version: 66.02
glider: 16
mission: 6
dive: 166
start: 12 11 107 14 21 49
data:
$ID,16
$MISSION,6
$DIVE,166
$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,-2078985
$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,18
$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
$GPS1,141552,6257.669,-902.057,39,4.8,58,-9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-48.0
$GPS2,142058,6257.690,-901.983,14,1.8,15,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.189,0.116
$KALMAN_X,-133769.8,1221.9,-21.9,135765.8,-7218.9
$KALMAN_Y,99579.2,1638.2,282.3,45687.2,-18806.8
$MHEAD_RNG_PITCHd_Wd,68.2,26554,-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,-146.6,0.0,0.0,0,125,0.00,0.00,-102.50,0.000,2,0.000,0.000,73,2405,3133
$GC,127,-0.85,-146.6,3.6,-2.8,5,152,12.12,2.60,-6.68,0.000,4,0.172,0.087,2221,3759,3417
$GC,404,-0.85,-146.6,37.0,-9.4,17,409,0.00,2.53,0.00,0.000,6,0.000,0.052,2221,2397,3418
$GC,726,-0.85,-146.6,62.3,-7.7,33,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3418
$GC,1035,-0.85,-146.6,83.8,-7.9,48,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3418
$GC,1345,-0.85,-146.6,111.7,-10.1,63,1349,0.00,2.67,0.00,0.000,4,0.000,0.075,2221,983,3418
$GC,1370,-0.85,-146.6,114.8,-11.5,64,1375,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2399,3418
$GC,1692,-0.85,-146.6,144.4,-9.0,80,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3418
$GC,2001,-0.85,-146.6,169.7,-8.1,95,2006,0.00,2.67,0.00,0.000,4,0.000,0.072,2222,976,3418
$GC,2055,-0.85,-146.6,174.5,-9.5,97,2062,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2406,3418
$GC,2371,-0.85,-146.6,198.1,-7.7,113,2375,0.00,2.67,0.00,0.000,4,0.000,0.073,2222,982,3418
$GC,2409,-0.85,-146.6,200.6,-6.8,115,2413,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2401,3418
$GC,2735,-0.85,-146.6,219.9,-6.1,131,2739,0.00,2.65,0.00,0.000,4,0.000,0.072,2221,982,3418
$GC,2788,-0.85,-146.6,223.5,-6.1,133,2795,0.00,2.60,0.00,0.000,6,0.000,0.057,2222,2407,3418
$GC,3104,-0.85,-146.6,243.0,-7.1,149,3109,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,982,3418
$GC,3136,-0.85,-146.6,245.3,-7.1,150,3143,0.00,2.60,0.00,0.000,6,0.000,0.056,2222,2393,3418
$GC,3453,-0.85,-146.6,267.0,-8.8,166,3457,0.00,2.65,0.00,0.000,4,0.000,0.071,2221,982,3418
$GC,3501,-0.85,-146.6,271.1,-7.8,168,3505,0.00,2.60,0.00,0.000,6,0.000,0.057,2222,2404,3418
$GC,3822,-0.85,-146.6,295.8,-7.3,184,3826,0.00,2.65,0.00,0.000,4,0.000,0.069,2222,982,3418
$GC,3848,-0.85,-146.6,297.8,-7.2,185,3852,0.00,2.62,0.00,0.000,6,0.000,0.057,2222,2419,3418
$GC,4170,-0.85,-146.6,323.0,-8.4,201,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2419,3418
$GC,4479,-0.85,-146.6,346.6,-7.1,216,4483,0.00,2.70,0.00,0.000,4,0.000,0.071,2222,981,3418
$GC,4572,-0.85,-146.6,353.5,-7.0,220,4577,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2403,3418
$GC,4895,-0.85,-146.6,371.9,-5.2,236,4899,0.00,2.67,0.00,0.000,4,0.000,0.072,2222,982,3419
$GC,4982,-0.85,-146.6,377.5,-6.3,240,4987,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2412,3419
$GC,5309,-0.85,-146.6,401.5,-6.7,256,5314,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,982,3419
$GC,5403,-0.85,-146.6,408.5,-7.9,260,5407,0.00,2.60,0.00,0.000,6,0.000,0.059,2222,2400,3419
$STATE,5702,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5702,begin apogee
$GC,5707,-0.31,0.0,429.4,6.5,275,5828,0.60,0.00,118.65,0.969,6,0.103,0.000,2342,2198,2817
$STATE,5829,end apogee,CONTROL_FINISHED_OK
$STATE,5829,begin climb
$GC,5831,0.85,146.6,432.7,0.0,281,5952,1.20,0.00,116.68,0.958,6,0.079,0.000,2589,2198,2218
$GC,6253,0.88,175.4,412.5,5.2,302,6282,0.00,2.78,23.80,0.907,4,0.000,0.081,2589,3613,2101
$GC,6362,0.88,175.4,405.6,6.3,307,6367,0.00,2.67,0.00,0.000,6,0.000,0.064,2589,2199,2100
$GC,6688,0.93,222.9,388.6,4.7,323,6733,0.10,2.80,37.80,0.930,4,0.073,0.077,2615,789,1908
$GC,6818,0.93,222.9,381.1,6.5,329,6822,0.00,2.62,0.00,0.000,6,0.000,0.056,2615,2200,1906
$GC,7143,0.93,222.9,358.3,8.0,345,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2200,1905
$GC,7452,0.93,222.9,335.3,6.9,360,7456,0.00,2.70,0.00,0.000,4,0.000,0.073,2615,782,1904
$GC,7490,0.93,222.9,332.6,7.5,362,7495,0.00,2.62,0.00,0.000,6,0.000,0.054,2615,2203,1904
$GC,7816,0.93,222.9,310.7,6.9,378,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2203,1903
$GC,8124,0.93,222.9,284.6,9.6,393,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2203,1901
$GC,8434,0.93,222.9,253.8,9.7,408,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2203,1901
$GC,8743,0.93,222.9,227.8,8.0,423,8748,0.00,2.67,0.00,0.000,4,0.000,0.067,2615,776,1902
$GC,8821,0.93,222.9,221.6,7.5,426,8827,0.00,2.60,0.00,0.000,6,0.000,0.050,2615,2204,1901
$GC,9136,0.93,222.9,201.0,6.3,442,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2204,1901
$GC,9445,0.93,222.9,178.0,8.7,457,9450,0.00,2.65,0.00,0.000,4,0.000,0.064,2615,781,1901
$GC,9466,0.93,222.9,175.9,9.2,458,9471,0.00,2.60,0.00,0.000,6,0.000,0.048,2615,2196,1901
$GC,9793,0.94,233.3,152.0,5.7,474,9808,0.00,2.70,9.27,0.696,4,0.000,0.074,2615,3613,1864
$GC,9836,0.94,233.3,149.2,7.0,475,9840,0.00,2.65,0.00,0.000,6,0.000,0.059,2615,2191,1864
$GC,10163,0.94,233.3,121.0,7.9,491,10167,0.00,2.62,0.00,0.000,4,0.000,0.070,2615,782,1864
$GC,10217,0.94,233.3,116.2,7.9,493,10224,0.00,2.60,0.00,0.000,6,0.000,0.049,2615,2198,1864
$GC,10533,0.95,244.8,101.7,5.7,509,10546,0.00,0.00,10.62,0.676,6,0.000,0.000,2615,2198,1818
$GC,10843,0.95,244.8,70.6,9.8,524,10848,0.00,2.65,0.00,0.000,4,0.000,0.068,2615,782,1817
$GC,10882,0.95,244.8,66.7,10.3,526,10887,0.00,2.58,0.00,0.000,6,0.000,0.048,2615,2200,1817
$GC,11209,0.95,244.8,37.9,7.4,542,11210,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2200,1817
$GC,11517,0.97,263.5,18.9,5.5,557,11538,0.00,0.00,15.98,0.657,6,0.000,0.000,2615,2200,1741
$STATE,11762,end climb,SURFACE_DEPTH_REACHED
$STATE,11762,begin surface coast
$FINISH,0.7,1.020996
$STATE,11786,end surface coast,CONTROL_FINISHED_OK
$STATE,11786,begin surface
$SM_CCo,11806,178.00,0.664,2,0,508,566.15
$SM_GC,1.25,0.00,0.00,178.00,0.000,0.000,0.664,74,2397,508,-10.75,-0.11,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2049
$TCM_TEMP,17.00
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,350.2,88.1
$24V_AH,23.7,28.936
$10V_AH,10.2,13.893
$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,25.450,101.175,332.800,178.000,0.000,32.644,40.912,145.376,6.250,0.000,0.000,16.223,1055.415,8941.778,682.601,1288.689,342.016,33.371,1321.255,0.000,1263.444,0.000,18.604
$DEVICE_MAMPS,171.808,87.438,969.488,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.473,396.964,441.860,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28506,570
$CFSIZE,260165632,250003456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,2,0
$GPS,111207,174255,6258.190,-900.354,38,2.0,38,-9.8