version: 66.02
glider: 16
mission: 6
dive: 169
start: 12 12 107 1 27 21
data:
$ID,16
$MISSION,6
$DIVE,169
$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,-2079089
$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,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
$GPS1,011651,6304.115,-845.237,39,1.4,52,-9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-55.2
$GPS2,012629,6304.062,-844.915,12,2.4,31,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.021,0.220
$KALMAN_X,-129360.2,1325.5,92.8,146150.0,2932.5
$KALMAN_Y,101208.5,1137.0,654.5,55993.3,-9750.8
$MHEAD_RNG_PITCHd_Wd,4.1,19359,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-102.18,0.000,2,0.000,0.000,67,2408,3122
$GC,126,-0.85,-146.6,3.6,-2.5,5,152,12.18,2.72,-6.97,0.000,4,0.173,0.084,2220,988,3416
$GC,404,-0.85,-146.6,30.3,-8.9,17,408,0.00,2.60,0.00,0.000,6,0.000,0.057,2220,2404,3416
$GC,725,-0.85,-146.6,57.7,-8.2,33,729,0.00,2.70,0.00,0.000,4,0.000,0.071,2220,979,3416
$GC,809,-0.85,-146.6,65.1,-8.9,37,813,0.00,2.62,0.00,0.000,6,0.000,0.057,2220,2405,3416
$GC,1135,-0.85,-146.6,92.1,-7.3,53,1139,0.00,2.70,0.00,0.000,4,0.000,0.072,2220,979,3416
$GC,1188,-0.85,-146.6,96.5,-7.6,55,1196,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2393,3416
$GC,1504,-0.85,-146.6,123.9,-8.7,71,1509,0.00,2.67,0.00,0.000,4,0.000,0.072,2220,979,3416
$GC,1536,-0.85,-146.6,126.7,-8.4,72,1543,0.00,2.65,0.00,0.000,6,0.000,0.058,2220,2404,3416
$GC,1851,-0.85,-146.6,153.3,-8.0,88,1856,0.00,2.70,0.00,0.000,4,0.000,0.072,2221,976,3416
$GC,1872,-0.85,-146.6,155.2,-8.3,89,1877,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2404,3416
$GC,2199,-0.85,-146.6,182.6,-8.4,105,2204,0.00,2.67,0.00,0.000,4,0.000,0.072,2220,980,3416
$GC,2248,-0.85,-146.6,186.6,-8.1,107,2253,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2410,3416
$GC,2569,-0.85,-146.6,211.8,-7.8,123,2574,0.00,2.70,0.00,0.000,4,0.000,0.073,2220,976,3416
$GC,2624,-0.85,-146.6,216.1,-7.6,125,2631,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2410,3416
$GC,2940,-0.85,-146.6,237.8,-6.3,141,2944,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,976,3416
$GC,2971,-0.85,-146.6,240.0,-6.9,142,2978,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2404,3416
$GC,3287,-0.85,-146.6,261.4,-7.0,158,3291,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,975,3416
$GC,3319,-0.85,-146.6,263.7,-6.9,159,3325,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2406,3416
$GC,3634,-0.85,-146.6,287.5,-8.2,175,3638,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,977,3416
$GC,3717,-0.85,-146.6,294.7,-8.9,179,3722,0.00,2.62,0.00,0.000,6,0.000,0.060,2220,2401,3416
$GC,4043,-0.85,-146.6,322.1,-8.2,195,4047,0.00,2.67,0.00,0.000,4,0.000,0.074,2220,982,3416
$GC,4126,-0.85,-146.6,329.3,-8.4,199,4130,0.00,2.62,0.00,0.000,6,0.000,0.060,2220,2405,3416
$GC,4451,-0.85,-146.6,355.8,-7.9,215,4455,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,977,3416
$GC,4494,-0.85,-146.6,359.4,-7.9,217,4498,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2403,3416
$GC,4821,-0.85,-146.6,383.5,-7.2,233,4825,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,979,3416
$GC,4882,-0.85,-146.6,388.1,-7.4,236,4886,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2401,3416
$GC,5207,-0.85,-146.6,412.2,-7.5,252,5211,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,978,3416
$GC,5295,-0.85,-146.6,419.6,-8.5,256,5299,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2401,3416
$GC,5621,-0.85,-146.6,446.7,-8.4,272,5626,0.00,2.70,0.00,0.000,4,0.000,0.077,2220,982,3416
$GC,5687,-0.85,-146.6,452.9,-9.8,275,5691,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2400,3416
$STATE,5971,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5971,begin apogee
$GC,5976,-0.31,0.0,476.7,6.5,289,6098,0.60,0.00,119.10,1.009,6,0.109,0.000,2339,2190,2817
$STATE,6099,end apogee,CONTROL_FINISHED_OK
$STATE,6099,begin climb
$GC,6101,0.85,146.6,480.4,0.0,295,6227,1.17,2.88,116.85,0.994,4,0.075,0.084,2588,3614,2218
$GC,6271,0.85,146.6,472.2,8.7,303,6276,0.00,2.70,0.00,0.000,6,0.000,0.067,2588,2204,2217
$GC,6598,0.85,146.6,450.0,6.5,319,6603,0.00,2.75,0.00,0.000,4,0.000,0.080,2588,777,2216
$GC,6697,0.85,146.6,443.5,6.3,323,6704,0.00,2.65,0.00,0.000,6,0.000,0.056,2588,2199,2216
$GC,7013,0.85,146.6,424.6,6.3,339,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,2215
$GC,7322,0.85,146.6,403.3,6.8,354,7326,0.00,2.72,0.00,0.000,4,0.000,0.086,2588,3612,2214
$GC,7364,0.85,146.6,400.2,7.2,356,7369,0.00,2.67,0.00,0.000,6,0.000,0.069,2588,2200,2214
$GC,7692,0.91,209.1,383.7,4.3,372,7746,0.00,2.80,48.97,0.963,4,0.000,0.079,2588,784,1964
$GC,7803,0.92,216.0,378.2,5.8,377,7819,0.10,2.65,6.95,0.783,6,0.069,0.055,2612,2199,1936
$GC,8127,0.92,216.0,357.9,6.7,393,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2201,1934
$GC,8436,0.92,216.0,335.3,7.5,408,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2201,1933
$GC,8746,0.92,216.0,309.7,8.6,423,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2201,1933
$GC,9055,0.92,216.0,284.2,7.8,438,9059,0.00,2.70,0.00,0.000,4,0.000,0.072,2612,781,1932
$GC,9093,0.92,216.0,281.0,8.2,440,9098,0.00,2.60,0.00,0.000,6,0.000,0.052,2612,2202,1932
$GC,9419,0.92,216.0,258.4,6.8,456,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2201,1932
$GC,9729,0.92,216.0,234.8,7.9,471,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2201,1932
$GC,10038,0.92,216.0,210.2,7.7,486,10042,0.00,2.67,0.00,0.000,4,0.000,0.077,2612,3617,1932
$GC,10069,0.92,216.0,207.6,7.4,487,10076,0.00,2.65,0.00,0.000,6,0.000,0.063,2612,2198,1932
$GC,10385,0.92,216.0,184.0,7.4,503,10389,0.00,2.65,0.00,0.000,4,0.000,0.074,2612,782,1932
$GC,10439,0.92,216.0,179.7,8.2,505,10446,0.00,2.60,0.00,0.000,6,0.000,0.050,2612,2196,1932
$GC,10755,0.92,216.0,154.5,8.2,521,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2196,1932
$GC,11064,0.92,216.0,129.7,7.7,536,11068,0.00,2.67,0.00,0.000,4,0.000,0.074,2612,3618,1933
$GC,11107,0.92,216.0,126.1,8.9,538,11112,0.00,2.65,0.00,0.000,6,0.000,0.061,2611,2195,1933
$GC,11434,0.92,216.0,102.8,7.1,554,11435,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2195,1934
$GC,11743,0.92,216.0,80.0,7.8,569,11747,0.00,2.65,0.00,0.000,4,0.000,0.071,2612,780,1934
$GC,11775,0.92,216.0,77.1,8.5,570,11782,0.00,2.60,0.00,0.000,6,0.000,0.050,2612,2201,1934
$GC,12092,0.92,216.0,52.4,7.9,586,12096,0.00,2.65,0.00,0.000,4,0.000,0.073,2612,3616,1935
$GC,12130,0.92,216.0,49.0,8.7,588,12135,0.00,2.65,0.00,0.000,6,0.000,0.062,2612,2192,1934
$GC,12457,0.92,216.0,21.3,8.4,604,12461,0.00,2.65,0.00,0.000,4,0.000,0.073,2612,782,1935
$GC,12528,0.92,216.0,15.3,8.5,607,12532,0.00,2.60,0.00,0.000,6,0.000,0.050,2612,2197,1935
$STATE,12725,end climb,SURFACE_DEPTH_REACHED
$STATE,12725,begin surface coast
$FINISH,0.8,1.015670
$STATE,12746,end surface coast,CONTROL_FINISHED_OK
$STATE,12746,begin surface
$SM_CCo,12766,204.12,0.672,0,0,509,566.15
$SM_GC,1.42,0.00,0.00,204.12,0.000,0.000,0.672,73,2396,509,-10.75,-0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2050
$TCM_TEMP,16.70
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,426.2,59.7
$24V_AH,23.6,29.402
$10V_AH,10.2,14.104
$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,25.250,139.425,291.875,204.125,0.000,65.251,73.743,264.155,11.750,0.000,0.000,32.325,1164.443,9687.779,666.642,1491.634,545.373,33.365,1418.842,0.000,1439.351,0.000,26.323
$DEVICE_MAMPS,173.342,85.904,1009.372,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.178,424.793,459.176,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31692,618
$CFSIZE,260165632,249843712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,121207,050458,6304.048,-843.604,33,3.9,52,-9.6