version: 66.02
glider: 16
mission: 6
dive: 241
start: 1 3 108 0 50 36
data:
$ID,16
$MISSION,6
$DIVE,241
$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,-2081444.6
$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,15
$R_STBD_OVSHOOT,22
$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
$GPS1,002338,6252.525,-604.963,32,1.9,33,-8.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-45.0
$GPS2,004944,6252.839,-604.998,10,1.9,15,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.014,-0.221
$KALMAN_X,11162.6,-48.5,-177.8,148007.7,1809.3
$KALMAN_Y,45015.0,254.7,263.6,92664.0,5843.1
$MHEAD_RNG_PITCHd_Wd,191.6,23778,-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,-102.10,0.000,2,0.000,0.000,69,2409,3105
$GC,127,-0.85,-146.6,4.0,-2.8,5,153,12.25,2.70,-7.28,0.000,4,0.176,0.078,2221,976,3416
$GC,261,-0.85,-146.6,20.1,-12.9,11,265,0.00,2.62,0.00,0.000,6,0.000,0.057,2220,2402,3417
$GC,587,-0.85,-146.6,56.9,-10.6,27,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3418
$GC,896,-0.85,-146.6,96.4,-12.0,42,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3417
$GC,1206,-0.85,-146.6,122.4,-8.3,57,1210,0.00,2.67,0.00,0.000,4,0.000,0.067,2221,974,3418
$GC,1267,-0.85,-146.6,127.8,-8.1,60,1272,0.00,2.62,0.00,0.000,6,0.000,0.057,2220,2402,3417
$GC,1595,-0.85,-146.6,150.7,-6.6,76,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3418
$GC,1903,-0.85,-146.6,174.4,-8.1,91,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3418
$GC,2213,-0.85,-146.6,197.5,-6.5,106,2217,0.00,2.65,0.00,0.000,4,0.000,0.067,2221,982,3417
$GC,2267,-0.85,-146.6,201.4,-7.4,108,2273,0.00,2.60,0.00,0.000,6,0.000,0.056,2221,2402,3417
$GC,2585,-0.85,-146.6,225.4,-7.8,124,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3418
$GC,2891,-0.85,-146.6,249.2,-7.8,139,2896,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,981,3417
$GC,2934,-0.85,-146.6,252.8,-8.6,141,2939,0.00,2.60,0.00,0.000,6,0.000,0.057,2221,2401,3417
$GC,3262,-0.85,-146.6,280.4,-8.5,157,3266,0.00,2.65,0.00,0.000,4,0.000,0.066,2221,980,3417
$GC,3316,-0.85,-146.6,284.7,-7.5,159,3323,0.00,2.60,0.00,0.000,6,0.000,0.057,2221,2404,3418
$GC,3632,-0.85,-146.6,306.6,-6.3,175,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3417
$GC,3942,-0.85,-146.6,325.9,-6.5,190,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3417
$GC,4250,-0.85,-146.6,346.0,-5.7,205,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3417
$GC,4560,-0.85,-146.6,367.0,-7.3,220,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,4869,-0.85,-146.6,393.7,-9.3,235,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3417
$GC,5178,-0.85,-146.6,421.3,-9.7,250,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3418
$GC,5488,-0.85,-146.6,444.8,-6.9,265,5492,0.00,2.65,0.00,0.000,4,0.000,0.066,2220,982,3418
$GC,5553,-0.85,-146.6,449.4,-7.5,268,5557,0.00,2.60,0.00,0.000,6,0.000,0.057,2221,2403,3418
$GC,5880,-0.85,-146.6,473.8,-7.0,284,5884,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,983,3419
$GC,5957,-0.85,-146.6,479.3,-6.9,287,5963,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2405,3418
$GC,6272,-0.85,-146.6,502.1,-7.3,303,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3418
$GC,6582,-0.85,-146.6,522.2,-5.7,318,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3418
$GC,6891,-0.85,-146.6,538.3,-5.4,333,6896,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,983,3418
$GC,6946,-0.85,-146.6,541.5,-6.2,335,6953,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2394,3418
$GC,7262,-0.85,-146.6,561.3,-7.0,351,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2394,3417
$GC,7572,-0.85,-146.6,583.5,-6.5,366,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2394,3416
$GC,7881,-0.85,-146.6,602.0,-5.6,381,7885,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,983,3415
$GC,7948,-0.85,-146.6,605.9,-5.8,384,7953,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2408,3415
$GC,8269,-0.85,-146.6,623.6,-5.7,400,8274,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,986,3414
$GC,8340,-0.85,-146.6,628.3,-6.8,403,8345,0.00,2.62,0.00,0.000,6,0.000,0.065,2221,2399,3414
$GC,8662,-0.85,-146.6,648.4,-6.3,419,8666,0.00,2.70,0.00,0.000,4,0.000,0.076,2219,985,3413
$STATE,8716,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8716,begin apogee
$GC,8723,-0.31,0.0,652.1,6.7,421,8850,0.57,0.00,121.80,1.167,6,0.115,0.000,2336,2195,2816
$STATE,8850,end apogee,CONTROL_FINISHED_OK
$STATE,8851,begin climb
$GC,8853,0.85,146.6,653.5,0.0,428,8983,1.23,2.83,120.62,1.144,4,0.085,0.085,2588,3611,2219
$GC,9018,0.88,178.2,647.9,5.1,436,9052,0.00,2.70,26.98,1.086,6,0.000,0.066,2588,2199,2090
$GC,9368,0.88,178.2,624.5,6.9,453,9372,0.00,2.75,0.00,0.000,4,0.000,0.082,2588,783,2087
$GC,9423,0.88,178.2,620.7,6.9,455,9429,0.00,2.65,0.00,0.000,6,0.000,0.061,2588,2206,2087
$GC,9738,0.88,178.2,599.4,6.5,471,9743,0.00,2.75,0.00,0.000,4,0.000,0.079,2588,782,2086
$GC,9792,0.88,178.2,595.5,6.6,473,9799,0.00,2.65,0.00,0.000,6,0.000,0.061,2588,2205,2085
$GC,10108,0.88,178.2,575.3,6.6,489,10113,0.00,2.75,0.00,0.000,4,0.000,0.078,2588,783,2084
$GC,10169,0.88,178.2,571.2,6.7,492,10174,0.00,2.67,0.00,0.000,6,0.000,0.061,2588,2208,2083
$GC,10495,0.88,178.2,550.5,6.6,508,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2207,2082
$GC,10805,0.88,178.2,530.7,6.5,523,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2207,2081
$GC,11113,0.88,178.2,509.0,7.4,538,11118,0.00,2.70,0.00,0.000,4,0.000,0.075,2588,784,2081
$GC,11185,0.88,178.2,503.1,8.8,541,11189,0.00,2.65,0.00,0.000,6,0.000,0.059,2588,2204,2080
$GC,11507,0.88,178.2,479.2,7.2,557,11508,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,2080
$GC,11815,0.88,178.2,459.4,6.0,572,11820,0.00,2.72,0.00,0.000,4,0.000,0.086,2588,3613,2079
$GC,11865,0.88,178.2,456.0,6.1,574,11869,0.00,2.65,0.00,0.000,6,0.000,0.065,2588,2200,2079
$GC,12187,0.88,179.7,437.3,6.0,590,12188,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,2079
$GC,12495,0.88,179.7,416.6,6.9,605,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,2079
$GC,12805,0.91,206.1,397.1,5.3,620,12834,0.00,2.85,21.92,0.979,4,0.000,0.083,2588,3614,1975
$GC,12873,0.91,206.1,393.2,6.1,623,12878,0.00,2.67,0.00,0.000,6,0.000,0.063,2588,2200,1975
$GC,13194,1.03,313.4,380.8,3.1,639,13286,0.22,2.80,85.40,0.992,4,0.061,0.080,2646,3613,1538
$GC,13308,1.03,313.4,374.2,7.1,644,13314,0.00,2.70,0.00,0.000,6,0.000,0.065,2646,2202,1538
$GC,13623,1.03,313.4,352.3,8.4,660,13627,0.00,2.72,0.00,0.000,4,0.000,0.074,2646,776,1538
$GC,13689,1.03,313.4,346.2,9.5,663,13693,0.00,2.65,0.00,0.000,6,0.000,0.054,2646,2203,1537
$GC,14016,1.03,313.4,314.4,10.0,679,14020,0.00,2.70,0.00,0.000,4,0.000,0.071,2646,784,1538
$GC,14048,1.03,313.4,311.2,9.4,680,14054,0.00,2.65,0.00,0.000,6,0.000,0.053,2646,2198,1538
$GC,14363,1.03,313.4,282.7,8.9,696,14368,0.00,2.70,0.00,0.000,4,0.000,0.071,2646,776,1538
$GC,14409,1.03,313.4,278.7,9.0,698,14413,0.00,2.62,0.00,0.000,6,0.000,0.052,2646,2201,1538
$GC,14728,1.03,313.4,250.1,8.5,714,14733,0.00,2.70,0.00,0.000,4,0.000,0.071,2646,781,1538
$GC,14768,1.03,313.4,246.6,8.7,716,14772,0.00,2.62,0.00,0.000,6,0.000,0.051,2646,2205,1538
$GC,15094,1.03,313.4,217.3,9.9,732,15098,0.00,2.70,0.00,0.000,4,0.000,0.070,2646,779,1538
$GC,15142,1.03,313.4,212.4,10.2,734,15147,0.00,2.60,0.00,0.000,6,0.000,0.050,2646,2200,1538
$GC,15463,1.03,313.4,180.1,10.3,750,15468,0.00,2.67,0.00,0.000,4,0.000,0.069,2646,783,1539
$GC,15503,1.03,313.4,175.8,11.0,752,15507,0.00,2.60,0.00,0.000,6,0.000,0.050,2646,2201,1539
$GC,15828,1.03,313.4,137.3,12.4,768,15833,0.00,2.67,0.00,0.000,4,0.000,0.067,2646,782,1540
$GC,15872,1.03,313.4,132.6,10.6,770,15877,0.00,2.60,0.00,0.000,6,0.000,0.050,2646,2201,1540
$GC,16194,1.03,313.4,96.0,13.4,786,16198,0.00,2.67,0.00,0.000,4,0.000,0.068,2646,783,1541
$GC,16226,1.03,313.4,91.4,11.9,787,16233,0.00,2.60,0.00,0.000,6,0.000,0.051,2646,2191,1541
$GC,16543,1.03,313.4,56.0,11.4,803,16544,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2191,1542
$GC,16852,1.03,313.4,25.0,12.8,818,16856,0.00,2.65,0.00,0.000,4,0.000,0.068,2646,783,1542
$GC,16895,1.03,313.4,19.4,9.9,820,16899,0.00,2.60,0.00,0.000,6,0.000,0.050,2646,2208,1542
$STATE,17055,end climb,SURFACE_DEPTH_REACHED
$STATE,17055,begin surface coast
$FINISH,1.1,1.027419
$STATE,17079,end surface coast,CONTROL_FINISHED_OK
$STATE,17079,begin surface
$SM_CCo,17099,153.88,0.682,1,0,509,566.15
$SM_GC,1.65,0.00,0.00,153.88,0.000,0.000,0.682,68,2408,509,-10.77,0.23,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2057
$TCM_TEMP,16.60
$XPDR_PINGS,67
$ALTIM_BOTTOM_PING,600.9,61.2
$24V_AH,23.5,42.656
$10V_AH,10.2,22.096
$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,25.825,149.425,376.725,153.875,0.000,163.006,181.489,837.717,21.750,0.000,0.000,15.656,1504.663,13417.692,699.341,1781.049,1424.164,33.388,1607.200,0.000,1738.910,0.000,34.766
$DEVICE_MAMPS,175.643,85.904,1166.607,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,605.098,566.590,478.164,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41145,829
$CFSIZE,260165632,244293632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,030108,053937,6250.810,-602.901,42,1.8,47,-8.1