version: 66.02
glider: 16
mission: 6
dive: 110
start: 11 30 107 11 7 41
data:
$ID,16
$MISSION,6
$DIVE,110
$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,120
$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,-2077611.2
$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,21
$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
$GPS1,105607,6154.121,-1006.363,43,1.3,55,-10.0
$_CALLS,2
$_XMS_NAKs,38
$_XMS_TOUTs,4
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-63.6
$GPS2,110650,6154.243,-1006.562,16,1.6,33,-10.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.121,0.186
$KALMAN_X,-48575.9,1998.8,653.1,-7733.6,-20047.5
$KALMAN_Y,95947.4,20.5,1428.9,-67694.3,-5429.4
$MHEAD_RNG_PITCHd_Wd,337.0,51049,-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,17,begin dive
$GC,19,-0.85,-146.6,0.0,0.0,0,83,0.00,0.00,-62.42,0.000,2,0.000,0.000,69,2401,3167
$GC,85,-0.85,-146.6,4.0,-6.7,3,108,12.10,2.70,-5.40,0.000,4,0.172,0.075,2221,976,3417
$GC,360,-0.85,-146.6,33.5,-9.1,15,364,0.00,2.58,0.00,0.000,6,0.000,0.050,2221,2390,3416
$GC,687,-0.85,-146.6,61.1,-7.8,31,691,0.00,2.60,0.00,0.000,4,0.000,0.061,2221,980,3417
$GC,730,-0.85,-146.6,64.5,-7.4,33,734,0.00,2.60,0.00,0.000,6,0.000,0.051,2221,2408,3417
$GC,1056,-0.85,-146.6,86.2,-7.4,49,1060,0.00,2.53,0.00,0.000,4,0.000,0.070,2221,3766,3416
$GC,1082,-0.85,-146.6,88.7,-10.3,50,1087,0.00,2.50,0.00,0.000,6,0.000,0.046,2222,2393,3416
$GC,1404,-0.85,-146.6,115.7,-8.3,66,1409,0.00,2.60,0.00,0.000,4,0.000,0.068,2221,987,3417
$GC,1436,-0.85,-146.6,118.5,-8.9,67,1443,0.00,2.60,0.00,0.000,6,0.000,0.052,2221,2397,3417
$GC,1752,-0.85,-146.6,146.9,-8.5,83,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2397,3416
$GC,2061,-0.85,-146.6,176.4,-8.2,98,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3417
$GC,2370,-0.85,-146.6,200.8,-8.5,113,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3416
$GC,2679,-0.85,-146.6,226.8,-8.4,128,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3418
$GC,2988,-0.85,-146.6,256.3,-9.5,143,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3416
$GC,3297,-0.85,-146.6,287.9,-10.4,158,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3417
$GC,3607,-0.85,-146.6,318.4,-9.6,173,3611,0.00,2.62,0.00,0.000,4,0.000,0.066,2221,983,3417
$GC,3649,-0.85,-146.6,322.6,-9.3,175,3654,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2394,3417
$GC,3976,-0.85,-146.6,353.7,-9.2,191,3981,0.00,2.60,0.00,0.000,4,0.000,0.067,2221,986,3417
$GC,4015,-0.85,-146.6,357.1,-8.6,193,4019,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2403,3417
$GC,4340,-0.85,-146.6,383.3,-7.8,209,4345,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,986,3417
$GC,4406,-0.85,-146.6,388.7,-8.0,212,4411,0.00,2.60,0.00,0.000,6,0.000,0.053,2221,2401,3417
$GC,4732,-0.85,-146.6,412.8,-7.1,228,4737,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,985,3417
$GC,4787,-0.85,-146.6,416.7,-7.3,230,4795,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2398,3417
$GC,5103,-0.85,-146.6,440.5,-8.2,246,5107,0.00,2.62,0.00,0.000,4,0.000,0.066,2221,982,3417
$GC,5145,-0.85,-146.6,444.1,-8.1,248,5150,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2395,3417
$GC,5472,-0.85,-146.6,473.4,-9.6,264,5477,0.00,2.60,0.00,0.000,4,0.000,0.067,2221,987,3416
$GC,5522,-0.85,-146.6,478.3,-10.1,266,5527,0.00,2.58,0.00,0.000,6,0.000,0.055,2221,2401,3417
$GC,5837,-0.85,-146.6,504.6,-7.7,281,5841,0.00,2.62,0.00,0.000,4,0.000,0.068,2221,986,3417
$GC,5868,-0.85,-146.6,507.1,-7.5,282,5875,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2413,3417
$GC,6184,-0.85,-146.6,526.4,-4.9,298,6188,0.00,2.65,0.00,0.000,4,0.000,0.067,2221,985,3417
$GC,6277,-0.85,-146.6,530.4,-4.0,302,6282,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2401,3417
$GC,6599,-0.85,-146.6,539.9,-2.0,318,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3417
$STATE,6885,end dive,NO_VERTICAL_VELOCITY
$STATE,6886,begin apogee
$GC,6890,-0.31,0.0,543.2,0.0,332,7013,0.60,0.00,119.62,1.009,6,0.103,0.000,2343,2201,2817
$STATE,7013,end apogee,CONTROL_FINISHED_OK
$STATE,7013,begin climb
$GC,7015,0.85,146.6,541.0,0.0,338,7137,1.20,0.00,118.18,0.989,6,0.073,0.000,2594,2201,2219
$GC,7437,0.95,242.3,517.8,3.4,359,7518,0.10,0.00,76.68,0.969,6,0.060,0.000,2627,2201,1829
$GC,7826,0.96,248.5,498.1,5.8,378,7834,0.00,0.00,6.20,0.745,6,0.000,0.000,2627,2201,1804
$GC,8135,0.96,248.5,474.8,8.2,393,8140,0.00,2.65,0.00,0.000,4,0.000,0.070,2627,784,1804
$GC,8219,0.96,248.5,467.3,9.1,397,8223,0.00,2.58,0.00,0.000,6,0.000,0.049,2627,2198,1803
$GC,8544,0.96,248.5,440.1,9.0,413,8548,0.00,2.65,0.00,0.000,4,0.000,0.067,2627,782,1802
$GC,8620,0.96,248.5,431.7,11.1,416,8627,0.00,2.60,0.00,0.000,6,0.000,0.048,2627,2196,1803
$GC,8936,0.96,248.5,383.4,18.4,432,8940,0.00,2.67,0.00,0.000,4,0.000,0.075,2627,3620,1803
$GC,8967,0.96,248.5,377.9,15.9,433,8974,0.00,2.65,0.00,0.000,6,0.000,0.065,2627,2205,1803
$GC,9283,0.96,248.5,334.1,11.2,449,9287,0.00,2.67,0.00,0.000,4,0.000,0.074,2627,779,1803
$GC,9338,0.96,248.5,328.5,9.7,451,9344,0.00,2.58,0.00,0.000,6,0.000,0.048,2627,2204,1803
$GC,9653,1.03,318.7,311.4,4.1,467,9713,0.00,0.00,56.15,0.851,6,0.000,0.000,2627,2204,1516
$GC,10022,1.12,398.1,300.0,3.8,485,10092,0.12,2.75,61.85,0.837,4,0.054,0.072,2666,780,1193
$GC,10143,1.12,398.1,291.3,7.6,490,10149,0.00,2.62,0.00,0.000,6,0.000,0.048,2666,2215,1193
$GC,10458,1.12,398.1,259.5,10.9,506,10462,0.00,2.70,0.00,0.000,4,0.000,0.070,2666,781,1193
$GC,10534,1.12,398.1,251.3,10.9,509,10541,0.00,2.60,0.00,0.000,6,0.000,0.048,2666,2196,1193
$GC,10850,1.12,398.1,205.3,16.4,525,10854,0.00,2.67,0.00,0.000,4,0.000,0.071,2666,773,1192
$GC,10914,1.12,398.1,194.3,13.6,528,10919,0.00,2.60,0.00,0.000,6,0.000,0.047,2666,2196,1193
$GC,11241,1.12,398.1,151.2,12.6,544,11246,0.00,2.65,0.00,0.000,4,0.000,0.069,2666,780,1193
$GC,11296,1.12,398.1,144.4,12.1,546,11303,0.00,2.58,0.00,0.000,6,0.000,0.045,2666,2195,1193
$GC,11612,1.12,398.1,105.2,12.2,562,11616,0.00,2.65,0.00,0.000,4,0.000,0.069,2666,777,1193
$GC,11682,1.12,398.1,96.6,10.9,565,11687,0.00,2.58,0.00,0.000,6,0.000,0.044,2666,2201,1193
$GC,12005,1.12,398.1,58.5,13.4,581,12010,0.00,2.65,0.00,0.000,4,0.000,0.066,2666,775,1193
$GC,12082,1.12,398.1,48.5,12.2,584,12090,0.00,2.58,0.00,0.000,6,0.000,0.044,2666,2198,1193
$GC,12398,1.12,398.1,5.0,13.3,600,12402,0.00,2.62,0.00,0.000,4,0.000,0.065,2666,779,1193
$STATE,12422,end climb,SURFACE_DEPTH_REACHED
$STATE,12423,begin surface coast
$FINISH,0.8,1.027263
$STATE,12429,end surface coast,CONTROL_FINISHED_OK
$STATE,12429,begin surface
$SM_CCo,12511,0.00,0.000,0,0,1191,398.86
$SM_GC,1.14,11.38,0.00,0.00,0.042,0.000,0.000,72,2411,1191,-10.69,0.31,398.86
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2066
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.6,21.114
$10V_AH,10.2,9.529
$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,25.500,121.050,438.675,0.000,0.000,65.216,57.466,341.133,4.000,0.000,0.000,33.636,1114.567,9489.822,586.445,1385.917,575.682,33.373,1276.118,0.000,1340.547,0.000,26.917
$DEVICE_MAMPS,171.808,75.166,1009.372,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.721,426.985,400.747,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28502,601
$CFSIZE,260165632,253161472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,301107,143707,6157.580,-1008.294,24,1.7,24,-10.0