version: 66.02
glider: 16
mission: 6
dive: 116
start: 12 1 107 15 22 49
data:
$ID,16
$MISSION,6
$DIVE,116
$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,-2077785.8
$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,17
$R_STBD_OVSHOOT,17
$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
$GPS1,151735,6209.716,-1030.398,11,2.4,31,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-48.9
$GPS2,152159,6209.729,-1030.438,11,3.6,30,-10.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.086,-0.204
$KALMAN_X,-32849.1,1080.5,-93.0,-42787.7,12651.8
$KALMAN_Y,126782.4,-874.3,-6871.9,-60622.5,81675.6
$MHEAD_RNG_PITCHd_Wd,213.2,21245,-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,18,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,103,0.00,0.00,-81.40,0.000,2,0.000,0.000,62,2406,2958
$GC,106,-0.85,-146.6,3.1,-2.9,4,135,12.18,2.65,-11.73,0.000,4,0.172,0.071,2223,986,3417
$GC,373,-0.85,-146.6,31.7,-9.3,16,377,0.00,2.58,0.00,0.000,6,0.000,0.051,2224,2401,3418
$GC,699,-0.85,-146.6,59.8,-4.1,32,703,0.00,2.62,0.00,0.000,4,0.000,0.061,2224,980,3417
$GC,764,-0.85,-146.6,63.5,-5.7,35,769,0.00,2.58,0.00,0.000,6,0.000,0.050,2224,2408,3417
$GC,1091,-0.85,-146.6,87.7,-6.2,51,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2408,3418
$GC,1400,-0.85,-146.6,108.5,-7.5,66,1405,0.00,2.62,0.00,0.000,4,0.000,0.061,2224,985,3418
$GC,1488,-0.85,-146.6,114.4,-6.1,70,1493,0.00,2.58,0.00,0.000,6,0.000,0.051,2224,2396,3417
$GC,1816,-0.85,-146.6,136.9,-7.5,86,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2395,3416
$GC,2125,-0.85,-146.6,163.8,-8.1,101,2129,0.00,2.60,0.00,0.000,4,0.000,0.063,2224,985,3418
$GC,2185,-0.85,-146.6,168.5,-7.7,104,2190,0.00,2.53,0.00,0.000,6,0.000,0.051,2224,2400,3418
$GC,2511,-0.85,-146.6,194.4,-8.3,120,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2400,3418
$GC,2820,-0.85,-146.6,219.0,-7.7,135,2824,0.00,2.62,0.00,0.000,4,0.000,0.064,2224,983,3417
$GC,2904,-0.85,-146.6,225.0,-6.9,139,2909,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,2398,3417
$GC,3235,-0.85,-146.6,250.6,-7.8,155,3240,0.00,2.62,0.00,0.000,4,0.000,0.063,2224,977,3418
$GC,3307,-0.85,-146.6,256.8,-8.9,158,3311,0.00,2.60,0.00,0.000,6,0.000,0.051,2224,2403,3417
$GC,3628,-0.85,-146.6,283.0,-8.5,174,3632,0.00,2.60,0.00,0.000,4,0.000,0.064,2224,985,3417
$GC,3689,-0.85,-146.6,288.1,-8.5,177,3693,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,2401,3418
$GC,4013,-0.85,-146.6,313.2,-7.5,193,4018,0.00,2.60,0.00,0.000,4,0.000,0.062,2224,985,3417
$GC,4068,-0.85,-146.6,317.9,-8.6,195,4075,0.00,2.60,0.00,0.000,6,0.000,0.051,2224,2400,3417
$GC,4384,-0.85,-146.6,339.8,-7.0,211,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2400,3417
$GC,4693,-0.85,-146.6,362.0,-6.9,226,4697,0.00,2.62,0.00,0.000,4,0.000,0.064,2224,979,3418
$GC,4741,-0.85,-146.6,365.5,-7.1,228,4746,0.00,2.60,0.00,0.000,6,0.000,0.051,2224,2404,3418
$GC,5063,-0.85,-146.6,388.5,-7.2,244,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2404,3417
$GC,5372,-0.85,-146.6,411.6,-7.9,259,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2404,3418
$GC,5681,-0.85,-146.6,437.3,-8.0,274,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2404,3417
$GC,5990,-0.85,-146.6,463.5,-8.8,289,5994,0.00,2.62,0.00,0.000,4,0.000,0.065,2224,985,3417
$GC,6039,-0.85,-146.6,467.5,-7.7,291,6044,0.00,2.58,0.00,0.000,6,0.000,0.052,2224,2400,3417
$GC,6360,-0.85,-146.6,492.6,-7.9,307,6365,0.00,2.62,0.00,0.000,4,0.000,0.064,2224,981,3417
$GC,6415,-0.85,-146.6,496.8,-7.4,309,6422,0.00,2.58,0.00,0.000,6,0.000,0.052,2224,2396,3417
$GC,6730,-0.85,-146.6,521.1,-7.5,325,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2395,3417
$GC,7040,-0.85,-146.6,544.2,-7.5,340,7044,0.00,2.62,0.00,0.000,4,0.000,0.066,2224,982,3417
$GC,7088,-0.85,-146.6,547.8,-7.5,342,7093,0.00,2.58,0.00,0.000,6,0.000,0.053,2224,2393,3417
$GC,7409,-0.85,-146.6,570.6,-6.9,358,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2393,3417
$GC,7718,-0.85,-146.6,591.0,-6.3,373,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2392,3417
$GC,8028,-0.85,-146.6,608.4,-5.6,388,8032,0.00,2.60,0.00,0.000,4,0.000,0.066,2224,984,3417
$GC,8099,-0.85,-146.6,612.6,-5.7,391,8103,0.00,2.58,0.00,0.000,6,0.000,0.053,2224,2401,3417
$GC,8420,-0.85,-146.6,630.2,-5.8,407,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2401,3417
$GC,8731,-0.85,-146.6,650.0,-6.8,422,8735,0.00,2.62,0.00,0.000,4,0.000,0.067,2224,984,3417
$GC,8796,-0.85,-146.6,654.7,-6.9,425,8801,0.00,2.60,0.00,0.000,6,0.000,0.053,2224,2398,3417
$GC,9123,-0.85,-146.6,680.4,-7.9,441,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2398,3416
$GC,9433,-0.85,-146.6,700.8,-6.4,456,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2398,3416
$GC,9742,-0.85,-146.6,732.2,-11.8,471,9743,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2398,3416
$GC,10051,-0.85,-146.6,770.9,-14.6,486,10055,0.00,2.58,0.00,0.000,4,0.000,0.077,2224,3769,3416
$GC,10134,-0.85,-146.6,782.8,-13.2,490,10138,0.00,2.47,0.00,0.000,6,0.000,0.054,2223,2400,3416
$GC,10461,-0.85,-146.6,804.9,-5.6,506,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2400,3416
$GC,10770,-0.85,-146.6,816.8,-2.6,521,10774,0.00,2.65,0.00,0.000,4,0.000,0.076,2224,986,3416
$GC,10841,-0.85,-146.6,819.5,-3.4,524,10846,0.00,2.58,0.00,0.000,6,0.000,0.061,2224,2398,3416
$GC,11162,-0.85,-146.6,837.6,-7.0,540,11163,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2398,3416
$STATE,11202,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11202,begin apogee
$GC,11206,-0.31,0.0,841.0,7.5,542,11332,0.57,0.00,122.72,1.249,6,0.115,0.000,2337,2194,2817
$STATE,11333,end apogee,CONTROL_FINISHED_OK
$STATE,11333,begin climb
$GC,11334,0.85,146.6,844.2,0.0,548,11463,1.23,2.83,120.55,1.231,4,0.091,0.086,2586,3612,2218
$GC,11520,0.85,146.6,834.6,6.8,557,11525,0.00,2.65,0.00,0.000,6,0.000,0.065,2586,2207,2218
$GC,11846,0.85,146.6,811.6,9.2,573,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2207,2216
$GC,12155,0.85,146.6,780.6,8.4,588,12160,0.00,2.70,0.00,0.000,4,0.000,0.083,2586,3611,2215
$GC,12288,0.94,232.3,773.6,3.7,594,12367,0.15,2.65,69.30,1.230,6,0.066,0.061,2625,2191,1868
$GC,12674,0.94,237.4,754.5,5.9,613,12681,0.00,0.00,4.97,0.879,6,0.000,0.000,2625,2190,1849
$GC,12983,0.94,237.4,722.3,11.7,628,12985,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2190,1848
$GC,13293,0.94,237.4,692.2,7.9,643,13294,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2190,1848
$GC,13602,1.03,315.3,677.7,3.9,658,13672,0.00,2.78,63.12,1.167,4,0.000,0.072,2625,3610,1531
$GC,13695,1.10,380.7,674.1,4.2,662,13756,0.12,2.62,53.45,1.142,6,0.052,0.057,2663,2202,1263
$GC,14077,1.10,380.7,637.2,12.3,681,14081,0.00,2.67,0.00,0.000,4,0.000,0.071,2663,785,1263
$GC,14137,1.10,380.7,629.5,12.8,684,14142,0.00,2.60,0.00,0.000,6,0.000,0.048,2663,2208,1263
$GC,14463,1.10,380.7,589.1,12.3,700,14467,0.00,2.67,0.00,0.000,4,0.000,0.067,2663,783,1264
$GC,14511,1.10,380.7,582.8,11.9,702,14516,0.00,2.60,0.00,0.000,6,0.000,0.047,2663,2198,1264
$GC,14832,1.10,380.7,544.3,12.3,718,14837,0.00,2.65,0.00,0.000,4,0.000,0.066,2662,777,1264
$GC,14887,1.10,380.7,537.1,12.5,720,14894,0.00,2.60,0.00,0.000,6,0.000,0.046,2663,2199,1264
$GC,15203,1.10,380.7,497.2,12.5,736,15207,0.00,2.65,0.00,0.000,4,0.000,0.067,2663,784,1265
$GC,15256,1.10,380.7,490.1,12.6,738,15263,0.00,2.58,0.00,0.000,6,0.000,0.046,2663,2196,1265
$GC,15572,1.10,380.7,452.5,11.2,754,15577,0.00,2.62,0.00,0.000,4,0.000,0.066,2663,783,1265
$GC,15638,1.10,380.7,445.2,10.9,757,15643,0.00,2.58,0.00,0.000,6,0.000,0.045,2663,2195,1265
$GC,15964,1.10,380.7,408.9,11.1,773,15969,0.00,2.62,0.00,0.000,4,0.000,0.067,2663,784,1266
$GC,16008,1.10,380.7,403.9,11.6,775,16012,0.00,2.55,0.00,0.000,6,0.000,0.046,2663,2200,1266
$GC,16335,1.10,380.7,365.6,11.6,791,16339,0.00,2.62,0.00,0.000,4,0.000,0.065,2663,784,1266
$GC,16383,1.10,380.7,359.8,11.4,793,16388,0.00,2.55,0.00,0.000,6,0.000,0.046,2663,2198,1267
$GC,16704,1.10,380.7,323.6,11.2,809,16709,0.00,2.65,0.00,0.000,4,0.000,0.067,2663,779,1267
$GC,16747,1.10,380.7,318.8,11.2,811,16752,0.00,2.58,0.00,0.000,6,0.000,0.045,2663,2195,1267
$GC,17074,1.10,380.7,282.1,11.1,827,17078,0.00,2.65,0.00,0.000,4,0.000,0.067,2663,775,1267
$GC,17123,1.10,380.7,276.6,10.5,829,17128,0.00,2.58,0.00,0.000,6,0.000,0.045,2663,2208,1267
$GC,17444,1.10,380.7,238.1,12.1,845,17448,0.00,2.65,0.00,0.000,4,0.000,0.065,2663,783,1267
$GC,17500,1.10,380.7,231.5,11.3,847,17506,0.00,2.55,0.00,0.000,6,0.000,0.045,2663,2206,1268
$GC,17815,1.10,380.7,195.2,11.2,863,17819,0.00,2.65,0.00,0.000,4,0.000,0.066,2663,781,1268
$GC,17857,1.10,380.7,190.2,10.1,865,17862,0.00,2.58,0.00,0.000,6,0.000,0.044,2663,2201,1268
$GC,18184,1.10,380.7,150.0,13.4,881,18189,0.00,2.62,0.00,0.000,4,0.000,0.065,2663,783,1268
$GC,18234,1.10,380.7,143.4,12.2,883,18238,0.00,2.55,0.00,0.000,6,0.000,0.045,2662,2206,1268
$GC,18555,1.10,380.7,102.6,13.7,899,18559,0.00,2.65,0.00,0.000,4,0.000,0.067,2662,782,1268
$GC,18616,1.10,380.7,93.0,15.8,902,18620,0.00,2.55,0.00,0.000,6,0.000,0.044,2663,2205,1268
$GC,18942,1.10,380.7,51.2,13.1,918,18946,0.00,2.65,0.00,0.000,4,0.000,0.064,2662,773,1268
$GC,18995,1.10,380.7,45.5,11.6,920,19003,0.00,2.58,0.00,0.000,6,0.000,0.044,2662,2197,1269
$GC,19311,1.10,380.7,3.6,13.2,936,19316,0.00,2.70,0.00,0.000,4,0.000,0.079,2663,778,1269
$STATE,19330,end climb,SURFACE_DEPTH_REACHED
$STATE,19331,begin surface coast
$FINISH,0.8,1.027266
$STATE,19354,end surface coast,CONTROL_FINISHED_OK
$STATE,19354,begin surface
$SM_CCo,19436,0.00,0.000,0,0,1267,380.46
$SM_GC,1.19,11.38,0.00,0.00,0.044,0.000,0.000,73,2402,1267,-10.68,0.06,380.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2098
$TCM_TEMP,19.50
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,751.5,97.8
$24V_AH,23.5,22.001
$10V_AH,10.2,10.011
$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,25.625,178.325,434.125,0.000,0.000,32.601,48.361,93.461,11.750,0.000,0.000,31.529,1726.817,14923.703,578.975,2163.160,321.691,33.347,1666.959,0.000,2095.948,0.000,44.617
$DEVICE_MAMPS,171.808,85.904,1249.443,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,652.321,670.485,531.407,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47336,938
$CFSIZE,260165632,252764160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,011207,204756,6207.849,-1035.172,39,1.6,39,-10.3