version: 66.02
glider: 16
mission: 6
dive: 159
start: 12 10 107 14 21 19
data:
$ID,16
$MISSION,6
$DIVE,159
$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,-2078770
$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,13
$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
$GPS1,141508,6248.935,-921.552,39,1.9,39,-9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-58.8
$GPS2,142029,6248.839,-921.572,12,3.0,31,-9.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.117,0.188
$KALMAN_X,-133842.2,1658.6,224.1,117914.0,-14206.4
$KALMAN_Y,108011.4,1050.1,50.5,21692.9,-10389.5
$MHEAD_RNG_PITCHd_Wd,41.8,46523,-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,18,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-101.82,0.000,2,0.000,0.000,68,2398,3158
$GC,126,-0.85,-146.6,4.1,-3.2,5,151,12.23,2.72,-5.70,0.000,4,0.174,0.083,2221,988,3415
$GC,173,-0.85,-146.6,12.8,-9.6,7,177,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2400,3416
$GC,500,-0.85,-146.6,39.8,-8.8,23,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3416
$GC,809,-0.85,-146.6,65.4,-8.8,38,814,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,986,3416
$GC,871,-0.85,-146.6,70.9,-8.2,41,875,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2402,3416
$GC,1197,-0.85,-146.6,98.1,-8.4,57,1201,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,987,3416
$GC,1223,-0.85,-146.6,100.4,-8.9,58,1227,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2404,3416
$GC,1544,-0.85,-146.6,126.8,-7.1,74,1549,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,981,3416
$GC,1599,-0.85,-146.6,131.4,-7.7,76,1606,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2400,3416
$GC,1914,-0.85,-146.6,157.3,-8.9,92,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3416
$GC,2223,-0.85,-146.6,186.8,-9.3,107,2228,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,980,3417
$GC,2250,-0.85,-146.6,189.2,-8.6,108,2254,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2401,3416
$GC,2571,-0.85,-146.6,214.0,-7.2,124,2575,0.00,2.65,0.00,0.000,4,0.000,0.072,2221,988,3416
$GC,2619,-0.85,-146.6,217.7,-7.6,126,2624,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2392,3416
$GC,2941,-0.85,-146.6,240.4,-7.0,142,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2392,3416
$GC,3250,-0.85,-146.6,261.4,-6.3,157,3254,0.00,2.67,0.00,0.000,4,0.000,0.075,2222,981,3416
$GC,3293,-0.85,-146.6,264.0,-5.9,159,3297,0.00,2.62,0.00,0.000,6,0.000,0.062,2222,2401,3416
$GC,3619,-0.85,-146.6,283.8,-6.3,175,3624,0.00,2.67,0.00,0.000,4,0.000,0.075,2222,986,3416
$GC,3658,-0.85,-146.6,286.3,-7.1,177,3662,0.00,2.62,0.00,0.000,6,0.000,0.062,2222,2401,3417
$GC,3983,-0.85,-146.6,307.7,-7.1,193,3988,0.00,2.67,0.00,0.000,4,0.000,0.074,2222,986,3416
$GC,4037,-0.85,-146.6,311.7,-7.6,195,4044,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2404,3416
$GC,4353,-0.85,-146.6,332.5,-6.3,211,4357,0.00,2.67,0.00,0.000,4,0.000,0.075,2222,986,3416
$GC,4379,-0.85,-146.6,334.0,-6.5,212,4383,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2400,3416
$GC,4700,-0.85,-146.6,354.4,-7.2,228,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3417
$GC,5013,-0.85,-146.6,376.4,-7.4,243,5018,0.00,2.70,0.00,0.000,4,0.000,0.077,2222,979,3416
$GC,5068,-0.85,-146.6,380.8,-7.4,245,5075,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2393,3417
$GC,5389,-0.85,-146.6,400.6,-5.9,261,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2393,3416
$GC,5693,-0.85,-146.6,423.4,-8.8,276,5698,0.00,2.67,0.00,0.000,4,0.000,0.076,2221,983,3416
$GC,5777,-0.85,-146.6,430.8,-8.7,280,5781,0.00,2.62,0.00,0.000,6,0.000,0.065,2222,2401,3417
$GC,6103,-0.85,-146.6,456.4,-7.6,296,6107,0.00,2.62,0.00,0.000,4,0.000,0.088,2222,3769,3417
$GC,6141,-0.85,-146.6,459.4,-8.2,298,6146,0.00,2.53,0.00,0.000,6,0.000,0.064,2222,2404,3417
$STATE,6259,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6259,begin apogee
$GC,6263,-0.31,0.0,467.8,6.8,304,6385,0.60,0.00,118.72,0.998,6,0.104,0.000,2342,2199,2817
$STATE,6386,end apogee,CONTROL_FINISHED_OK
$STATE,6386,begin climb
$GC,6388,0.85,146.6,472.4,0.0,310,6509,1.20,0.00,117.15,0.976,6,0.071,0.000,2595,2199,2219
$GC,6813,0.91,203.8,452.8,4.4,331,6864,0.00,2.85,45.85,0.952,4,0.000,0.088,2594,3620,1986
$GC,6909,0.91,207.7,447.7,5.9,335,6919,0.00,2.75,4.90,0.683,6,0.000,0.071,2595,2205,1970
$GC,7247,0.93,220.6,428.4,5.6,352,7268,0.00,2.85,11.57,0.874,4,0.000,0.084,2595,786,1916
$GC,7345,0.93,220.6,422.5,7.1,356,7349,0.00,2.67,0.00,0.000,6,0.000,0.059,2595,2193,1916
$GC,7666,0.93,220.6,398.6,8.2,372,7671,0.00,2.78,0.00,0.000,4,0.000,0.089,2595,3621,1915
$GC,7705,0.93,220.6,395.2,8.9,374,7710,0.00,2.70,0.00,0.000,6,0.000,0.072,2595,2200,1914
$GC,8031,0.93,220.6,370.1,7.2,390,8035,0.00,2.72,0.00,0.000,4,0.000,0.081,2595,784,1913
$GC,8074,0.93,220.6,366.8,7.3,392,8078,0.00,2.65,0.00,0.000,6,0.000,0.058,2595,2206,1913
$GC,8400,0.93,220.6,342.2,7.3,408,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2206,1912
$GC,8709,0.93,220.6,321.1,6.6,423,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2206,1912
$GC,9019,0.93,220.6,300.9,6.2,438,9024,0.00,2.72,0.00,0.000,4,0.000,0.075,2594,778,1912
$GC,9062,0.93,220.6,297.9,7.2,440,9066,0.00,2.65,0.00,0.000,6,0.000,0.055,2595,2194,1912
$GC,9389,0.93,220.6,275.5,7.0,456,9394,0.00,2.72,0.00,0.000,4,0.000,0.085,2595,3613,1912
$GC,9422,0.93,220.6,273.1,7.9,457,9428,0.00,2.67,0.00,0.000,6,0.000,0.070,2595,2196,1912
$GC,9737,0.93,220.6,252.0,6.6,473,9742,0.00,2.67,0.00,0.000,4,0.000,0.077,2594,785,1912
$GC,9776,0.93,220.6,249.1,8.0,475,9780,0.00,2.60,0.00,0.000,6,0.000,0.054,2595,2199,1912
$GC,10102,0.93,220.6,228.2,6.1,491,10103,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2199,1912
$GC,10411,0.93,220.6,207.6,7.5,506,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2199,1912
$GC,10720,0.93,220.6,184.8,7.4,521,10721,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2199,1912
$GC,11029,0.93,220.6,165.1,6.1,536,11031,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2200,1912
$GC,11339,0.95,244.5,149.5,5.3,551,11364,0.10,2.75,19.38,0.752,4,0.055,0.081,2629,3614,1820
$GC,11391,0.95,244.5,145.5,8.4,553,11395,0.00,2.70,0.00,0.000,6,0.000,0.068,2629,2196,1819
$GC,11713,0.95,244.5,118.2,8.3,569,11717,0.00,2.67,0.00,0.000,4,0.000,0.077,2629,784,1819
$GC,11751,0.95,244.5,114.8,8.6,571,11756,0.00,2.62,0.00,0.000,6,0.000,0.054,2629,2206,1819
$GC,12077,0.95,244.5,88.6,7.9,587,12082,0.00,2.67,0.00,0.000,4,0.000,0.081,2629,3614,1818
$GC,12121,0.95,244.5,84.9,9.0,589,12125,0.00,2.65,0.00,0.000,6,0.000,0.068,2629,2200,1819
$GC,12448,0.95,244.5,56.5,9.4,605,12452,0.00,2.67,0.00,0.000,4,0.000,0.077,2629,784,1819
$GC,12486,0.95,244.5,53.0,8.8,607,12491,0.00,2.60,0.00,0.000,6,0.000,0.055,2629,2201,1819
$GC,12813,0.95,244.5,22.2,9.9,623,12817,0.00,2.70,0.00,0.000,4,0.000,0.081,2629,3622,1819
$GC,12856,0.95,244.5,17.8,9.8,625,12860,0.00,2.67,0.00,0.000,6,0.000,0.068,2629,2200,1819
$STATE,13036,end climb,SURFACE_DEPTH_REACHED
$STATE,13037,begin surface coast
$FINISH,0.8,1.014213
$STATE,13058,end surface coast,CONTROL_FINISHED_OK
$STATE,13058,begin surface
$SM_CCo,13078,193.48,0.666,2,0,510,566.15
$SM_GC,1.52,0.00,0.00,193.48,0.000,0.000,0.666,74,2406,510,-10.75,0.17,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2052
$TCM_TEMP,16.70
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,400.6,76.0
$24V_AH,23.6,27.966
$10V_AH,10.2,13.464
$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,25.375,134.500,317.575,193.475,0.000,32.586,37.623,138.265,7.750,0.000,0.000,32.575,1172.841,9990.444,695.617,1403.379,347.747,33.361,1400.304,0.000,1358.356,0.000,24.764
$DEVICE_MAMPS,174.109,88.972,997.867,665.756,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.622,438.831,455.673,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31608,635
$CFSIZE,260165632,250298368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
$GPS,101207,180415,6248.420,-922.982,40,2.2,59,-9.9