version: 66.02
glider: 16
mission: 6
dive: 113
start: 12 1 107 2 16 7
data:
$ID,16
$MISSION,6
$DIVE,113
$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,300
$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,-2077703.2
$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,25
$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
$GPS1,020721,6207.411,-1014.434,41,2.1,61,-10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-65.5
$GPS2,021515,6207.474,-1014.388,15,1.7,15,-10.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.189,-0.115
$KALMAN_X,-38795.7,481.3,762.4,-22972.4,-6348.1
$KALMAN_Y,104235.6,-338.6,196.2,-49906.6,5462.5
$MHEAD_RNG_PITCHd_Wd,248.7,35428,-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,-146.6,0.0,0.0,0,83,0.00,0.00,-62.25,0.000,2,0.000,0.000,73,2405,3174
$GC,86,-0.85,-146.6,3.6,-5.5,3,105,12.10,0.00,-5.43,0.000,6,0.167,0.000,2219,2404,3416
$GC,413,-0.85,-146.6,34.0,-7.9,19,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3418
$GC,720,-0.85,-146.6,56.0,-7.8,34,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3418
$GC,1030,-0.85,-146.6,87.0,-8.0,49,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3417
$GC,1339,-0.85,-146.6,107.8,-6.3,64,1344,0.00,2.62,0.00,0.000,4,0.000,0.064,2219,981,3418
$GC,1410,-0.85,-146.6,113.7,-8.3,67,1415,0.00,2.58,0.00,0.000,6,0.000,0.049,2219,2393,3417
$GC,1732,-0.85,-146.6,140.5,-8.1,83,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2393,3418
$GC,2041,-0.85,-146.6,166.4,-8.6,98,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2393,3417
$GC,2350,-0.85,-146.6,194.4,-9.9,113,2354,0.00,2.60,0.00,0.000,4,0.000,0.064,2220,980,3417
$GC,2393,-0.85,-146.6,199.4,-11.0,115,2398,0.00,2.58,0.00,0.000,6,0.000,0.049,2220,2391,3417
$GC,2721,-0.85,-146.6,228.9,-8.9,131,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2391,3417
$GC,3030,-0.85,-146.6,249.5,-6.0,146,3034,0.00,2.60,0.00,0.000,4,0.000,0.064,2220,980,3417
$GC,3084,-0.85,-146.6,252.8,-6.0,148,3090,0.00,2.58,0.00,0.000,6,0.000,0.050,2220,2392,3418
$GC,3399,-0.85,-146.6,272.6,-6.8,164,3403,0.00,2.60,0.00,0.000,4,0.000,0.061,2220,976,3418
$GC,3447,-0.85,-146.6,276.3,-7.1,166,3452,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,2396,3418
$GC,3768,-0.85,-146.6,303.2,-9.5,182,3772,0.00,2.62,0.00,0.000,4,0.000,0.064,2220,975,3418
$GC,3823,-0.85,-146.6,307.9,-8.7,184,3830,0.00,2.60,0.00,0.000,6,0.000,0.050,2219,2414,3418
$GC,4138,-0.85,-146.6,332.1,-7.7,200,4142,0.00,2.65,0.00,0.000,4,0.000,0.065,2220,981,3418
$GC,4187,-0.85,-146.6,336.2,-8.4,202,4192,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,2401,3418
$GC,4508,-0.85,-146.6,360.6,-6.8,218,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2401,3418
$GC,4817,-0.85,-146.6,382.4,-6.8,233,4822,0.00,2.62,0.00,0.000,4,0.000,0.065,2220,979,3418
$GC,4872,-0.85,-146.6,386.3,-6.9,235,4879,0.00,2.60,0.00,0.000,6,0.000,0.052,2220,2400,3417
$GC,5188,-0.85,-146.6,406.7,-6.0,251,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,5497,-0.85,-146.6,427.4,-7.1,266,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,5807,-0.85,-146.6,450.2,-7.5,281,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3417
$GC,6116,-0.85,-146.6,474.1,-7.8,296,6120,0.00,2.62,0.00,0.000,4,0.000,0.065,2220,975,3418
$GC,6158,-0.85,-146.6,477.3,-7.3,298,6163,0.00,2.60,0.00,0.000,6,0.000,0.051,2220,2395,3418
$GC,6485,-0.85,-146.6,499.0,-6.2,314,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3418
$GC,6794,-0.85,-146.6,517.5,-6.1,329,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2395,3418
$GC,7103,-0.85,-146.6,537.2,-6.5,344,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2395,3418
$GC,7413,-0.85,-146.6,558.8,-7.3,359,7417,0.00,2.60,0.00,0.000,4,0.000,0.064,2220,980,3418
$GC,7455,-0.85,-146.6,562.2,-7.8,361,7460,0.00,2.55,0.00,0.000,6,0.000,0.051,2220,2400,3418
$GC,7782,-0.85,-146.6,589.1,-8.4,377,7786,0.00,2.60,0.00,0.000,4,0.000,0.062,2220,981,3418
$GC,7866,-0.85,-146.6,596.4,-8.5,381,7870,0.00,2.55,0.00,0.000,6,0.000,0.050,2220,2400,3418
$GC,8191,-0.85,-146.6,624.3,-8.6,397,8195,0.00,2.60,0.00,0.000,4,0.000,0.062,2220,981,3418
$GC,8261,-0.85,-146.6,630.7,-9.1,400,8266,0.00,2.55,0.00,0.000,6,0.000,0.050,2220,2394,3418
$GC,8583,-0.85,-146.6,657.3,-7.8,416,8588,0.00,2.60,0.00,0.000,4,0.000,0.061,2220,974,3418
$GC,8649,-0.85,-146.6,662.7,-7.8,419,8654,0.00,2.58,0.00,0.000,6,0.000,0.050,2219,2400,3418
$GC,8976,-0.85,-146.6,686.0,-7.3,435,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,9285,-0.85,-146.6,710.8,-8.6,450,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3417
$GC,9594,-0.85,-146.6,738.1,-8.0,465,9599,0.00,2.60,0.00,0.000,4,0.000,0.063,2220,980,3417
$GC,9650,-0.85,-146.6,742.5,-7.9,467,9656,0.00,2.55,0.00,0.000,6,0.000,0.051,2220,2398,3417
$GC,9965,-0.85,-146.6,760.5,-4.6,483,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3417
$GC,10274,-0.85,-146.6,771.9,-3.7,498,10278,0.00,2.55,0.00,0.000,4,0.000,0.077,2220,3763,3417
$GC,10339,-0.85,-146.6,776.2,-6.7,501,10344,0.00,2.47,0.00,0.000,6,0.000,0.050,2220,2399,3417
$GC,10666,-0.85,-146.6,800.6,-5.9,517,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3417
$GC,10975,-0.85,-146.6,816.0,-5.9,532,10980,0.00,2.60,0.00,0.000,4,0.000,0.081,2220,3767,3417
$GC,11036,-0.85,-146.6,820.2,-6.9,535,11041,0.00,2.50,0.00,0.000,6,0.000,0.058,2220,2400,3417
$GC,11363,-0.85,-146.6,837.5,-6.1,551,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3417
$STATE,11402,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11402,begin apogee
$GC,11406,-0.31,0.0,841.0,8.1,553,11533,0.60,0.00,123.03,1.253,6,0.107,0.000,2340,2191,2818
$STATE,11534,end apogee,CONTROL_FINISHED_OK
$STATE,11534,begin climb
$GC,11535,0.85,146.6,843.4,0.0,559,11666,1.20,2.75,121.38,1.229,4,0.082,0.074,2589,799,2218
$GC,11678,0.96,254.9,841.2,3.0,566,11773,0.15,2.62,88.45,1.205,6,0.064,0.053,2627,2204,1777
$GC,12088,0.96,254.9,804.7,10.3,586,12090,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2205,1776
$GC,12398,0.96,254.9,771.5,11.6,601,12402,0.00,2.70,0.00,0.000,4,0.000,0.081,2627,3616,1774
$GC,12458,0.96,254.9,764.9,10.0,604,12463,0.00,2.62,0.00,0.000,6,0.000,0.061,2627,2201,1773
$GC,12784,0.96,254.9,738.3,7.7,620,12789,0.00,2.67,0.00,0.000,4,0.000,0.076,2627,3611,1772
$GC,12845,0.96,254.9,732.6,9.5,623,12849,0.00,2.62,0.00,0.000,6,0.000,0.058,2627,2194,1772
$GC,13170,0.96,254.9,706.6,7.4,639,13171,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2194,1769
$GC,13479,0.96,254.9,680.6,9.5,654,13480,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2194,1769
$GC,13788,0.96,254.9,650.3,9.3,669,13789,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2194,1769
$GC,14097,0.96,254.9,625.9,7.4,684,14099,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2194,1769
$GC,14407,0.96,254.9,606.0,6.9,699,14411,0.00,2.62,0.00,0.000,4,0.000,0.068,2627,785,1769
$GC,14472,0.96,254.9,600.6,9.3,702,14477,0.00,2.58,0.00,0.000,6,0.000,0.044,2627,2203,1769
$GC,14799,0.96,254.9,570.6,9.1,718,14800,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2203,1769
$GC,15108,0.96,254.9,542.1,9.4,733,15109,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2203,1770
$GC,15417,0.96,254.9,513.2,8.6,748,15418,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2203,1770
$GC,15726,0.96,254.9,489.1,7.7,763,15731,0.00,2.60,0.00,0.000,4,0.000,0.061,2627,784,1771
$GC,15781,0.96,254.9,484.7,8.2,765,15788,0.00,2.58,0.00,0.000,6,0.000,0.044,2627,2204,1772
$GC,16097,0.96,254.9,458.1,8.9,781,16101,0.00,2.62,0.00,0.000,4,0.000,0.061,2627,784,1772
$GC,16135,0.96,254.9,454.5,9.5,783,16139,0.00,2.53,0.00,0.000,6,0.000,0.043,2627,2202,1772
$GC,16460,0.96,254.9,422.9,10.1,799,16461,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2202,1772
$GC,16769,0.96,254.9,390.9,10.4,814,16770,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2203,1773
$GC,17078,0.96,254.9,359.1,10.5,829,17079,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2202,1772
$GC,17388,0.96,254.9,326.9,10.3,844,17389,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2202,1773
$GC,17697,0.96,254.9,296.0,10.1,859,17698,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2202,1773
$GC,18006,0.96,254.9,265.5,10.0,874,18007,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2202,1773
$GC,18316,0.96,254.9,235.4,9.5,889,18320,0.00,2.62,0.00,0.000,4,0.000,0.061,2627,776,1774
$GC,18358,0.96,254.9,230.8,11.4,891,18363,0.00,2.58,0.00,0.000,6,0.000,0.042,2627,2204,1773
$GC,18685,0.96,254.9,199.3,9.4,907,18686,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2205,1774
$GC,18994,0.96,254.9,171.9,8.3,922,18999,0.00,2.62,0.00,0.000,4,0.000,0.061,2627,777,1775
$GC,19078,0.96,254.9,164.7,9.0,926,19083,0.00,2.53,0.00,0.000,6,0.000,0.042,2627,2201,1775
$GC,19404,0.96,254.9,135.7,8.8,942,19405,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2201,1775
$GC,19714,0.96,254.9,107.2,8.5,957,19715,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2201,1775
$GC,20023,0.96,254.9,84.5,7.0,972,20027,0.00,2.60,0.00,0.000,4,0.000,0.060,2627,781,1776
$GC,20065,0.96,254.9,81.0,7.9,974,20070,0.00,2.55,0.00,0.000,6,0.000,0.041,2627,2201,1776
$GC,20393,0.96,254.9,52.5,9.3,990,20394,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2201,1776
$GC,20702,0.96,254.9,23.8,9.0,1005,20703,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2201,1776
$STATE,20948,end climb,SURFACE_DEPTH_REACHED
$STATE,20948,begin surface coast
$FINISH,0.4,1.013507
$STATE,20970,end surface coast,CONTROL_FINISHED_OK
$STATE,20970,begin surface
$SM_CCo,20989,28.23,0.594,2,0,1593,300.00
$SM_GC,1.41,0.00,0.00,28.23,0.000,0.000,0.594,73,2405,1593,-10.75,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2094
$TCM_TEMP,17.40
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,750.5,99.2
$24V_AH,23.5,21.546
$10V_AH,10.2,9.798
$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,25.175,125.325,332.850,28.225,0.000,65.204,115.103,138.642,13.500,0.000,0.000,15.577,1797.144,16687.162,505.390,2045.286,467.362,33.365,1494.083,0.000,2001.298,0.000,44.614
$DEVICE_MAMPS,167.206,81.302,1253.278,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,710.101,726.225,586.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50471,1018
$CFSIZE,260165632,252915712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,011207,080758,6208.167,-1021.935,29,3.3,49,-10.2