version: 66.02
glider: 16
mission: 6
dive: 112
start: 11 30 107 20 13 10
data:
$ID,16
$MISSION,6
$DIVE,112
$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,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,-2077687
$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,18
$R_STBD_OVSHOOT,25
$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
$GPS1,200707,6201.614,-1012.503,34,1.4,34,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-59.1
$GPS2,201220,6201.627,-1012.540,14,1.6,31,-10.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.051,0.215
$KALMAN_X,-41387.0,1953.5,677.1,-20164.3,-8716.5
$KALMAN_Y,98383.2,749.9,428.6,-56185.2,-2781.7
$MHEAD_RNG_PITCHd_Wd,356.8,39855,-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,20,-0.85,-146.6,0.0,0.0,0,103,0.00,0.00,-81.40,0.000,2,0.000,0.000,72,2415,3206
$GC,106,-0.85,-146.6,4.0,-4.6,4,128,12.05,2.70,-4.53,0.000,4,0.172,0.081,2221,983,3416
$GC,377,-0.85,-146.6,32.8,-8.0,16,382,0.00,2.60,0.00,0.000,6,0.000,0.055,2221,2401,3417
$GC,702,-0.85,-146.6,58.7,-7.4,32,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3417
$GC,1012,-0.85,-146.6,82.4,-7.8,47,1016,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,979,3417
$GC,1077,-0.85,-146.6,88.0,-8.9,50,1082,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2398,3417
$GC,1404,-0.85,-146.6,116.0,-8.8,66,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3417
$GC,1713,-0.85,-146.6,143.6,-9.2,81,1718,0.00,2.62,0.00,0.000,4,0.000,0.069,2221,988,3417
$GC,1774,-0.85,-146.6,148.9,-8.1,84,1779,0.00,2.58,0.00,0.000,6,0.000,0.058,2221,2401,3417
$GC,2100,-0.85,-146.6,176.1,-9.3,100,2105,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,979,3417
$GC,2133,-0.85,-146.6,179.3,-9.8,101,2139,0.00,2.58,0.00,0.000,6,0.000,0.057,2221,2401,3416
$GC,2448,-0.85,-146.6,205.0,-7.0,117,2452,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,985,3417
$GC,2496,-0.85,-146.6,208.8,-8.6,119,2501,0.00,2.60,0.00,0.000,6,0.000,0.057,2221,2401,3417
$GC,2817,-0.85,-146.6,233.1,-7.6,135,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3417
$GC,3126,-0.85,-146.6,257.5,-8.3,150,3131,0.00,2.65,0.00,0.000,4,0.000,0.072,2221,984,3417
$GC,3220,-0.85,-146.6,265.9,-9.3,154,3225,0.00,2.60,0.00,0.000,6,0.000,0.057,2221,2392,3417
$GC,3542,-0.85,-146.6,295.5,-8.3,170,3546,0.00,2.62,0.00,0.000,4,0.000,0.074,2221,985,3417
$GC,3573,-0.85,-146.6,298.4,-9.6,171,3580,0.00,2.62,0.00,0.000,6,0.000,0.057,2221,2400,3417
$GC,3888,-0.85,-146.6,330.1,-9.5,187,3893,0.00,2.65,0.00,0.000,4,0.000,0.070,2221,979,3417
$GC,3927,-0.85,-146.6,333.8,-10.2,189,3932,0.00,2.58,0.00,0.000,6,0.000,0.055,2221,2403,3417
$GC,4253,-0.85,-146.6,362.3,-7.9,205,4257,0.00,2.65,0.00,0.000,4,0.000,0.069,2222,980,3417
$GC,4291,-0.85,-146.6,365.2,-7.2,207,4295,0.00,2.58,0.00,0.000,6,0.000,0.056,2221,2401,3417
$GC,4616,-0.85,-146.6,387.4,-6.5,223,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3417
$GC,4925,-0.85,-146.6,409.7,-7.9,238,4929,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,985,3417
$GC,4957,-0.85,-146.6,412.5,-8.4,239,4964,0.00,2.60,0.00,0.000,6,0.000,0.056,2221,2392,3417
$GC,5273,-0.85,-146.6,439.8,-9.3,255,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2393,3417
$GC,5582,-0.85,-146.6,468.8,-9.2,270,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2392,3417
$GC,5891,-0.85,-146.6,495.3,-7.9,285,5895,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,978,3416
$GC,5930,-0.85,-146.6,498.2,-7.7,287,5935,0.00,2.60,0.00,0.000,6,0.000,0.055,2221,2403,3417
$GC,6255,-0.85,-146.6,522.4,-7.8,303,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3416
$GC,6564,-0.85,-146.6,549.9,-9.1,318,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3416
$GC,6874,-0.85,-146.6,577.7,-8.9,333,6878,0.00,2.62,0.00,0.000,4,0.000,0.066,2221,984,3416
$GC,6944,-0.85,-146.6,584.3,-8.7,336,6949,0.00,2.60,0.00,0.000,6,0.000,0.056,2221,2392,3416
$GC,7266,-0.85,-146.6,611.1,-8.0,352,7270,0.00,2.60,0.00,0.000,4,0.000,0.067,2221,985,3416
$GC,7331,-0.85,-146.6,616.4,-8.3,355,7335,0.00,2.58,0.00,0.000,6,0.000,0.055,2221,2398,3416
$GC,7658,-0.85,-146.6,637.6,-5.4,371,7662,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,977,3416
$GC,7742,-0.85,-146.6,641.2,-2.8,375,7746,0.00,2.60,0.00,0.000,6,0.000,0.056,2221,2400,3416
$GC,8068,-0.85,-146.6,653.8,-4.9,391,8072,0.00,2.60,0.00,0.000,4,0.000,0.067,2221,986,3416
$GC,8111,-0.85,-146.6,656.9,-7.3,393,8115,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2400,3416
$GC,8438,-0.85,-146.6,687.8,-10.0,409,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3416
$GC,8747,-0.85,-146.6,713.6,-7.4,424,8751,0.00,2.62,0.00,0.000,4,0.000,0.066,2219,979,3415
$GC,8789,-0.85,-146.6,716.9,-7.5,426,8794,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2395,3415
$GC,9116,-0.85,-146.6,738.6,-7.3,442,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3415
$GC,9426,-0.85,-146.6,758.1,-3.2,457,9430,0.00,2.60,0.00,0.000,4,0.000,0.067,2221,985,3415
$GC,9457,-0.85,-146.6,759.1,-2.5,458,9464,0.00,2.58,0.00,0.000,6,0.000,0.055,2221,2400,3415
$GC,9773,-0.85,-146.6,772.1,-4.3,474,9777,0.00,2.55,0.00,0.000,4,0.000,0.081,2221,3762,3415
$GC,9860,-0.85,-146.6,778.0,-7.3,478,9865,0.00,2.50,0.00,0.000,6,0.000,0.055,2221,2402,3415
$GC,10187,-0.85,-146.6,797.7,-6.2,494,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3415
$GC,10496,-0.85,-146.6,822.9,-9.1,509,10501,0.00,2.67,0.00,0.000,4,0.000,0.078,2221,980,3415
$GC,10540,-0.85,-146.6,826.5,-9.1,511,10544,0.00,2.60,0.00,0.000,6,0.000,0.061,2221,2390,3415
$STATE,10742,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10742,begin apogee
$GC,10746,-0.31,0.0,842.5,7.9,521,10872,0.60,0.00,122.75,1.249,6,0.114,0.000,2340,2201,2817
$STATE,10873,end apogee,CONTROL_FINISHED_OK
$STATE,10873,begin climb
$GC,10875,0.85,146.6,848.6,0.0,527,11004,1.27,0.00,121.62,1.229,6,0.099,0.000,2592,2201,2218
$GC,11312,0.85,146.6,821.6,8.5,549,11317,0.00,2.70,0.00,0.000,4,0.000,0.082,2592,3610,2217
$GC,11352,0.85,146.6,818.2,9.4,551,11356,0.00,2.65,0.00,0.000,6,0.000,0.066,2592,2205,2216
$GC,11677,0.85,146.6,799.1,6.5,567,11681,0.00,2.72,0.00,0.000,4,0.000,0.077,2592,781,2215
$GC,11737,0.85,146.6,795.2,6.3,570,11742,0.00,2.62,0.00,0.000,6,0.000,0.056,2592,2205,2214
$GC,12064,0.85,146.6,777.1,6.1,586,12068,0.00,2.67,0.00,0.000,4,0.000,0.081,2592,3611,2212
$GC,12179,0.85,146.6,769.4,7.2,591,12184,0.00,2.62,0.00,0.000,6,0.000,0.060,2592,2198,2212
$GC,12500,0.85,146.6,749.1,6.8,607,12505,0.00,2.67,0.00,0.000,4,0.000,0.077,2592,3611,2211
$GC,12612,0.85,146.6,741.0,7.3,612,12617,0.00,2.62,0.00,0.000,6,0.000,0.059,2593,2194,2211
$GC,12933,0.86,158.8,721.5,5.7,628,12947,0.00,2.70,9.82,1.045,4,0.000,0.072,2592,785,2168
$GC,13020,0.87,170.1,716.6,5.7,631,13037,0.00,2.60,10.80,1.058,6,0.000,0.051,2592,2205,2122
$GC,13345,0.89,185.5,699.3,5.6,647,13366,0.00,2.70,14.02,1.083,4,0.000,0.071,2592,3613,2060
$GC,13399,0.89,185.5,695.7,6.7,649,13403,0.00,2.60,0.00,0.000,6,0.000,0.052,2592,2196,2060
$GC,13719,0.89,185.5,673.4,7.1,665,13724,0.00,2.62,0.00,0.000,4,0.000,0.068,2592,788,2059
$GC,13751,0.89,185.5,671.1,7.5,666,13758,0.00,2.58,0.00,0.000,6,0.000,0.047,2592,2195,2059
$GC,14067,0.89,185.5,649.3,6.8,682,14068,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2195,2059
$GC,14376,0.89,185.5,626.5,7.5,697,14380,0.00,2.62,0.00,0.000,4,0.000,0.063,2592,783,2059
$GC,14414,0.89,185.5,623.5,8.4,699,14418,0.00,2.55,0.00,0.000,6,0.000,0.045,2592,2199,2059
$GC,14739,0.89,185.5,600.1,6.9,715,14740,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2199,2059
$GC,15048,0.89,190.6,580.7,5.9,730,15056,0.00,0.00,6.30,0.838,6,0.000,0.000,2592,2199,2039
$GC,15358,0.97,262.3,565.6,4.0,745,15423,0.15,2.72,58.15,1.049,4,0.061,0.063,2636,784,1747
$GC,15479,0.97,262.3,558.1,6.9,750,15485,0.00,2.58,0.00,0.000,6,0.000,0.045,2635,2206,1746
$GC,15794,0.97,262.3,536.6,7.4,766,15795,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2206,1746
$GC,16103,0.97,262.3,510.9,8.7,781,16108,0.00,2.65,0.00,0.000,4,0.000,0.064,2635,782,1745
$GC,16225,0.97,262.3,499.8,9.0,786,16232,0.00,2.58,0.00,0.000,6,0.000,0.044,2635,2194,1746
$GC,16540,0.97,262.3,469.7,9.8,802,16541,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2195,1746
$GC,16850,0.97,262.3,439.5,9.5,817,16854,0.00,2.62,0.00,0.000,4,0.000,0.063,2635,782,1747
$GC,16892,0.97,262.3,435.1,10.3,819,16897,0.00,2.58,0.00,0.000,6,0.000,0.044,2635,2201,1747
$GC,17219,0.97,262.3,405.2,9.1,835,17220,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2201,1747
$GC,17528,0.97,262.3,372.3,11.6,850,17533,0.00,2.62,0.00,0.000,4,0.000,0.064,2635,787,1747
$GC,17577,0.97,262.3,366.2,12.2,852,17582,0.00,2.55,0.00,0.000,6,0.000,0.044,2635,2194,1747
$GC,17898,0.97,262.3,326.7,12.9,868,17902,0.00,2.60,0.00,0.000,4,0.000,0.067,2635,3612,1748
$GC,17937,0.97,262.3,321.6,12.5,870,17942,0.00,2.58,0.00,0.000,6,0.000,0.057,2635,2203,1748
$GC,18262,0.97,262.3,281.7,11.6,886,18267,0.00,2.62,0.00,0.000,4,0.000,0.066,2635,781,1748
$GC,18339,0.97,262.3,271.9,12.6,889,18346,0.00,2.55,0.00,0.000,6,0.000,0.044,2635,2193,1748
$GC,18655,0.97,262.3,238.2,10.7,905,18656,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2193,1748
$GC,18964,0.97,262.3,205.7,10.4,920,18965,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2193,1748
$GC,19273,0.97,262.3,172.6,10.4,935,19274,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2193,1748
$GC,19583,0.97,262.3,143.5,8.9,950,19588,0.00,2.60,0.00,0.000,4,0.000,0.063,2635,782,1747
$GC,19626,0.97,262.3,138.9,9.7,952,19631,0.00,2.55,0.00,0.000,6,0.000,0.044,2635,2195,1748
$GC,19954,0.97,262.3,106.5,10.0,968,19955,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2195,1748
$GC,20263,0.97,262.3,79.6,7.6,983,20267,0.00,2.60,0.00,0.000,4,0.000,0.063,2635,782,1749
$GC,20289,0.97,262.3,77.0,10.0,984,20294,0.00,2.55,0.00,0.000,6,0.000,0.042,2635,2202,1749
$GC,20612,0.97,262.3,47.1,7.4,1000,20613,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2201,1749
$GC,20920,0.97,262.3,18.7,8.9,1015,20924,0.00,2.62,0.00,0.000,4,0.000,0.062,2635,774,1749
$GC,20958,0.97,262.3,14.2,10.7,1017,20963,0.00,2.55,0.00,0.000,6,0.000,0.043,2635,2206,1750
$STATE,21076,end climb,SURFACE_DEPTH_REACHED
$STATE,21076,begin surface coast
$FINISH,0.4,1.027292
$STATE,21098,end surface coast,CONTROL_FINISHED_OK
$STATE,21098,begin surface
$SM_CCo,21117,27.73,0.586,2,0,1594,300.00
$SM_GC,1.59,0.00,0.00,27.73,0.000,0.000,0.586,74,2403,1594,-10.75,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2093
$TCM_TEMP,16.40
$XPDR_PINGS,30
$ALTIM_BOTTOM_PING,750.3,101.0
$24V_AH,23.5,21.407
$10V_AH,10.2,9.708
$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,25.350,188.825,343.475,27.725,0.000,32.589,28.669,141.420,14.000,0.000,0.000,31.403,1866.327,16397.203,592.559,2251.497,361.671,33.365,1690.901,0.000,2184.972,0.000,44.611
$DEVICE_MAMPS,171.808,82.069,1248.676,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,716.275,732.590,576.228,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53693,1024
$CFSIZE,260165632,252964864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,2,0
$GPS,011207,020721,6207.411,-1014.434,41,2.1,61,-10.1