version: 66.02
glider: 16
mission: 6
dive: 164
start: 12 11 107 7 53 56
data:
$ID,16
$MISSION,6
$DIVE,164
$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,-2078938.1
$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,14
$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
$GPS1,074757,6253.317,-914.580,30,2.2,49,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-48.7
$GPS2,075305,6253.410,-914.597,9,2.3,28,-9.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.108,0.193
$KALMAN_X,-139319.8,618.7,481.5,130290.8,-19712.0
$KALMAN_Y,98397.8,637.4,816.1,39378.2,-23515.8
$MHEAD_RNG_PITCHd_Wd,39.2,36522,-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,-101.75,0.000,2,0.000,0.000,74,2401,3102
$GC,126,-0.85,-146.6,3.4,-2.4,5,152,12.00,2.60,-8.12,0.000,4,0.168,0.087,2220,3768,3416
$GC,376,-0.85,-146.6,31.7,-11.7,16,380,0.00,2.55,0.00,0.000,6,0.000,0.061,2220,2398,3416
$GC,697,-0.85,-146.6,61.9,-10.1,32,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3416
$GC,1006,-0.85,-146.6,97.7,-11.3,47,1011,0.00,2.70,0.00,0.000,4,0.000,0.078,2220,980,3416
$GC,1045,-0.85,-146.6,103.2,-14.4,49,1050,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2403,3417
$GC,1371,-0.85,-146.6,133.5,-8.0,65,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3416
$GC,1679,-0.85,-146.6,156.7,-8.4,80,1684,0.00,2.67,0.00,0.000,4,0.000,0.074,2219,983,3416
$GC,1734,-0.85,-146.6,163.2,-11.0,82,1740,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2406,3416
$GC,2049,-0.85,-146.6,191.9,-6.8,98,2053,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,985,3417
$GC,2080,-0.85,-146.6,193.9,-6.2,99,2087,0.00,2.62,0.00,0.000,6,0.000,0.060,2220,2395,3416
$GC,2396,-0.85,-146.6,212.5,-6.1,115,2400,0.00,2.67,0.00,0.000,4,0.000,0.077,2220,980,3417
$GC,2422,-0.85,-146.6,214.1,-6.6,116,2427,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2401,3417
$GC,2743,-0.85,-146.6,237.8,-8.3,132,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3417
$GC,3053,-0.85,-146.6,262.8,-6.8,147,3057,0.00,2.70,0.00,0.000,4,0.000,0.077,2220,979,3417
$GC,3101,-0.85,-146.6,266.1,-6.5,149,3105,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2411,3416
$GC,3422,-0.85,-146.6,286.1,-6.8,165,3426,0.00,2.70,0.00,0.000,4,0.000,0.075,2220,985,3417
$GC,3477,-0.85,-146.6,289.2,-5.2,167,3483,0.00,2.60,0.00,0.000,6,0.000,0.061,2220,2400,3416
$GC,3792,-0.85,-146.6,302.8,-4.4,183,3796,0.00,2.67,0.00,0.000,4,0.000,0.077,2220,985,3416
$GC,3824,-0.85,-146.6,304.4,-5.2,184,3830,0.00,2.60,0.00,0.000,6,0.000,0.062,2220,2401,3417
$GC,4139,-0.85,-146.6,320.8,-6.4,200,4143,0.00,2.60,0.00,0.000,4,0.000,0.082,2220,3769,3417
$GC,4155,-0.85,-146.6,322.1,-7.8,201,4160,0.00,2.53,0.00,0.000,6,0.000,0.062,2220,2402,3417
$GC,4480,-0.85,-146.6,349.2,-8.4,217,4485,0.00,2.70,0.00,0.000,4,0.000,0.081,2220,984,3417
$GC,4524,-0.85,-146.6,353.5,-9.6,219,4528,0.00,2.62,0.00,0.000,6,0.000,0.064,2220,2402,3417
$GC,4850,-0.85,-146.6,379.4,-6.9,235,4855,0.00,2.60,0.00,0.000,4,0.000,0.085,2220,3770,3417
$GC,4899,-0.85,-146.6,383.1,-7.1,237,4904,0.00,2.55,0.00,0.000,6,0.000,0.061,2221,2406,3417
$GC,5221,-0.85,-146.6,401.0,-5.9,253,5225,0.00,2.70,0.00,0.000,4,0.000,0.081,2220,983,3416
$GC,5337,-0.85,-146.6,407.9,-6.0,258,5342,0.00,2.62,0.00,0.000,6,0.000,0.064,2220,2403,3417
$STATE,5465,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5465,begin apogee
$GC,5470,-0.31,0.0,417.4,8.0,264,5591,0.60,0.00,118.30,0.955,6,0.110,0.000,2339,2192,2817
$STATE,5592,end apogee,CONTROL_FINISHED_OK
$STATE,5592,begin climb
$GC,5594,0.85,146.6,421.3,0.0,270,5719,1.17,2.85,116.70,0.933,4,0.076,0.084,2587,3613,2218
$GC,5752,0.85,146.6,416.0,6.4,277,5757,0.00,2.70,0.00,0.000,6,0.000,0.068,2587,2203,2217
$GC,6067,0.86,158.1,394.6,5.7,292,6083,0.00,2.78,10.50,0.815,4,0.000,0.080,2587,781,2171
$GC,6183,0.86,158.1,386.6,7.3,296,6188,0.00,2.67,0.00,0.000,6,0.000,0.058,2587,2199,2170
$GC,6504,0.86,158.1,364.1,6.7,312,6508,0.00,2.72,0.00,0.000,4,0.000,0.077,2587,777,2169
$GC,6552,0.86,158.1,360.7,6.4,314,6557,0.00,2.65,0.00,0.000,6,0.000,0.056,2587,2204,2170
$GC,6874,0.89,187.1,343.4,5.2,330,6903,0.00,2.83,23.48,0.878,4,0.000,0.086,2586,3614,2054
$GC,6960,0.90,195.1,338.7,5.8,334,6974,0.00,2.70,8.15,0.768,6,0.000,0.071,2587,2194,2020
$GC,7290,0.90,195.1,320.0,6.9,350,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2194,2019
$GC,7599,0.90,195.1,298.2,6.3,365,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2194,2019
$GC,7909,0.99,280.6,284.5,3.7,380,7983,0.17,2.80,66.68,0.877,4,0.058,0.080,2633,785,1672
$GC,8011,0.99,280.6,278.9,6.7,385,8015,0.00,2.65,0.00,0.000,6,0.000,0.056,2633,2201,1672
$GC,8336,0.99,280.6,259.6,6.6,401,8341,0.00,2.72,0.00,0.000,4,0.000,0.074,2633,774,1671
$GC,8363,0.99,280.6,257.6,7.5,402,8367,0.00,2.62,0.00,0.000,6,0.000,0.054,2633,2202,1672
$GC,8684,0.99,280.6,232.6,7.8,418,8688,0.00,2.70,0.00,0.000,4,0.000,0.074,2633,782,1671
$GC,8715,0.99,280.6,230.0,8.6,419,8722,0.00,2.65,0.00,0.000,6,0.000,0.054,2633,2204,1671
$GC,9031,0.99,280.6,206.7,7.9,435,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2204,1671
$GC,9340,0.99,280.6,179.4,9.3,450,9344,0.00,2.67,0.00,0.000,4,0.000,0.073,2633,782,1671
$GC,9388,0.99,280.6,174.7,9.9,452,9393,0.00,2.62,0.00,0.000,6,0.000,0.052,2633,2201,1671
$GC,9710,0.99,280.6,143.7,10.2,468,9715,0.00,2.67,0.00,0.000,4,0.000,0.071,2632,780,1671
$GC,9754,0.99,280.6,139.3,9.9,470,9758,0.00,2.60,0.00,0.000,6,0.000,0.053,2633,2202,1671
$GC,10081,0.99,280.6,106.8,9.7,486,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2203,1672
$GC,10390,0.99,280.6,79.7,9.0,501,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2203,1672
$GC,10699,0.99,280.6,45.1,13.4,516,10704,0.00,2.67,0.00,0.000,4,0.000,0.069,2633,776,1672
$GC,10770,0.99,280.6,34.8,12.4,519,10775,0.00,2.62,0.00,0.000,6,0.000,0.052,2633,2199,1673
$GC,11092,0.99,280.6,4.0,7.7,535,11096,0.00,2.65,0.00,0.000,4,0.000,0.078,2633,3614,1673
$STATE,11110,end climb,SURFACE_DEPTH_REACHED
$STATE,11111,begin surface coast
$FINISH,1.3,1.027390
$STATE,11117,end surface coast,CONTROL_FINISHED_OK
$STATE,11117,begin surface
$SM_CCo,11139,165.73,0.664,1,0,510,566.15
$SM_GC,1.38,0.00,0.00,165.73,0.000,0.000,0.664,71,2398,510,-10.76,-0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2057
$TCM_TEMP,19.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,326.8,100.2
$24V_AH,23.7,28.673
$10V_AH,10.2,13.773
$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,25.425,122.525,343.800,165.725,0.000,32.620,37.155,133.984,3.500,0.000,0.000,29.589,1009.304,8357.976,666.655,1263.906,329.846,33.368,1317.835,0.000,1225.196,0.000,17.014
$DEVICE_MAMPS,167.973,87.438,954.915,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.751,371.472,387.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28530,536
$CFSIZE,260165632,250089472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,111207,110358,6256.748,-907.985,38,2.6,57,-9.8