00,2.65,0.00,0.000,4,0.000,0.066,2219,980,3417
$GC,1320,-0.85,-146.6,114.3,-7.9,62,1324,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2400,3417
$GC,1647,-0.85,-146.6,138.6,-6.7,78,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3417
$GC,1957,-0.85,-146.6,162.2,-8.3,93,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3417
$GC,2265,-0.85,-146.6,188.0,-10.1,108,2270,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,980,3417
$GC,2331,-0.85,-146.6,194.4,-9.7,111,2336,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2398,3417
$GC,2659,-0.85,-146.6,220.7,-7.3,127,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3417
$GC,2967,-0.85,-146.6,244.0,-7.5,142,2972,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,980,3417
$GC,3017,-0.85,-146.6,247.8,-7.2,144,3021,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2400,3417
$GC,3338,-0.85,-146.6,272.2,-7.4,160,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3417
$GC,3647,-0.85,-146.6,294.5,-7.1,175,3651,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,980,3417
$GC,3703,-0.85,-146.6,298.3,-7.3,177,3709,0.00,2.62,0.00,0.000,6,0.000,0.059,2219,2401,3417
$GC,4018,-0.85,-146.6,320.0,-6.9,193,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2402,3417
$GC,4327,-0.85,-146.6,341.6,-6.8,208,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3417
$GC,4636,-0.85,-146.6,363.5,-6.7,223,4640,0.00,2.65,0.00,0.000,4,0.000,0.069,2219,980,3417
$GC,4698,-0.85,-146.6,367.4,-6.7,226,4702,0.00,2.60,0.00,0.000,6,0.000,0.059,2219,2400,3417
$GC,5023,-0.85,-146.6,389.6,-6.8,242,5027,0.00,2.60,0.00,0.000,4,0.000,0.081,2219,3767,3418
$GC,5089,-0.85,-146.6,394.4,-7.2,245,5094,0.00,2.53,0.00,0.000,6,0.000,0.056,2219,2392,3418
$GC,5417,-0.85,-146.6,416.7,-6.5,261,5421,0.00,2.65,0.00,0.000,4,0.000,0.074,2219,982,3418
$GC,5511,-0.85,-146.6,422.8,-6.0,265,5516,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2404,3418
$GC,5827,-0.85,-146.6,444.5,-7.1,280,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3418
$GC,6135,-0.85,-146.6,467.0,-8.1,295,6140,0.00,2.60,0.00,0.000,4,0.000,0.080,2220,3769,3418
$GC,6252,-0.85,-146.6,478.7,-10.5,300,6257,0.00,2.53,0.00,0.000,6,0.000,0.054,2220,2392,3418
$STATE,6566,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6566,begin apogee
$GC,6572,-0.31,0.0,501.6,6.6,315,6695,0.60,0.00,119.88,1.032,6,0.114,0.000,2337,2196,2817
$STATE,6696,end apogee,CONTROL_FINISHED_OK
$STATE,6696,begin climb
$GC,6698,0.85,146.6,505.6,0.0,321,6820,1.27,0.00,118.57,1.009,6,0.100,0.000,2589,2196,2219
$GC,7118,0.85,150.7,484.0,5.9,342,7125,0.00,0.00,4.82,0.703,6,0.000,0.000,2589,2196,2202
$GC,7427,0.88,180.9,467.1,5.2,357,7457,0.00,2.78,25.23,0.968,4,0.000,0.077,2589,783,2078
$GC,7497,0.93,222.1,463.4,4.9,360,7537,0.12,2.65,33.97,0.982,6,0.081,0.060,2616,2198,1910
$GC,7859,0.93,222.1,439.3,7.7,378,7863,0.00,2.75,0.00,0.000,4,0.000,0.084,2616,3616,1907
$GC,7947,0.93,222.1,432.1,7.8,382,7951,0.00,2.70,0.00,0.000,6,0.000,0.067,2616,2197,1907
$GC,8274,0.93,222.1,410.1,6.3,398,8278,0.00,2.67,0.00,0.000,4,0.000,0.075,2617,785,1904
$GC,8323,0.93,222.1,406.4,7.1,400,8327,0.00,2.62,0.00,0.000,6,0.000,0.056,2616,2200,1904
$GC,8638,0.93,222.1,383.7,7.4,415,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2200,1903
$GC,8948,0.93,222.1,361.8,6.9,430,8952,0.00,2.67,0.00,0.000,4,0.000,0.070,2616,784,1903
$GC,9031,0.93,222.1,355.4,7.6,434,9036,0.00,2.60,0.00,0.000,6,0.000,0.052,2616,2201,1903
$GC,9358,0.93,222.1,330.8,8.0,450,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2201,1903
$GC,9667,0.93,222.1,305.2,8.5,465,9671,0.00,2.70,0.00,0.000,4,0.000,0.077,2616,3619,1903
$GC,9698,0.93,222.1,302.2,9.1,466,9705,0.00,2.65,0.00,0.000,6,0.000,0.061,2616,2199,1903
$GC,10014,0.93,222.1,276.5,8.3,482,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2199,1903
$GC,10324,0.93,222.1,251.0,8.3,497,10328,0.00,2.65,0.00,0.000,4,0.000,0.068,2616,780,1903
$GC,10362,0.93,222.1,247.8,8.4,499,10367,0.00,2.60,0.00,0.000,6,0.000,0.050,2616,2207,1903
$GC,10688,0.93,222.1,222.3,7.6,515,10689,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2208,1903
$GC,10997,0.93,222.1,198.4,7.9,530,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2208,1903
$GC,11306,0.93,222.1,177.0,7.0,545,11307,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2207,1904
$GC,11615,0.93,222.1,154.5,7.5,560,11616,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2208,1904
$GC,11926,0.93,222.1,129.7,8.8,575,11930,0.00,2.65,0.00,0.000,4,0.000,0.064,2617,784,1904
$GC,11965,0.93,222.1,126.3,8.6,577,11969,0.00,2.58,0.00,0.000,6,0.000,0.048,2616,2207,1904
$GC,12291,0.93,222.1,101.3,7.1,593,12295,0.00,2.62,0.00,0.000,4,0.000,0.071,2616,3613,1904
$GC,12330,0.93,222.1,98.5,7.0,595,12335,0.00,2.60,0.00,0.000,6,0.000,0.057,2616,2199,1904
$GC,12656,0.93,222.1,76.2,6.9,611,12657,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2198,1905
$GC,12965,0.93,222.1,52.0,8.6,626,12970,0.00,2.65,0.00,0.000,4,0.000,0.068,2616,778,1906
$GC,13021,0.93,222.1,47.0,8.1,628,13027,0.00,2.58,0.00,0.000,6,0.000,0.048,2616,2205,1905
$GC,13336,0.93,222.1,17.9,9.0,644,13337,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2206,1906
$STATE,13521,end climb,SURFACE_DEPTH_REACHED
$STATE,13521,begin surface coast
$FINISH,1.0,1.014137
$STATE,13542,end surface coast,CONTROL_FINISHED_OK
$STATE,13542,begin surface
$SM_CCo,13562,204.60,0.674,1,0,509,566.15
$SM_GC,1.57,0.00,0.00,204.60,0.000,0.000,0.674,59,2401,509,-10.81,0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2036
$TCM_TEMP,16.80
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,451.4,59.4
$24V_AH,23.6,43.018
$10V_AH,10.2,22.260
$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,25.725,95.675,302.475,204.600,0.000,163.055,182.809,703.741,11.750,0.000,0.000,33.120,1189.895,10683.874,668.769,1423.617,1250.078,33.364,1351.573,0.000,1378.443,0.000,25.022
$DEVICE_MAMPS,180.245,84.370,1031.615,674.193,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.943,447.759,467.801,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31715,654
$CFSIZE,260165632,244244480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,030108,145427,6248.282,-601.154,46,2.6,65,-8.0