version: 66.02
glider: 16
mission: 6
dive: 160
start: 12 10 107 18 14 2
data:
$ID,16
$MISSION,6
$DIVE,160
$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,-2078801.2
$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,15
$R_STBD_OVSHOOT,15
$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
$GPS1,180415,6248.420,-922.982,40,2.2,59,-9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-57.1
$GPS2,181311,6248.401,-923.159,10,2.9,29,-9.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.118,0.187
$KALMAN_X,-137935.8,898.2,1048.3,120547.5,-20688.6
$KALMAN_Y,101171.3,818.3,583.1,27427.2,-21350.7
$MHEAD_RNG_PITCHd_Wd,42.2,47793,-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,-101.85,0.000,2,0.000,0.000,73,2407,3131
$GC,126,-0.85,-146.6,3.3,-2.4,5,152,12.12,2.65,-7.05,0.000,4,0.173,0.094,2219,3766,3418
$GC,252,-0.85,-146.6,18.4,-9.1,10,259,0.00,2.58,0.00,0.000,6,0.000,0.060,2219,2401,3419
$GC,569,-0.85,-146.6,43.4,-7.8,26,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3418
$GC,877,-0.85,-146.6,72.1,-9.7,41,882,0.00,2.70,0.00,0.000,4,0.000,0.079,2219,985,3418
$GC,909,-0.85,-146.6,75.4,-9.6,42,917,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2390,3418
$GC,1227,-0.85,-146.6,105.8,-9.9,58,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2390,3418
$GC,1535,-0.85,-146.6,134.6,-9.1,73,1539,0.00,2.67,0.00,0.000,4,0.000,0.077,2219,984,3418
$GC,1567,-0.85,-146.6,137.8,-9.6,74,1573,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2392,3418
$GC,1882,-0.85,-146.6,168.3,-8.7,90,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2392,3418
$GC,2191,-0.85,-146.6,194.9,-8.9,105,2195,0.00,2.70,0.00,0.000,4,0.000,0.078,2219,978,3419
$GC,2234,-0.85,-146.6,198.9,-9.7,107,2238,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2405,3419
$GC,2561,-0.85,-146.6,226.4,-7.3,123,2565,0.00,2.70,0.00,0.000,4,0.000,0.077,2219,982,3418
$GC,2587,-0.85,-146.6,228.7,-8.4,124,2591,0.00,2.65,0.00,0.000,6,0.000,0.062,2219,2416,3418
$GC,2908,-0.85,-146.6,255.3,-9.5,140,2913,0.00,2.70,0.00,0.000,4,0.000,0.077,2219,981,3418
$GC,2963,-0.85,-146.6,260.8,-9.8,142,2970,0.00,2.62,0.00,0.000,6,0.000,0.062,2219,2404,3418
$GC,3278,-0.85,-146.6,290.8,-8.9,158,3283,0.00,2.70,0.00,0.000,4,0.000,0.078,2219,983,3418
$GC,3299,-0.85,-146.6,292.8,-9.0,159,3304,0.00,2.62,0.00,0.000,6,0.000,0.064,2219,2401,3419
$GC,3626,-0.85,-146.6,321.2,-8.9,175,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3419
$GC,3935,-0.85,-146.6,349.1,-9.2,190,3940,0.00,2.70,0.00,0.000,4,0.000,0.077,2219,981,3418
$GC,3984,-0.85,-146.6,353.7,-9.2,192,3988,0.00,2.62,0.00,0.000,6,0.000,0.064,2219,2400,3419
$GC,4299,-0.85,-146.6,380.6,-8.1,207,4303,0.00,2.70,0.00,0.000,4,0.000,0.078,2219,982,3418
$GC,4330,-0.85,-146.6,383.3,-8.3,208,4337,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2398,3418
$GC,4646,-0.85,-146.6,407.0,-7.6,224,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3419
$GC,4956,-0.85,-146.6,429.0,-6.6,239,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3418
$GC,5265,-0.85,-146.6,445.1,-5.7,254,5269,0.00,2.67,0.00,0.000,4,0.000,0.079,2219,983,3419
$GC,5326,-0.85,-146.6,448.6,-5.4,257,5330,0.00,2.65,0.00,0.000,6,0.000,0.066,2219,2405,3419
$STATE,5609,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5609,begin apogee
$GC,5614,-0.31,0.0,468.5,7.8,271,5736,0.60,0.00,119.18,0.997,6,0.110,0.000,2338,2197,2817
$STATE,5737,end apogee,CONTROL_FINISHED_OK
$STATE,5737,begin climb
$GC,5738,0.85,146.6,472.7,0.0,277,5860,1.25,0.00,116.90,0.986,6,0.100,0.000,2590,2197,2218
$GC,6171,0.85,146.6,450.2,6.7,298,6176,0.00,2.80,0.00,0.000,4,0.000,0.090,2589,3619,2217
$GC,6210,0.85,146.6,447.0,7.9,300,6215,0.00,2.72,0.00,0.000,6,0.000,0.074,2589,2201,2217
$GC,6537,0.86,159.5,426.3,5.6,316,6558,0.00,2.85,11.43,0.875,4,0.000,0.084,2590,782,2165
$GC,6596,0.86,159.5,422.6,6.9,318,6602,0.00,2.67,0.00,0.000,6,0.000,0.061,2589,2199,2165
$GC,6911,0.90,200.1,404.5,4.9,334,6953,0.00,2.88,32.40,0.955,4,0.000,0.091,2589,3613,2001
$GC,6992,0.93,227.3,400.6,5.3,337,7022,0.12,2.72,22.90,0.929,6,0.070,0.074,2622,2202,1889
$GC,7349,0.93,227.3,375.1,7.4,355,7354,0.00,2.75,0.00,0.000,4,0.000,0.084,2622,783,1887
$GC,7381,0.93,227.3,372.3,8.4,356,7387,0.00,2.67,0.00,0.000,6,0.000,0.058,2622,2199,1887
$GC,7696,0.93,227.3,348.3,8.0,372,7701,0.00,2.75,0.00,0.000,4,0.000,0.088,2622,3618,1886
$GC,7750,0.93,227.3,343.3,9.3,374,7757,0.00,2.72,0.00,0.000,6,0.000,0.076,2622,2200,1886
$GC,8066,0.93,227.3,316.0,8.7,390,8070,0.00,2.70,0.00,0.000,4,0.000,0.081,2622,784,1886
$GC,8099,0.93,227.3,313.2,9.4,391,8105,0.00,2.62,0.00,0.000,6,0.000,0.057,2622,2201,1886
$GC,8413,0.93,227.3,286.0,8.3,407,8418,0.00,2.72,0.00,0.000,4,0.000,0.087,2622,3616,1886
$GC,8445,0.93,227.3,283.1,9.2,408,8452,0.00,2.70,0.00,0.000,6,0.000,0.073,2622,2200,1885
$GC,8761,0.93,227.3,254.9,9.5,424,8766,0.00,2.70,0.00,0.000,4,0.000,0.079,2622,783,1886
$GC,8793,0.93,227.3,251.7,9.6,425,8800,0.00,2.65,0.00,0.000,6,0.000,0.056,2622,2201,1886
$GC,9109,0.93,227.3,224.7,8.2,441,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2201,1886
$GC,9419,0.93,227.3,199.5,8.4,456,9423,0.00,2.67,0.00,0.000,4,0.000,0.074,2622,782,1886
$GC,9457,0.93,227.3,196.0,9.1,458,9461,0.00,2.62,0.00,0.000,6,0.000,0.055,2622,2208,1886
$GC,9782,0.93,227.3,168.3,8.6,474,9786,0.00,2.67,0.00,0.000,4,0.000,0.083,2622,3617,1886
$GC,9813,0.93,227.3,165.3,9.3,475,9821,0.00,2.70,0.00,0.000,6,0.000,0.072,2622,2205,1886
$GC,10130,0.93,227.3,138.4,8.6,491,10134,0.00,2.70,0.00,0.000,4,0.000,0.079,2622,782,1886
$GC,10178,0.93,227.3,134.1,9.4,493,10183,0.00,2.62,0.00,0.000,6,0.000,0.054,2622,2198,1886
$GC,10499,0.93,227.3,108.9,7.6,509,10503,0.00,2.70,0.00,0.000,4,0.000,0.082,2622,3616,1887
$GC,10553,0.93,227.3,104.4,9.2,511,10560,0.00,2.70,0.00,0.000,6,0.000,0.072,2622,2207,1887
$GC,10870,0.93,227.3,81.3,8.6,527,10875,0.00,2.70,0.00,0.000,4,0.000,0.077,2622,782,1887
$GC,10925,0.93,227.3,75.5,10.3,529,10932,0.00,2.62,0.00,0.000,6,0.000,0.055,2622,2194,1887
$GC,11241,0.93,227.3,48.0,9.6,545,11242,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2194,1887
$GC,11550,0.93,227.3,20.7,9.2,560,11551,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2194,1888
$STATE,11775,end climb,SURFACE_DEPTH_REACHED
$STATE,11775,begin surface coast
$FINISH,0.9,1.026398
$STATE,11797,end surface coast,CONTROL_FINISHED_OK
$STATE,11797,begin surface
$SM_CCo,11817,200.20,0.676,1,0,509,566.15
$SM_GC,1.44,0.00,0.00,200.20,0.000,0.000,0.676,71,2398,509,-10.75,-0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2059
$TCM_TEMP,16.90
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,375.6,101.7
$24V_AH,23.6,28.109
$10V_AH,10.2,13.528
$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,25.275,124.425,302.800,200.200,0.000,65.184,77.490,218.364,10.500,0.000,0.000,30.621,1050.299,9059.923,696.323,1263.130,496.549,33.361,1345.122,0.000,1223.589,0.000,20.264
$DEVICE_MAMPS,172.575,93.574,997.100,676.494,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.615,394.749,426.402,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28545,572
$CFSIZE,260165632,250269696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,101207,213558,6250.654,-920.241,39,2.2,58,-9.9