version: 66.02
glider: 16
mission: 6
dive: 162
start: 12 11 107 1 9 32
data:
$ID,16
$MISSION,6
$DIVE,162
$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,-2078850.1
$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,13
$R_STBD_OVSHOOT,14
$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
$GPS1,010032,6251.232,-914.295,38,1.9,38,-9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-50.4
$GPS2,010839,6251.199,-914.383,10,2.0,10,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.102,0.196
$KALMAN_X,-136371.4,1360.6,87.7,127194.2,-15090.6
$KALMAN_Y,103419.3,1570.9,-286.9,30442.0,-14975.0
$MHEAD_RNG_PITCHd_Wd,37.2,40353,-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,-102.53,0.000,2,0.000,0.000,57,2398,3158
$GC,126,-0.85,-146.6,4.3,-3.4,5,152,12.43,2.70,-5.62,0.000,4,0.179,0.091,2221,3775,3417
$GC,371,-0.85,-146.6,30.8,-8.3,16,375,0.00,2.58,0.00,0.000,6,0.000,0.061,2222,2394,3418
$GC,697,-0.85,-146.6,55.6,-8.2,32,701,0.00,2.70,0.00,0.000,4,0.000,0.077,2222,975,3417
$GC,713,-0.85,-146.6,56.9,-8.5,33,718,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2407,3417
$GC,1039,-0.85,-146.6,81.8,-8.5,49,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3418
$GC,1348,-0.85,-146.6,107.9,-8.5,64,1352,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,982,3417
$GC,1380,-0.85,-146.6,110.7,-8.5,65,1386,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2398,3418
$GC,1697,-0.85,-146.6,140.8,-10.1,81,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3418
$GC,2005,-0.85,-146.6,166.0,-7.9,96,2009,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,974,3419
$GC,2043,-0.85,-146.6,169.1,-7.8,98,2048,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2405,3418
$GC,2368,-0.85,-146.6,193.5,-8.1,114,2373,0.00,2.67,0.00,0.000,4,0.000,0.074,2221,981,3418
$GC,2389,-0.85,-146.6,195.2,-7.9,115,2394,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2416,3418
$GC,2716,-0.85,-146.6,219.5,-7.4,131,2721,0.00,2.72,0.00,0.000,4,0.000,0.074,2222,977,3417
$GC,2748,-0.85,-146.6,222.1,-7.6,132,2755,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2397,3417
$GC,3063,-0.85,-146.6,245.7,-7.6,148,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3418
$GC,3373,-0.85,-146.6,269.7,-8.2,163,3377,0.00,2.70,0.00,0.000,4,0.000,0.075,2222,973,3418
$GC,3393,-0.85,-146.6,271.4,-7.9,164,3398,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2410,3418
$GC,3720,-0.85,-146.6,297.6,-8.2,180,3724,0.00,2.72,0.00,0.000,4,0.000,0.076,2222,974,3418
$GC,3754,-0.85,-146.6,300.4,-8.5,181,3760,0.00,2.65,0.00,0.000,6,0.000,0.062,2222,2400,3418
$GC,4068,-0.85,-146.6,324.8,-7.5,197,4078,0.00,2.67,0.00,0.000,4,0.000,0.076,2222,984,3418
$GC,4095,-0.85,-146.6,327.0,-8.3,198,4099,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2406,3417
$GC,4420,-0.85,-146.6,352.5,-8.0,214,4424,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,979,3418
$GC,4485,-0.85,-146.6,358.1,-8.8,217,4490,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2400,3418
$GC,4812,-0.85,-146.6,385.9,-8.8,233,4816,0.00,2.70,0.00,0.000,4,0.000,0.075,2222,976,3418
$GC,4837,-0.85,-146.6,388.4,-9.7,234,4842,0.00,2.65,0.00,0.000,6,0.000,0.060,2223,2400,3418
$GC,5159,-0.85,-146.6,413.1,-6.9,250,5163,0.00,2.62,0.00,0.000,4,0.000,0.084,2222,3773,3418
$GC,5179,-0.85,-146.6,414.6,-6.4,251,5184,0.00,2.58,0.00,0.000,6,0.000,0.061,2222,2400,3418
$STATE,5298,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5298,begin apogee
$GC,5303,-0.31,0.0,422.4,6.2,257,5425,0.57,0.00,118.28,0.972,6,0.104,0.000,2338,2197,2816
$STATE,5425,end apogee,CONTROL_FINISHED_OK
$STATE,5425,begin climb
$GC,5427,0.85,146.6,425.5,0.0,263,5551,1.20,2.83,115.60,0.956,4,0.076,0.084,2590,3614,2218
$GC,5607,0.85,148.3,418.0,6.0,271,5611,0.00,2.70,0.00,0.000,6,0.000,0.068,2590,2204,2218
$GC,5928,0.89,188.0,401.1,4.9,287,5970,0.00,2.83,33.42,0.912,4,0.000,0.082,2589,793,2049
$GC,6030,0.91,208.6,395.3,5.4,291,6057,0.00,2.62,17.40,0.886,6,0.000,0.056,2590,2199,1966
$GC,6366,0.92,217.2,377.3,5.8,308,6375,0.00,0.00,8.00,0.800,6,0.000,0.000,2590,2199,1931
$GC,6674,0.92,217.2,355.9,7.3,323,6679,0.00,2.72,0.00,0.000,4,0.000,0.075,2590,779,1930
$GC,6713,0.92,217.2,353.0,8.1,325,6717,0.00,2.62,0.00,0.000,6,0.000,0.055,2590,2201,1930
$GC,7039,0.92,217.2,329.1,7.2,341,7043,0.00,2.72,0.00,0.000,4,0.000,0.074,2590,774,1930
$GC,7070,0.92,217.2,326.7,7.3,342,7077,0.00,2.65,0.00,0.000,6,0.000,0.054,2590,2194,1929
$GC,7386,0.92,217.2,303.4,7.2,358,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2193,1929
$GC,7695,0.92,217.2,282.3,6.6,373,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2193,1929
$GC,8005,0.92,217.2,262.9,6.2,388,8009,0.00,2.70,0.00,0.000,4,0.000,0.079,2590,3617,1929
$GC,8030,0.92,217.2,261.2,6.7,389,8035,0.00,2.67,0.00,0.000,6,0.000,0.064,2590,2185,1929
$GC,8352,0.93,220.1,241.6,5.9,405,8361,0.00,2.67,3.78,0.547,4,0.000,0.075,2590,785,1919
$GC,8396,0.93,220.1,238.9,6.7,407,8400,0.00,2.60,0.00,0.000,6,0.000,0.052,2590,2202,1919
$GC,8721,0.93,220.1,218.5,6.1,423,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2202,1919
$GC,9030,0.93,220.1,199.5,6.4,438,9034,0.00,2.67,0.00,0.000,4,0.000,0.071,2590,782,1918
$GC,9073,0.93,220.1,196.2,8.0,440,9077,0.00,2.60,0.00,0.000,6,0.000,0.053,2590,2205,1919
$GC,9400,0.93,220.1,171.3,8.0,456,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2205,1919
$GC,9709,0.93,220.1,149.9,6.2,471,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2205,1919
$GC,10019,0.93,220.1,130.2,6.9,486,10023,0.00,2.67,0.00,0.000,4,0.000,0.070,2590,781,1919
$GC,10050,0.93,220.1,127.4,8.0,487,10058,0.00,2.62,0.00,0.000,6,0.000,0.052,2590,2203,1919
$GC,10366,0.93,220.1,107.6,6.0,503,10367,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2203,1920
$GC,10677,0.93,220.1,88.0,8.4,518,10678,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2203,1920
$GC,10985,0.93,220.1,68.5,7.2,533,10989,0.00,2.65,0.00,0.000,4,0.000,0.079,2590,3616,1919
$GC,11024,0.93,224.6,66.5,5.9,535,11035,0.10,2.60,5.32,0.568,6,0.066,0.061,2620,2203,1901
$GC,11351,0.93,224.6,38.8,9.6,551,11355,0.00,2.67,0.00,0.000,4,0.000,0.074,2620,784,1901
$GC,11416,0.93,224.6,33.2,7.7,554,11420,0.00,2.60,0.00,0.000,6,0.000,0.050,2620,2199,1901
$GC,11744,0.93,224.6,4.7,7.9,570,11749,0.00,2.65,0.00,0.000,4,0.000,0.074,2621,3615,1901
$GC,11765,0.93,224.6,2.6,9.2,571,11770,0.00,2.65,0.00,0.000,6,0.000,0.061,2620,2177,1901
$STATE,11773,end climb,SURFACE_DEPTH_REACHED
$STATE,11774,begin surface coast
$FINISH,0.9,1.016791
$STATE,11804,end surface coast,CONTROL_FINISHED_OK
$STATE,11804,begin surface
$SM_CCo,11824,199.95,0.666,2,0,509,566.15
$SM_GC,1.26,0.00,0.00,199.95,0.000,0.000,0.666,68,2401,509,-10.77,0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2047
$TCM_TEMP,16.80
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,325.2,106.5
$24V_AH,23.6,28.392
$10V_AH,10.2,13.653
$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,25.475,123.475,301.800,199.950,0.000,65.243,87.479,184.082,5.000,0.000,0.000,10.660,1069.562,9038.344,670.798,1284.254,468.311,33.360,1338.172,0.000,1260.302,0.000,17.053
$DEVICE_MAMPS,179.478,90.506,971.789,665.756,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.168,394.663,457.522,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28546,573
$CFSIZE,260165632,250179584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
$GPS,111207,043129,6250.916,-915.088,29,4.9,48,-9.8