version: 66.02
glider: 16
mission: 6
dive: 184
start: 12 14 107 22 8 31
data:
$ID,16
$MISSION,6
$DIVE,184
$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,-2079582.2
$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,13
$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
$GPS1,220202,6338.677,-835.734,39,1.5,40,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-47.8
$GPS2,220739,6338.786,-835.600,16,1.9,16,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.003,0.221
$KALMAN_X,-118459.6,-452.6,-75.9,145430.4,4561.4
$KALMAN_Y,90695.5,261.1,295.1,132048.6,-5655.8
$MHEAD_RNG_PITCHd_Wd,9.1,31349,-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,21,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-101.12,0.000,2,0.000,0.000,72,2404,3096
$GC,126,-0.85,-146.6,4.0,-3.1,5,152,12.20,2.72,-7.55,0.000,4,0.173,0.083,2222,977,3416
$GC,404,-0.85,-146.6,33.5,-5.1,17,408,0.00,2.62,0.00,0.000,6,0.000,0.059,2222,2395,3417
$GC,725,-0.85,-146.6,56.5,-8.6,33,729,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,981,3417
$GC,796,-0.85,-146.6,63.0,-9.3,36,801,0.00,2.62,0.00,0.000,6,0.000,0.059,2222,2400,3417
$GC,1113,-0.85,-146.6,85.9,-6.4,51,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3417
$GC,1421,-0.85,-146.6,108.2,-8.5,66,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3417
$GC,1731,-0.85,-146.6,133.4,-8.0,81,1735,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,980,3417
$GC,1779,-0.85,-146.6,137.8,-8.8,83,1784,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2399,3417
$GC,2100,-0.85,-146.6,163.8,-7.8,99,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3417
$GC,2410,-0.85,-146.6,186.9,-7.2,114,2414,0.00,2.70,0.00,0.000,4,0.000,0.072,2222,973,3417
$GC,2449,-0.85,-146.6,189.6,-7.1,116,2453,0.00,2.65,0.00,0.000,6,0.000,0.062,2222,2400,3417
$GC,2774,-0.85,-146.6,212.1,-6.9,132,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3417
$GC,3083,-0.85,-146.6,232.7,-6.5,147,3088,0.00,2.67,0.00,0.000,4,0.000,0.072,2220,980,3417
$GC,3145,-0.85,-146.6,236.8,-6.5,150,3149,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2401,3417
$GC,3470,-0.85,-146.6,257.8,-6.5,166,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3418
$GC,3780,-0.85,-146.6,279.5,-7.3,181,3785,0.00,2.70,0.00,0.000,4,0.000,0.073,2222,974,3418
$GC,3920,-0.85,-146.6,289.9,-7.2,187,3924,0.00,2.65,0.00,0.000,6,0.000,0.062,2222,2398,3418
$GC,4235,-0.85,-146.6,310.5,-6.1,202,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3418
$GC,4544,-0.85,-146.6,329.1,-6.1,217,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3418
$GC,4855,-0.85,-146.6,350.8,-7.8,232,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3419
$GC,5163,-0.85,-146.6,376.0,-7.6,247,5168,0.00,2.70,0.00,0.000,4,0.000,0.077,2222,980,3419
$GC,5190,-0.85,-146.6,378.3,-8.3,248,5194,0.00,2.65,0.00,0.000,6,0.000,0.066,2222,2400,3418
$GC,5512,-0.85,-146.6,401.1,-7.1,264,5516,0.00,2.72,0.00,0.000,4,0.000,0.079,2222,978,3418
$GC,5550,-0.85,-146.6,404.0,-7.6,266,5555,0.00,2.70,0.00,0.000,6,0.000,0.068,2222,2400,3419
$GC,5877,-0.85,-146.6,425.2,-6.3,282,5882,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,982,3418
$GC,5899,-0.85,-146.6,426.7,-6.5,283,5903,0.00,2.67,0.00,0.000,6,0.000,0.070,2222,2404,3419
$GC,6225,-0.85,-146.6,448.9,-7.0,299,6229,0.00,2.75,0.00,0.000,4,0.000,0.082,2222,981,3418
$GC,6291,-0.85,-146.6,453.6,-7.1,302,6295,0.00,2.67,0.00,0.000,6,0.000,0.071,2222,2400,3418
$GC,6614,-0.85,-146.6,476.0,-7.0,318,6618,0.00,2.75,0.00,0.000,4,0.000,0.083,2222,976,3416
$GC,6640,-0.85,-146.6,478.0,-7.3,319,6644,0.00,2.70,0.00,0.000,6,0.000,0.072,2222,2390,3416
$GC,6962,-0.85,-146.6,500.0,-6.9,335,6966,0.00,2.72,0.00,0.000,4,0.000,0.083,2222,982,3415
$GC,6993,-0.85,-146.6,502.3,-7.1,336,7000,0.00,2.70,0.00,0.000,6,0.000,0.072,2222,2404,3415
$GC,7311,-0.85,-146.6,525.1,-7.5,352,7316,0.00,2.75,0.00,0.000,4,0.000,0.083,2222,982,3415
$GC,7355,-0.85,-146.6,528.9,-8.0,354,7360,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2405,3414
$GC,7677,-0.85,-146.6,550.1,-6.1,370,7681,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,983,3412
$GC,7719,-0.85,-146.6,553.1,-6.7,372,7724,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2401,3412
$GC,8046,-0.85,-146.6,574.3,-6.7,388,8051,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,984,3411
$GC,8078,-0.85,-146.6,576.5,-6.6,389,8085,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2403,3410
$GC,8393,-0.85,-146.6,597.2,-6.4,405,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3409
$GC,8703,-0.85,-146.6,618.2,-7.0,420,8708,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,983,3408
$GC,8741,-0.85,-146.6,620.9,-7.3,422,8746,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2401,3408
$GC,9067,-0.85,-146.6,642.8,-6.7,438,9072,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,980,3408
$GC,9093,-0.85,-146.6,644.7,-7.6,439,9098,0.00,2.67,0.00,0.000,6,0.000,0.073,2222,2400,3408
$GC,9414,-0.85,-146.6,666.3,-6.4,455,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3407
$GC,9723,-0.85,-146.6,686.9,-6.3,470,9728,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,982,3406
$GC,9756,-0.85,-146.6,689.0,-6.8,471,9762,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2404,3405
$GC,10071,-0.85,-146.6,710.8,-7.4,487,10075,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,983,3404
$GC,10097,-0.85,-146.6,712.5,-6.5,488,10101,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2405,3404
$GC,10418,-0.85,-146.6,733.9,-6.2,504,10420,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3404
$STATE,10705,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10705,begin apogee
$GC,10710,-0.31,0.0,752.8,6.6,518,10833,0.60,0.00,119.30,1.218,6,0.123,0.000,2337,2197,2817
$STATE,10833,end apogee,CONTROL_FINISHED_OK
$STATE,10833,begin climb
$GC,10835,0.85,146.6,757.4,0.0,524,10963,1.23,2.83,119.97,1.175,4,0.087,0.082,2588,785,2219
$GC,11048,0.85,146.6,749.7,6.6,534,11052,0.00,2.70,0.00,0.000,6,0.000,0.066,2588,2203,2218
$GC,11375,0.88,177.7,731.0,5.1,550,11407,0.00,2.88,26.52,1.200,4,0.000,0.097,2588,3612,2092
$GC,11435,0.88,177.7,727.5,6.4,553,11440,0.00,2.75,0.00,0.000,6,0.000,0.074,2588,2197,2091
$GC,11761,0.89,185.2,707.5,5.8,569,11771,0.00,0.00,7.62,1.025,6,0.000,0.000,2588,2197,2061
$GC,12071,0.91,201.7,689.3,5.5,584,12091,0.00,0.00,15.20,1.154,6,0.000,0.000,2588,2197,1995
$GC,12400,0.92,214.6,669.4,5.6,600,12414,0.10,0.00,11.85,1.113,6,0.076,0.000,2613,2197,1942
$GC,12709,0.92,214.6,647.8,6.4,615,12713,0.00,2.75,0.00,0.000,4,0.000,0.090,2613,786,1942
$GC,12757,0.92,214.6,644.4,7.0,617,12762,0.00,2.67,0.00,0.000,6,0.000,0.065,2613,2200,1942
$GC,13078,0.92,214.6,621.3,7.5,633,13079,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2200,1941
$GC,13388,0.92,214.6,598.3,7.4,648,13392,0.00,2.75,0.00,0.000,4,0.000,0.084,2613,786,1940
$GC,13442,0.92,214.6,593.8,7.9,650,13449,0.00,2.67,0.00,0.000,6,0.000,0.066,2613,2194,1940
$GC,13758,0.92,214.6,569.0,7.8,666,13759,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2194,1940
$GC,14067,0.92,214.6,544.5,8.0,681,14072,0.00,2.72,0.00,0.000,4,0.000,0.084,2613,787,1940
$GC,14116,0.92,214.6,540.3,8.6,683,14120,0.00,2.67,0.00,0.000,6,0.000,0.065,2613,2199,1939
$GC,14437,0.92,214.6,514.8,7.9,699,14438,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2199,1939
$GC,14746,0.92,214.6,489.1,8.1,714,14751,0.00,2.75,0.00,0.000,4,0.000,0.083,2613,787,1939
$GC,14802,0.92,214.6,484.3,9.2,716,14808,0.00,2.67,0.00,0.000,6,0.000,0.066,2613,2201,1939
$GC,15117,0.92,214.6,457.4,8.6,732,15118,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2201,1939
$GC,15426,0.92,214.6,430.6,8.5,747,15427,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2201,1939
$GC,15735,0.92,214.6,407.2,7.1,762,15737,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2201,1939
$GC,16044,0.92,214.6,386.3,6.6,777,16049,0.00,2.75,0.00,0.000,4,0.000,0.083,2613,786,1939
$GC,16106,0.92,214.6,382.1,6.9,780,16110,0.00,2.67,0.00,0.000,6,0.000,0.065,2613,2200,1939
$GC,16432,0.92,214.6,359.2,7.4,796,16433,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2199,1939
$GC,16741,0.92,214.6,334.5,8.3,811,16745,0.00,2.72,0.00,0.000,4,0.000,0.081,2613,785,1938
$GC,16847,0.92,214.6,325.8,7.8,816,16851,0.00,2.67,0.00,0.000,6,0.000,0.063,2613,2206,1938
$GC,17172,0.92,214.6,301.7,7.4,832,17177,0.00,2.75,0.00,0.000,4,0.000,0.077,2613,778,1938
$GC,17221,0.92,214.6,297.6,7.6,834,17226,0.00,2.67,0.00,0.000,6,0.000,0.061,2613,2206,1938
$GC,17543,0.92,214.6,270.6,8.5,850,17547,0.00,2.72,0.00,0.000,4,0.000,0.075,2613,781,1938
$GC,17586,0.92,214.6,266.4,10.2,852,17590,0.00,2.65,0.00,0.000,6,0.000,0.058,2613,2202,1938
$GC,17912,0.92,214.6,240.5,7.2,868,17917,0.00,2.72,0.00,0.000,4,0.000,0.088,2613,3612,1938
$GC,17974,0.92,214.6,235.5,8.3,871,17979,0.00,2.67,0.00,0.000,6,0.000,0.070,2613,2201,1938
$GC,18300,0.92,214.6,212.4,6.9,887,18305,0.00,2.70,0.00,0.000,4,0.000,0.074,2613,777,1939
$GC,18333,0.92,214.6,210.1,6.9,888,18339,0.00,2.65,0.00,0.000,6,0.000,0.057,2613,2207,1939
$GC,18648,0.92,214.6,187.9,7.3,904,18649,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2207,1940
$GC,18957,0.92,214.6,166.0,7.2,919,18958,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2207,1941
$GC,19267,0.92,214.6,144.7,8.2,934,19271,0.00,2.70,0.00,0.000,4,0.000,0.071,2613,782,1942
$GC,19338,0.92,214.6,137.9,9.1,937,19342,0.00,2.62,0.00,0.000,6,0.000,0.055,2613,2203,1942
$GC,19660,0.92,214.6,111.7,7.7,953,19664,0.00,2.70,0.00,0.000,4,0.000,0.081,2613,3615,1943
$GC,19703,0.92,214.6,107.6,9.3,955,19707,0.00,2.65,0.00,0.000,6,0.000,0.061,2613,2196,1944
$GC,20030,0.92,214.6,80.0,8.7,971,20031,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2195,1944
$GC,20341,0.97,260.8,58.2,4.7,986,20380,0.00,0.00,37.88,0.736,6,0.000,0.000,2613,2195,1754
$GC,20690,0.97,260.8,27.4,9.5,1003,20694,0.00,2.67,0.00,0.000,4,0.000,0.074,2613,785,1753
$GC,20729,0.97,260.8,24.0,9.0,1005,20733,0.00,2.62,0.00,0.000,6,0.000,0.055,2613,2201,1752
$STATE,20991,end climb,SURFACE_DEPTH_REACHED
$STATE,20991,begin surface coast
$FINISH,0.9,1.027439
$STATE,21013,end surface coast,CONTROL_FINISHED_OK
$STATE,21013,begin surface
$SM_CCo,21032,189.38,0.682,3,0,509,566.15
$SM_GC,1.72,0.00,0.00,189.38,0.000,0.000,0.682,70,2411,509,-10.75,0.31,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2055
$TCM_TEMP,16.40
$XPDR_PINGS,96
$ALTIM_BOTTOM_PING,750.1,11.8
$24V_AH,23.4,31.744
$10V_AH,10.1,15.285
$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,25.550,184.525,338.350,189.375,0.000,32.614,36.351,162.386,31.000,0.000,0.000,16.586,1847.130,16370.069,745.342,2181.906,432.225,33.367,1819.961,0.000,2127.155,0.000,50.029
$DEVICE_MAMPS,172.575,97.409,1217.996,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,747.966,701.490,597.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50486,1019
$CFSIZE,260165632,248950784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,3,0
$GPS,151207,040338,6343.282,-831.435,33,1.7,33,-9.7