version: 66.02
glider: 16
mission: 6
dive: 111
start: 11 30 107 14 42 28
data:
$ID,16
$MISSION,6
$DIVE,111
$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,-2077655
$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,11
$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
$GPS1,143707,6157.580,-1008.294,24,1.7,24,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-59.2
$GPS2,144137,6157.614,-1008.337,33,1.4,43,-10.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.118,0.187
$KALMAN_X,-47098.8,2137.9,3042.9,-13320.5,-25167.8
$KALMAN_Y,97268.6,1321.6,-688.8,-61967.1,-2182.1
$MHEAD_RNG_PITCHd_Wd,337.8,46414,-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,-146.6,0.0,0.0,0,108,0.00,0.00,-86.55,0.000,6,0.000,0.000,72,2413,3415
$GC,110,-0.85,-146.6,4.9,-4.5,5,132,12.07,2.72,0.00,0.000,4,0.173,0.067,2222,981,3418
$GC,361,-0.85,-146.6,37.0,-7.1,16,366,0.00,2.60,0.00,0.000,6,0.000,0.049,2222,2400,3419
$GC,688,-0.85,-146.6,65.0,-9.7,32,692,0.00,2.62,0.00,0.000,4,0.000,0.062,2222,976,3419
$GC,719,-0.85,-146.6,67.9,-7.7,33,727,0.00,2.60,0.00,0.000,6,0.000,0.049,2222,2397,3419
$GC,1037,-0.85,-146.6,93.0,-8.2,49,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3419
$GC,1345,-0.85,-146.6,115.7,-6.8,64,1349,0.00,2.60,0.00,0.000,4,0.000,0.061,2222,979,3419
$GC,1399,-0.85,-146.6,119.2,-6.2,66,1406,0.00,2.58,0.00,0.000,6,0.000,0.050,2222,2398,3419
$GC,1715,-0.85,-146.6,138.8,-6.5,82,1719,0.00,2.60,0.00,0.000,4,0.000,0.061,2222,978,3419
$GC,1746,-0.85,-146.6,141.1,-6.6,83,1753,0.00,2.60,0.00,0.000,6,0.000,0.049,2222,2400,3420
$GC,2061,-0.85,-146.6,163.2,-7.0,99,2066,0.00,2.62,0.00,0.000,4,0.000,0.064,2222,969,3419
$GC,2101,-0.85,-146.6,166.3,-7.5,101,2105,0.00,2.60,0.00,0.000,6,0.000,0.051,2222,2404,3420
$GC,2426,-0.85,-146.6,192.4,-8.7,117,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3419
$GC,2735,-0.85,-146.6,219.9,-9.3,132,2739,0.00,2.62,0.00,0.000,4,0.000,0.063,2222,979,3419
$GC,2778,-0.85,-146.6,224.0,-8.9,134,2782,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2397,3419
$GC,3107,-0.85,-146.6,250.2,-7.4,150,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3419
$GC,3413,-0.85,-146.6,272.2,-6.9,165,3418,0.00,2.55,0.00,0.000,4,0.000,0.073,2222,3766,3419
$GC,3453,-0.85,-146.6,275.1,-7.2,167,3457,0.00,2.47,0.00,0.000,6,0.000,0.048,2222,2388,3419
$GC,3780,-0.85,-146.6,300.4,-7.8,183,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2388,3419
$GC,4087,-0.85,-146.6,321.3,-6.5,198,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2388,3419
$GC,4397,-0.85,-146.6,344.9,-8.1,213,4401,0.00,2.58,0.00,0.000,4,0.000,0.065,2222,986,3419
$GC,4445,-0.85,-146.6,348.8,-8.1,215,4449,0.00,2.58,0.00,0.000,6,0.000,0.052,2222,2393,3419
$GC,4766,-0.85,-146.6,380.0,-11.0,231,4771,0.00,2.60,0.00,0.000,4,0.000,0.064,2222,982,3419
$GC,4809,-0.85,-146.6,385.1,-10.9,233,4814,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2401,3419
$GC,5136,-0.85,-146.6,419.3,-10.3,249,5140,0.00,2.62,0.00,0.000,4,0.000,0.066,2222,980,3419
$GC,5163,-0.85,-146.6,421.8,-9.2,250,5167,0.00,2.60,0.00,0.000,6,0.000,0.051,2222,2401,3419
$GC,5484,-0.85,-146.6,449.4,-8.4,266,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3418
$GC,5794,-0.85,-146.6,478.0,-9.9,281,5798,0.00,2.60,0.00,0.000,4,0.000,0.063,2222,986,3419
$GC,5837,-0.85,-146.6,482.4,-9.5,283,5841,0.00,2.58,0.00,0.000,6,0.000,0.050,2222,2401,3418
$GC,6164,-0.85,-146.6,505.7,-5.4,299,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3419
$GC,6473,-0.85,-146.6,524.4,-7.4,314,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3419
$GC,6783,-0.85,-146.6,550.4,-8.8,329,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3418
$GC,7092,-0.85,-146.6,576.5,-7.8,344,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3418
$GC,7401,-0.85,-146.6,593.7,-5.6,359,7405,0.00,2.60,0.00,0.000,4,0.000,0.063,2222,985,3418
$GC,7499,-0.85,-146.6,600.5,-7.4,363,7506,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2396,3418
$GC,7815,-0.85,-146.6,624.1,-7.2,379,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2396,3418
$GC,8124,-0.85,-146.6,643.3,-6.2,394,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2396,3418
$GC,8433,-0.85,-146.6,666.0,-7.9,409,8438,0.00,2.60,0.00,0.000,4,0.000,0.062,2222,979,3417
$GC,8482,-0.85,-146.6,670.4,-9.1,411,8487,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2402,3417
$GC,8803,-0.85,-146.6,694.3,-6.7,427,8804,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3417
$GC,9113,-0.85,-146.6,717.3,-7.9,442,9117,0.00,2.60,0.00,0.000,4,0.000,0.063,2222,985,3417
$GC,9144,-0.85,-146.6,720.1,-8.2,443,9151,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2394,3417
$GC,9459,-0.85,-146.6,748.3,-7.7,459,9461,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2394,3417
$GC,9769,-0.85,-146.6,764.9,-5.9,474,9773,0.00,2.58,0.00,0.000,4,0.000,0.063,2222,985,3417
$GC,9846,-0.85,-146.6,771.9,-9.1,477,9852,0.00,2.60,0.00,0.000,6,0.000,0.054,2222,2415,3417
$GC,10161,-0.85,-146.6,798.0,-7.4,493,10165,0.00,2.65,0.00,0.000,4,0.000,0.067,2222,983,3417
$GC,10203,-0.85,-146.6,801.4,-7.4,495,10208,0.00,2.58,0.00,0.000,6,0.000,0.056,2222,2390,3417
$STATE,10405,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10405,begin apogee
$GC,10410,-0.31,0.0,818.9,6.4,505,10536,0.60,0.00,122.90,1.211,6,0.117,0.000,2340,2197,2817
$STATE,10537,end apogee,CONTROL_FINISHED_OK
$STATE,10537,begin climb
$GC,10538,0.85,146.6,820.5,0.0,511,10664,1.17,0.00,120.90,1.190,6,0.074,0.000,2589,2197,2218
$GC,10984,0.85,146.6,786.8,7.5,533,10988,0.00,2.67,0.00,0.000,4,0.000,0.071,2589,782,2216
$GC,11004,0.89,186.9,785.7,4.9,534,11043,0.00,2.62,33.67,1.146,6,0.000,0.054,2589,2202,2054
$GC,11351,1.00,290.9,775.6,3.2,551,11442,0.15,2.75,84.60,1.191,4,0.059,0.071,2633,785,1630
$GC,11598,1.00,290.9,757.6,8.4,562,11605,0.00,2.62,0.00,0.000,6,0.000,0.053,2634,2204,1627
$GC,11914,1.00,290.9,726.7,11.7,578,11918,0.00,2.67,0.00,0.000,4,0.000,0.068,2634,789,1625
$GC,11956,1.00,290.9,720.7,13.8,580,11961,0.00,2.60,0.00,0.000,6,0.000,0.051,2634,2192,1625
$GC,12284,1.00,290.9,683.1,11.0,596,12288,0.00,2.65,0.00,0.000,4,0.000,0.067,2634,782,1624
$GC,12332,1.00,290.9,677.6,9.8,598,12337,0.00,2.58,0.00,0.000,6,0.000,0.049,2634,2202,1624
$GC,12653,1.00,290.9,645.7,9.7,614,12654,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2202,1624
$GC,12962,1.00,290.9,615.0,8.6,629,12966,0.00,2.65,0.00,0.000,4,0.000,0.068,2634,789,1624
$GC,13005,1.00,290.9,611.8,7.0,631,13010,0.00,2.58,0.00,0.000,6,0.000,0.048,2634,2210,1624
$GC,13332,1.00,290.9,589.1,6.2,647,13336,0.00,2.67,0.00,0.000,4,0.000,0.067,2634,782,1624
$GC,13365,1.00,290.9,587.0,6.3,648,13371,0.00,2.55,0.00,0.000,6,0.000,0.047,2634,2201,1624
$GC,13679,1.01,299.6,570.9,5.8,664,13693,0.00,2.70,7.55,0.878,4,0.000,0.067,2634,787,1595
$GC,13727,1.02,307.9,568.0,5.8,666,13744,0.00,2.58,8.65,0.903,6,0.000,0.046,2634,2205,1561
$GC,14053,1.12,401.9,555.0,3.4,682,14135,0.00,2.72,75.50,1.042,4,0.000,0.067,2634,789,1177
$GC,14185,1.12,401.9,546.2,8.4,688,14189,0.00,2.60,0.00,0.000,6,0.000,0.047,2634,2210,1176
$GC,14511,1.12,401.9,509.4,12.6,704,14515,0.00,2.70,0.00,0.000,4,0.000,0.070,2634,782,1176
$GC,14583,1.12,401.9,500.6,11.2,707,14587,0.00,2.60,0.00,0.000,6,0.000,0.047,2634,2201,1176
$GC,14903,1.12,401.9,462.5,12.0,723,14908,0.00,2.67,0.00,0.000,4,0.000,0.069,2634,781,1177
$GC,14965,1.12,401.9,455.1,12.9,726,14969,0.00,2.58,0.00,0.000,6,0.000,0.047,2634,2203,1177
$GC,15290,1.12,401.9,413.7,12.8,742,15295,0.00,2.65,0.00,0.000,4,0.000,0.069,2634,788,1177
$GC,15366,1.12,401.9,403.6,12.1,745,15374,0.00,2.58,0.00,0.000,6,0.000,0.048,2634,2198,1177
$GC,15682,1.12,401.9,365.3,11.3,761,15687,0.00,2.65,0.00,0.000,4,0.000,0.069,2634,786,1177
$GC,15759,1.12,401.9,357.0,9.7,764,15766,0.00,2.55,0.00,0.000,6,0.000,0.048,2634,2201,1177
$GC,16074,1.12,401.9,330.0,7.7,780,16079,0.00,2.65,0.00,0.000,4,0.000,0.068,2634,786,1177
$GC,16136,1.12,401.9,324.9,8.1,783,16140,0.00,2.55,0.00,0.000,6,0.000,0.047,2634,2206,1177
$GC,16467,1.12,401.9,295.8,9.4,799,16471,0.00,2.65,0.00,0.000,4,0.000,0.069,2634,788,1178
$GC,16554,1.12,401.9,286.8,10.4,803,16559,0.00,2.58,0.00,0.000,6,0.000,0.047,2634,2201,1178
$GC,16881,1.12,401.9,255.8,9.9,819,16886,0.00,2.65,0.00,0.000,4,0.000,0.069,2634,781,1178
$GC,16942,1.12,401.9,248.9,11.0,822,16947,0.00,2.55,0.00,0.000,6,0.000,0.046,2634,2201,1178
$GC,17268,1.12,401.9,214.9,11.0,838,17272,0.00,2.62,0.00,0.000,4,0.000,0.066,2634,788,1178
$GC,17345,1.12,401.9,205.8,11.6,841,17352,0.00,2.58,0.00,0.000,6,0.000,0.047,2634,2217,1178
$GC,17660,1.12,401.9,173.0,9.7,857,17665,0.00,2.67,0.00,0.000,4,0.000,0.067,2634,781,1179
$GC,17732,1.12,401.9,165.8,9.6,860,17737,0.00,2.58,0.00,0.000,6,0.000,0.044,2634,2204,1179
$GC,18055,1.12,401.9,138.0,9.3,876,18059,0.00,2.62,0.00,0.000,4,0.000,0.067,2634,781,1179
$GC,18117,1.12,401.9,131.8,9.9,879,18122,0.00,2.55,0.00,0.000,6,0.000,0.046,2634,2199,1179
$GC,18443,1.12,401.9,96.5,11.2,895,18448,0.00,2.62,0.00,0.000,4,0.000,0.068,2634,788,1181
$GC,18509,1.12,401.9,89.0,10.5,898,18514,0.00,2.58,0.00,0.000,6,0.000,0.047,2634,2204,1180
$GC,18836,1.12,401.9,52.5,11.0,914,18840,0.00,2.62,0.00,0.000,4,0.000,0.067,2634,787,1180
$GC,18901,1.12,401.9,45.0,11.2,917,18906,0.00,2.55,0.00,0.000,6,0.000,0.047,2634,2194,1180
$GC,19230,1.12,401.9,10.9,10.3,933,19234,0.00,2.60,0.00,0.000,4,0.000,0.066,2634,788,1180
$GC,19295,1.12,401.9,3.5,11.6,936,19299,0.00,2.55,0.00,0.000,6,0.000,0.048,2634,2193,1180
$STATE,19311,end climb,SURFACE_DEPTH_REACHED
$STATE,19311,begin surface coast
$FINISH,0.5,1.003988
$STATE,19333,end surface coast,CONTROL_FINISHED_OK
$STATE,19333,begin surface
$SM_CCo,19413,0.00,0.000,0,0,1178,402.05
$SM_GC,1.17,11.45,0.00,0.00,0.054,0.000,0.000,73,2413,1178,-10.69,0.37,402.05
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2107
$TCM_TEMP,16.30
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,750.9,77.9
$24V_AH,23.5,21.274
$10V_AH,10.2,9.616
$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,25.450,193.750,453.775,0.000,0.000,32.588,29.155,97.934,10.000,0.000,0.000,43.136,1730.655,14846.711,618.831,2185.338,308.303,33.367,1720.763,0.000,2104.391,0.000,47.515
$DEVICE_MAMPS,172.575,72.865,1211.093,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,658.929,670.003,540.088,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47350,938
$CFSIZE,260165632,253046784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,301107,200707,6201.614,-1012.503,34,1.4,34,-10.1