version: 66.02
glider: 16
mission: 6
dive: 161
start: 12 10 107 21 42 2
data:
$ID,16
$MISSION,6
$DIVE,161
$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,-2078838.9
$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,13
$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
$GPS1,213558,6250.654,-920.241,39,2.2,58,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-51.4
$GPS2,214111,6250.685,-920.209,17,2.2,36,-9.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.214,0.057
$KALMAN_X,-135758.6,321.6,686.7,121874.1,-14859.7
$KALMAN_Y,101988.2,506.0,661.1,31029.0,-19152.8
$MHEAD_RNG_PITCHd_Wd,85.1,42932,-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,-101.88,0.000,2,0.000,0.000,70,2398,3158
$GC,126,-0.85,-146.6,4.1,-3.1,5,151,12.15,2.70,-5.78,0.000,4,0.173,0.094,2219,3772,3417
$GC,246,-0.85,-146.6,20.0,-9.2,10,250,0.00,2.60,0.00,0.000,6,0.000,0.064,2220,2387,3418
$GC,569,-0.85,-146.6,47.7,-9.7,26,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2387,3418
$GC,877,-0.85,-146.6,74.7,-9.1,41,881,0.00,2.70,0.00,0.000,4,0.000,0.082,2220,982,3418
$GC,903,-0.85,-146.6,76.8,-7.6,42,907,0.00,2.65,0.00,0.000,6,0.000,0.062,2220,2408,3418
$GC,1225,-0.85,-146.6,103.4,-8.4,58,1229,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,982,3418
$GC,1256,-0.85,-146.6,106.1,-8.3,59,1263,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2400,3418
$GC,1573,-0.85,-146.6,131.8,-8.4,75,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,1881,-0.85,-146.6,158.1,-8.2,90,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,2190,-0.85,-146.6,183.3,-7.7,105,2194,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,976,3418
$GC,2238,-0.85,-146.6,186.9,-6.9,107,2243,0.00,2.65,0.00,0.000,6,0.000,0.062,2220,2397,3418
$GC,2559,-0.85,-146.6,210.2,-7.0,123,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2397,3418
$GC,2869,-0.85,-146.6,235.6,-8.5,138,2873,0.00,2.70,0.00,0.000,4,0.000,0.078,2220,981,3418
$GC,2939,-0.85,-146.6,241.8,-8.6,141,2944,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2403,3418
$GC,3261,-0.85,-146.6,266.4,-7.2,157,3265,0.00,2.70,0.00,0.000,4,0.000,0.080,2220,980,3418
$GC,3299,-0.85,-146.6,269.3,-7.4,159,3303,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2408,3419
$GC,3624,-0.85,-146.6,292.6,-7.2,175,3628,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,980,3418
$GC,3667,-0.85,-146.6,295.9,-7.8,177,3671,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2401,3418
$GC,3993,-0.85,-146.6,318.6,-7.3,193,3998,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,976,3418
$GC,4032,-0.85,-146.6,321.5,-7.4,195,4036,0.00,2.65,0.00,0.000,6,0.000,0.063,2220,2407,3418
$GC,4357,-0.85,-146.6,346.4,-7.6,211,4362,0.00,2.60,0.00,0.000,4,0.000,0.085,2219,3770,3418
$GC,4378,-0.85,-146.6,348.3,-8.4,212,4383,0.00,2.60,0.00,0.000,6,0.000,0.066,2220,2397,3419
$GC,4705,-0.85,-146.6,367.4,-5.1,228,4710,0.00,2.67,0.00,0.000,4,0.000,0.081,2220,982,3419
$GC,4805,-0.85,-146.6,374.5,-7.6,232,4812,0.00,2.62,0.00,0.000,6,0.000,0.064,2220,2401,3419
$GC,5120,-0.85,-146.6,397.6,-6.9,248,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3419
$GC,5429,-0.85,-146.6,421.3,-8.9,263,5434,0.00,2.70,0.00,0.000,4,0.000,0.077,2220,976,3419
$GC,5546,-0.85,-146.6,430.3,-6.9,268,5550,0.00,2.65,0.00,0.000,6,0.000,0.066,2220,2401,3419
$GC,5867,-0.85,-146.6,442.8,0.1,284,5871,0.00,2.65,0.00,0.000,4,0.000,0.091,2220,3775,3419
$STATE,6083,end dive,NO_VERTICAL_VELOCITY
$STATE,6083,begin apogee
$GC,6091,-0.31,0.0,442.5,0.0,294,6213,0.57,0.00,118.62,0.995,6,0.093,0.000,2338,2194,2817
$STATE,6213,end apogee,CONTROL_FINISHED_OK
$STATE,6213,begin climb
$GC,6215,0.85,146.6,442.4,0.0,300,6339,1.23,2.85,116.20,0.974,4,0.089,0.084,2589,785,2218
$GC,6434,0.85,146.6,430.9,8.2,310,6438,0.00,2.70,0.00,0.000,6,0.000,0.060,2589,2219,2217
$GC,6761,0.90,192.3,410.3,4.7,326,6803,0.00,2.88,36.50,0.944,4,0.000,0.080,2589,784,2033
$GC,6836,0.90,192.3,406.4,6.1,329,6840,0.00,2.67,0.00,0.000,6,0.000,0.061,2589,2199,2033
$GC,7157,0.90,192.3,384.3,6.5,345,7161,0.00,2.75,0.00,0.000,4,0.000,0.081,2589,781,2031
$GC,7205,0.90,192.3,380.8,7.0,347,7210,0.00,2.67,0.00,0.000,6,0.000,0.061,2589,2204,2031
$GC,7527,0.99,275.4,366.6,3.7,363,7597,0.15,0.00,65.12,0.956,6,0.067,0.000,2632,2204,1694
$GC,7920,1.01,300.4,342.4,5.3,382,7946,0.00,2.80,20.90,0.897,4,0.000,0.077,2632,784,1591
$GC,7996,1.07,354.5,338.8,4.5,385,8046,0.00,2.70,43.47,0.927,6,0.000,0.058,2632,2203,1370
$GC,8374,1.07,354.5,315.6,9.8,404,8378,0.00,2.75,0.00,0.000,4,0.000,0.078,2632,780,1370
$GC,8435,1.07,354.5,308.9,10.6,407,8439,0.00,2.65,0.00,0.000,6,0.000,0.058,2632,2201,1369
$GC,8760,1.07,354.5,279.3,7.8,423,8764,0.00,2.72,0.00,0.000,4,0.000,0.077,2632,784,1369
$GC,8808,1.07,354.5,275.1,8.3,425,8812,0.00,2.65,0.00,0.000,6,0.000,0.057,2632,2208,1369
$GC,9130,1.07,354.5,248.6,8.2,441,9134,0.00,2.72,0.00,0.000,4,0.000,0.077,2632,784,1369
$GC,9184,1.07,354.5,243.5,8.8,443,9190,0.00,2.62,0.00,0.000,6,0.000,0.055,2632,2201,1369
$GC,9499,1.07,354.5,215.6,9.1,459,9503,0.00,2.70,0.00,0.000,4,0.000,0.075,2632,778,1369
$GC,9553,1.07,354.5,210.2,10.1,461,9560,0.00,2.65,0.00,0.000,6,0.000,0.054,2632,2199,1369
$GC,9869,1.07,354.5,178.1,10.1,477,9873,0.00,2.70,0.00,0.000,4,0.000,0.075,2632,782,1370
$GC,9929,1.07,354.5,171.8,9.9,480,9934,0.00,2.60,0.00,0.000,6,0.000,0.054,2632,2202,1369
$GC,10256,1.07,354.5,140.7,9.6,496,10260,0.00,2.70,0.00,0.000,4,0.000,0.074,2632,780,1370
$GC,10299,1.07,354.5,136.2,10.1,498,10303,0.00,2.62,0.00,0.000,6,0.000,0.054,2632,2194,1370
$GC,10626,1.07,354.5,105.2,9.5,514,10630,0.00,2.67,0.00,0.000,4,0.000,0.074,2632,782,1370
$GC,10657,1.07,354.5,102.0,9.6,515,10665,0.00,2.62,0.00,0.000,6,0.000,0.053,2632,2198,1370
$GC,10975,1.07,354.5,71.2,10.8,531,10980,0.00,2.67,0.00,0.000,4,0.000,0.074,2632,783,1370
$GC,11007,1.07,354.5,67.1,11.9,532,11014,0.00,2.62,0.00,0.000,6,0.000,0.054,2632,2198,1370
$GC,11323,1.07,354.5,37.2,8.9,548,11327,0.00,2.67,0.00,0.000,4,0.000,0.073,2632,782,1371
$GC,11361,1.07,354.5,32.7,11.7,550,11366,0.00,2.60,0.00,0.000,6,0.000,0.053,2632,2205,1371
$STATE,11665,end climb,SURFACE_DEPTH_REACHED
$STATE,11665,begin surface coast
$FINISH,0.8,1.027718
$STATE,11687,end surface coast,CONTROL_FINISHED_OK
$STATE,11687,begin surface
$SM_CCo,11707,125.43,0.680,1,0,509,566.15
$SM_GC,1.33,0.00,0.00,125.43,0.000,0.000,0.680,58,2398,509,-10.82,-0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2090
$TCM_TEMP,16.70
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,376.4,78.9
$24V_AH,23.6,28.256
$10V_AH,10.2,13.590
$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,25.350,134.625,400.825,125.425,0.000,32.595,35.825,134.555,10.000,0.000,0.000,36.964,1070.966,8682.337,658.452,1417.925,330.581,33.359,1393.514,0.000,1360.576,0.000,20.201
$DEVICE_MAMPS,172.575,93.574,994.799,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.688,386.702,414.612,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28547,566
$CFSIZE,260165632,250220544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,111207,010032,6251.232,-914.295,38,1.9,38,-9.8