version: 66.02
glider: 16
mission: 6
dive: 168
start: 12 11 107 21 35 19
data:
$ID,16
$MISSION,6
$DIVE,168
$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,-2079056
$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,15
$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
$GPS1,211058,6301.603,-856.087,37,3.8,56,-9.7
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-47.8
$GPS2,213429,6302.069,-855.195,14,2.2,33,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.164,0.148
$KALMAN_X,-133717.6,17.6,1026.2,141823.0,-4479.8
$KALMAN_Y,101917.6,592.3,621.5,52149.6,-9027.1
$MHEAD_RNG_PITCHd_Wd,57.6,18824,-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,-101.25,0.000,2,0.000,0.000,63,2403,3084
$GC,126,-0.85,-146.6,3.2,-2.3,5,153,12.12,2.60,-8.35,0.000,4,0.170,0.087,2222,3765,3417
$GC,381,-0.85,-146.6,35.0,-8.7,16,389,0.00,2.55,0.00,0.000,6,0.000,0.055,2222,2402,3418
$GC,697,-0.85,-146.6,58.7,-6.0,32,702,0.00,2.70,0.00,0.000,4,0.000,0.077,2222,985,3418
$GC,760,-0.85,-146.6,63.0,-5.5,35,764,0.00,2.60,0.00,0.000,6,0.000,0.057,2222,2398,3418
$GC,1085,-0.85,-146.6,87.8,-7.2,51,1090,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,982,3418
$GC,1147,-0.85,-146.6,92.2,-7.2,54,1151,0.00,2.62,0.00,0.000,6,0.000,0.056,2222,2407,3418
$GC,1472,-0.85,-146.6,116.3,-7.4,70,1477,0.00,2.70,0.00,0.000,4,0.000,0.071,2222,976,3418
$GC,1526,-0.85,-146.6,120.6,-7.7,72,1533,0.00,2.62,0.00,0.000,6,0.000,0.057,2222,2394,3417
$GC,1842,-0.85,-146.6,144.9,-7.5,88,1847,0.00,2.67,0.00,0.000,4,0.000,0.072,2222,978,3418
$GC,1869,-0.85,-146.6,147.2,-8.5,89,1873,0.00,2.62,0.00,0.000,6,0.000,0.057,2222,2412,3417
$GC,2190,-0.85,-146.6,171.0,-7.3,105,2195,0.00,2.70,0.00,0.000,4,0.000,0.072,2222,982,3418
$GC,2234,-0.85,-146.6,174.4,-7.2,107,2238,0.00,2.62,0.00,0.000,6,0.000,0.057,2222,2414,3418
$GC,2560,-0.85,-146.6,197.5,-7.2,123,2565,0.00,2.70,0.00,0.000,4,0.000,0.072,2222,982,3418
$GC,2627,-0.85,-146.6,202.6,-8.3,126,2631,0.00,2.60,0.00,0.000,6,0.000,0.057,2222,2404,3418
$GC,2947,-0.85,-146.6,226.3,-7.7,142,2952,0.00,2.67,0.00,0.000,4,0.000,0.073,2222,983,3418
$GC,3002,-0.85,-146.6,231.1,-8.6,144,3009,0.00,2.60,0.00,0.000,6,0.000,0.057,2222,2391,3418
$GC,3318,-0.85,-146.6,258.2,-8.8,160,3322,0.00,2.67,0.00,0.000,4,0.000,0.074,2222,979,3418
$GC,3349,-0.85,-146.6,261.4,-9.5,161,3356,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2400,3418
$GC,3665,-0.85,-146.6,289.0,-8.5,177,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3418
$GC,3974,-0.85,-146.6,312.3,-7.3,192,3979,0.00,2.67,0.00,0.000,4,0.000,0.074,2222,982,3417
$GC,4023,-0.85,-146.6,316.1,-7.7,194,4028,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2400,3418
$GC,4344,-0.85,-146.6,342.2,-9.1,210,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3418
$GC,4654,-0.85,-146.6,370.8,-8.4,225,4658,0.00,2.67,0.00,0.000,4,0.000,0.075,2223,983,3418
$GC,4720,-0.85,-146.6,376.1,-7.9,228,4724,0.00,2.60,0.00,0.000,6,0.000,0.060,2222,2398,3418
$GC,5047,-0.85,-146.6,399.3,-7.3,244,5051,0.00,2.60,0.00,0.000,4,0.000,0.081,2222,3768,3418
$GC,5090,-0.85,-146.6,402.7,-7.7,246,5094,0.00,2.55,0.00,0.000,6,0.000,0.060,2222,2401,3417
$GC,5417,-0.85,-146.6,425.0,-6.9,262,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3418
$GC,5726,-0.85,-146.6,446.3,-7.2,277,5731,0.00,2.70,0.00,0.000,4,0.000,0.080,2222,982,3418
$GC,5842,-0.85,-146.6,454.5,-8.3,282,5846,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2407,3418
$STATE,6079,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6079,begin apogee
$GC,6084,-0.31,0.0,471.0,6.7,294,6206,0.60,0.00,118.97,1.012,6,0.109,0.000,2341,2196,2817
$STATE,6207,end apogee,CONTROL_FINISHED_OK
$STATE,6207,begin climb
$GC,6209,0.85,146.6,475.0,0.0,300,6333,1.17,2.85,116.45,1.000,4,0.074,0.081,2590,3618,2219
$GC,6366,0.85,146.6,470.0,6.7,307,6370,0.00,2.72,0.00,0.000,6,0.000,0.069,2590,2198,2219
$GC,6687,0.85,146.6,450.0,7.1,323,6692,0.00,2.72,0.00,0.000,4,0.000,0.082,2590,784,2218
$GC,6749,0.85,149.1,446.2,5.9,326,6753,0.00,2.65,0.00,0.000,6,0.000,0.058,2590,2204,2217
$GC,7074,0.87,169.3,429.9,5.4,342,7098,0.00,2.80,18.73,0.933,4,0.000,0.074,2590,781,2125
$GC,7126,0.88,181.9,426.9,5.7,344,7145,0.00,2.65,11.88,0.879,6,0.000,0.055,2590,2202,2075
$GC,7467,0.90,198.0,408.2,5.6,361,7488,0.00,2.78,13.90,0.904,4,0.000,0.084,2590,3610,2008
$GC,7533,0.90,198.0,403.9,7.4,364,7538,0.00,2.70,0.00,0.000,6,0.000,0.070,2590,2197,2008
$GC,7858,0.90,198.0,381.9,7.2,380,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2198,2007
$GC,8167,0.90,198.0,358.4,7.8,395,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2198,2006
$GC,8477,0.90,198.0,335.3,7.0,410,8481,0.00,2.70,0.00,0.000,4,0.000,0.079,2590,785,2005
$GC,8508,0.90,198.0,333.0,7.1,411,8515,0.00,2.65,0.00,0.000,6,0.000,0.055,2590,2201,2005
$GC,8824,0.92,218.1,314.6,5.5,427,8844,0.00,0.00,16.73,0.877,6,0.000,0.000,2590,2201,1926
$GC,9153,0.95,246.2,296.2,5.2,443,9179,0.12,0.00,23.30,0.877,6,0.064,0.000,2623,2202,1813
$GC,9483,0.95,246.2,273.1,7.7,459,9487,0.00,2.67,0.00,0.000,4,0.000,0.071,2623,785,1812
$GC,9514,0.95,246.2,270.3,8.3,460,9522,0.00,2.62,0.00,0.000,6,0.000,0.054,2623,2195,1811
$GC,9830,0.95,246.2,243.1,9.1,476,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2195,1812
$GC,10139,0.95,246.2,215.9,8.5,491,10141,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2195,1811
$GC,10449,0.95,246.2,190.9,8.1,506,10453,0.00,2.67,0.00,0.000,4,0.000,0.071,2623,781,1812
$GC,10491,0.95,246.2,187.1,8.6,508,10496,0.00,2.62,0.00,0.000,6,0.000,0.051,2623,2198,1811
$GC,10818,0.95,246.2,160.5,8.1,524,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2198,1813
$GC,11128,0.95,246.2,137.0,7.3,539,11129,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2198,1812
$GC,11437,0.95,246.2,115.8,7.1,554,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2198,1812
$GC,11747,0.95,246.2,94.6,7.2,569,11751,0.00,2.67,0.00,0.000,4,0.000,0.071,2623,778,1813
$GC,11801,0.95,246.2,90.5,6.8,571,11808,0.00,2.62,0.00,0.000,6,0.000,0.051,2623,2202,1813
$GC,12116,0.95,246.2,66.5,7.5,587,12121,0.00,2.65,0.00,0.000,4,0.000,0.068,2623,783,1813
$GC,12160,0.95,246.2,63.2,8.2,589,12165,0.00,2.58,0.00,0.000,6,0.000,0.050,2623,2201,1813
$GC,12481,0.95,246.2,41.4,7.0,605,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2202,1814
$GC,12791,0.95,246.2,17.8,7.8,620,12795,0.00,2.65,0.00,0.000,4,0.000,0.066,2623,779,1814
$GC,12822,0.95,246.2,15.2,7.5,621,12829,0.00,2.60,0.00,0.000,6,0.000,0.050,2623,2198,1814
$STATE,12971,end climb,SURFACE_DEPTH_REACHED
$STATE,12971,begin surface coast
$FINISH,0.8,1.014136
$STATE,12993,end surface coast,CONTROL_FINISHED_OK
$STATE,12993,begin surface
$SM_CCo,13013,187.27,0.663,1,0,509,566.15
$SM_GC,1.36,0.00,0.00,187.27,0.000,0.000,0.663,69,2405,509,-10.76,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2075
$TCM_TEMP,16.90
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,375.2,105.3
$24V_AH,23.6,29.257
$10V_AH,10.2,14.035
$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,25.250,122.975,319.950,187.275,0.000,164.009,280.702,594.790,13.750,0.000,0.000,34.286,1157.240,10142.263,679.314,1446.743,1198.335,33.370,1402.620,0.000,1401.164,0.000,20.272
$DEVICE_MAMPS,170.274,87.438,1011.673,663.455,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.378,432.444,479.901,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31745,630
$CFSIZE,260165632,249872384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,121207,011651,6304.115,-845.237,39,1.4,52,-9.6