version: 66.02
glider: 16
mission: 6
dive: 117
start: 12 1 107 21 5 49
data:
$ID,16
$MISSION,6
$DIVE,117
$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,-2077798.9
$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,19
$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
$GPS1,204756,6207.849,-1035.172,39,1.6,39,-10.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-55.1
$GPS2,210457,6207.826,-1035.373,12,1.7,12,-10.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.145,-0.168
$KALMAN_X,-31737.5,554.1,-2586.8,-45179.8,11749.4
$KALMAN_Y,125528.0,-517.9,-5251.7,-64880.2,37646.1
$MHEAD_RNG_PITCHd_Wd,231.1,17443,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-77.05,0.000,2,0.000,0.000,70,2404,3276
$GC,101,-0.85,-146.6,4.2,-4.2,4,123,12.10,2.58,-2.85,0.000,4,0.172,0.082,2218,3771,3418
$GC,352,-0.85,-146.6,37.9,-11.6,15,357,0.00,2.53,0.00,0.000,6,0.000,0.050,2219,2396,3418
$GC,679,-0.85,-146.6,66.4,-8.2,31,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2396,3418
$GC,989,-0.85,-146.6,102.8,-11.5,46,993,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,982,3417
$GC,1049,-0.85,-146.6,108.5,-8.5,49,1054,0.00,2.58,0.00,0.000,6,0.000,0.052,2219,2404,3417
$GC,1375,-0.85,-146.6,131.9,-8.3,65,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3418
$GC,1684,-0.85,-146.6,162.7,-11.3,80,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3417
$GC,1993,-0.85,-146.6,190.4,-8.3,95,1997,0.00,2.62,0.00,0.000,4,0.000,0.065,2219,984,3417
$GC,2114,-0.85,-146.6,198.9,-7.2,100,2121,0.00,2.60,0.00,0.000,6,0.000,0.053,2219,2397,3417
$GC,2430,-0.85,-146.6,222.3,-7.4,116,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2397,3417
$GC,2740,-0.85,-146.6,245.6,-7.4,131,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2396,3417
$GC,3049,-0.85,-146.6,269.3,-8.0,146,3053,0.00,2.62,0.00,0.000,4,0.000,0.066,2219,982,3417
$GC,3103,-0.85,-146.6,274.0,-8.6,148,3110,0.00,2.60,0.00,0.000,6,0.000,0.053,2219,2397,3418
$GC,3419,-0.85,-146.6,300.6,-8.2,164,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2397,3417
$GC,3728,-0.85,-146.6,324.6,-7.2,179,3732,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,982,3417
$GC,3815,-0.85,-146.6,331.3,-7.2,183,3820,0.00,2.62,0.00,0.000,6,0.000,0.057,2219,2397,3417
$GC,4142,-0.85,-146.6,354.3,-6.7,199,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2397,3417
$GC,4451,-0.85,-146.6,374.9,-6.8,214,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2397,3417
$GC,4760,-0.85,-146.6,396.5,-7.1,229,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2396,3417
$GC,5070,-0.85,-146.6,417.5,-6.7,244,5074,0.00,2.62,0.00,0.000,4,0.000,0.070,2219,984,3417
$GC,5146,-0.85,-146.6,423.0,-7.0,247,5153,0.00,2.58,0.00,0.000,6,0.000,0.054,2219,2393,3418
$GC,5462,-0.85,-146.6,444.9,-6.8,263,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2393,3417
$GC,5771,-0.85,-146.6,465.5,-7.0,278,5775,0.00,2.62,0.00,0.000,4,0.000,0.068,2219,985,3417
$GC,5859,-0.85,-146.6,472.2,-8.0,282,5863,0.00,2.58,0.00,0.000,6,0.000,0.054,2219,2407,3417
$GC,6185,-0.85,-146.6,497.2,-8.1,298,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2407,3417
$GC,6494,-0.85,-146.6,522.2,-7.7,313,6499,0.00,2.65,0.00,0.000,4,0.000,0.071,2219,985,3417
$GC,6572,-0.85,-146.6,528.5,-8.4,316,6578,0.00,2.58,0.00,0.000,6,0.000,0.054,2219,2404,3417
$GC,6887,-0.85,-146.6,554.9,-8.3,332,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3417
$GC,7196,-0.85,-146.6,580.1,-8.1,347,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3416
$GC,7505,-0.85,-146.6,605.7,-8.1,362,7510,0.00,2.65,0.00,0.000,4,0.000,0.070,2219,984,3416
$GC,7577,-0.85,-146.6,612.0,-9.3,365,7582,0.00,2.60,0.00,0.000,6,0.000,0.052,2219,2400,3417
$GC,7899,-0.85,-146.6,639.8,-8.8,381,7903,0.00,2.62,0.00,0.000,4,0.000,0.068,2219,984,3416
$GC,7952,-0.85,-146.6,644.8,-8.4,383,7959,0.00,2.60,0.00,0.000,6,0.000,0.053,2219,2398,3416
$GC,8268,-0.85,-146.6,669.0,-7.4,399,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2398,3416
$GC,8577,-0.85,-146.6,692.7,-7.6,414,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3416
$GC,8886,-0.85,-146.6,717.0,-8.4,429,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2398,3415
$GC,9196,-0.85,-146.6,746.7,-10.0,444,9200,0.00,2.62,0.00,0.000,4,0.000,0.068,2219,983,3415
$GC,9289,-0.85,-146.6,755.4,-8.9,448,9294,0.00,2.58,0.00,0.000,6,0.000,0.052,2219,2404,3415
$GC,9610,-0.85,-146.6,780.1,-6.7,464,9614,0.00,2.62,0.00,0.000,4,0.000,0.066,2219,983,3415
$GC,9658,-0.85,-146.6,783.5,-6.9,466,9663,0.00,2.58,0.00,0.000,6,0.000,0.050,2219,2396,3415
$GC,9980,-0.85,-146.6,809.0,-10.1,482,9984,0.00,2.55,0.00,0.000,4,0.000,0.077,2219,3762,3415
$GC,10050,-0.85,-146.6,816.3,-9.2,485,10055,0.00,2.50,0.00,0.000,6,0.000,0.053,2219,2400,3415
$GC,10372,-0.85,-146.6,836.0,-6.0,501,10376,0.00,2.62,0.00,0.000,4,0.000,0.074,2219,986,3415
$GC,10510,-0.85,-146.6,844.5,-5.8,507,10515,0.00,2.58,0.00,0.000,6,0.000,0.053,2219,2404,3415
$GC,10831,-0.85,-146.6,864.9,-6.6,523,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3415
$GC,11141,-0.85,-146.6,883.0,-5.6,538,11142,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3415
$GC,11450,-0.85,-146.6,900.1,-5.6,553,11451,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3414
$GC,11759,-0.85,-146.6,920.8,-6.2,568,11760,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3414
$GC,12068,-0.85,-146.6,941.8,-6.1,583,12073,0.00,2.65,0.00,0.000,4,0.000,0.071,2219,988,3412
$STATE,12110,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12110,begin apogee
$GC,12116,-0.31,0.0,945.0,8.0,585,12242,0.57,0.00,122.75,1.358,6,0.117,0.000,2334,2207,2817
$STATE,12243,end apogee,CONTROL_FINISHED_OK
$STATE,12243,begin climb
$GC,12244,0.85,146.6,947.8,0.0,591,12375,1.25,2.75,122.22,1.315,4,0.080,0.069,2591,790,2217
$GC,12488,0.91,207.7,938.3,4.3,603,12544,0.00,2.60,50.65,1.278,6,0.000,0.051,2591,2201,1970
$GC,12855,0.91,207.7,914.8,6.4,620,12856,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2201,1969
$GC,13162,0.91,207.7,892.9,8.1,635,13166,0.00,2.67,0.00,0.000,4,0.000,0.077,2591,3610,1968
$GC,13201,0.91,207.7,889.5,9.3,637,13205,0.00,2.62,0.00,0.000,6,0.000,0.058,2591,2195,1968
$GC,13526,0.91,207.7,864.1,6.9,653,13527,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2195,1966
$GC,13835,0.91,207.7,843.5,7.4,668,13836,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2195,1964
$GC,14145,0.96,247.4,823.6,4.9,683,14180,0.12,0.00,32.88,1.252,6,0.068,0.000,2623,2195,1808
$GC,14474,0.96,247.4,796.8,9.6,699,14479,0.00,2.67,0.00,0.000,4,0.000,0.073,2624,3610,1806
$GC,14513,0.96,247.4,792.7,10.9,701,14518,0.00,2.62,0.00,0.000,6,0.000,0.059,2622,2199,1805
$GC,14839,0.96,247.4,756.8,8.8,717,14844,0.00,2.67,0.00,0.000,4,0.000,0.072,2622,782,1805
$GC,14878,0.96,247.4,753.4,8.3,719,14882,0.00,2.58,0.00,0.000,6,0.000,0.047,2623,2201,1805
$GC,15203,0.96,247.4,723.3,9.1,735,15204,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2201,1805
$GC,15512,0.96,247.4,693.2,10.4,750,15513,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2201,1805
$GC,15821,0.96,247.4,661.5,10.4,765,15822,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2201,1805
$GC,16131,0.96,247.4,631.8,8.9,780,16132,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2201,1806
$GC,16440,0.96,247.4,606.4,8.3,795,16441,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2201,1806
$GC,16749,0.96,247.4,581.7,7.9,810,16753,0.00,2.65,0.00,0.000,4,0.000,0.064,2623,779,1806
$GC,16788,0.96,247.4,578.3,8.7,812,16792,0.00,2.55,0.00,0.000,6,0.000,0.044,2623,2204,1807
$GC,17113,0.96,247.4,551.4,7.9,828,17114,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2203,1807
$GC,17422,0.96,247.4,524.8,9.0,843,17423,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2203,1808
$GC,17731,0.96,247.4,498.1,8.9,858,17733,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2203,1808
$GC,18041,0.96,247.4,470.9,9.0,873,18042,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2203,1808
$GC,18350,0.96,247.4,443.1,8.8,888,18351,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2203,1809
$GC,18659,0.96,247.4,417.5,8.2,903,18663,0.00,2.65,0.00,0.000,4,0.000,0.066,2623,780,1809
$GC,18721,0.96,247.4,412.0,8.1,906,18725,0.00,2.55,0.00,0.000,6,0.000,0.044,2623,2202,1809
$GC,19046,0.96,247.4,382.9,9.1,922,19047,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2202,1810
$GC,19355,0.96,247.4,354.0,9.7,937,19359,0.00,2.65,0.00,0.000,4,0.000,0.067,2623,778,1810
$GC,19388,0.96,247.4,350.9,8.4,938,19394,0.00,2.55,0.00,0.000,6,0.000,0.044,2623,2203,1810
$GC,19702,0.96,247.4,322.3,9.1,954,19703,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2203,1811
$GC,20011,0.96,247.4,294.4,8.9,969,20012,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2203,1811
$GC,20320,0.96,247.4,267.8,8.2,984,20325,0.00,2.65,0.00,0.000,4,0.000,0.066,2623,778,1812
$GC,20360,0.96,247.4,264.7,7.9,986,20364,0.00,2.55,0.00,0.000,6,0.000,0.045,2623,2201,1812
$GC,20685,0.96,247.4,238.9,7.8,1002,20686,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2201,1812
$GC,20994,0.96,247.4,213.5,8.6,1017,20995,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2201,1812
$GC,21304,0.96,247.4,185.3,9.1,1032,21308,0.00,2.62,0.00,0.000,4,0.000,0.066,2623,784,1813
$GC,21336,0.96,247.4,182.1,10.8,1033,21343,0.00,2.50,0.00,0.000,6,0.000,0.044,2623,2195,1812
$GC,21651,0.96,247.4,151.0,10.3,1049,21652,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2195,1813
$GC,21961,0.96,247.4,123.5,8.1,1064,21962,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2195,1813
$GC,22269,0.96,247.4,95.1,10.0,1079,22271,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2195,1813
$GC,22579,0.96,247.4,68.6,9.4,1094,22580,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2195,1813
$GC,22888,0.96,247.4,44.6,8.6,1109,22889,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2195,1814
$GC,23197,0.96,247.4,18.2,7.6,1124,23198,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2195,1814
$STATE,23484,end climb,SURFACE_DEPTH_REACHED
$STATE,23484,begin surface coast
$FINISH,0.6,1.025562
$STATE,23506,end surface coast,CONTROL_FINISHED_OK
$STATE,23506,begin surface
$SM_CCo,23526,35.08,0.615,2,0,1594,300.00
$SM_GC,1.30,0.00,0.00,35.08,0.000,0.000,0.615,66,2404,1594,-10.78,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2089
$TCM_TEMP,17.50
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,851.1,103.8
$24V_AH,23.5,22.168
$10V_AH,10.2,10.114
$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,25.275,125.150,328.500,35.075,0.000,130.372,357.116,249.527,18.500,0.000,0.000,12.557,1998.193,18862.646,521.441,2303.008,910.016,33.366,1628.589,0.000,2256.712,0.000,51.133
$DEVICE_MAMPS,171.808,82.069,1358.357,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,796.341,820.534,617.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56896,1139
$CFSIZE,260165632,252674048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,021207,034016,6206.949,-1043.934,41,2.2,60,-10.4