version: 66.02
glider: 16
mission: 6
dive: 173
start: 12 12 107 17 22 40
data:
$ID,16
$MISSION,6
$DIVE,173
$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,-2079237.2
$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,12
$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
$GPS1,170937,6309.637,-844.042,42,1.6,47,-9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-57.0
$GPS2,172149,6309.582,-844.180,14,1.6,30,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.173,0.138
$KALMAN_X,-118440.4,-485.3,-358.5,138209.4,14918.2
$KALMAN_Y,92564.3,1807.3,662.6,74170.1,-18626.6
$MHEAD_RNG_PITCHd_Wd,318.4,13949,-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,-102.62,0.000,2,0.000,0.000,74,2400,3161
$GC,127,-0.85,-146.6,4.0,-2.9,5,153,12.10,2.75,-5.82,0.000,4,0.172,0.082,2219,979,3417
$GC,405,-0.85,-146.6,32.3,-9.7,17,410,0.00,2.62,0.00,0.000,6,0.000,0.056,2219,2406,3417
$GC,727,-0.85,-146.6,58.6,-8.2,33,731,0.00,2.70,0.00,0.000,4,0.000,0.068,2219,977,3417
$GC,766,-0.85,-146.6,61.9,-8.6,35,770,0.00,2.60,0.00,0.000,6,0.000,0.056,2219,2400,3417
$GC,1091,-0.85,-146.6,86.5,-7.2,51,1095,0.00,2.70,0.00,0.000,4,0.000,0.071,2219,974,3417
$GC,1130,-0.85,-146.6,89.3,-7.2,53,1134,0.00,2.60,0.00,0.000,6,0.000,0.057,2219,2400,3417
$GC,1456,-0.85,-146.6,114.5,-7.4,69,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3417
$GC,1764,-0.85,-146.6,138.3,-7.7,84,1769,0.00,2.67,0.00,0.000,4,0.000,0.070,2219,979,3417
$GC,1791,-0.85,-146.6,140.5,-8.1,85,1795,0.00,2.60,0.00,0.000,6,0.000,0.057,2219,2400,3417
$GC,2113,-0.85,-146.6,165.0,-7.7,101,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3417
$GC,2422,-0.85,-146.6,190.4,-8.6,116,2426,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,980,3418
$GC,2476,-0.85,-146.6,195.0,-7.7,118,2482,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2400,3418
$GC,2792,-0.85,-146.6,220.1,-8.3,134,2796,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,979,3417
$GC,2840,-0.85,-146.6,224.7,-9.0,136,2844,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2400,3417
$GC,3162,-0.85,-146.6,250.4,-7.9,152,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3417
$GC,3471,-0.85,-146.6,274.9,-7.7,167,3475,0.00,2.67,0.00,0.000,4,0.000,0.073,2219,975,3417
$GC,3525,-0.85,-146.6,279.4,-8.2,169,3529,0.00,2.62,0.00,0.000,6,0.000,0.059,2219,2401,3417
$GC,3846,-0.85,-146.6,303.7,-7.4,185,3850,0.00,2.70,0.00,0.000,4,0.000,0.073,2219,973,3418
$GC,3889,-0.85,-146.6,307.2,-7.5,187,3893,0.00,2.62,0.00,0.000,6,0.000,0.059,2219,2400,3418
$GC,4215,-0.85,-146.6,330.3,-6.6,203,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3417
$GC,4524,-0.85,-146.6,352.6,-8.0,218,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,4834,-0.85,-146.6,376.2,-6.8,233,4838,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,976,3418
$GC,4895,-0.85,-146.6,380.0,-6.4,236,4900,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2400,3417
$GC,5221,-0.85,-146.6,396.9,-5.8,252,5226,0.00,2.60,0.00,0.000,4,0.000,0.083,2219,3766,3418
$GC,5272,-0.85,-146.6,400.2,-6.7,254,5276,0.00,2.53,0.00,0.000,6,0.000,0.061,2219,2392,3418
$GC,5586,-0.85,-146.6,423.5,-8.0,269,5590,0.00,2.67,0.00,0.000,4,0.000,0.078,2219,984,3418
$GC,5634,-0.85,-146.6,428.0,-9.3,271,5639,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2404,3418
$GC,5956,-0.85,-146.6,452.6,-6.3,287,5960,0.00,2.70,0.00,0.000,4,0.000,0.075,2219,983,3418
$GC,5987,-0.85,-146.6,454.9,-6.9,288,5994,0.00,2.62,0.00,0.000,6,0.000,0.062,2219,2400,3418
$GC,6305,-0.85,-146.6,479.1,-7.8,304,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3418
$GC,6612,-0.85,-146.6,500.8,-5.8,319,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3417
$GC,6921,-0.85,-146.6,519.2,-6.0,334,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3417
$STATE,7085,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7085,begin apogee
$GC,7090,-0.31,0.0,530.2,6.7,342,7213,0.60,0.00,119.38,1.081,6,0.114,0.000,2337,2199,2817
$STATE,7213,end apogee,CONTROL_FINISHED_OK
$STATE,7213,begin climb
$GC,7215,0.85,146.6,531.9,0.0,348,7341,1.25,2.83,117.40,1.062,4,0.100,0.076,2588,787,2220
$GC,7381,0.90,192.5,528.6,4.7,356,7426,0.00,2.65,37.38,1.020,6,0.000,0.058,2587,2200,2031
$GC,7754,0.90,192.5,506.7,6.3,374,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,2029
$GC,8062,0.90,192.5,485.7,6.7,389,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,2028
$GC,8372,0.91,203.8,466.0,5.7,404,8384,0.00,0.00,9.82,0.927,6,0.000,0.000,2587,2199,1986
$GC,8681,0.94,235.4,451.0,5.1,419,8716,0.12,2.88,26.50,1.018,4,0.077,0.088,2616,3613,1856
$GC,8744,0.94,235.4,446.3,9.1,422,8748,0.00,2.72,0.00,0.000,6,0.000,0.071,2616,2202,1857
$GC,9069,0.94,235.4,418.2,9.1,438,9074,0.00,2.75,0.00,0.000,4,0.000,0.081,2616,779,1854
$GC,9112,0.94,235.4,414.2,9.5,440,9116,0.00,2.65,0.00,0.000,6,0.000,0.057,2616,2200,1853
$GC,9439,0.94,235.4,388.2,7.2,456,9443,0.00,2.72,0.00,0.000,4,0.000,0.086,2616,3617,1853
$GC,9465,0.94,235.4,385.9,8.2,457,9469,0.00,2.70,0.00,0.000,6,0.000,0.071,2616,2198,1853
$GC,9786,0.94,235.4,362.5,7.4,473,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2199,1852
$GC,10095,0.94,235.4,337.1,8.5,488,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2199,1852
$GC,10405,0.94,235.4,312.5,7.6,503,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2199,1852
$GC,10714,0.94,235.4,291.2,6.8,518,10715,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2199,1852
$GC,11023,0.94,235.4,270.3,7.3,533,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2199,1852
$GC,11333,0.94,235.4,243.4,9.1,548,11334,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2198,1852
$GC,11642,0.94,235.4,220.0,7.1,563,11643,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2198,1852
$GC,11951,0.94,235.4,196.8,7.6,578,11952,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2198,1853
$GC,12260,0.94,235.4,174.9,6.7,593,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2198,1854
$GC,12569,0.94,235.4,153.5,7.1,608,12574,0.00,2.67,0.00,0.000,4,0.000,0.073,2616,781,1854
$GC,12608,0.94,235.4,150.5,7.8,610,12613,0.00,2.60,0.00,0.000,6,0.000,0.050,2616,2204,1854
$GC,12934,0.94,235.4,124.9,8.1,626,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2204,1855
$GC,13243,0.94,235.4,99.4,8.3,641,13244,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2204,1856
$GC,13552,0.94,235.4,73.7,8.3,656,13553,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2204,1856
$GC,13862,0.94,235.4,47.7,8.5,671,13863,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2204,1856
$GC,14171,0.94,235.4,21.7,8.2,686,14172,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2204,1857
$STATE,14437,end climb,SURFACE_DEPTH_REACHED
$STATE,14437,begin surface coast
$FINISH,0.8,1.011725
$STATE,14459,end surface coast,CONTROL_FINISHED_OK
$STATE,14459,begin surface
$SM_CCo,14478,195.45,0.667,2,0,510,566.15
$SM_GC,1.52,0.00,0.00,195.45,0.000,0.000,0.667,76,2401,510,-10.74,0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2060
$TCM_TEMP,16.90
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,475.8,64.1
$24V_AH,23.5,29.992
$10V_AH,10.2,14.386
$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,25.350,91.425,310.475,195.450,0.000,97.784,106.390,285.566,14.750,0.000,0.000,30.104,1249.510,11399.877,648.232,1478.194,647.729,33.394,1370.782,0.000,1435.008,0.000,26.671
$DEVICE_MAMPS,171.808,88.205,1080.703,667.290,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.891,482.272,490.457,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34832,700
$CFSIZE,260165632,249647104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,2,0
$GPS,121207,212858,6312.776,-847.652,39,6.6,58,-9.7