version: 66.02
glider: 16
mission: 6
dive: 145
start: 12 8 107 8 54 35
data:
$ID,16
$MISSION,6
$DIVE,145
$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,-2078447.8
$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,19
$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
$GPS1,084828,6241.458,-1017.826,27,2.8,46,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-48.2
$GPS2,085345,6241.470,-1017.805,10,1.9,10,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.211,0.066
$KALMAN_X,-124529.5,998.0,1748.9,58207.1,-23645.1
$KALMAN_Y,116770.7,153.4,154.1,73.7,-2062.8
$MHEAD_RNG_PITCHd_Wd,83.0,35658,-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,18,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,-101.88,0.000,2,0.000,0.000,64,2403,3102
$GC,126,-0.85,-146.6,3.7,-3.1,5,151,12.15,2.58,-7.12,0.000,4,0.172,0.080,2219,3762,3416
$GC,303,-0.85,-146.6,25.9,-10.3,13,308,0.00,2.45,0.00,0.000,6,0.000,0.044,2219,2398,3417
$GC,629,-0.85,-146.6,55.4,-9.0,29,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2397,3417
$GC,939,-0.85,-146.6,83.1,-8.2,44,943,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,992,3417
$GC,1010,-0.85,-146.6,88.9,-7.9,47,1014,0.00,2.53,0.00,0.000,6,0.000,0.048,2219,2397,3417
$GC,1332,-0.85,-146.6,114.0,-7.9,63,1337,0.00,2.62,0.00,0.000,4,0.000,0.064,2219,988,3417
$GC,1364,-0.85,-146.6,117.1,-8.7,64,1372,0.00,2.55,0.00,0.000,6,0.000,0.048,2219,2391,3417
$GC,1680,-0.85,-146.6,144.1,-9.6,80,1685,0.00,2.60,0.00,0.000,4,0.000,0.064,2219,992,3417
$GC,1712,-0.85,-146.6,147.4,-9.1,81,1720,0.00,2.55,0.00,0.000,6,0.000,0.050,2219,2393,3417
$GC,2029,-0.85,-146.6,176.1,-9.2,97,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2393,3417
$GC,2337,-0.85,-146.6,203.2,-8.5,112,2342,0.00,2.60,0.00,0.000,4,0.000,0.066,2219,991,3417
$GC,2381,-0.85,-146.6,208.0,-11.6,114,2386,0.00,2.55,0.00,0.000,6,0.000,0.048,2219,2396,3416
$GC,2707,-0.85,-146.6,235.2,-6.7,130,2712,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,990,3417
$GC,2746,-0.85,-146.6,237.7,-7.3,132,2751,0.00,2.55,0.00,0.000,6,0.000,0.051,2219,2403,3417
$GC,3072,-0.85,-146.6,263.0,-8.7,148,3076,0.00,2.62,0.00,0.000,4,0.000,0.066,2219,991,3417
$GC,3110,-0.85,-146.6,266.4,-8.8,150,3114,0.00,2.55,0.00,0.000,6,0.000,0.053,2219,2404,3416
$GC,3436,-0.85,-146.6,291.1,-6.4,166,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3417
$GC,3745,-0.85,-146.6,317.1,-9.4,181,3749,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,991,3417
$GC,3787,-0.85,-146.6,321.5,-9.5,183,3792,0.00,2.58,0.00,0.000,6,0.000,0.052,2219,2401,3417
$GC,4114,-0.85,-146.6,349.3,-7.8,199,4119,0.00,2.62,0.00,0.000,4,0.000,0.066,2219,991,3417
$GC,4146,-0.85,-146.6,352.1,-8.4,200,4154,0.00,2.58,0.00,0.000,6,0.000,0.052,2219,2401,3417
$GC,4462,-0.85,-146.6,378.5,-8.1,216,4467,0.00,2.60,0.00,0.000,4,0.000,0.067,2219,992,3417
$GC,4524,-0.85,-146.6,382.9,-6.9,219,4528,0.00,2.55,0.00,0.000,6,0.000,0.053,2219,2400,3417
$GC,4850,-0.85,-146.6,400.8,-5.3,235,4854,0.00,2.50,0.00,0.000,4,0.000,0.069,2220,3763,3417
$GC,4933,-0.85,-146.6,406.2,-7.0,239,4937,0.00,2.45,0.00,0.000,6,0.000,0.049,2219,2396,3417
$GC,5258,-0.85,-146.6,439.7,-12.4,255,5263,0.00,2.60,0.00,0.000,4,0.000,0.069,2219,994,3417
$GC,5375,-0.85,-146.6,452.1,-9.6,260,5379,0.00,2.58,0.00,0.000,6,0.000,0.056,2219,2397,3418
$GC,5697,-0.85,-146.6,470.7,-4.8,276,5701,0.00,2.65,0.00,0.000,4,0.000,0.072,2219,989,3418
$GC,5745,-0.85,-146.6,473.5,-6.3,278,5749,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2400,3418
$GC,6066,-0.85,-146.6,494.8,-7.9,294,6070,0.00,2.58,0.00,0.000,4,0.000,0.080,2219,3765,3418
$GC,6120,-0.85,-146.6,499.1,-7.0,296,6127,0.00,2.47,0.00,0.000,6,0.000,0.054,2218,2407,3418
$STATE,6269,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6269,begin apogee
$GC,6274,-0.31,0.0,510.2,7.4,304,6397,0.60,0.00,119.80,1.012,6,0.107,0.000,2339,2197,2817
$STATE,6397,end apogee,CONTROL_FINISHED_OK
$STATE,6398,begin climb
$GC,6399,0.85,146.6,514.2,0.0,310,6521,1.25,0.00,118.25,1.000,6,0.093,0.000,2589,2197,2218
$GC,6821,0.85,146.6,492.1,7.2,331,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2197,2216
$GC,7130,0.89,191.1,471.8,4.8,346,7172,0.00,2.80,36.08,0.961,4,0.000,0.080,2589,3617,2036
$GC,7210,0.96,250.7,468.7,4.4,349,7266,0.15,2.67,47.83,0.968,6,0.061,0.063,2631,2205,1795
$GC,7587,0.96,250.7,437.6,9.4,368,7591,0.00,2.72,0.00,0.000,4,0.000,0.078,2631,785,1792
$GC,7635,0.96,250.7,432.5,10.9,370,7640,0.00,2.65,0.00,0.000,6,0.000,0.054,2631,2201,1792
$GC,7957,0.96,250.7,406.8,7.4,386,7961,0.00,2.70,0.00,0.000,4,0.000,0.074,2631,779,1791
$GC,8022,0.96,250.7,401.9,7.5,389,8027,0.00,2.65,0.00,0.000,6,0.000,0.053,2631,2205,1790
$GC,8349,0.96,250.7,375.4,9.4,405,8353,0.00,2.70,0.00,0.000,4,0.000,0.072,2631,784,1790
$GC,8387,0.96,250.7,371.4,11.1,407,8391,0.00,2.60,0.00,0.000,6,0.000,0.051,2631,2204,1791
$GC,8712,0.96,250.7,337.1,10.0,423,8716,0.00,2.67,0.00,0.000,4,0.000,0.070,2631,782,1790
$GC,8766,0.96,250.7,331.4,9.3,425,8773,0.00,2.60,0.00,0.000,6,0.000,0.050,2631,2197,1790
$GC,9082,0.96,250.7,300.2,10.6,441,9086,0.00,2.67,0.00,0.000,4,0.000,0.069,2631,775,1790
$GC,9271,0.96,250.7,281.0,9.9,449,9278,0.00,2.58,0.00,0.000,6,0.000,0.048,2631,2198,1790
$GC,9587,0.96,250.7,249.1,9.9,465,9591,0.00,2.67,0.00,0.000,4,0.000,0.067,2631,774,1788
$GC,9715,0.96,250.7,235.3,12.3,471,9719,0.00,2.58,0.00,0.000,6,0.000,0.047,2631,2202,1790
$GC,10040,0.96,250.7,202.0,8.1,487,10044,0.00,2.65,0.00,0.000,4,0.000,0.066,2631,778,1790
$GC,10191,0.96,250.7,190.0,11.9,494,10195,0.00,2.55,0.00,0.000,6,0.000,0.046,2631,2201,1790
$GC,10516,0.96,250.7,155.5,11.1,510,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2201,1790
$GC,10826,0.96,250.7,125.3,10.5,525,10830,0.00,2.60,0.00,0.000,4,0.000,0.066,2631,3610,1790
$GC,10851,0.96,250.7,122.5,10.6,526,10856,0.00,2.60,0.00,0.000,6,0.000,0.054,2631,2204,1791
$GC,11174,0.96,250.7,89.6,9.4,542,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2204,1790
$GC,11483,0.96,250.7,57.1,11.4,557,11487,0.00,2.62,0.00,0.000,4,0.000,0.066,2631,782,1791
$GC,11525,0.96,250.7,51.8,12.1,559,11530,0.00,2.58,0.00,0.000,6,0.000,0.046,2631,2198,1791
$GC,11853,0.96,250.7,17.6,10.0,575,11857,0.00,2.65,0.00,0.000,4,0.000,0.067,2631,780,1791
$GC,11884,0.96,250.7,14.3,9.9,576,11891,0.00,2.58,0.00,0.000,6,0.000,0.046,2631,2195,1791
$STATE,12033,end climb,SURFACE_DEPTH_REACHED
$STATE,12033,begin surface coast
$FINISH,0.6,1.025648
$STATE,12055,end surface coast,CONTROL_FINISHED_OK
$STATE,12055,begin surface
$SM_CCo,12075,173.57,0.658,0,0,509,566.15
$SM_GC,1.05,0.00,0.00,173.57,0.000,0.000,0.658,69,2404,509,-10.76,0.11,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2063
$TCM_TEMP,16.90
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,427.0,92.8
$24V_AH,23.6,25.973
$10V_AH,10.2,12.539
$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,25.650,130.825,321.950,173.575,0.000,32.638,41.005,153.741,7.250,0.000,0.000,10.382,1109.774,9036.312,673.351,1398.967,352.976,33.361,1386.261,0.000,1371.598,0.000,23.482
$DEVICE_MAMPS,171.808,79.768,1012.440,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.562,408.069,415.906,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28496,585
$CFSIZE,260165632,250949632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,081207,122007,6241.649,-1012.909,38,2.0,49,-10.3