version: 66.02
glider: 16
mission: 6
dive: 163
start: 12 11 107 4 44 43
data:
$ID,16
$MISSION,6
$DIVE,163
$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,-2078907.9
$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,19
$R_STBD_OVSHOOT,17
$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
$GPS1,043129,6250.916,-915.088,29,4.9,48,-9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-46.1
$GPS2,044353,6251.002,-915.389,37,2.3,56,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.104,0.195
$KALMAN_X,-139508.5,1365.0,421.2,129114.6,-20278.5
$KALMAN_Y,97482.5,1483.2,-0.7,35841.2,-24563.2
$MHEAD_RNG_PITCHd_Wd,37.9,40956,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-101.78,0.000,2,0.000,0.000,67,2403,3133
$GC,127,-0.85,-146.6,3.2,-2.5,5,152,12.12,2.62,-6.88,0.000,4,0.172,0.089,2219,3765,3415
$GC,224,-0.85,-146.6,16.6,-10.3,9,229,0.00,2.55,0.00,0.000,6,0.000,0.057,2220,2405,3417
$GC,546,-0.85,-146.6,48.4,-8.2,25,551,0.00,2.60,0.00,0.000,4,0.000,0.075,2219,3768,3417
$GC,567,-0.85,-146.6,50.0,-7.3,26,571,0.00,2.55,0.00,0.000,6,0.000,0.054,2219,2400,3417
$GC,896,-0.85,-146.6,70.7,-6.1,42,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3417
$GC,1204,-0.85,-146.6,95.8,-8.2,57,1208,0.00,2.67,0.00,0.000,4,0.000,0.074,2219,983,3417
$GC,1230,-0.85,-146.6,97.9,-7.3,58,1235,0.00,2.60,0.00,0.000,6,0.000,0.057,2219,2403,3417
$GC,1545,-0.85,-146.6,123.4,-8.1,73,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3417
$GC,1856,-0.85,-146.6,151.1,-9.8,88,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3417
$GC,2164,-0.85,-146.6,180.5,-9.7,103,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3417
$GC,2473,-0.85,-146.6,211.2,-10.1,118,2477,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,983,3417
$GC,2499,-0.85,-146.6,213.9,-10.6,119,2503,0.00,2.62,0.00,0.000,6,0.000,0.056,2219,2403,3417
$GC,2820,-0.85,-146.6,243.4,-9.2,135,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3417
$GC,3129,-0.85,-146.6,270.0,-8.6,150,3133,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,982,3417
$GC,3172,-0.85,-146.6,273.7,-8.5,152,3176,0.00,2.62,0.00,0.000,6,0.000,0.057,2219,2400,3417
$GC,3499,-0.85,-146.6,302.5,-9.1,168,3503,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,982,3417
$GC,3519,-0.85,-146.6,304.3,-8.8,169,3523,0.00,2.60,0.00,0.000,6,0.000,0.057,2219,2390,3417
$GC,3846,-0.85,-146.6,329.9,-7.6,185,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2390,3417
$GC,4155,-0.85,-146.6,355.1,-8.8,200,4160,0.00,2.65,0.00,0.000,4,0.000,0.074,2219,982,3417
$GC,4221,-0.85,-146.6,360.8,-8.2,203,4226,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2401,3417
$GC,4548,-0.85,-146.6,385.6,-7.8,219,4552,0.00,2.67,0.00,0.000,4,0.000,0.074,2219,984,3417
$GC,4613,-0.85,-146.6,391.3,-8.2,222,4617,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2403,3417
$GC,4940,-0.85,-146.6,416.7,-7.6,238,4944,0.00,2.70,0.00,0.000,4,0.000,0.075,2219,980,3418
$GC,4965,-0.85,-146.6,418.7,-7.6,239,4970,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2392,3418
$STATE,5079,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5079,begin apogee
$GC,5084,-0.31,0.0,426.0,6.5,245,5205,0.60,0.00,118.12,0.966,6,0.107,0.000,2339,2195,2817
$STATE,5206,end apogee,CONTROL_FINISHED_OK
$STATE,5206,begin climb
$GC,5208,0.85,146.6,429.6,0.0,251,5332,1.17,2.80,115.82,0.948,4,0.069,0.074,2591,788,2218
$GC,5377,0.85,146.6,422.3,7.1,259,5381,0.00,2.65,0.00,0.000,6,0.000,0.054,2591,2207,2218
$GC,5703,0.85,150.8,402.8,5.9,275,5712,0.00,2.72,4.82,0.658,4,0.000,0.082,2591,3613,2202
$GC,5763,0.85,150.8,398.7,7.2,278,5767,0.00,2.67,0.00,0.000,6,0.000,0.069,2592,2205,2202
$GC,6089,0.85,154.3,378.4,5.9,294,6095,0.00,0.00,4.43,0.634,6,0.000,0.000,2591,2206,2187
$GC,6397,0.86,159.9,360.4,5.8,309,6409,0.00,2.75,5.95,0.719,4,0.000,0.079,2591,782,2164
$GC,6475,0.86,159.9,355.3,6.7,312,6481,0.00,2.65,0.00,0.000,6,0.000,0.056,2591,2194,2164
$GC,6791,0.88,177.1,336.9,5.5,328,6812,0.00,2.78,14.65,0.854,4,0.000,0.081,2591,3614,2095
$GC,6835,0.89,183.5,334.4,5.8,330,6848,0.00,2.70,6.88,0.744,6,0.000,0.068,2591,2200,2069
$GC,7165,0.89,183.5,315.4,6.8,346,7170,0.00,2.70,0.00,0.000,4,0.000,0.077,2591,780,2068
$GC,7220,0.89,183.5,310.9,7.9,348,7227,0.00,2.65,0.00,0.000,6,0.000,0.054,2591,2216,2067
$GC,7536,0.96,253.0,294.7,4.1,364,7598,0.12,2.75,54.92,0.881,4,0.058,0.080,2627,3623,1784
$GC,7614,0.96,253.0,289.9,8.1,367,7621,0.00,2.72,0.00,0.000,6,0.000,0.069,2627,2198,1784
$GC,7930,1.01,300.9,270.5,4.7,383,7974,0.00,2.80,38.15,0.840,4,0.000,0.078,2627,785,1589
$GC,8037,1.02,309.3,263.1,5.8,388,8051,0.00,2.62,8.43,0.723,6,0.000,0.054,2627,2201,1555
$GC,8367,1.02,309.3,231.3,9.4,404,8371,0.00,2.70,0.00,0.000,4,0.000,0.079,2627,3619,1554
$GC,8399,1.02,309.3,228.0,9.5,405,8405,0.00,2.72,0.00,0.000,6,0.000,0.069,2627,2200,1554
$GC,8714,1.02,309.3,203.5,7.3,421,8719,0.00,2.70,0.00,0.000,4,0.000,0.078,2627,782,1554
$GC,8753,1.02,309.3,200.6,7.5,423,8758,0.00,2.62,0.00,0.000,6,0.000,0.054,2627,2204,1553
$GC,9079,1.02,309.3,174.9,9.2,439,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2204,1554
$GC,9389,1.02,309.3,141.2,12.1,454,9393,0.00,2.70,0.00,0.000,4,0.000,0.075,2627,781,1554
$GC,9409,1.02,309.3,138.9,10.7,455,9414,0.00,2.60,0.00,0.000,6,0.000,0.052,2627,2203,1553
$GC,9736,1.02,309.3,109.8,9.1,471,9741,0.00,2.67,0.00,0.000,4,0.000,0.081,2626,3613,1553
$GC,9776,1.02,309.3,104.9,11.5,473,9780,0.00,2.65,0.00,0.000,6,0.000,0.066,2627,2199,1554
$GC,10102,1.02,309.3,70.7,9.5,489,10106,0.00,2.67,0.00,0.000,4,0.000,0.074,2627,781,1554
$GC,10133,1.02,309.3,67.2,11.4,490,10140,0.00,2.62,0.00,0.000,6,0.000,0.054,2627,2199,1554
$GC,10451,1.02,309.3,29.6,11.6,506,10455,0.00,2.67,0.00,0.000,4,0.000,0.078,2627,3613,1554
$GC,10513,1.02,309.3,21.2,13.1,509,10518,0.00,2.65,0.00,0.000,6,0.000,0.067,2627,2198,1555
$STATE,10713,end climb,SURFACE_DEPTH_REACHED
$STATE,10714,begin surface coast
$FINISH,0.7,1.013807
$STATE,10736,end surface coast,CONTROL_FINISHED_OK
$STATE,10736,begin surface
$SM_CCo,10755,149.18,0.659,1,0,509,566.15
$SM_GC,1.22,0.00,0.00,149.18,0.000,0.000,0.659,74,2401,509,-10.74,0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2054
$TCM_TEMP,15.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,325.2,110.2
$24V_AH,23.7,28.540
$10V_AH,10.2,13.715
$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,25.225,118.075,372.175,149.175,0.000,97.857,192.799,191.157,4.000,0.000,0.000,57.141,972.866,8184.970,659.982,1231.571,612.285,33.367,1293.822,0.000,1163.286,0.000,17.039
$DEVICE_MAMPS,171.808,88.972,965.653,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,376.088,357.134,395.583,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25368,520
$CFSIZE,260165632,250134528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$GPS,111207,074757,6253.317,-914.580,30,2.2,49,-9.9