version: 66.02
glider: 16
mission: 6
dive: 175
start: 12 13 107 1 36 40
data:
$ID,16
$MISSION,6
$DIVE,175
$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,-2079309.6
$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,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
$GPS1,013022,6315.729,-848.698,39,2.4,58,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-45.7
$GPS2,013550,6315.787,-848.712,15,1.4,32,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.076,0.208
$KALMAN_X,-111104.4,-1220.7,-931.2,128171.3,23589.7
$KALMAN_Y,103502.6,796.4,483.0,75912.1,1636.3
$MHEAD_RNG_PITCHd_Wd,29.8,67225,-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,21,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-101.38,0.000,2,0.000,0.000,72,2405,3131
$GC,127,-0.85,-146.6,4.2,-3.5,5,153,12.15,2.60,-6.47,0.000,4,0.173,0.087,2219,3760,3415
$GC,400,-0.85,-146.6,32.3,-7.2,17,404,0.00,2.50,0.00,0.000,6,0.000,0.055,2219,2403,3416
$GC,727,-0.85,-146.6,55.1,-7.1,33,731,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,979,3416
$GC,775,-0.85,-146.6,59.0,-7.0,35,780,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2401,3416
$GC,1096,-0.85,-146.6,82.3,-7.9,51,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3416
$GC,1406,-0.85,-146.6,106.0,-7.8,66,1410,0.00,2.67,0.00,0.000,4,0.000,0.070,2219,982,3417
$GC,1437,-0.85,-146.6,108.5,-6.9,67,1444,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2390,3416
$GC,1755,-0.85,-146.6,130.0,-7.3,83,1759,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,976,3416
$GC,1781,-0.85,-146.6,132.3,-7.9,84,1785,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2401,3416
$GC,2102,-0.85,-146.6,157.5,-8.2,100,2106,0.00,2.67,0.00,0.000,4,0.000,0.070,2219,982,3416
$GC,2119,-0.85,-146.6,158.7,-8.1,101,2123,0.00,2.62,0.00,0.000,6,0.000,0.059,2219,2405,3416
$GC,2444,-0.85,-146.6,181.9,-6.9,117,2448,0.00,2.67,0.00,0.000,4,0.000,0.070,2219,982,3416
$GC,2492,-0.85,-146.6,185.5,-7.2,119,2497,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2400,3416
$GC,2813,-0.85,-146.6,209.0,-7.5,135,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,3122,-0.85,-146.6,233.6,-8.2,150,3127,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,982,3416
$GC,3171,-0.85,-146.6,237.8,-8.4,152,3176,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2393,3416
$GC,3493,-0.85,-146.6,265.3,-8.6,168,3497,0.00,2.67,0.00,0.000,4,0.000,0.073,2219,981,3416
$GC,3513,-0.85,-146.6,267.2,-9.1,169,3517,0.00,2.60,0.00,0.000,6,0.000,0.059,2220,2400,3417
$GC,3840,-0.85,-146.6,293.6,-7.7,185,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3415
$GC,4150,-0.85,-146.6,311.3,-4.7,200,4154,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,982,3416
$GC,4204,-0.85,-146.6,314.0,-4.8,202,4211,0.00,2.60,0.00,0.000,6,0.000,0.059,2219,2400,3416
$GC,4519,-0.85,-146.6,331.1,-7.1,218,4524,0.00,2.67,0.00,0.000,4,0.000,0.073,2218,982,3416
$GC,4546,-0.85,-146.6,333.2,-8.4,219,4551,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2401,3416
$GC,4867,-0.85,-146.6,355.8,-7.3,235,4871,0.00,2.67,0.00,0.000,4,0.000,0.070,2219,980,3416
$GC,4893,-0.85,-146.6,358.2,-8.8,236,4897,0.00,2.62,0.00,0.000,6,0.000,0.059,2219,2404,3416
$GC,5214,-0.85,-146.6,386.4,-8.4,252,5219,0.00,2.70,0.00,0.000,4,0.000,0.073,2219,976,3416
$GC,5275,-0.85,-146.6,390.9,-7.2,255,5279,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2400,3416
$GC,5600,-0.85,-146.6,411.4,-6.3,271,5605,0.00,2.62,0.00,0.000,4,0.000,0.083,2219,3775,3416
$GC,5644,-0.85,-146.6,414.9,-8.1,273,5648,0.00,2.53,0.00,0.000,6,0.000,0.058,2219,2400,3416
$GC,5970,-0.85,-146.6,442.5,-8.4,289,5975,0.00,2.67,0.00,0.000,4,0.000,0.077,2219,983,3417
$GC,6043,-0.85,-146.6,447.7,-7.0,292,6048,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2398,3417
$GC,6358,-0.85,-146.6,464.3,-5.8,307,6363,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,976,3416
$GC,6379,-0.85,-146.6,465.8,-6.3,308,6384,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2401,3416
$GC,6706,-0.85,-146.6,489.0,-7.2,324,6710,0.00,2.70,0.00,0.000,4,0.000,0.073,2219,976,3416
$GC,6777,-0.85,-146.6,493.6,-6.8,327,6781,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2404,3416
$GC,7098,-0.85,-146.6,513.8,-6.7,343,7102,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,976,3417
$GC,7169,-0.85,-146.6,519.0,-7.7,346,7173,0.00,2.65,0.00,0.000,6,0.000,0.065,2219,2401,3416
$GC,7490,-0.85,-146.6,539.6,-6.3,362,7495,0.00,2.70,0.00,0.000,4,0.000,0.077,2219,984,3416
$GC,7530,-0.85,-146.6,542.1,-6.8,364,7534,0.00,2.65,0.00,0.000,6,0.000,0.067,2219,2400,3416
$STATE,7565,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7565,begin apogee
$GC,7570,-0.31,0.0,544.4,6.4,366,7693,0.60,0.00,119.95,1.082,6,0.114,0.000,2337,2190,2817
$STATE,7694,end apogee,CONTROL_FINISHED_OK
$STATE,7694,begin climb
$GC,7696,0.85,146.6,547.9,0.0,372,7822,1.20,2.80,117.68,1.061,4,0.081,0.077,2587,791,2219
$GC,7844,0.86,157.3,543.2,5.7,379,7861,0.00,2.65,10.23,0.909,6,0.000,0.060,2587,2201,2175
$GC,8169,0.86,157.3,524.4,6.3,395,8174,0.00,2.75,0.00,0.000,4,0.000,0.091,2585,3613,2173
$GC,8246,0.86,157.3,518.9,7.2,398,8253,0.00,2.70,0.00,0.000,6,0.000,0.070,2586,2199,2173
$GC,8562,0.86,157.3,498.0,6.7,414,8566,0.00,2.72,0.00,0.000,4,0.000,0.084,2587,785,2172
$GC,8623,0.86,157.3,494.0,6.3,417,8627,0.00,2.65,0.00,0.000,6,0.000,0.061,2587,2201,2171
$GC,8948,0.89,189.2,475.8,5.1,433,8980,0.00,2.80,25.88,1.025,4,0.000,0.090,2587,3613,2045
$GC,9008,0.89,189.2,472.3,6.2,436,9012,0.00,2.72,0.00,0.000,6,0.000,0.071,2587,2199,2045
$GC,9334,0.91,207.5,454.0,5.5,452,9354,0.00,0.00,15.68,0.983,6,0.000,0.000,2587,2197,1971
$GC,9662,0.91,207.5,434.1,6.4,468,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,1969
$GC,9972,0.91,207.5,409.8,8.2,483,9976,0.00,2.72,0.00,0.000,4,0.000,0.081,2587,781,1968
$GC,10026,0.91,207.5,405.0,8.8,485,10033,0.00,2.65,0.00,0.000,6,0.000,0.055,2587,2211,1968
$GC,10342,0.93,227.0,383.6,5.5,501,10364,0.12,2.80,16.40,0.943,4,0.070,0.083,2617,3612,1891
$GC,10403,0.93,227.0,379.2,7.9,503,10409,0.00,2.70,0.00,0.000,6,0.000,0.069,2617,2197,1891
$GC,10718,0.93,227.0,354.6,8.6,519,10722,0.00,2.70,0.00,0.000,4,0.000,0.077,2617,777,1890
$GC,10749,0.93,227.0,351.9,8.6,520,10757,0.00,2.65,0.00,0.000,6,0.000,0.052,2618,2201,1890
$GC,11065,0.93,227.0,326.7,7.2,536,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2201,1890
$GC,11375,0.95,238.0,307.5,5.7,551,11391,0.00,2.72,10.77,0.836,4,0.000,0.080,2618,3617,1845
$GC,11424,0.95,238.0,304.3,6.7,552,11428,0.00,2.70,0.00,0.000,6,0.000,0.067,2617,2200,1845
$GC,11745,0.95,238.0,282.7,6.5,568,11749,0.00,2.67,0.00,0.000,4,0.000,0.074,2618,784,1845
$GC,11783,0.95,238.0,280.2,6.2,570,11788,0.00,2.60,0.00,0.000,6,0.000,0.052,2618,2202,1844
$GC,12109,0.95,238.0,256.4,7.4,586,12114,0.00,2.67,0.00,0.000,4,0.000,0.078,2618,3614,1844
$GC,12154,0.95,238.0,252.7,9.0,588,12159,0.00,2.67,0.00,0.000,6,0.000,0.065,2617,2192,1844
$GC,12475,0.95,238.0,226.3,8.1,604,12476,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2193,1845
$GC,12784,0.95,238.0,199.9,8.6,619,12785,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2193,1845
$GC,13093,0.95,238.0,173.9,8.2,634,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2193,1846
$GC,13403,0.95,238.0,146.3,8.5,649,13404,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2193,1847
$GC,13713,0.95,238.0,119.5,8.7,664,13714,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2192,1847
$GC,14021,0.95,238.0,93.7,8.1,679,14022,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2193,1848
$GC,14331,0.95,238.0,67.0,7.9,694,14335,0.00,2.65,0.00,0.000,4,0.000,0.069,2618,776,1848
$GC,14385,0.95,238.0,62.7,7.9,696,14392,0.00,2.60,0.00,0.000,6,0.000,0.049,2617,2195,1848
$GC,14701,0.95,238.0,36.8,9.9,712,14705,0.00,2.67,0.00,0.000,4,0.000,0.074,2618,3617,1849
$GC,14733,0.95,238.0,33.8,8.0,713,14740,0.00,2.65,0.00,0.000,6,0.000,0.061,2617,2188,1849
$GC,15050,0.95,238.0,9.1,6.5,729,15054,0.00,2.65,0.00,0.000,4,0.000,0.071,2617,777,1850
$GC,15121,0.95,238.0,3.0,8.3,732,15125,0.00,2.60,0.00,0.000,6,0.000,0.049,2618,2193,1850
$STATE,15152,end climb,SURFACE_DEPTH_REACHED
$STATE,15152,begin surface coast
$FINISH,0.7,1.027375
$STATE,15174,end surface coast,CONTROL_FINISHED_OK
$STATE,15174,begin surface
$SM_CCo,15194,187.60,0.671,0,0,510,566.15
$SM_GC,1.28,0.00,0.00,187.60,0.000,0.000,0.671,70,2401,510,-10.76,0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2061
$TCM_TEMP,16.80
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,450.4,103.9
$24V_AH,23.6,30.290
$10V_AH,10.2,14.530
$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,25.400,165.900,316.575,187.600,0.000,32.587,34.565,154.744,16.250,0.000,0.000,32.749,1369.422,11594.821,688.826,1682.281,380.779,33.370,1541.269,0.000,1630.040,0.000,25.133
$DEVICE_MAMPS,173.342,90.506,1082.237,671.125,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,536.353,505.756,505.936,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38019,735
$CFSIZE,260165632,249540608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,131207,055407,6317.345,-849.582,31,1.9,31,-9.8