version: 66.02
glider: 16
mission: 6
dive: 151
start: 12 9 107 7 42 32
data:
$ID,16
$MISSION,6
$DIVE,151
$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,-2078618.4
$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,16
$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
$GPS1,073616,6242.909,-954.440,43,2.9,62,-10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-49.9
$GPS2,074141,6242.913,-954.364,15,4.2,34,-10.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.203,0.088
$KALMAN_X,-129657.8,603.6,1152.2,84982.6,-20694.6
$KALMAN_Y,116565.1,64.4,91.8,3120.1,-1253.7
$MHEAD_RNG_PITCHd_Wd,76.9,17883,-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,-102.00,0.000,2,0.000,0.000,67,2407,3113
$GC,126,-0.85,-146.6,3.7,-2.9,5,151,12.27,2.75,-6.85,0.000,4,0.176,0.085,2221,985,3417
$GC,214,-0.85,-146.6,18.7,-13.3,9,218,0.00,2.60,0.00,0.000,6,0.000,0.052,2221,2402,3418
$GC,539,-0.85,-146.6,48.8,-7.6,25,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3418
$GC,848,-0.85,-146.6,71.7,-10.2,40,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3418
$GC,1158,-0.85,-146.6,94.4,-4.6,55,1162,0.00,2.67,0.00,0.000,4,0.000,0.068,2221,979,3418
$GC,1212,-0.85,-146.6,97.5,-6.3,57,1219,0.00,2.60,0.00,0.000,6,0.000,0.052,2221,2395,3418
$GC,1528,-0.85,-146.6,117.6,-6.8,73,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3418
$GC,1838,-0.85,-146.6,140.2,-8.5,88,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3418
$GC,2146,-0.85,-146.6,162.4,-6.8,103,2151,0.00,2.65,0.00,0.000,4,0.000,0.071,2221,985,3418
$GC,2218,-0.85,-146.6,167.8,-8.1,106,2223,0.00,2.58,0.00,0.000,6,0.000,0.052,2221,2400,3418
$GC,2533,-0.85,-146.6,189.5,-7.1,121,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,2843,-0.85,-146.6,210.3,-6.3,136,2847,0.00,2.65,0.00,0.000,4,0.000,0.069,2221,979,3418
$GC,2891,-0.85,-146.6,213.5,-6.8,138,2896,0.00,2.58,0.00,0.000,6,0.000,0.052,2221,2403,3418
$GC,3212,-0.85,-146.6,233.9,-5.2,154,3217,0.00,2.67,0.00,0.000,4,0.000,0.070,2221,978,3418
$GC,3273,-0.85,-146.6,239.4,-10.0,157,3278,0.00,2.58,0.00,0.000,6,0.000,0.051,2221,2402,3418
$GC,3599,-0.85,-146.6,265.0,-6.6,173,3603,0.00,2.65,0.00,0.000,4,0.000,0.069,2221,985,3418
$GC,3653,-0.85,-146.6,267.8,-4.7,175,3660,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2393,3418
$GC,3969,-0.85,-146.6,286.3,-6.7,191,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2393,3418
$GC,4278,-0.85,-146.6,310.1,-6.6,206,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2393,3418
$GC,4588,-0.85,-146.6,333.5,-8.6,221,4592,0.00,2.65,0.00,0.000,4,0.000,0.071,2221,985,3418
$GC,4630,-0.85,-146.6,337.5,-9.0,223,4635,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2404,3418
$GC,4957,-0.85,-146.6,362.9,-8.2,239,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3418
$GC,5266,-0.85,-146.6,384.9,-7.7,254,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,5576,-0.85,-146.6,413.8,-9.1,269,5580,0.00,2.65,0.00,0.000,4,0.000,0.069,2221,985,3418
$GC,5630,-0.85,-146.6,418.4,-8.3,271,5636,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2392,3419
$GC,5945,-0.85,-146.6,438.6,-6.0,287,5949,0.00,2.62,0.00,0.000,4,0.000,0.069,2221,985,3419
$GC,5999,-0.85,-146.6,442.4,-7.3,289,6006,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2403,3419
$GC,6314,-0.85,-146.6,465.9,-7.4,305,6319,0.00,2.53,0.00,0.000,4,0.000,0.068,2221,3769,3419
$GC,6353,-0.85,-146.6,468.9,-7.9,307,6358,0.00,2.50,0.00,0.000,6,0.000,0.056,2221,2400,3419
$STATE,6554,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6554,begin apogee
$GC,6559,-0.31,0.0,483.0,8.6,317,6681,0.60,0.00,119.03,1.003,6,0.104,0.000,2342,2191,2817
$STATE,6682,end apogee,CONTROL_FINISHED_OK
$STATE,6682,begin climb
$GC,6684,0.85,146.6,487.8,0.0,323,6808,1.20,2.78,116.25,0.981,4,0.088,0.071,2589,791,2218
$GC,6868,0.85,146.6,478.7,6.9,331,6875,0.00,2.65,0.00,0.000,6,0.000,0.054,2589,2201,2218
$GC,7184,0.89,182.8,461.0,5.0,347,7216,0.00,0.00,29.85,0.935,6,0.000,0.000,2589,2201,2071
$GC,7514,0.89,182.8,440.2,6.1,363,7518,0.00,2.70,0.00,0.000,4,0.000,0.084,2588,3609,2069
$GC,7584,0.89,182.8,435.3,6.9,366,7589,0.00,2.67,0.00,0.000,6,0.000,0.068,2589,2202,2069
$GC,7906,0.91,204.2,416.6,5.4,382,7930,0.00,2.80,17.62,0.901,4,0.000,0.078,2589,786,1984
$GC,7963,0.91,204.2,413.3,6.2,384,7970,0.00,2.62,0.00,0.000,6,0.000,0.057,2589,2202,1984
$GC,8279,0.95,244.8,399.2,4.9,400,8315,0.12,0.00,33.28,0.928,6,0.069,0.000,2619,2202,1818
$GC,8609,0.95,244.8,370.0,9.6,416,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2202,1816
$GC,8919,0.95,244.8,339.7,10.2,431,8923,0.00,2.72,0.00,0.000,4,0.000,0.077,2619,772,1817
$GC,8963,0.95,244.8,334.8,10.7,433,8967,0.00,2.62,0.00,0.000,6,0.000,0.054,2619,2206,1815
$GC,9282,0.95,244.8,304.6,9.4,449,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2206,1815
$GC,9592,0.95,244.8,273.6,9.5,464,9596,0.00,2.72,0.00,0.000,4,0.000,0.078,2619,781,1815
$GC,9630,0.95,244.8,270.0,9.5,466,9635,0.00,2.60,0.00,0.000,6,0.000,0.054,2619,2201,1815
$GC,9955,0.95,244.8,243.1,8.8,482,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2201,1815
$GC,10265,0.95,244.8,217.1,7.5,497,10269,0.00,2.72,0.00,0.000,4,0.000,0.078,2619,774,1815
$GC,10303,0.95,244.8,213.8,8.3,499,10307,0.00,2.60,0.00,0.000,6,0.000,0.053,2619,2201,1815
$GC,10628,0.95,244.8,191.2,6.0,515,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2201,1815
$GC,10938,0.95,244.8,169.2,7.8,530,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2201,1815
$GC,11247,0.95,244.8,146.8,7.7,545,11248,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2201,1816
$GC,11558,0.95,244.8,122.9,7.9,560,11562,0.00,2.70,0.00,0.000,4,0.000,0.077,2620,779,1816
$GC,11596,0.95,244.8,119.4,9.0,562,11601,0.00,2.58,0.00,0.000,6,0.000,0.051,2619,2198,1816
$GC,11923,0.95,244.8,90.8,8.9,578,11927,0.00,2.65,0.00,0.000,4,0.000,0.073,2620,3616,1816
$GC,11949,0.95,244.8,88.2,9.0,579,11953,0.00,2.65,0.00,0.000,6,0.000,0.066,2619,2197,1816
$GC,12271,0.95,244.8,58.1,10.3,595,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2197,1817
$GC,12581,0.95,244.8,26.3,9.0,610,12585,0.00,2.65,0.00,0.000,4,0.000,0.073,2619,782,1817
$GC,12643,0.95,244.8,21.3,9.2,613,12648,0.00,2.60,0.00,0.000,6,0.000,0.055,2620,2204,1816
$STATE,12885,end climb,SURFACE_DEPTH_REACHED
$STATE,12885,begin surface coast
$FINISH,0.8,1.027045
$STATE,12907,end surface coast,CONTROL_FINISHED_OK
$STATE,12907,begin surface
$SM_CCo,12927,181.55,0.663,1,0,509,566.15
$SM_GC,1.21,0.00,0.00,181.55,0.000,0.000,0.663,68,2407,509,-10.77,0.20,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2049
$TCM_TEMP,16.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,400.3,91.9
$24V_AH,23.6,26.837
$10V_AH,10.2,12.937
$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,25.375,101.025,316.025,181.550,0.000,32.624,38.360,144.460,4.750,0.000,0.000,35.725,1135.193,9960.674,650.899,1358.414,341.723,33.364,1321.635,0.000,1310.593,0.000,21.859
$DEVICE_MAMPS,176.410,85.137,1003.236,663.455,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.153,438.953,459.187,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31680,626
$CFSIZE,260165632,250675200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$GPS,091207,112207,6244.656,-947.288,27,1.2,27,-10.1