version: 66.02
glider: 16
mission: 6
dive: 182
start: 12 14 107 10 54 53
data:
$ID,16
$MISSION,6
$DIVE,182
$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,-2079510.2
$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,20
$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
$GPS1,104122,6332.674,-839.692,38,2.7,57,-9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-47.2
$GPS2,105403,6332.922,-839.457,13,1.5,31,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.023,0.220
$KALMAN_X,-126005.5,640.0,997.1,147395.9,-3498.7
$KALMAN_Y,91275.8,840.8,918.8,119394.9,-9021.5
$MHEAD_RNG_PITCHd_Wd,15.9,39306,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.85,-146.6,0.0,0.0,0,126,0.00,0.00,-102.25,0.000,2,0.000,0.000,73,2408,3101
$GC,128,-0.85,-146.6,3.4,-2.5,5,154,12.18,2.70,-7.60,0.000,4,0.174,0.080,2219,982,3416
$GC,406,-0.85,-146.6,29.9,-9.3,17,411,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2397,3417
$GC,728,-0.85,-146.6,58.5,-9.1,33,732,0.00,2.67,0.00,0.000,4,0.000,0.069,2219,982,3417
$GC,844,-0.85,-146.6,68.1,-7.8,38,848,0.00,2.62,0.00,0.000,6,0.000,0.060,2218,2402,3417
$GC,1165,-0.85,-146.6,94.1,-7.9,54,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2402,3417
$GC,1475,-0.85,-146.6,121.5,-9.4,69,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2402,3417
$GC,1784,-0.85,-146.6,146.3,-6.7,84,1788,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,982,3417
$GC,1855,-0.85,-146.6,151.1,-6.7,87,1859,0.00,2.65,0.00,0.000,6,0.000,0.060,2219,2401,3417
$GC,2176,-0.85,-146.6,173.8,-7.3,103,2180,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,982,3417
$GC,2202,-0.85,-146.6,176.0,-8.2,104,2206,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2406,3416
$GC,2523,-0.85,-146.6,201.2,-8.0,120,2528,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,981,3417
$GC,2566,-0.85,-146.6,204.9,-8.1,122,2571,0.00,2.60,0.00,0.000,6,0.000,0.059,2219,2401,3417
$GC,2893,-0.85,-146.6,228.7,-7.7,138,2898,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,976,3417
$GC,2920,-0.85,-146.6,231.1,-8.9,139,2924,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2411,3417
$GC,3241,-0.85,-146.6,256.4,-7.8,155,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2411,3417
$GC,3551,-0.85,-146.6,280.4,-7.7,170,3555,0.00,2.67,0.00,0.000,4,0.000,0.067,2219,981,3417
$GC,3679,-0.85,-146.6,290.8,-8.2,176,3684,0.00,2.60,0.00,0.000,6,0.000,0.060,2219,2395,3417
$GC,4005,-0.85,-146.6,316.2,-7.7,192,4009,0.00,2.62,0.00,0.000,4,0.000,0.081,2219,3772,3417
$GC,4043,-0.85,-146.6,319.4,-8.1,194,4047,0.00,2.55,0.00,0.000,6,0.000,0.058,2219,2392,3417
$GC,4368,-0.85,-146.6,343.4,-7.3,210,4372,0.00,2.62,0.00,0.000,4,0.000,0.073,2219,982,3417
$GC,4429,-0.85,-146.6,348.2,-8.1,213,4434,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2404,3417
$GC,4754,-0.85,-146.6,372.0,-6.8,229,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3418
$GC,5063,-0.85,-146.6,393.3,-7.0,244,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3418
$GC,5373,-0.85,-146.6,414.8,-7.0,259,5378,0.00,2.70,0.00,0.000,4,0.000,0.075,2219,981,3418
$GC,5461,-0.85,-146.6,421.2,-7.2,263,5465,0.00,2.62,0.00,0.000,6,0.000,0.064,2219,2400,3418
$GC,5788,-0.85,-146.6,443.6,-7.2,279,5792,0.00,2.70,0.00,0.000,4,0.000,0.075,2219,978,3418
$GC,5842,-0.85,-146.6,447.9,-8.0,281,5849,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2403,3417
$GC,6157,-0.85,-146.6,471.9,-7.7,297,6161,0.00,2.65,0.00,0.000,4,0.000,0.091,2219,3768,3417
$GC,6218,-0.85,-146.6,476.9,-8.7,300,6222,0.00,2.55,0.00,0.000,6,0.000,0.061,2219,2398,3416
$GC,6545,-0.85,-146.6,501.0,-7.4,316,6549,0.00,2.70,0.00,0.000,4,0.000,0.082,2219,986,3416
$GC,6615,-0.85,-146.6,506.5,-7.2,319,6620,0.00,2.67,0.00,0.000,6,0.000,0.071,2219,2404,3416
$GC,6937,-0.85,-146.6,528.4,-6.8,335,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3415
$GC,7246,-0.85,-146.6,549.4,-6.9,350,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3414
$GC,7555,-0.85,-146.6,570.8,-7.0,365,7560,0.00,2.75,0.00,0.000,4,0.000,0.083,2219,980,3413
$GC,7610,-0.85,-146.6,575.1,-8.4,367,7616,0.00,2.70,0.00,0.000,6,0.000,0.073,2219,2400,3413
$GC,7925,-0.85,-146.6,598.4,-7.1,383,7929,0.00,2.72,0.00,0.000,4,0.000,0.084,2219,983,3412
$GC,7963,-0.85,-146.6,601.2,-7.5,385,7968,0.00,2.70,0.00,0.000,6,0.000,0.074,2219,2402,3411
$GC,8289,-0.85,-146.6,624.4,-7.3,401,8293,0.00,2.72,0.00,0.000,4,0.000,0.084,2219,986,3409
$GC,8320,-0.85,-146.6,627.0,-8.3,402,8327,0.00,2.70,0.00,0.000,6,0.000,0.074,2219,2405,3409
$GC,8636,-0.85,-146.6,649.1,-7.6,418,8640,0.00,2.75,0.00,0.000,4,0.000,0.083,2219,984,3408
$GC,8675,-0.85,-146.6,652.0,-7.6,420,8679,0.00,2.67,0.00,0.000,6,0.000,0.074,2219,2399,3409
$GC,9000,-0.85,-146.6,674.6,-6.3,436,9005,0.00,2.72,0.00,0.000,4,0.000,0.084,2219,986,3408
$GC,9027,-0.85,-146.6,676.3,-6.6,437,9031,0.00,2.67,0.00,0.000,6,0.000,0.073,2219,2400,3407
$STATE,9099,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9100,begin apogee
$GC,9105,-0.31,0.0,681.3,6.8,441,9228,0.62,0.00,120.38,1.215,6,0.122,0.000,2340,2192,2817
$STATE,9229,end apogee,CONTROL_FINISHED_OK
$STATE,9229,begin climb
$GC,9231,0.85,146.6,685.7,0.0,447,9359,1.20,2.80,120.25,1.185,4,0.085,0.081,2587,788,2219
$GC,9410,0.86,160.8,679.8,5.6,455,9430,0.00,2.70,13.07,1.058,6,0.000,0.067,2587,2191,2161
$GC,9746,0.86,160.8,659.9,6.3,472,9751,0.00,2.83,0.00,0.000,4,0.000,0.097,2586,3612,2159
$GC,9795,0.86,160.8,656.6,6.6,474,9799,0.00,2.70,0.00,0.000,6,0.000,0.071,2587,2202,2159
$GC,10116,0.90,192.8,639.5,5.1,490,10151,0.00,2.90,27.10,1.143,4,0.000,0.087,2587,784,2030
$GC,10190,0.90,192.8,634.7,8.4,493,10194,0.00,2.70,0.00,0.000,6,0.000,0.067,2587,2204,2029
$GC,10511,0.90,192.8,614.0,6.3,509,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2029
$GC,10820,0.90,192.8,594.6,6.3,524,10822,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2027
$GC,11129,0.90,192.8,575.5,6.5,539,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2027
$GC,11439,0.90,193.2,557.3,6.0,554,11443,0.00,2.78,0.00,0.000,4,0.000,0.082,2587,779,2025
$GC,11488,0.90,193.2,554.0,6.9,556,11492,0.00,2.70,0.00,0.000,6,0.000,0.065,2587,2207,2026
$GC,11809,0.90,195.1,534.6,5.9,572,11813,0.00,2.78,0.00,0.000,4,0.000,0.097,2587,3613,2026
$GC,11847,0.90,195.1,532.1,6.2,574,11851,0.00,2.70,0.00,0.000,6,0.000,0.072,2587,2202,2026
$GC,12173,0.90,198.9,513.1,5.9,590,12180,0.00,0.00,5.72,0.886,6,0.000,0.000,2587,2202,2006
$GC,12481,0.90,198.9,494.8,6.0,605,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2202,2005
$GC,12791,0.92,215.8,477.3,5.5,620,12812,0.12,0.00,15.02,1.042,6,0.075,0.000,2616,2202,1937
$GC,13121,0.92,215.8,452.1,8.0,636,13122,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2201,1936
$GC,13429,0.92,215.8,427.1,8.0,651,13434,0.00,2.75,0.00,0.000,4,0.000,0.084,2616,779,1936
$GC,13490,0.92,215.8,422.1,8.2,654,13495,0.00,2.67,0.00,0.000,6,0.000,0.062,2616,2201,1935
$GC,13816,0.92,215.8,397.4,7.5,670,13821,0.00,2.75,0.00,0.000,4,0.000,0.079,2616,778,1935
$GC,13860,0.92,215.8,394.0,8.0,672,13864,0.00,2.67,0.00,0.000,6,0.000,0.061,2615,2204,1934
$GC,14186,0.92,215.8,369.3,7.9,688,14191,0.00,2.75,0.00,0.000,4,0.000,0.091,2616,3616,1935
$GC,14230,0.92,215.8,365.7,8.5,690,14234,0.00,2.70,0.00,0.000,6,0.000,0.071,2616,2200,1935
$GC,14551,0.92,215.8,340.9,7.8,706,14555,0.00,2.70,0.00,0.000,4,0.000,0.079,2616,782,1934
$GC,14616,0.92,215.8,335.5,8.0,709,14620,0.00,2.62,0.00,0.000,6,0.000,0.058,2616,2201,1935
$GC,14943,0.92,215.8,310.4,8.5,725,14948,0.00,2.72,0.00,0.000,4,0.000,0.087,2616,3614,1935
$GC,14997,0.92,215.8,304.9,10.3,727,15004,0.00,2.67,0.00,0.000,6,0.000,0.067,2616,2198,1935
$GC,15313,0.92,215.8,274.5,9.5,743,15317,0.00,2.67,0.00,0.000,4,0.000,0.075,2616,784,1935
$GC,15389,0.92,215.8,266.8,9.5,746,15396,0.00,2.62,0.00,0.000,6,0.000,0.054,2616,2206,1935
$GC,15704,0.92,215.8,236.1,9.5,762,15706,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2206,1936
$GC,16014,0.92,215.8,209.5,7.9,777,16015,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2206,1937
$GC,16323,0.92,215.8,184.1,8.7,792,16325,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2206,1938
$GC,16632,0.92,215.8,157.4,8.9,807,16637,0.00,2.67,0.00,0.000,4,0.000,0.068,2616,778,1939
$GC,16677,0.92,215.8,153.4,8.1,809,16682,0.00,2.60,0.00,0.000,6,0.000,0.050,2616,2207,1940
$GC,16997,0.92,215.8,132.4,6.8,825,17002,0.00,2.65,0.00,0.000,4,0.000,0.076,2616,3614,1941
$GC,17040,0.92,215.8,129.2,6.9,827,17045,0.00,2.65,0.00,0.000,6,0.000,0.060,2616,2206,1940
$GC,17368,0.94,229.2,104.5,5.6,843,17389,0.00,2.75,13.30,0.706,4,0.000,0.069,2616,785,1882
$GC,17458,0.94,229.2,96.8,9.9,847,17462,0.00,2.60,0.00,0.000,6,0.000,0.050,2616,2199,1882
$GC,17783,0.94,229.2,66.6,10.0,863,17784,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2200,1882
$GC,18093,0.94,229.2,37.5,8.7,878,18097,0.00,2.67,0.00,0.000,4,0.000,0.068,2616,777,1883
$GC,18158,0.94,229.2,31.7,8.1,881,18162,0.00,2.60,0.00,0.000,6,0.000,0.050,2616,2202,1883
$GC,18485,0.94,229.2,5.9,8.1,897,18490,0.00,2.67,0.00,0.000,4,0.000,0.081,2616,3610,1884
$GC,18528,0.94,229.2,2.3,9.1,899,18532,0.00,2.65,0.00,0.000,6,0.000,0.066,2616,2200,1884
$STATE,18537,end climb,SURFACE_DEPTH_REACHED
$STATE,18537,begin surface coast
$FINISH,1.1,1.027408
$STATE,18566,end surface coast,CONTROL_FINISHED_OK
$STATE,18566,begin surface
$SM_CCo,18586,197.55,0.665,1,0,509,566.15
$SM_GC,1.29,0.00,0.00,197.55,0.000,0.000,0.665,75,2400,509,-10.74,0.00,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2047
$TCM_TEMP,16.70
$XPDR_PINGS,76
$ALTIM_BOTTOM_PING,650.4,40.4
$24V_AH,23.5,31.411
$10V_AH,10.1,15.098
$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,25.675,183.075,314.850,197.550,0.000,97.821,100.318,306.519,24.500,0.000,0.000,31.859,1659.510,14415.502,712.077,2050.595,713.276,33.373,1733.014,0.000,1987.254,0.000,37.957
$DEVICE_MAMPS,174.109,97.409,1214.928,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,663.252,620.874,552.349,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47419,901
$CFSIZE,260165632,249094144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,141207,160937,6335.892,-834.907,60,1.5,60,-9.7