version: 66.02
glider: 16
mission: 6
dive: 171
start: 12 12 107 9 9 37
data:
$ID,16
$MISSION,6
$DIVE,171
$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,-2079173.8
$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,14
$R_STBD_OVSHOOT,18
$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
$GPS1,090007,6306.447,-844.170,41,2.0,41,-9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-58.4
$GPS2,090847,6306.526,-844.122,15,2.9,34,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.024,0.220
$KALMAN_X,-122372.6,-1239.0,282.7,142257.3,12900.1
$KALMAN_Y,95325.0,227.8,946.0,67030.1,-16085.8
$MHEAD_RNG_PITCHd_Wd,3.3,16690,-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,-146.6,0.0,0.0,0,124,0.00,0.00,-101.62,0.000,2,0.000,0.000,67,2405,3124
$GC,126,-0.85,-146.6,3.8,-2.8,5,149,12.23,0.00,-6.75,0.000,6,0.174,0.000,2220,2405,3415
$GC,458,-0.85,-146.6,35.1,-8.0,21,462,0.00,2.70,0.00,0.000,4,0.000,0.067,2221,976,3417
$GC,534,-0.85,-146.6,41.4,-7.9,24,542,0.00,2.65,0.00,0.000,6,0.000,0.057,2221,2397,3417
$GC,850,-0.85,-146.6,64.9,-7.4,40,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2397,3417
$GC,1160,-0.85,-146.6,87.3,-7.3,55,1164,0.00,2.67,0.00,0.000,4,0.000,0.068,2221,975,3417
$GC,1203,-0.85,-146.6,90.7,-7.5,57,1207,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2402,3417
$GC,1530,-0.85,-146.6,114.8,-7.4,73,1534,0.00,2.67,0.00,0.000,4,0.000,0.069,2220,979,3417
$GC,1561,-0.85,-146.6,117.5,-8.2,74,1568,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2392,3417
$GC,1879,-0.85,-146.6,143.2,-8.5,90,1883,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,975,3417
$GC,1910,-0.85,-146.6,146.4,-8.6,91,1917,0.00,2.65,0.00,0.000,6,0.000,0.058,2221,2401,3417
$GC,2226,-0.85,-146.6,173.3,-8.3,107,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3417
$GC,2535,-0.85,-146.6,198.8,-8.3,122,2540,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,974,3417
$GC,2589,-0.85,-146.6,203.2,-8.2,124,2596,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2401,3417
$GC,2905,-0.85,-146.6,223.6,-5.9,140,2909,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,981,3417
$GC,2948,-0.85,-146.6,226.2,-5.4,142,2953,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2401,3417
$GC,3268,-0.85,-146.6,246.3,-6.4,158,3273,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,981,3417
$GC,3294,-0.85,-146.6,248.1,-6.2,159,3299,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2393,3417
$GC,3616,-0.85,-146.6,270.6,-7.3,175,3620,0.00,2.67,0.00,0.000,4,0.000,0.073,2221,977,3418
$GC,3647,-0.85,-146.6,273.2,-8.0,176,3654,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2406,3419
$GC,3963,-0.85,-146.6,296.5,-7.1,192,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3418
$GC,4272,-0.85,-146.6,320.4,-8.3,207,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3418
$GC,4581,-0.85,-146.6,344.0,-7.9,222,4586,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,982,3418
$GC,4670,-0.85,-146.6,351.6,-8.6,226,4674,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2400,3418
$GC,4997,-0.85,-146.6,379.9,-9.2,242,5001,0.00,2.67,0.00,0.000,4,0.000,0.074,2221,982,3418
$GC,5039,-0.85,-146.6,384.4,-10.5,244,5044,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2401,3418
$GC,5366,-0.85,-146.6,413.4,-8.9,260,5370,0.00,2.62,0.00,0.000,4,0.000,0.085,2221,3770,3418
$GC,5398,-0.85,-146.6,416.2,-8.4,261,5405,0.00,2.53,0.00,0.000,6,0.000,0.058,2221,2397,3418
$GC,5713,-0.85,-146.6,443.2,-8.6,277,5718,0.00,2.70,0.00,0.000,4,0.000,0.081,2221,979,3418
$GC,5767,-0.85,-146.6,448.2,-9.5,279,5774,0.00,2.62,0.00,0.000,6,0.000,0.063,2221,2399,3418
$GC,6083,-0.85,-146.6,471.4,-7.3,295,6087,0.00,2.67,0.00,0.000,4,0.000,0.076,2220,986,3418
$GC,6114,-0.85,-146.6,473.9,-7.5,296,6121,0.00,2.62,0.00,0.000,6,0.000,0.064,2220,2401,3418
$GC,6430,-0.85,-146.6,495.0,-6.5,312,6434,0.00,2.70,0.00,0.000,4,0.000,0.076,2221,983,3417
$GC,6529,-0.85,-146.6,502.0,-7.4,316,6536,0.00,2.65,0.00,0.000,6,0.000,0.065,2221,2404,3417
$STATE,6678,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6678,begin apogee
$GC,6683,-0.31,0.0,511.9,6.5,324,6806,0.60,0.00,119.70,1.049,6,0.111,0.000,2339,2198,2817
$STATE,6806,end apogee,CONTROL_FINISHED_OK
$STATE,6806,begin climb
$GC,6808,0.85,146.6,516.0,0.0,330,6931,1.20,0.00,118.05,1.030,6,0.082,0.000,2589,2198,2218
$GC,7240,0.85,153.9,495.4,5.8,351,7254,0.00,2.80,6.97,0.825,4,0.000,0.077,2589,787,2189
$GC,7306,0.85,153.9,491.1,6.5,354,7310,0.00,2.65,0.00,0.000,6,0.000,0.060,2589,2202,2189
$GC,7631,0.85,153.9,471.0,6.5,370,7636,0.00,2.72,0.00,0.000,4,0.000,0.077,2589,786,2188
$GC,7680,0.85,153.9,467.4,7.2,372,7685,0.00,2.67,0.00,0.000,6,0.000,0.060,2589,2195,2187
$GC,8001,0.85,153.9,446.1,6.4,388,8006,0.00,2.75,0.00,0.000,4,0.000,0.090,2589,3614,2187
$GC,8045,0.85,153.9,443.0,6.8,390,8049,0.00,2.70,0.00,0.000,6,0.000,0.071,2588,2195,2186
$GC,8372,0.91,202.1,426.5,4.7,406,8415,0.00,2.80,38.50,1.006,4,0.000,0.081,2589,781,1992
$GC,8472,0.91,202.1,420.6,6.9,411,8477,0.00,2.65,0.00,0.000,6,0.000,0.059,2589,2201,1992
$GC,8798,0.91,202.1,398.8,6.4,427,8803,0.00,2.75,0.00,0.000,4,0.000,0.087,2588,3616,1990
$GC,8830,0.91,202.1,396.6,7.1,428,8837,0.00,2.70,0.00,0.000,6,0.000,0.069,2589,2200,1990
$GC,9146,0.92,212.3,377.6,5.7,444,9161,0.10,2.75,9.23,0.867,4,0.077,0.079,2614,785,1950
$GC,9207,0.92,212.3,373.1,8.1,446,9211,0.00,2.62,0.00,0.000,6,0.000,0.057,2614,2202,1949
$GC,9532,0.92,212.3,348.4,7.4,462,9536,0.00,2.72,0.00,0.000,4,0.000,0.084,2614,3617,1949
$GC,9581,0.92,212.3,344.5,7.9,464,9585,0.00,2.70,0.00,0.000,6,0.000,0.071,2614,2199,1949
$GC,9901,0.92,212.3,321.2,7.0,480,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2199,1949
$GC,10211,0.92,212.3,299.4,7.3,495,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2199,1949
$GC,10520,0.92,212.3,276.9,7.1,510,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2199,1950
$GC,10829,0.92,212.3,254.6,7.6,525,10834,0.00,2.67,0.00,0.000,4,0.000,0.076,2614,782,1949
$GC,10867,0.92,212.3,251.4,8.8,527,10872,0.00,2.60,0.00,0.000,6,0.000,0.052,2614,2203,1949
$GC,11193,0.92,212.3,224.2,8.7,543,11198,0.00,2.67,0.00,0.000,4,0.000,0.077,2614,3616,1949
$GC,11265,0.92,212.3,217.4,9.4,546,11270,0.00,2.67,0.00,0.000,6,0.000,0.064,2614,2204,1949
$GC,11586,0.92,212.3,190.0,8.8,562,11587,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2204,1949
$GC,11896,0.92,212.3,163.0,8.4,577,11900,0.00,2.67,0.00,0.000,4,0.000,0.073,2614,781,1950
$GC,11934,0.92,212.3,159.7,8.6,579,11938,0.00,2.60,0.00,0.000,6,0.000,0.050,2615,2207,1950
$GC,12259,0.92,212.3,133.1,7.9,595,12261,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2207,1951
$GC,12569,0.92,212.3,108.3,8.0,610,12570,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2207,1951
$GC,12878,0.92,212.3,83.1,8.1,625,12879,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2207,1952
$GC,13187,0.92,212.3,58.2,7.9,640,13188,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2207,1953
$GC,13496,0.92,212.3,33.5,7.8,655,13497,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2207,1953
$GC,13806,0.92,212.3,10.1,8.1,670,13807,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2207,1954
$STATE,13907,end climb,SURFACE_DEPTH_REACHED
$STATE,13907,begin surface coast
$FINISH,0.9,1.027392
$STATE,13929,end surface coast,CONTROL_FINISHED_OK
$STATE,13929,begin surface
$SM_CCo,13948,209.50,0.663,1,0,509,566.15
$SM_GC,1.53,0.00,0.00,209.50,0.000,0.000,0.663,74,2403,509,-10.75,0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2059
$TCM_TEMP,16.80
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,425.4,95.7
$24V_AH,23.6,29.691
$10V_AH,10.2,14.243
$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,25.475,128.900,292.450,209.500,0.000,65.227,156.941,124.591,14.250,0.000,0.000,35.612,1233.323,10794.966,698.630,1472.438,490.712,33.368,1424.759,0.000,1425.430,0.000,23.498
$DEVICE_MAMPS,174.109,89.739,1049.256,662.688,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.655,464.637,486.985,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34831,676
$CFSIZE,260165632,249745408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,121207,130707,6309.375,-839.313,40,1.3,52,-9.6