version: 66.02
glider: 16
mission: 6
dive: 172
start: 12 12 107 13 13 8
data:
$ID,16
$MISSION,6
$DIVE,172
$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,-2079206.5
$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,11
$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
$GPS1,130707,6309.375,-839.313,40,1.3,52,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-56.0
$GPS2,131217,6309.377,-839.266,11,2.8,30,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.199,0.098
$KALMAN_X,-118140.7,-1139.8,-22.9,142525.4,18684.9
$KALMAN_Y,95101.9,1686.9,-341.5,72369.1,-13271.3
$MHEAD_RNG_PITCHd_Wd,305.8,17982,-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,-101.68,0.000,2,0.000,0.000,73,2404,3167
$GC,126,-0.85,-146.6,4.1,-3.0,5,150,12.23,2.78,-5.40,0.000,4,0.176,0.083,2221,973,3416
$GC,294,-0.85,-146.6,23.9,-8.3,12,299,0.00,2.65,0.00,0.000,6,0.000,0.055,2221,2414,3417
$GC,617,-0.85,-146.6,47.9,-7.6,28,622,0.00,2.72,0.00,0.000,4,0.000,0.070,2221,970,3417
$GC,661,-0.85,-146.6,51.4,-8.3,30,665,0.00,2.62,0.00,0.000,6,0.000,0.056,2221,2403,3417
$GC,988,-0.85,-146.6,75.0,-7.1,46,992,0.00,2.67,0.00,0.000,4,0.000,0.069,2221,979,3417
$GC,1042,-0.85,-146.6,79.3,-7.6,48,1049,0.00,2.62,0.00,0.000,6,0.000,0.057,2221,2396,3417
$GC,1358,-0.85,-146.6,104.4,-8.2,64,1362,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,978,3417
$GC,1397,-0.85,-146.6,107.5,-8.4,66,1401,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2400,3417
$GC,1723,-0.85,-146.6,134.8,-8.3,82,1727,0.00,2.70,0.00,0.000,4,0.000,0.071,2221,972,3417
$GC,1761,-0.85,-146.6,138.0,-8.7,84,1766,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2403,3417
$GC,2087,-0.85,-146.6,166.0,-8.7,100,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3417
$GC,2395,-0.85,-146.6,191.9,-8.0,115,2400,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,973,3417
$GC,2472,-0.85,-146.6,197.9,-7.9,118,2479,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2403,3417
$GC,2788,-0.85,-146.6,222.4,-7.6,134,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3418
$GC,3097,-0.85,-146.6,247.9,-8.4,149,3101,0.00,2.67,0.00,0.000,4,0.000,0.070,2221,979,3418
$GC,3145,-0.85,-146.6,252.2,-8.5,151,3149,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2400,3418
$GC,3466,-0.85,-146.6,276.8,-7.5,167,3471,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,978,3418
$GC,3505,-0.85,-146.6,279.7,-7.6,169,3510,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2404,3418
$GC,3830,-0.85,-146.6,302.7,-7.2,185,3835,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,974,3418
$GC,3863,-0.85,-146.6,305.1,-7.0,186,3869,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2403,3418
$GC,4178,-0.85,-146.6,327.9,-8.1,202,4182,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,976,3418
$GC,4238,-0.85,-146.6,332.9,-7.7,205,4243,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2402,3418
$GC,4565,-0.85,-146.6,355.9,-6.5,221,4569,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,973,3418
$GC,4626,-0.85,-146.6,359.5,-6.1,224,4630,0.00,2.60,0.00,0.000,6,0.000,0.060,2221,2399,3418
$GC,4951,-0.85,-146.6,377.3,-6.3,240,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3418
$GC,5261,-0.85,-146.6,401.6,-8.3,255,5265,0.00,2.67,0.00,0.000,4,0.000,0.076,2221,978,3418
$GC,5309,-0.85,-146.6,405.5,-7.6,257,5314,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2406,3418
$GC,5630,-0.85,-146.6,428.5,-7.4,273,5635,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,973,3418
$GC,5696,-0.85,-146.6,433.8,-8.5,276,5700,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2398,3418
$GC,6023,-0.85,-146.6,455.4,-5.5,292,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3418
$GC,6332,-0.85,-146.6,474.8,-7.2,307,6336,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,979,3419
$GC,6420,-0.85,-146.6,481.4,-7.1,311,6424,0.00,2.62,0.00,0.000,6,0.000,0.063,2221,2400,3419
$GC,6746,-0.85,-146.6,504.4,-7.0,327,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$STATE,6971,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6972,begin apogee
$GC,6977,-0.31,0.0,519.2,6.5,338,7100,0.60,0.00,120.20,1.048,6,0.110,0.000,2339,2194,2817
$STATE,7101,end apogee,CONTROL_FINISHED_OK
$STATE,7101,begin climb
$GC,7103,0.85,146.6,523.1,0.0,344,7229,1.23,2.78,117.72,1.031,4,0.094,0.077,2588,784,2218
$GC,7250,0.90,193.2,518.1,4.7,351,7295,0.00,2.67,37.88,0.992,6,0.000,0.058,2588,2203,2030
$GC,7617,0.90,193.2,495.2,6.0,369,7622,0.00,2.75,0.00,0.000,4,0.000,0.088,2588,3613,2027
$GC,7701,0.90,193.2,489.8,7.2,373,7706,0.00,2.70,0.00,0.000,6,0.000,0.071,2588,2201,2027
$GC,8027,0.90,193.2,469.6,6.3,389,8031,0.00,2.75,0.00,0.000,4,0.000,0.082,2588,781,2026
$GC,8103,0.90,193.2,463.7,8.3,392,8110,0.00,2.67,0.00,0.000,6,0.000,0.061,2588,2207,2025
$GC,8419,0.90,193.2,440.6,7.1,408,8423,0.00,2.75,0.00,0.000,4,0.000,0.089,2588,3619,2023
$GC,8462,0.90,193.2,437.4,7.0,410,8466,0.00,2.70,0.00,0.000,6,0.000,0.070,2588,2199,2023
$GC,8788,0.90,193.2,414.4,7.2,426,8793,0.00,2.72,0.00,0.000,4,0.000,0.080,2588,781,2022
$GC,8860,0.90,193.2,409.5,6.8,429,8865,0.00,2.67,0.00,0.000,6,0.000,0.058,2588,2202,2020
$GC,9182,0.92,211.4,392.1,5.5,445,9202,0.00,0.00,14.45,0.935,6,0.000,0.000,2589,2202,1955
$GC,9511,0.97,257.8,376.9,4.7,461,9552,0.15,0.00,38.25,0.973,6,0.074,0.000,2624,2202,1765
$GC,9860,0.97,257.8,348.4,9.0,478,9864,0.00,2.70,0.00,0.000,4,0.000,0.074,2624,782,1763
$GC,9921,0.97,257.8,342.2,10.4,481,9925,0.00,2.62,0.00,0.000,6,0.000,0.054,2624,2202,1763
$GC,10246,0.97,257.8,314.0,8.0,497,10250,0.00,2.70,0.00,0.000,4,0.000,0.081,2624,3620,1763
$GC,10290,0.97,257.8,309.6,10.5,499,10295,0.00,2.67,0.00,0.000,6,0.000,0.067,2624,2200,1763
$GC,10610,0.97,257.8,277.6,9.4,515,10614,0.00,2.67,0.00,0.000,4,0.000,0.074,2624,782,1763
$GC,10658,0.97,257.8,273.0,10.1,517,10663,0.00,2.65,0.00,0.000,6,0.000,0.053,2624,2204,1763
$GC,10980,0.97,257.8,244.7,8.8,533,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2204,1763
$GC,11288,0.97,257.8,217.9,8.7,548,11293,0.00,2.70,0.00,0.000,4,0.000,0.070,2624,774,1763
$GC,11331,0.97,257.8,214.2,8.9,550,11336,0.00,2.62,0.00,0.000,6,0.000,0.051,2624,2208,1763
$GC,11659,0.97,257.8,188.3,7.8,566,11660,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2208,1764
$GC,11968,0.97,257.8,165.0,7.5,581,11972,0.00,2.67,0.00,0.000,4,0.000,0.069,2624,782,1765
$GC,12006,0.97,257.8,162.0,7.8,583,12010,0.00,2.58,0.00,0.000,6,0.000,0.051,2624,2202,1765
$GC,12332,0.97,257.8,135.8,8.0,599,12333,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2201,1766
$GC,12641,0.97,257.8,110.1,7.4,614,12642,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2202,1766
$GC,12950,0.97,257.8,83.5,8.9,629,12951,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2201,1766
$GC,13259,0.97,257.8,55.5,8.7,644,13264,0.00,2.67,0.00,0.000,4,0.000,0.067,2623,775,1767
$GC,13298,0.97,257.8,51.9,9.6,646,13302,0.00,2.58,0.00,0.000,6,0.000,0.049,2624,2200,1767
$GC,13624,0.97,257.8,22.2,8.9,662,13625,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2199,1767
$STATE,13869,end climb,SURFACE_DEPTH_REACHED
$STATE,13869,begin surface coast
$FINISH,0.8,1.015296
$STATE,13891,end surface coast,CONTROL_FINISHED_OK
$STATE,13892,begin surface
$SM_CCo,13911,185.88,0.675,2,0,508,566.15
$SM_GC,1.53,0.00,0.00,185.88,0.000,0.000,0.675,75,2399,508,-10.74,-0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2080
$TCM_TEMP,15.50
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,450.8,78.3
$24V_AH,23.6,29.835
$10V_AH,10.2,14.313
$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,25.550,134.300,328.500,185.875,0.000,32.588,44.761,126.049,14.500,0.000,0.000,32.090,1250.048,10606.124,685.067,1538.964,344.893,33.366,1454.488,0.000,1490.351,0.000,25.069
$DEVICE_MAMPS,175.643,88.972,1048.489,674.960,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.035,464.705,473.007,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34883,675
$CFSIZE,260165632,249696256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,2,0
$GPS,121207,170937,6309.637,-844.042,42,1.6,47,-9.7