version: 66.02
glider: 16
mission: 6
dive: 167
start: 12 11 107 17 52 19
data:
$ID,16
$MISSION,6
$DIVE,167
$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,-2079021.1
$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,15
$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
$GPS1,174255,6258.190,-900.354,38,2.0,38,-9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-42.3
$GPS2,175128,6258.273,-900.321,35,1.9,35,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.065,0.212
$KALMAN_X,-137588.3,45.9,533.8,141678.6,-12971.6
$KALMAN_Y,99092.1,696.1,982.5,47488.6,-17735.9
$MHEAD_RNG_PITCHd_Wd,26.9,25423,-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,-102.65,0.000,2,0.000,0.000,73,2400,3119
$GC,127,-0.85,-146.6,3.4,-2.4,5,153,12.05,2.60,-7.78,0.000,4,0.170,0.084,2220,3773,3416
$GC,404,-0.85,-146.6,22.8,-7.9,17,409,0.00,2.55,0.00,0.000,6,0.000,0.053,2219,2400,3417
$GC,726,-0.85,-146.6,47.9,-8.4,33,730,0.00,2.60,0.00,0.000,4,0.000,0.073,2219,3772,3417
$GC,746,-0.85,-146.6,50.2,-10.5,34,751,0.00,2.55,0.00,0.000,6,0.000,0.054,2220,2401,3417
$GC,1074,-0.85,-146.6,87.4,-10.8,50,1078,0.00,2.70,0.00,0.000,4,0.000,0.075,2220,977,3417
$GC,1112,-0.85,-146.6,91.2,-9.6,52,1117,0.00,2.60,0.00,0.000,6,0.000,0.056,2219,2401,3416
$GC,1439,-0.85,-146.6,117.5,-8.7,68,1443,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,982,3416
$GC,1465,-0.85,-146.6,119.7,-7.8,69,1469,0.00,2.58,0.00,0.000,6,0.000,0.054,2219,2401,3416
$GC,1786,-0.85,-146.6,143.6,-8.1,85,1791,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,983,3417
$GC,1807,-0.85,-146.6,145.8,-9.7,86,1812,0.00,2.58,0.00,0.000,6,0.000,0.053,2220,2401,3416
$GC,2134,-0.85,-146.6,172.0,-8.0,102,2138,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,981,3416
$GC,2194,-0.85,-146.6,177.2,-7.9,105,2199,0.00,2.60,0.00,0.000,6,0.000,0.056,2220,2404,3417
$GC,2521,-0.85,-146.6,204.1,-8.2,121,2525,0.00,2.70,0.00,0.000,4,0.000,0.073,2219,973,3417
$GC,2575,-0.85,-146.6,209.2,-8.8,123,2582,0.00,2.62,0.00,0.000,6,0.000,0.056,2220,2395,3417
$GC,2890,-0.85,-146.6,232.8,-7.2,139,2895,0.00,2.65,0.00,0.000,4,0.000,0.073,2219,982,3417
$GC,2917,-0.85,-146.6,234.9,-7.6,140,2921,0.00,2.60,0.00,0.000,6,0.000,0.056,2220,2404,3416
$GC,3238,-0.85,-146.6,256.8,-6.6,156,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3417
$GC,3547,-0.85,-146.6,280.9,-8.8,171,3552,0.00,2.67,0.00,0.000,4,0.000,0.074,2220,982,3417
$GC,3614,-0.85,-146.6,287.6,-9.7,174,3618,0.00,2.60,0.00,0.000,6,0.000,0.057,2219,2406,3417
$GC,3934,-0.85,-146.6,318.8,-9.6,190,3939,0.00,2.67,0.00,0.000,4,0.000,0.072,2220,982,3417
$GC,3990,-0.85,-146.6,324.0,-9.4,192,3996,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2401,3417
$GC,4305,-0.85,-146.6,349.1,-7.7,208,4309,0.00,2.67,0.00,0.000,4,0.000,0.073,2220,982,3417
$GC,4359,-0.85,-146.6,353.5,-8.1,210,4366,0.00,2.60,0.00,0.000,6,0.000,0.057,2220,2392,3417
$GC,4675,-0.85,-146.6,378.3,-7.8,226,4679,0.00,2.67,0.00,0.000,4,0.000,0.074,2220,975,3417
$GC,4763,-0.85,-146.6,385.5,-8.1,230,4767,0.00,2.60,0.00,0.000,6,0.000,0.057,2219,2400,3417
$GC,5090,-0.85,-146.6,411.8,-8.2,246,5095,0.00,2.67,0.00,0.000,4,0.000,0.075,2220,982,3417
$GC,5116,-0.85,-146.6,414.1,-8.7,247,5121,0.00,2.60,0.00,0.000,6,0.000,0.057,2219,2393,3417
$GC,5438,-0.85,-146.6,436.6,-5.7,263,5442,0.00,2.60,0.00,0.000,4,0.000,0.081,2220,3766,3417
$GC,5480,-0.85,-146.6,439.6,-6.5,265,5485,0.00,2.53,0.00,0.000,6,0.000,0.055,2219,2401,3418
$STATE,5538,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5538,begin apogee
$GC,5543,-0.31,0.0,443.3,6.1,268,5664,0.60,0.00,118.15,0.989,6,0.105,0.000,2340,2194,2817
$STATE,5665,end apogee,CONTROL_FINISHED_OK
$STATE,5665,begin climb
$GC,5667,0.85,146.6,447.0,0.0,274,5792,1.17,2.78,116.82,0.957,4,0.074,0.077,2589,795,2218
$GC,5876,0.85,146.6,437.6,6.3,284,5881,0.00,2.60,0.00,0.000,6,0.000,0.054,2589,2206,2216
$GC,6203,0.85,146.6,418.0,6.7,300,6207,0.00,2.70,0.00,0.000,4,0.000,0.081,2589,3613,2216
$GC,6286,0.85,146.6,411.0,8.5,304,6290,0.00,2.67,0.00,0.000,6,0.000,0.066,2589,2197,2216
$GC,6611,0.87,171.6,391.9,5.3,320,6637,0.00,2.80,20.42,0.898,4,0.000,0.081,2589,3616,2116
$GC,6671,0.87,171.6,388.1,7.2,323,6675,0.00,2.70,0.00,0.000,6,0.000,0.067,2589,2200,2116
$GC,6996,0.87,171.6,367.5,6.1,339,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,2115
$GC,7305,0.91,208.6,351.1,5.0,354,7340,0.00,2.78,29.80,0.909,4,0.000,0.077,2589,784,1965
$GC,7402,0.94,230.8,346.3,5.4,357,7429,0.12,2.62,18.58,0.879,6,0.058,0.053,2622,2203,1875
$GC,7737,0.94,230.8,322.2,7.8,374,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2203,1875
$GC,8046,0.94,230.8,297.3,8.3,389,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2203,1874
$GC,8355,0.94,230.8,271.5,7.6,404,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2203,1874
$GC,8664,0.94,230.8,250.0,7.3,419,8669,0.00,2.67,0.00,0.000,4,0.000,0.069,2622,779,1874
$GC,8704,0.94,230.8,247.1,8.0,421,8708,0.00,2.60,0.00,0.000,6,0.000,0.049,2622,2203,1874
$GC,9029,0.94,230.8,221.8,8.4,437,9033,0.00,2.65,0.00,0.000,4,0.000,0.074,2622,3613,1874
$GC,9077,0.94,230.8,217.1,10.0,439,9082,0.00,2.65,0.00,0.000,6,0.000,0.061,2622,2192,1874
$GC,9399,0.94,230.8,187.4,9.5,455,9403,0.00,2.65,0.00,0.000,4,0.000,0.073,2622,784,1874
$GC,9447,0.94,230.8,182.8,9.6,457,9451,0.00,2.60,0.00,0.000,6,0.000,0.050,2622,2196,1874
$GC,9768,0.94,230.8,153.2,9.5,473,9772,0.00,2.65,0.00,0.000,4,0.000,0.074,2622,3613,1874
$GC,9806,0.94,230.8,149.6,10.2,475,9810,0.00,2.62,0.00,0.000,6,0.000,0.062,2622,2196,1874
$GC,10132,0.94,230.8,122.1,8.5,491,10136,0.00,2.65,0.00,0.000,4,0.000,0.072,2622,784,1874
$GC,10193,0.94,230.8,117.0,8.6,494,10197,0.00,2.58,0.00,0.000,6,0.000,0.049,2622,2201,1874
$GC,10519,0.94,230.8,89.1,6.9,510,10520,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2201,1873
$GC,10828,0.94,230.8,67.5,8.0,525,10832,0.00,2.65,0.00,0.000,4,0.000,0.066,2622,781,1875
$GC,10870,0.94,230.8,63.9,8.1,527,10875,0.00,2.60,0.00,0.000,6,0.000,0.048,2622,2199,1875
$GC,11198,0.94,231.0,43.6,6.0,543,11203,0.00,2.65,0.00,0.000,4,0.000,0.074,2622,3613,1875
$GC,11238,1.03,315.6,42.4,3.7,545,11308,0.00,2.60,64.85,0.700,6,0.000,0.059,2622,2200,1530
$STATE,11628,end climb,SURFACE_DEPTH_REACHED
$STATE,11628,begin surface coast
$FINISH,0.6,1.013337
$STATE,11650,end surface coast,CONTROL_FINISHED_OK
$STATE,11650,begin surface
$SM_CCo,11670,148.07,0.651,2,0,509,566.15
$SM_GC,1.39,0.00,0.00,148.07,0.000,0.000,0.651,66,2400,509,-10.78,0.00,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2070
$TCM_TEMP,16.90
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,350.3,102.8
$24V_AH,23.7,29.078
$10V_AH,10.2,13.957
$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,25.275,132.700,368.625,148.075,0.000,65.177,79.265,193.247,6.250,0.000,0.000,35.458,1068.431,8749.607,667.517,1390.555,474.470,33.368,1375.537,0.000,1337.312,0.000,18.644
$DEVICE_MAMPS,169.507,84.370,989.430,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.413,393.375,440.386,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28570,565
$CFSIZE,260165632,249950208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,2,0
$GPS,111207,211058,6301.603,-856.087,37,3.8,56,-9.7