version: 66.02
glider: 16
mission: 6
dive: 179
start: 12 13 107 19 42 43
data:
$ID,16
$MISSION,6
$DIVE,179
$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,-2079408.5
$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,13
$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
$GPS1,193627,6324.990,-846.907,30,2.6,49,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-46.6
$GPS2,194153,6325.074,-846.948,13,2.6,32,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.065,0.211
$KALMAN_X,-130302.0,1276.4,-418.8,145913.8,-8259.7
$KALMAN_Y,92928.4,700.4,631.6,103681.8,-12432.1
$MHEAD_RNG_PITCHd_Wd,27.0,53298,-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,20,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-102.38,0.000,2,0.000,0.000,72,2404,3099
$GC,127,-0.85,-146.6,3.7,-2.6,5,153,12.18,2.72,-7.18,0.000,4,0.174,0.077,2219,979,3416
$GC,404,-0.85,-146.6,30.7,-7.9,17,409,0.00,2.62,0.00,0.000,6,0.000,0.055,2219,2406,3417
$GC,726,-0.85,-146.6,56.8,-7.9,33,730,0.00,2.70,0.00,0.000,4,0.000,0.068,2219,973,3417
$GC,810,-0.85,-146.6,63.4,-8.2,37,815,0.00,2.62,0.00,0.000,6,0.000,0.056,2219,2397,3417
$GC,1136,-0.85,-146.6,89.5,-8.0,53,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2397,3417
$GC,1445,-0.85,-146.6,113.3,-7.8,68,1449,0.00,2.67,0.00,0.000,4,0.000,0.069,2219,977,3417
$GC,1510,-0.85,-146.6,118.6,-7.9,71,1515,0.00,2.60,0.00,0.000,6,0.000,0.057,2218,2400,3417
$GC,1837,-0.85,-146.6,142.5,-7.8,87,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2400,3417
$GC,2146,-0.85,-146.6,165.5,-7.4,102,2150,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,980,3417
$GC,2189,-0.85,-146.6,168.8,-7.3,104,2193,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2406,3417
$GC,2515,-0.85,-146.6,192.8,-7.3,120,2520,0.00,2.70,0.00,0.000,4,0.000,0.070,2219,973,3417
$GC,2547,-0.85,-146.6,195.2,-7.5,121,2554,0.00,2.62,0.00,0.000,6,0.000,0.059,2219,2399,3417
$GC,2863,-0.85,-146.6,219.6,-8.1,137,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3417
$GC,3172,-0.85,-146.6,244.6,-7.7,152,3176,0.00,2.67,0.00,0.000,4,0.000,0.070,2219,975,3417
$GC,3237,-0.85,-146.6,249.9,-7.5,155,3245,0.00,2.62,0.00,0.000,6,0.000,0.058,2218,2403,3417
$GC,3567,-0.85,-146.6,274.3,-7.6,171,3571,0.00,2.67,0.00,0.000,4,0.000,0.070,2219,980,3417
$GC,3609,-0.85,-146.6,277.7,-7.5,173,3614,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2399,3417
$GC,3936,-0.85,-146.6,304.7,-8.9,189,3940,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,979,3417
$GC,3957,-0.85,-146.6,306.6,-8.4,190,3961,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2404,3417
$GC,4284,-0.85,-146.6,333.9,-7.8,206,4288,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,976,3417
$GC,4322,-0.85,-146.6,336.9,-7.4,208,4326,0.00,2.60,0.00,0.000,6,0.000,0.059,2219,2400,3417
$GC,4647,-0.85,-146.6,360.9,-7.5,224,4652,0.00,2.60,0.00,0.000,4,0.000,0.082,2219,3766,3418
$GC,4754,-0.85,-146.6,370.2,-9.1,229,4758,0.00,2.50,0.00,0.000,6,0.000,0.058,2219,2398,3419
$GC,5079,-0.85,-146.6,396.6,-7.5,245,5083,0.00,2.67,0.00,0.000,4,0.000,0.075,2219,983,3419
$GC,5130,-0.85,-146.6,400.2,-6.9,247,5134,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2406,3419
$GC,5444,-0.85,-146.6,419.7,-6.5,262,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2406,3419
$GC,5754,-0.85,-146.6,442.0,-7.6,277,5758,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,981,3419
$GC,5815,-0.85,-146.6,446.6,-7.4,280,5819,0.00,2.62,0.00,0.000,6,0.000,0.064,2219,2401,3419
$GC,6141,-0.85,-146.6,467.1,-6.0,296,6145,0.00,2.70,0.00,0.000,4,0.000,0.077,2219,982,3419
$GC,6252,-0.85,-146.6,474.4,-7.0,301,6257,0.00,2.65,0.00,0.000,6,0.000,0.067,2219,2399,3419
$GC,6572,-0.85,-146.6,498.1,-7.9,317,6576,0.00,2.70,0.00,0.000,4,0.000,0.080,2219,983,3419
$GC,6610,-0.85,-146.6,501.2,-8.0,319,6615,0.00,2.65,0.00,0.000,6,0.000,0.067,2219,2399,3418
$GC,6939,-0.85,-146.6,526.2,-7.7,335,6944,0.00,2.70,0.00,0.000,4,0.000,0.080,2219,985,3417
$GC,6978,-0.85,-146.6,529.4,-7.4,337,6983,0.00,2.67,0.00,0.000,6,0.000,0.070,2219,2404,3417
$GC,7303,-0.85,-146.6,551.9,-6.8,353,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2402,3416
$GC,7613,-0.85,-146.6,574.7,-6.9,368,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2404,3413
$STATE,7880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7880,begin apogee
$GC,7885,-0.31,0.0,593.4,6.7,381,8007,0.62,0.00,119.78,1.147,6,0.123,0.000,2339,2196,2817
$STATE,8008,end apogee,CONTROL_FINISHED_OK
$STATE,8008,begin climb
$GC,8010,0.85,146.6,597.2,0.0,387,8133,1.23,0.00,119.60,1.117,6,0.082,0.000,2589,2196,2219
$GC,8431,0.90,193.0,577.3,4.7,408,8475,0.00,2.88,38.12,1.081,4,0.000,0.092,2590,3603,2031
$GC,8531,0.90,193.0,571.6,6.6,412,8538,0.00,2.70,0.00,0.000,6,0.000,0.072,2590,2199,2030
$GC,8846,0.93,222.3,555.0,5.2,428,8874,0.10,0.00,25.02,1.068,6,0.067,0.000,2617,2200,1910
$GC,9175,0.93,222.3,531.0,7.2,444,9180,0.00,2.75,0.00,0.000,4,0.000,0.087,2617,787,1909
$GC,9207,0.93,222.3,528.5,8.5,445,9214,0.00,2.70,0.00,0.000,6,0.000,0.064,2617,2200,1908
$GC,9523,0.93,222.3,505.6,7.2,461,9528,0.00,2.75,0.00,0.000,4,0.000,0.082,2617,788,1907
$GC,9555,0.93,222.3,503.0,7.8,462,9562,0.00,2.65,0.00,0.000,6,0.000,0.062,2617,2201,1907
$GC,9871,0.93,222.3,480.3,7.3,478,9875,0.00,2.78,0.00,0.000,4,0.000,0.094,2617,3613,1906
$GC,9897,0.93,222.3,478.2,7.5,479,9901,0.00,2.70,0.00,0.000,6,0.000,0.073,2617,2200,1906
$GC,10218,0.93,222.3,453.9,7.9,495,10223,0.00,2.72,0.00,0.000,4,0.000,0.087,2615,786,1905
$GC,10313,0.93,222.3,446.3,8.0,499,10317,0.00,2.67,0.00,0.000,6,0.000,0.064,2617,2207,1904
$GC,10634,0.93,222.3,423.1,6.6,515,10638,0.00,2.75,0.00,0.000,4,0.000,0.079,2617,781,1903
$GC,10682,0.93,222.3,419.6,7.1,517,10687,0.00,2.70,0.00,0.000,6,0.000,0.061,2617,2203,1903
$GC,11003,0.93,222.3,395.7,8.3,533,11005,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2203,1902
$GC,11313,0.93,222.3,368.0,9.0,548,11317,0.00,2.75,0.00,0.000,4,0.000,0.089,2617,3618,1902
$GC,11345,0.93,222.3,364.9,9.9,549,11351,0.00,2.67,0.00,0.000,6,0.000,0.068,2617,2200,1901
$GC,11660,0.93,222.3,338.2,8.4,565,11664,0.00,2.75,0.00,0.000,4,0.000,0.085,2617,3618,1901
$GC,11686,0.93,222.3,335.8,9.0,566,11690,0.00,2.67,0.00,0.000,6,0.000,0.068,2617,2200,1901
$GC,12007,0.93,222.3,309.6,7.9,582,12012,0.00,2.70,0.00,0.000,4,0.000,0.077,2617,782,1901
$GC,12051,0.93,222.3,305.9,8.6,584,12055,0.00,2.62,0.00,0.000,6,0.000,0.054,2617,2203,1902
$GC,12377,0.93,222.3,281.9,7.4,600,12379,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,1903
$GC,12687,0.93,222.3,256.2,8.6,615,12688,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2204,1903
$GC,12996,0.93,222.3,229.6,8.4,630,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,1904
$GC,13305,0.93,222.3,204.7,7.6,645,13306,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,1905
$GC,13615,0.93,222.3,181.4,8.1,660,13619,0.00,2.65,0.00,0.000,4,0.000,0.065,2617,782,1906
$GC,13657,0.93,222.3,177.8,8.2,662,13662,0.00,2.60,0.00,0.000,6,0.000,0.051,2617,2210,1906
$GC,13984,0.93,222.3,144.3,9.7,678,13989,0.00,2.67,0.00,0.000,4,0.000,0.067,2617,782,1908
$GC,14028,0.93,222.3,140.7,7.5,680,14032,0.00,2.58,0.00,0.000,6,0.000,0.050,2617,2202,1908
$GC,14355,0.95,237.6,113.6,5.6,696,14376,0.00,2.72,13.52,0.710,4,0.000,0.075,2617,3606,1848
$GC,14409,0.95,237.6,109.3,7.3,698,14413,0.00,2.67,0.00,0.000,6,0.000,0.065,2617,2193,1848
$GC,14731,1.00,283.6,93.0,4.7,714,14773,0.00,2.72,36.53,0.736,4,0.000,0.074,2617,782,1660
$GC,14811,1.00,283.6,85.8,9.8,717,14819,0.00,2.65,0.00,0.000,6,0.000,0.051,2617,2201,1659
$GC,15127,1.00,283.6,52.3,8.3,733,15132,0.00,2.67,0.00,0.000,4,0.000,0.068,2617,782,1659
$GC,15171,1.05,336.8,50.5,4.5,735,15218,0.10,2.60,41.47,0.703,6,0.056,0.051,2648,2206,1444
$GC,15534,1.05,336.8,14.5,14.0,753,15535,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2206,1443
$STATE,15635,end climb,SURFACE_DEPTH_REACHED
$STATE,15635,begin surface coast
$FINISH,0.8,1.014067
$STATE,15657,end surface coast,CONTROL_FINISHED_OK
$STATE,15657,begin surface
$SM_CCo,15677,141.48,0.651,3,0,509,566.15
$SM_GC,1.36,0.00,0.00,141.48,0.000,0.000,0.651,73,2408,509,-10.75,0.23,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2054
$TCM_TEMP,16.70
$XPDR_PINGS,53
$ALTIM_BOTTOM_PING,526.2,76.0
$24V_AH,23.5,30.913
$10V_AH,10.2,14.835
$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,25.650,155.800,394.050,141.475,0.000,32.588,35.252,141.186,17.500,0.000,0.000,33.207,1396.167,11934.209,734.262,1726.164,372.189,33.369,1594.419,0.000,1667.922,0.000,29.941
$DEVICE_MAMPS,174.109,93.574,1146.665,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,552.769,521.995,501.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38061,759
$CFSIZE,260165632,249319424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,3,0
$GPS,141207,000737,6328.384,-843.315,26,1.9,26,-9.8