version: 66.02
glider: 16
mission: 6
dive: 158
start: 12 10 107 10 39 6
data:
$ID,16
$MISSION,6
$DIVE,158
$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,-2078736.8
$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,17
$R_STBD_OVSHOOT,15
$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
$GPS1,103326,6249.736,-926.814,43,1.9,43,-9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-58.7
$GPS2,103814,6249.725,-926.713,12,1.9,12,-9.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.221,0.019
$KALMAN_X,-131805.0,579.0,830.5,111787.4,-11276.5
$KALMAN_Y,110069.4,-120.4,692.5,21797.0,-7621.5
$MHEAD_RNG_PITCHd_Wd,95.0,46898,-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,17,begin dive
$GC,19,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-102.50,0.000,2,0.000,0.000,71,2407,3188
$GC,126,-0.85,-146.6,4.1,-3.2,5,149,12.07,2.78,-5.05,0.000,4,0.170,0.086,2223,983,3416
$GC,266,-0.85,-146.6,20.4,-7.7,11,271,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2398,3418
$GC,593,-0.85,-146.6,47.1,-7.9,27,598,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,985,3418
$GC,625,-0.85,-146.6,50.1,-9.1,28,632,0.00,2.65,0.00,0.000,6,0.000,0.060,2223,2400,3418
$GC,943,-0.85,-146.6,76.2,-8.0,44,947,0.00,2.67,0.00,0.000,4,0.000,0.072,2223,985,3418
$GC,981,-0.85,-146.6,79.6,-7.8,46,986,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2401,3418
$GC,1307,-0.85,-146.6,106.8,-8.5,62,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2402,3418
$GC,1617,-0.85,-146.6,130.6,-7.4,77,1621,0.00,2.67,0.00,0.000,4,0.000,0.073,2223,985,3418
$GC,1665,-0.85,-146.6,134.5,-7.7,79,1670,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2404,3418
$GC,1980,-0.85,-146.6,157.6,-7.2,94,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3418
$GC,2290,-0.85,-146.6,179.6,-7.1,109,2294,0.00,2.67,0.00,0.000,4,0.000,0.072,2223,985,3418
$GC,2329,-0.85,-146.6,182.5,-7.8,111,2333,0.00,2.62,0.00,0.000,6,0.000,0.062,2223,2402,3418
$GC,2654,-0.85,-146.6,205.1,-6.8,127,2658,0.00,2.67,0.00,0.000,4,0.000,0.073,2223,985,3419
$GC,2680,-0.85,-146.6,207.1,-7.5,128,2684,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2401,3418
$GC,3001,-0.85,-146.6,229.9,-6.9,144,3005,0.00,2.67,0.00,0.000,4,0.000,0.074,2223,985,3418
$GC,3027,-0.85,-146.6,231.9,-7.4,145,3031,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2395,3417
$GC,3348,-0.85,-146.6,253.6,-6.4,161,3353,0.00,2.67,0.00,0.000,4,0.000,0.073,2223,977,3418
$GC,3382,-0.85,-146.6,256.0,-6.1,162,3388,0.00,2.65,0.00,0.000,6,0.000,0.061,2223,2405,3417
$GC,3697,-0.85,-146.6,274.9,-6.3,178,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2405,3418
$GC,4006,-0.85,-146.6,293.5,-5.8,193,4011,0.00,2.67,0.00,0.000,4,0.000,0.074,2223,985,3418
$GC,4068,-0.85,-146.6,297.1,-6.2,196,4073,0.00,2.62,0.00,0.000,6,0.000,0.062,2223,2406,3418
$GC,4394,-0.85,-146.6,320.0,-7.4,212,4398,0.00,2.67,0.00,0.000,4,0.000,0.073,2223,984,3418
$GC,4459,-0.85,-146.6,324.4,-6.5,215,4464,0.00,2.62,0.00,0.000,6,0.000,0.062,2223,2404,3418
$GC,4787,-0.85,-146.6,345.2,-6.0,231,4791,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,977,3418
$GC,4841,-0.85,-146.6,348.8,-6.7,233,4848,0.00,2.65,0.00,0.000,6,0.000,0.063,2223,2409,3417
$GC,5156,-0.85,-146.6,373.3,-8.9,249,5161,0.00,2.70,0.00,0.000,4,0.000,0.077,2223,985,3418
$GC,5228,-0.85,-146.6,380.1,-9.1,252,5232,0.00,2.60,0.00,0.000,6,0.000,0.064,2223,2400,3417
$GC,5549,-0.85,-146.6,406.8,-8.6,268,5553,0.00,2.62,0.00,0.000,4,0.000,0.087,2223,3768,3418
$GC,5580,-0.85,-146.6,409.3,-7.9,269,5587,0.00,2.55,0.00,0.000,6,0.000,0.061,2224,2403,3418
$GC,5896,-0.85,-146.6,431.4,-7.5,285,5900,0.00,2.70,0.00,0.000,4,0.000,0.081,2223,983,3418
$GC,5922,-0.85,-146.6,433.6,-8.1,286,5926,0.00,2.65,0.00,0.000,6,0.000,0.065,2223,2393,3418
$GC,6243,-0.85,-146.6,457.1,-7.0,302,6247,0.00,2.70,0.00,0.000,4,0.000,0.080,2223,982,3418
$GC,6342,-0.85,-146.6,464.4,-7.6,306,6349,0.00,2.62,0.00,0.000,6,0.000,0.064,2223,2399,3418
$STATE,6450,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6450,begin apogee
$GC,6454,-0.31,0.0,472.5,7.4,312,6576,0.57,0.00,118.68,1.018,6,0.110,0.000,2338,2188,2817
$STATE,6577,end apogee,CONTROL_FINISHED_OK
$STATE,6577,begin climb
$GC,6579,0.85,146.6,476.1,0.0,318,6699,1.23,0.00,116.68,1.013,6,0.076,0.000,2592,2189,2218
$GC,7001,0.92,211.5,460.7,4.2,339,7062,0.00,2.80,51.50,0.976,4,0.000,0.077,2592,789,1953
$GC,7140,0.93,221.0,453.0,5.7,345,7155,0.00,2.65,9.15,0.834,6,0.000,0.060,2592,2199,1916
$GC,7482,0.93,221.0,427.0,8.4,362,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2200,1913
$GC,7791,0.93,221.0,400.4,8.7,377,7795,0.00,2.72,0.00,0.000,4,0.000,0.079,2592,788,1913
$GC,7834,0.93,221.0,396.5,8.8,379,7838,0.00,2.67,0.00,0.000,6,0.000,0.060,2592,2212,1912
$GC,8161,0.93,223.1,373.7,5.9,395,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2212,1912
$GC,8470,0.96,249.2,356.7,5.3,410,8500,0.12,2.80,22.58,0.936,4,0.065,0.076,2625,795,1800
$GC,8539,0.96,249.2,351.8,7.6,413,8543,0.00,2.62,0.00,0.000,6,0.000,0.056,2625,2208,1800
$GC,8865,0.96,249.2,325.9,8.1,429,8869,0.00,2.70,0.00,0.000,4,0.000,0.074,2625,791,1799
$GC,8919,0.96,249.2,321.4,7.9,431,8926,0.00,2.62,0.00,0.000,6,0.000,0.056,2625,2203,1799
$GC,9235,0.96,249.2,296.8,7.6,447,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2203,1799
$GC,9544,0.96,249.2,273.0,7.6,462,9548,0.00,2.67,0.00,0.000,4,0.000,0.072,2625,785,1798
$GC,9575,0.96,249.2,270.3,8.6,463,9582,0.00,2.62,0.00,0.000,6,0.000,0.054,2625,2198,1799
$GC,9891,0.96,249.2,243.4,8.4,479,9892,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2198,1799
$GC,10200,0.96,249.2,217.5,8.8,494,10204,0.00,2.65,0.00,0.000,4,0.000,0.072,2625,788,1799
$GC,10248,0.96,249.2,213.0,9.4,496,10253,0.00,2.62,0.00,0.000,6,0.000,0.053,2624,2200,1799
$GC,10569,0.96,249.2,185.1,9.1,512,10573,0.00,2.67,0.00,0.000,4,0.000,0.072,2625,782,1799
$GC,10607,0.96,249.2,181.5,9.8,514,10611,0.00,2.62,0.00,0.000,6,0.000,0.054,2625,2208,1799
$GC,10932,0.96,249.2,156.0,7.9,530,10933,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2208,1799
$GC,11242,0.96,249.2,127.6,8.8,545,11246,0.00,2.67,0.00,0.000,4,0.000,0.070,2624,788,1800
$GC,11281,0.96,249.2,124.2,8.4,547,11285,0.00,2.58,0.00,0.000,6,0.000,0.052,2625,2202,1800
$GC,11606,0.96,249.2,93.7,9.8,563,11610,0.00,2.65,0.00,0.000,4,0.000,0.070,2625,788,1800
$GC,11637,0.96,249.2,90.4,9.6,564,11644,0.00,2.60,0.00,0.000,6,0.000,0.053,2625,2193,1800
$GC,11955,0.96,249.2,63.7,8.6,580,11960,0.00,2.62,0.00,0.000,4,0.000,0.068,2624,789,1800
$GC,11994,0.96,249.2,60.1,8.9,582,11999,0.00,2.58,0.00,0.000,6,0.000,0.053,2625,2201,1801
$GC,12321,0.96,249.2,29.7,10.2,598,12322,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2201,1801
$GC,12630,0.96,249.2,2.1,9.4,613,12634,0.00,2.12,0.00,0.000,3,0.000,0.067,2625,1050,1802
$STATE,12635,end climb,SURFACE_DEPTH_REACHED
$STATE,12635,begin surface coast
$FINISH,0.7,1.012832
$STATE,12673,end surface coast,CONTROL_FINISHED_OK
$STATE,12673,begin surface
$SM_CCo,12695,188.52,0.674,1,0,508,566.15
$SM_GC,1.43,0.00,0.00,188.52,0.000,0.000,0.674,69,2398,508,-10.77,-0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2076
$TCM_TEMP,16.90
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,425.1,56.2
$24V_AH,23.6,27.830
$10V_AH,10.2,13.399
$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,25.250,137.875,318.575,188.525,0.000,32.613,35.567,129.468,9.250,0.000,0.000,12.925,1148.395,9632.702,705.737,1370.868,327.668,33.364,1400.683,0.000,1342.007,0.000,26.288
$DEVICE_MAMPS,169.507,87.438,1017.809,674.193,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.907,423.456,446.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31676,615
$CFSIZE,260165632,250343424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,101207,141508,6248.935,-921.552,39,1.9,39,-9.9