version: 66.02
glider: 16
mission: 6
dive: 170
start: 12 12 107 5 14 52
data:
$ID,16
$MISSION,6
$DIVE,170
$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,-2079137.5
$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,16
$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
$GPS1,050458,6304.048,-843.604,33,3.9,52,-9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-56.5
$GPS2,051402,6303.964,-843.591,47,1.9,47,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.103,0.196
$KALMAN_X,-127503.5,752.6,553.1,145595.2,3301.9
$KALMAN_Y,94863.5,355.8,665.1,62941.6,-18964.9
$MHEAD_RNG_PITCHd_Wd,341.9,20229,-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,-102.53,0.000,2,0.000,0.000,72,2399,3139
$GC,127,-0.85,-146.6,3.6,-2.7,5,153,12.10,2.70,-6.50,0.000,4,0.171,0.081,2222,988,3417
$GC,376,-0.85,-146.6,28.9,-7.9,16,381,0.00,2.62,0.00,0.000,6,0.000,0.057,2222,2398,3417
$GC,704,-0.85,-146.6,54.3,-7.8,32,708,0.00,2.67,0.00,0.000,4,0.000,0.069,2222,979,3418
$GC,724,-0.85,-146.6,55.8,-7.0,33,728,0.00,2.65,0.00,0.000,6,0.000,0.057,2222,2418,3418
$GC,1053,-0.85,-146.6,80.0,-7.3,49,1057,0.00,2.70,0.00,0.000,4,0.000,0.071,2222,982,3418
$GC,1084,-0.85,-146.6,82.4,-7.5,50,1091,0.00,2.62,0.00,0.000,6,0.000,0.057,2222,2399,3418
$GC,1400,-0.85,-146.6,106.1,-7.3,66,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3418
$GC,1711,-0.85,-146.6,128.7,-6.9,81,1715,0.00,2.67,0.00,0.000,4,0.000,0.072,2222,982,3418
$GC,1777,-0.85,-146.6,132.9,-6.4,84,1781,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2400,3418
$GC,2097,-0.85,-146.6,156.8,-8.8,100,2101,0.00,2.70,0.00,0.000,4,0.000,0.076,2222,980,3418
$GC,2135,-0.85,-146.6,159.7,-8.0,102,2140,0.00,2.62,0.00,0.000,6,0.000,0.059,2222,2405,3418
$GC,2461,-0.85,-146.6,185.7,-8.0,118,2466,0.00,2.67,0.00,0.000,4,0.000,0.072,2222,982,3418
$GC,2487,-0.85,-146.6,187.8,-7.5,119,2492,0.00,2.60,0.00,0.000,6,0.000,0.058,2223,2399,3419
$GC,2808,-0.85,-146.6,213.1,-8.6,135,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3419
$GC,3118,-0.85,-146.6,239.3,-8.2,150,3122,0.00,2.67,0.00,0.000,4,0.000,0.074,2222,979,3419
$GC,3207,-0.85,-146.6,247.0,-8.9,154,3211,0.00,2.62,0.00,0.000,6,0.000,0.059,2222,2400,3418
$GC,3527,-0.85,-146.6,275.3,-9.0,170,3531,0.00,2.67,0.00,0.000,4,0.000,0.075,2223,982,3418
$GC,3570,-0.85,-146.6,279.3,-9.2,172,3574,0.00,2.60,0.00,0.000,6,0.000,0.060,2223,2400,3418
$GC,3897,-0.85,-146.6,307.9,-8.7,188,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3419
$GC,4206,-0.85,-146.6,333.9,-7.6,203,4210,0.00,2.70,0.00,0.000,4,0.000,0.077,2223,976,3419
$GC,4249,-0.85,-146.6,337.2,-7.5,205,4253,0.00,2.62,0.00,0.000,6,0.000,0.060,2222,2401,3418
$GC,4576,-0.85,-146.6,358.6,-6.9,221,4580,0.00,2.70,0.00,0.000,4,0.000,0.076,2222,979,3418
$GC,4637,-0.85,-146.6,363.0,-7.3,224,4641,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2401,3418
$GC,4962,-0.85,-146.6,387.8,-7.0,240,4966,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,976,3419
$GC,5005,-0.85,-146.6,390.3,-5.9,242,5010,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2401,3419
$GC,5332,-0.85,-146.6,407.8,-4.9,258,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3418
$GC,5641,-0.85,-146.6,421.2,-5.5,273,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3418
$GC,5950,-0.85,-146.6,442.1,-6.3,288,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3418
$GC,6259,-0.85,-146.6,461.0,-6.2,303,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3418
$STATE,6505,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6505,begin apogee
$GC,6511,-0.31,0.0,476.9,5.7,315,6633,0.60,0.00,119.40,1.021,6,0.110,0.000,2341,2191,2816
$STATE,6634,end apogee,CONTROL_FINISHED_OK
$STATE,6634,begin climb
$GC,6636,0.85,146.6,480.5,0.0,321,6757,1.20,0.00,117.45,1.002,6,0.078,0.000,2589,2191,2218
$GC,7060,0.90,198.1,461.2,4.6,342,7108,0.00,2.83,41.28,0.976,4,0.000,0.084,2589,3612,2009
$GC,7144,0.90,198.1,456.1,6.9,346,7148,0.00,2.70,0.00,0.000,6,0.000,0.068,2589,2205,2008
$GC,7469,0.90,198.1,432.2,7.9,362,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2205,2008
$GC,7778,0.90,198.1,410.5,6.9,377,7782,0.00,2.75,0.00,0.000,4,0.000,0.086,2589,3614,2005
$GC,7826,0.90,198.1,407.0,7.2,379,7831,0.00,2.70,0.00,0.000,6,0.000,0.071,2589,2200,2006
$GC,8148,0.94,228.8,391.7,5.2,395,8179,0.12,2.80,24.98,0.950,4,0.071,0.081,2619,778,1884
$GC,8223,0.94,228.8,385.6,9.1,398,8229,0.00,2.67,0.00,0.000,6,0.000,0.058,2619,2206,1883
$GC,8538,0.94,228.8,362.2,6.9,414,8542,0.00,2.70,0.00,0.000,4,0.000,0.086,2619,3613,1880
$GC,8604,0.94,228.8,357.1,7.9,417,8608,0.00,2.70,0.00,0.000,6,0.000,0.070,2619,2195,1880
$GC,8930,0.96,247.2,336.3,5.5,433,8952,0.00,2.75,15.43,0.889,4,0.000,0.075,2619,782,1808
$GC,8990,0.96,247.2,332.3,6.8,435,8997,0.00,2.67,0.00,0.000,6,0.000,0.055,2619,2200,1807
$GC,9306,0.96,247.2,309.4,7.1,451,9307,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2200,1807
$GC,9615,0.96,247.2,286.6,7.8,466,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2200,1807
$GC,9924,0.96,247.2,260.8,8.3,481,9925,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2200,1807
$GC,10234,0.96,247.2,234.1,9.1,496,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2200,1807
$GC,10543,0.96,247.2,204.7,9.7,511,10544,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2200,1807
$GC,10852,0.96,247.2,176.6,8.4,526,10857,0.00,2.67,0.00,0.000,4,0.000,0.068,2619,775,1807
$GC,10891,0.96,247.2,173.4,8.0,528,10895,0.00,2.60,0.00,0.000,6,0.000,0.051,2619,2204,1807
$GC,11216,0.96,247.2,147.3,7.8,544,11221,0.00,2.65,0.00,0.000,4,0.000,0.075,2619,3611,1809
$GC,11255,0.96,247.2,144.1,8.5,546,11259,0.00,2.65,0.00,0.000,6,0.000,0.063,2619,2191,1809
$GC,11581,0.96,247.2,121.5,7.2,562,11585,0.00,2.65,0.00,0.000,4,0.000,0.071,2619,781,1808
$GC,11612,0.96,247.2,119.0,7.4,563,11619,0.00,2.60,0.00,0.000,6,0.000,0.050,2619,2193,1809
$GC,11930,0.96,247.2,96.2,6.8,579,11931,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2193,1809
$GC,12238,0.96,247.2,75.5,6.9,594,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2193,1809
$GC,12547,0.96,247.2,53.8,7.4,609,12548,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2193,1808
$GC,12856,0.96,247.2,28.3,8.2,624,12857,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2193,1810
$GC,13165,0.96,247.2,3.8,7.5,639,13167,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2193,1811
$STATE,13205,end climb,SURFACE_DEPTH_REACHED
$STATE,13205,begin surface coast
$FINISH,0.8,1.015081
$STATE,13227,end surface coast,CONTROL_FINISHED_OK
$STATE,13227,begin surface
$SM_CCo,13246,188.20,0.671,1,0,509,566.15
$SM_GC,1.43,0.00,0.00,188.20,0.000,0.000,0.671,68,2404,509,-10.77,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2072
$TCM_TEMP,16.70
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,400.9,85.7
$24V_AH,23.6,29.548
$10V_AH,10.2,14.173
$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,25.300,102.300,318.525,188.200,0.000,65.228,82.227,205.488,13.250,0.000,0.000,47.839,1174.689,10247.330,662.756,1413.902,491.183,33.362,1349.363,0.000,1356.331,0.000,21.839
$DEVICE_MAMPS,171.041,85.904,1020.877,671.125,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.110,441.420,490.387,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31780,642
$CFSIZE,260165632,249806848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,121207,090007,6306.447,-844.170,41,2.0,41,-9.6