version: 66.02
glider: 16
mission: 6
dive: 147
start: 12 8 107 16 25 56
data:
$ID,16
$MISSION,6
$DIVE,147
$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,-2078516.6
$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,21
$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
$GPS1,161952,6240.885,-1010.660,42,2.7,61,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-52.1
$GPS2,162505,6240.886,-1010.756,16,2.9,35,-10.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.204,0.085
$KALMAN_X,-127707.0,1837.2,1188.8,67341.8,-26876.1
$KALMAN_Y,115484.6,331.9,768.3,-510.6,-5627.7
$MHEAD_RNG_PITCHd_Wd,77.7,31004,-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,17,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-102.03,0.000,2,0.000,0.000,65,2403,3063
$GC,126,-0.85,-146.6,3.4,-2.7,5,153,12.23,2.67,-8.32,0.000,4,0.175,0.081,2220,990,3417
$GC,191,-0.85,-146.6,14.3,-11.9,8,195,0.00,2.58,0.00,0.000,6,0.000,0.053,2220,2403,3417
$GC,518,-0.85,-146.6,44.0,-8.4,24,522,0.00,2.58,0.00,0.000,4,0.000,0.073,2220,3769,3417
$GC,567,-0.85,-146.6,48.2,-8.9,26,572,0.00,2.50,0.00,0.000,6,0.000,0.049,2220,2411,3417
$GC,889,-0.85,-146.6,75.9,-9.0,42,893,0.00,2.67,0.00,0.000,4,0.000,0.068,2220,980,3417
$GC,932,-0.85,-146.6,79.7,-8.2,44,936,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2399,3417
$GC,1258,-0.85,-146.6,107.0,-8.9,60,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3417
$GC,1569,-0.85,-146.6,131.5,-7.2,75,1573,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,985,3417
$GC,1612,-0.85,-146.6,134.5,-7.1,77,1616,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2403,3417
$GC,1938,-0.85,-146.6,164.7,-9.4,93,1943,0.00,2.65,0.00,0.000,4,0.000,0.069,2220,985,3417
$GC,1956,-0.85,-146.6,166.0,-7.9,94,1960,0.00,2.58,0.00,0.000,6,0.000,0.053,2221,2405,3417
$GC,2281,-0.85,-146.6,195.4,-8.6,110,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3417
$GC,2590,-0.85,-146.6,221.9,-7.1,125,2595,0.00,2.62,0.00,0.000,4,0.000,0.065,2220,986,3417
$GC,2629,-0.85,-146.6,224.8,-7.4,127,2634,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2403,3417
$GC,2960,-0.85,-146.6,248.8,-6.9,143,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3417
$GC,3270,-0.85,-146.6,275.5,-7.9,158,3274,0.00,2.65,0.00,0.000,4,0.000,0.068,2220,985,3417
$GC,3312,-0.85,-146.6,278.9,-7.2,160,3317,0.00,2.60,0.00,0.000,6,0.000,0.053,2220,2404,3417
$GC,3641,-0.85,-146.6,300.3,-6.0,176,3645,0.00,2.65,0.00,0.000,4,0.000,0.066,2220,984,3417
$GC,3673,-0.85,-146.6,302.6,-6.0,177,3679,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2406,3417
$GC,3988,-0.85,-146.6,323.1,-6.5,193,3992,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,985,3417
$GC,4014,-0.85,-146.6,324.9,-7.0,194,4019,0.00,2.60,0.00,0.000,6,0.000,0.054,2220,2403,3417
$GC,4335,-0.85,-146.6,344.0,-5.6,210,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3417
$GC,4643,-0.85,-146.6,362.1,-6.2,225,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3417
$GC,4953,-0.85,-146.6,383.2,-7.7,240,4957,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,982,3417
$GC,4979,-0.85,-146.6,385.3,-7.6,241,4983,0.00,2.60,0.00,0.000,6,0.000,0.054,2220,2401,3417
$GC,5300,-0.85,-146.6,407.1,-5.0,257,5304,0.00,2.53,0.00,0.000,4,0.000,0.069,2220,3765,3417
$GC,5339,-0.85,-146.6,408.9,-4.0,259,5344,0.00,2.47,0.00,0.000,6,0.000,0.051,2220,2397,3417
$GC,5666,-0.85,-146.6,426.0,-6.0,275,5670,0.00,2.65,0.00,0.000,4,0.000,0.072,2221,983,3417
$GC,5737,-0.85,-146.6,430.7,-6.9,278,5741,0.00,2.60,0.00,0.000,6,0.000,0.054,2220,2398,3417
$GC,6058,-0.85,-146.6,452.8,-7.7,294,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3418
$GC,6367,-0.85,-146.6,476.9,-7.6,309,6371,0.00,2.65,0.00,0.000,4,0.000,0.069,2220,982,3418
$GC,6415,-0.85,-146.6,481.1,-8.5,311,6420,0.00,2.62,0.00,0.000,6,0.000,0.057,2220,2403,3418
$GC,6737,-0.85,-146.6,505.1,-7.3,327,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3418
$STATE,6838,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6838,begin apogee
$GC,6843,-0.31,0.0,511.9,6.8,332,6965,0.60,0.00,119.68,1.011,6,0.110,0.000,2340,2201,2817
$STATE,6966,end apogee,CONTROL_FINISHED_OK
$STATE,6966,begin climb
$GC,6968,0.85,146.6,515.1,0.0,338,7090,1.27,0.00,117.55,0.998,6,0.098,0.000,2593,2201,2219
$GC,7406,0.87,169.3,493.2,5.4,360,7427,0.00,0.00,19.35,0.926,6,0.000,0.000,2592,2201,2126
$GC,7734,0.90,196.7,475.5,5.2,376,7763,0.00,2.78,23.02,0.941,4,0.000,0.077,2593,3609,2014
$GC,7780,0.90,196.7,472.8,6.1,378,7785,0.00,2.65,0.00,0.000,6,0.000,0.057,2593,2208,2014
$GC,8107,0.90,196.7,452.0,7.2,394,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2209,2013
$GC,8416,0.90,196.7,431.9,6.2,409,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2208,2011
$GC,8725,0.90,196.7,412.5,7.0,424,8730,0.00,2.67,0.00,0.000,4,0.000,0.071,2593,782,2011
$GC,8791,0.90,196.7,407.0,8.6,427,8795,0.00,2.60,0.00,0.000,6,0.000,0.052,2594,2201,2010
$GC,9117,0.90,196.7,382.0,7.1,443,9122,0.00,2.67,0.00,0.000,4,0.000,0.076,2593,3616,2010
$GC,9166,0.90,196.7,378.1,8.1,445,9171,0.00,2.65,0.00,0.000,6,0.000,0.059,2593,2204,2010
$GC,9488,0.90,196.7,353.8,7.8,461,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2204,2010
$GC,9797,0.90,196.7,333.5,6.2,476,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2204,2010
$GC,10106,0.90,196.7,313.4,6.9,491,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2204,2009
$GC,10416,0.90,196.7,292.0,6.2,506,10420,0.00,2.67,0.00,0.000,4,0.000,0.072,2593,774,2010
$GC,10465,1.15,422.5,292.7,-0.2,508,10648,0.30,2.60,173.27,0.867,6,0.058,0.053,2669,2202,1093
$GC,10969,1.15,422.5,249.7,12.4,533,10973,0.00,2.72,0.00,0.000,4,0.000,0.075,2669,783,1092
$GC,11039,1.15,422.5,240.4,12.2,536,11044,0.00,2.62,0.00,0.000,6,0.000,0.051,2669,2195,1093
$GC,11361,1.15,422.5,199.5,13.7,552,11365,0.00,2.70,0.00,0.000,4,0.000,0.075,2669,784,1093
$GC,11437,1.15,422.5,189.3,14.4,555,11444,0.00,2.62,0.00,0.000,6,0.000,0.051,2669,2203,1093
$GC,11753,1.15,422.5,149.1,9.8,571,11757,0.00,2.72,0.00,0.000,4,0.000,0.075,2669,777,1093
$GC,11819,1.15,422.5,142.0,11.7,574,11823,0.00,2.60,0.00,0.000,6,0.000,0.051,2669,2199,1093
$GC,12146,1.15,422.5,99.3,11.9,590,12150,0.00,2.67,0.00,0.000,4,0.000,0.074,2669,782,1094
$GC,12211,1.15,422.5,90.8,12.7,593,12216,0.00,2.60,0.00,0.000,6,0.000,0.048,2669,2199,1094
$GC,12540,1.15,422.5,52.8,11.4,609,12544,0.00,2.70,0.00,0.000,4,0.000,0.075,2669,781,1094
$GC,12588,1.15,422.5,45.8,13.8,611,12593,0.00,2.60,0.00,0.000,6,0.000,0.048,2669,2201,1094
$GC,12910,1.15,422.5,5.1,11.7,627,12914,0.00,2.72,0.00,0.000,4,0.000,0.077,2669,777,1095
$STATE,12934,end climb,SURFACE_DEPTH_REACHED
$STATE,12934,begin surface coast
$FINISH,0.5,1.027398
$STATE,12941,end surface coast,CONTROL_FINISHED_OK
$STATE,12941,begin surface
$SM_CCo,12963,83.82,0.642,2,0,509,566.15
$SM_GC,1.31,0.00,0.00,83.82,0.000,0.000,0.642,70,2399,509,-10.76,-0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2084
$TCM_TEMP,19.10
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,451.2,70.0
$24V_AH,23.6,26.285
$10V_AH,10.2,12.675
$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,25.925,121.725,452.875,83.825,0.000,32.664,40.713,130.286,6.000,0.000,0.000,36.434,1146.543,9826.913,671.955,1401.403,331.860,33.362,1397.883,0.000,1351.512,0.000,25.061
$DEVICE_MAMPS,174.876,80.535,1010.906,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.924,438.433,412.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31572,628
$CFSIZE,260165632,250855424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,2,0
$GPS,081207,200438,6242.592,-1005.529,30,1.6,30,-10.3