version: 66.02
glider: 16
mission: 6
dive: 157
start: 12 10 107 6 48 37
data:
$ID,16
$MISSION,6
$DIVE,157
$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,-2078723.2
$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,12
$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
$GPS1,063628,6247.021,-933.189,35,3.7,54,-10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-57.3
$GPS2,064745,6247.054,-933.221,12,1.8,12,-10.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.150,0.163
$KALMAN_X,-135966.0,725.5,1152.3,109785.0,-21002.0
$KALMAN_Y,110120.9,-192.9,86.9,17491.0,-8261.1
$MHEAD_RNG_PITCHd_Wd,52.7,53888,-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,-146.6,0.0,0.0,0,125,0.00,0.00,-102.47,0.000,2,0.000,0.000,68,2398,3154
$GC,127,-0.85,-146.6,3.9,-3.0,5,152,12.30,2.72,-5.95,0.000,4,0.174,0.085,2222,986,3418
$GC,168,-0.85,-146.6,11.9,-11.0,7,173,0.00,2.62,0.00,0.000,6,0.000,0.058,2222,2394,3418
$GC,495,-0.85,-146.6,36.2,-7.2,23,500,0.00,2.67,0.00,0.000,4,0.000,0.070,2222,978,3418
$GC,522,-0.85,-146.6,38.4,-8.1,24,526,0.00,2.62,0.00,0.000,6,0.000,0.058,2223,2405,3418
$GC,837,-0.85,-146.6,62.2,-7.8,39,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3418
$GC,1147,-0.85,-146.6,90.0,-9.0,54,1151,0.00,2.70,0.00,0.000,4,0.000,0.072,2223,977,3418
$GC,1195,-0.85,-146.6,94.4,-8.9,56,1200,0.00,2.62,0.00,0.000,6,0.000,0.060,2222,2400,3419
$GC,1511,-0.85,-146.6,119.7,-8.1,71,1515,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,980,3419
$GC,1549,-0.85,-146.6,122.9,-8.8,73,1554,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2400,3418
$GC,1875,-0.85,-146.6,156.9,-10.3,89,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,2184,-0.85,-146.6,190.6,-11.7,104,2188,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,978,3418
$GC,2232,-0.85,-146.6,195.8,-9.5,106,2237,0.00,2.65,0.00,0.000,6,0.000,0.060,2223,2398,3418
$GC,2554,-0.85,-146.6,219.0,-5.9,122,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2398,3419
$GC,2863,-0.85,-146.6,242.2,-8.1,137,2867,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,980,3418
$GC,2905,-0.85,-146.6,245.8,-8.2,139,2910,0.00,2.65,0.00,0.000,6,0.000,0.061,2223,2415,3418
$GC,3232,-0.85,-146.6,270.6,-7.6,155,3237,0.00,2.72,0.00,0.000,4,0.000,0.073,2223,973,3418
$GC,3259,-0.85,-146.6,272.6,-7.8,156,3263,0.00,2.65,0.00,0.000,6,0.000,0.061,2223,2407,3419
$GC,3580,-0.85,-146.6,295.4,-6.9,172,3584,0.00,2.70,0.00,0.000,4,0.000,0.073,2223,972,3418
$GC,3618,-0.85,-146.6,298.3,-7.9,174,3623,0.00,2.62,0.00,0.000,6,0.000,0.062,2223,2401,3418
$GC,3944,-0.85,-146.6,320.9,-6.8,190,3948,0.00,2.67,0.00,0.000,4,0.000,0.074,2223,980,3418
$GC,3975,-0.85,-146.6,323.0,-6.8,191,3982,0.00,2.65,0.00,0.000,6,0.000,0.062,2223,2397,3419
$GC,4292,-0.85,-146.6,341.3,-4.6,207,4296,0.00,2.67,0.00,0.000,4,0.000,0.074,2223,981,3419
$GC,4324,-0.85,-146.6,342.8,-4.8,208,4330,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2404,3419
$GC,4639,-0.85,-146.6,356.3,-5.8,224,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3419
$GC,4948,-0.85,-146.6,378.9,-7.6,239,4952,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,976,3418
$GC,5003,-0.85,-146.6,383.3,-8.2,241,5009,0.00,2.65,0.00,0.000,6,0.000,0.062,2223,2403,3418
$GC,5318,-0.85,-146.6,406.5,-8.6,257,5322,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,974,3419
$GC,5361,-0.85,-146.6,410.6,-9.3,259,5365,0.00,2.65,0.00,0.000,6,0.000,0.063,2223,2407,3418
$GC,5687,-0.85,-146.6,436.3,-7.3,275,5692,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,977,3419
$GC,5736,-0.85,-146.6,440.3,-8.4,277,5741,0.00,2.62,0.00,0.000,6,0.000,0.063,2223,2400,3419
$GC,6057,-0.85,-146.6,463.8,-6.6,293,6062,0.00,2.67,0.00,0.000,4,0.000,0.074,2223,980,3419
$GC,6083,-0.85,-146.6,465.6,-6.8,294,6088,0.00,2.65,0.00,0.000,6,0.000,0.064,2223,2397,3419
$GC,6404,-0.85,-146.6,486.3,-6.9,310,6409,0.00,2.65,0.00,0.000,4,0.000,0.091,2223,3769,3419
$STATE,6420,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6420,begin apogee
$GC,6428,-0.31,0.0,487.3,6.7,311,6550,0.57,0.00,119.47,1.007,6,0.107,0.000,2337,2192,2817
$STATE,6551,end apogee,CONTROL_FINISHED_OK
$STATE,6551,begin climb
$GC,6553,0.85,146.6,491.7,0.0,317,6679,1.25,2.80,117.07,0.989,4,0.097,0.079,2590,788,2218
$GC,6757,0.86,157.7,483.6,5.7,326,6772,0.00,2.67,10.18,0.846,6,0.000,0.061,2590,2205,2174
$GC,7087,0.89,187.7,466.0,5.2,343,7118,0.00,2.83,25.15,0.942,4,0.000,0.091,2590,3617,2050
$GC,7162,0.89,187.7,460.9,7.8,346,7169,0.00,2.72,0.00,0.000,6,0.000,0.069,2590,2193,2050
$GC,7477,0.93,223.7,442.6,5.0,362,7513,0.10,2.78,29.15,0.956,4,0.073,0.081,2615,788,1904
$GC,7551,0.93,223.7,438.3,6.7,364,7557,0.00,2.67,0.00,0.000,6,0.000,0.061,2615,2201,1903
$GC,7866,0.93,223.7,419.9,6.0,380,7871,0.00,2.75,0.00,0.000,4,0.000,0.091,2615,3616,1902
$GC,7920,0.93,223.7,416.3,6.7,382,7927,0.00,2.70,0.00,0.000,6,0.000,0.070,2615,2196,1901
$GC,8236,0.93,224.6,397.3,6.0,398,8240,0.00,2.70,0.00,0.000,4,0.000,0.080,2615,786,1900
$GC,8285,0.94,233.6,394.4,5.8,400,8300,0.00,2.65,9.02,0.839,6,0.000,0.059,2615,2206,1863
$GC,8628,0.94,233.6,364.4,8.9,417,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2206,1863
$GC,8936,0.94,233.6,337.1,8.9,432,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2206,1862
$GC,9246,0.94,233.6,310.8,8.1,447,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2206,1862
$GC,9555,0.94,233.6,286.7,8.1,462,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2206,1862
$GC,9865,0.94,233.6,263.6,7.1,477,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2206,1863
$GC,10174,0.94,233.6,242.0,6.8,492,10175,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2206,1862
$GC,10483,0.94,233.6,220.8,6.6,507,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2206,1863
$GC,10792,0.94,233.6,200.5,6.7,522,10796,0.00,2.67,0.00,0.000,4,0.000,0.081,2615,3616,1863
$GC,10823,0.94,233.6,198.1,7.2,523,10830,0.00,2.67,0.00,0.000,6,0.000,0.064,2615,2199,1863
$GC,11139,0.94,233.6,174.8,7.7,539,11144,0.00,2.67,0.00,0.000,4,0.000,0.075,2615,781,1863
$GC,11166,0.94,233.6,172.6,8.4,540,11170,0.00,2.62,0.00,0.000,6,0.000,0.054,2615,2198,1863
$GC,11487,0.94,233.6,148.6,7.5,556,11492,0.00,2.67,0.00,0.000,4,0.000,0.080,2615,3619,1864
$GC,11514,0.94,233.6,146.3,8.5,557,11519,0.00,2.65,0.00,0.000,6,0.000,0.063,2615,2188,1864
$GC,11835,0.94,233.6,121.1,8.3,573,11836,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2188,1864
$GC,12144,0.94,233.6,95.0,8.1,588,12146,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2188,1864
$GC,12454,0.94,233.6,68.7,7.9,603,12458,0.00,2.62,0.00,0.000,4,0.000,0.074,2615,787,1864
$GC,12497,0.94,233.6,64.9,8.6,605,12501,0.00,2.60,0.00,0.000,6,0.000,0.054,2615,2208,1864
$GC,12824,0.94,233.6,33.8,9.5,621,12828,0.00,2.65,0.00,0.000,4,0.000,0.078,2615,3615,1865
$GC,12850,0.94,233.6,31.2,9.5,622,12854,0.00,2.62,0.00,0.000,6,0.000,0.063,2615,2199,1865
$STATE,13170,end climb,SURFACE_DEPTH_REACHED
$STATE,13170,begin surface coast
$FINISH,0.7,1.027514
$STATE,13191,end surface coast,CONTROL_FINISHED_OK
$STATE,13192,begin surface
$SM_CCo,13211,195.55,0.662,1,0,509,566.15
$SM_GC,1.40,0.00,0.00,195.55,0.000,0.000,0.662,72,2407,509,-10.75,0.20,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2068
$TCM_TEMP,16.90
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,400.9,96.2
$24V_AH,23.6,27.691
$10V_AH,10.2,13.335
$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,25.450,134.400,310.050,195.550,0.000,97.937,105.172,251.624,8.500,0.000,0.000,12.882,1169.875,10268.141,674.961,1380.950,603.914,33.363,1384.383,0.000,1356.141,0.000,21.870
$DEVICE_MAMPS,174.109,91.273,1007.071,661.921,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.798,441.443,452.376,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31691,639
$CFSIZE,260165632,250388480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,101207,103326,6249.736,-926.814,43,1.9,43,-9.9