version: 66.02
glider: 16
mission: 6
dive: 165
start: 12 11 107 11 9 42
data:
$ID,16
$MISSION,6
$DIVE,165
$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,-2078968.1
$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,12
$R_STBD_OVSHOOT,16
$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
$GPS1,110358,6256.748,-907.985,38,2.6,57,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-44.6
$GPS2,110851,6256.827,-907.863,11,1.5,29,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.175,0.136
$KALMAN_X,-134224.9,1091.4,138.5,130987.4,-8193.5
$KALMAN_Y,101648.2,1227.9,11.2,42676.8,-14308.2
$MHEAD_RNG_PITCHd_Wd,61.9,28857,-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,-146.6,0.0,0.0,0,114,0.00,0.00,-92.28,0.000,2,0.000,0.000,70,2395,2906
$GC,117,-0.85,-146.6,3.7,-2.7,5,148,12.10,2.62,-12.65,0.000,4,0.171,0.090,2221,3772,3416
$GC,393,-0.85,-146.6,34.0,-10.7,17,401,0.00,2.58,0.00,0.000,6,0.000,0.058,2221,2399,3416
$GC,709,-0.85,-146.6,69.5,-11.8,33,714,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,981,3417
$GC,753,-0.85,-146.6,74.8,-14.5,35,757,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2401,3417
$GC,1080,-0.85,-146.6,102.0,-7.8,51,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3417
$GC,1390,-0.85,-146.6,127.7,-8.8,66,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3417
$GC,1698,-0.85,-146.6,152.8,-7.4,81,1703,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,980,3417
$GC,1782,-0.85,-146.6,158.8,-7.6,85,1786,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2401,3417
$GC,2107,-0.85,-146.6,183.0,-7.7,101,2112,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,978,3417
$GC,2140,-0.85,-146.6,185.7,-8.0,102,2146,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2400,3417
$GC,2455,-0.85,-146.6,210.5,-8.2,118,2459,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,974,3416
$GC,2493,-0.85,-146.6,213.7,-8.2,120,2498,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2400,3417
$GC,2819,-0.85,-146.6,241.1,-8.7,136,2824,0.00,2.70,0.00,0.000,4,0.000,0.076,2221,977,3417
$GC,2858,-0.85,-146.6,244.6,-8.9,138,2863,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2400,3417
$GC,3184,-0.85,-146.6,273.5,-9.0,154,3188,0.00,2.70,0.00,0.000,4,0.000,0.076,2221,974,3417
$GC,3215,-0.85,-146.6,276.4,-8.7,155,3222,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2400,3417
$GC,3532,-0.85,-146.6,305.0,-9.6,171,3536,0.00,2.67,0.00,0.000,4,0.000,0.076,2221,978,3417
$GC,3602,-0.85,-146.6,311.9,-9.4,174,3607,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2406,3417
$GC,3924,-0.85,-146.6,339.8,-8.2,190,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3417
$GC,4233,-0.85,-146.6,360.5,-6.2,205,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3417
$GC,4542,-0.85,-146.6,380.6,-6.6,220,4546,0.00,2.70,0.00,0.000,4,0.000,0.076,2221,982,3418
$GC,4597,-0.85,-146.6,384.6,-7.7,222,4603,0.00,2.62,0.00,0.000,6,0.000,0.062,2221,2400,3418
$GC,4912,-0.85,-146.6,407.4,-7.6,238,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3418
$GC,5221,-0.85,-146.6,428.5,-6.8,253,5225,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,975,3418
$STATE,5240,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5240,begin apogee
$GC,5247,-0.31,0.0,430.0,6.9,254,5368,0.57,0.00,118.30,0.971,6,0.107,0.000,2338,2200,2817
$STATE,5369,end apogee,CONTROL_FINISHED_OK
$STATE,5369,begin climb
$GC,5371,0.85,146.6,433.5,0.0,260,5495,1.23,2.85,115.88,0.953,4,0.090,0.081,2590,3619,2217
$GC,5573,0.85,154.9,424.1,5.8,269,5587,0.00,2.67,8.00,0.778,6,0.000,0.064,2589,2201,2185
$GC,5916,0.85,154.9,402.6,6.2,286,5920,0.00,2.72,0.00,0.000,4,0.000,0.078,2590,784,2183
$GC,5970,0.85,154.9,399.0,6.6,288,5976,0.00,2.67,0.00,0.000,6,0.000,0.057,2590,2216,2184
$GC,6286,0.90,197.7,382.5,4.8,304,6328,0.00,2.75,34.28,0.916,4,0.000,0.084,2589,3613,2011
$GC,6395,0.90,197.7,376.1,6.9,309,6399,0.00,2.67,0.00,0.000,6,0.000,0.066,2590,2202,2011
$GC,6720,0.90,200.4,357.0,5.9,325,6725,0.00,2.72,0.00,0.000,4,0.000,0.079,2590,782,2008
$GC,6786,0.90,200.4,352.7,6.4,328,6790,0.00,2.62,0.00,0.000,6,0.000,0.056,2589,2202,2008
$GC,7112,0.96,249.0,335.0,4.7,344,7156,0.15,0.00,40.90,0.908,6,0.064,0.000,2626,2201,1801
$GC,7462,0.96,249.0,310.2,8.0,361,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2202,1799
$GC,7771,0.96,249.0,282.7,9.3,376,7775,0.00,2.70,0.00,0.000,4,0.000,0.073,2626,775,1799
$GC,7832,0.96,249.0,277.0,9.9,379,7836,0.00,2.62,0.00,0.000,6,0.000,0.053,2626,2203,1798
$GC,8157,0.96,249.0,246.6,9.3,395,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2203,1798
$GC,8466,0.96,249.0,218.5,8.8,410,8470,0.00,2.67,0.00,0.000,4,0.000,0.070,2626,781,1798
$GC,8509,0.96,249.0,214.4,9.1,412,8513,0.00,2.62,0.00,0.000,6,0.000,0.052,2626,2199,1799
$GC,8835,0.96,249.0,183.6,9.9,428,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2199,1798
$GC,9145,0.96,249.0,156.1,8.4,443,9149,0.00,2.67,0.00,0.000,4,0.000,0.070,2626,781,1799
$GC,9188,0.96,249.0,152.3,9.2,445,9192,0.00,2.62,0.00,0.000,6,0.000,0.051,2626,2201,1799
$GC,9516,0.96,249.0,124.2,9.4,461,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2201,1798
$GC,9825,0.96,249.0,96.9,7.7,476,9829,0.00,2.67,0.00,0.000,4,0.000,0.069,2626,773,1800
$GC,9863,0.96,249.0,94.1,6.7,478,9868,0.00,2.60,0.00,0.000,6,0.000,0.049,2626,2204,1800
$GC,10190,0.96,249.0,66.4,10.4,494,10191,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2204,1800
$GC,10499,0.96,249.0,32.5,10.0,509,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2204,1800
$GC,10808,0.96,249.0,4.8,7.1,524,10809,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2205,1801
$STATE,10848,end climb,SURFACE_DEPTH_REACHED
$STATE,10848,begin surface coast
$FINISH,0.9,1.027388
$STATE,10869,end surface coast,CONTROL_FINISHED_OK
$STATE,10869,begin surface
$SM_CCo,10889,181.73,0.661,1,0,509,566.15
$SM_GC,1.14,0.00,0.00,181.73,0.000,0.000,0.661,74,2402,509,-10.74,0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2064
$TCM_TEMP,16.90
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,375.2,64.6
$24V_AH,23.7,28.803
$10V_AH,10.2,13.831
$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,25.425,96.075,317.350,181.725,0.000,32.625,37.880,121.057,5.750,0.000,0.000,29.403,980.487,8223.634,634.958,1233.377,306.971,33.367,1254.868,0.000,1192.579,0.000,20.169
$DEVICE_MAMPS,171.041,89.739,971.022,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.700,367.694,402.345,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25373,527
$CFSIZE,260165632,250048512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,111207,141552,6257.669,-902.057,39,4.8,58,-9.8