version: 66.02
glider: 16
mission: 6
dive: 180
start: 12 14 107 0 18 1
data:
$ID,16
$MISSION,6
$DIVE,180
$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,-2079441.2
$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,13
$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
$GPS1,000737,6328.384,-843.315,26,1.9,26,-9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-46.5
$GPS2,001711,6328.422,-842.860,12,2.7,31,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.149,0.164
$KALMAN_X,-128261.0,193.1,1292.2,146778.0,-7022.8
$KALMAN_Y,94414.7,249.2,318.3,109103.9,-7123.4
$MHEAD_RNG_PITCHd_Wd,52.1,46638,-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,21,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-102.07,0.000,2,0.000,0.000,72,2409,3179
$GC,127,-0.85,-146.6,4.1,-3.3,5,150,12.20,2.72,-5.22,0.000,4,0.174,0.083,2220,983,3417
$GC,279,-0.85,-146.6,23.1,-9.4,11,286,0.00,2.60,0.00,0.000,6,0.000,0.055,2220,2404,3419
$GC,595,-0.85,-146.6,47.3,-10.7,27,599,0.00,2.70,0.00,0.000,4,0.000,0.069,2220,976,3419
$GC,615,-0.85,-146.6,49.8,-11.6,28,620,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2404,3418
$GC,942,-0.85,-146.6,79.1,-11.7,44,947,0.00,2.70,0.00,0.000,4,0.000,0.073,2220,983,3418
$GC,1014,-0.85,-146.6,84.9,-6.8,47,1018,0.00,2.60,0.00,0.000,6,0.000,0.056,2220,2402,3418
$GC,1336,-0.85,-146.6,107.7,-7.4,63,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,1647,-0.85,-146.6,153.5,-16.7,78,1651,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,984,3418
$GC,1685,-0.85,-146.6,160.0,-16.1,80,1690,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2400,3418
$GC,2012,-0.85,-146.6,187.9,-8.5,96,2016,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,982,3418
$GC,2038,-0.85,-146.6,190.3,-8.7,97,2043,0.00,2.62,0.00,0.000,6,0.000,0.057,2220,2400,3418
$GC,2359,-0.85,-146.6,210.2,-7.0,113,2363,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,982,3418
$GC,2414,-0.85,-146.6,212.6,-3.9,115,2420,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2403,3418
$GC,2729,-0.85,-146.6,230.3,-4.9,131,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3418
$GC,3038,-0.85,-146.6,252.6,-8.7,146,3042,0.00,2.67,0.00,0.000,4,0.000,0.070,2220,981,3418
$GC,3070,-0.85,-146.6,255.4,-7.5,147,3077,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2408,3419
$GC,3385,-0.85,-146.6,277.1,-5.9,163,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2408,3418
$GC,3694,-0.85,-146.6,303.6,-9.2,178,3699,0.00,2.70,0.00,0.000,4,0.000,0.071,2220,976,3419
$GC,3778,-0.85,-146.6,311.5,-9.0,182,3783,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2405,3419
$GC,4104,-0.85,-146.6,338.0,-8.2,198,4108,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,982,3419
$GC,4176,-0.85,-146.6,344.3,-8.7,201,4181,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2403,3418
$GC,4491,-0.85,-146.6,368.1,-7.3,216,4496,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,981,3418
$GC,4523,-0.85,-146.6,370.5,-7.6,217,4529,0.00,2.60,0.00,0.000,6,0.000,0.061,2220,2400,3419
$GC,4838,-0.85,-146.6,392.5,-6.4,233,4843,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,975,3419
$GC,4904,-0.85,-146.6,396.6,-6.2,236,4908,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2402,3418
$GC,5231,-0.85,-146.6,414.0,-5.6,252,5235,0.00,2.70,0.00,0.000,4,0.000,0.077,2220,981,3419
$GC,5258,-0.85,-146.6,415.6,-5.5,253,5262,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2404,3419
$GC,5573,-0.85,-146.6,433.2,-5.6,268,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3419
$GC,5882,-0.85,-146.6,454.1,-7.3,283,5886,0.00,2.70,0.00,0.000,4,0.000,0.077,2220,982,3419
$GC,5992,-0.85,-146.6,463.4,-8.8,288,5997,0.00,2.62,0.00,0.000,6,0.000,0.064,2220,2406,3419
$GC,6318,-0.85,-146.6,488.4,-7.1,304,6323,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,982,3420
$GC,6344,-0.85,-146.6,490.3,-7.0,305,6349,0.00,2.62,0.00,0.000,6,0.000,0.064,2220,2399,3420
$GC,6667,-0.85,-146.6,508.9,-5.3,321,6671,0.00,2.72,0.00,0.000,4,0.000,0.078,2220,976,3419
$GC,6700,-0.85,-146.6,510.6,-5.5,322,6706,0.00,2.67,0.00,0.000,6,0.000,0.068,2220,2398,3418
$GC,7015,-0.85,-146.6,528.5,-5.9,338,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3419
$GC,7324,-0.85,-146.6,548.4,-6.8,353,7329,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,984,3418
$GC,7367,-0.85,-146.6,551.6,-7.4,355,7372,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2408,3418
$GC,7694,-0.85,-146.6,574.0,-6.8,371,7699,0.00,2.75,0.00,0.000,4,0.000,0.081,2220,982,3416
$GC,7733,-0.85,-146.6,577.0,-7.7,373,7737,0.00,2.67,0.00,0.000,6,0.000,0.072,2220,2401,3417
$GC,8058,-0.85,-146.6,599.4,-6.4,389,8063,0.00,2.75,0.00,0.000,4,0.000,0.085,2220,982,3414
$GC,8119,-0.85,-146.6,603.6,-7.8,392,8123,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2400,3414
$STATE,8443,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8443,begin apogee
$GC,8448,-0.31,0.0,625.4,6.8,408,8572,0.62,0.00,120.45,1.170,6,0.122,0.000,2340,2195,2817
$STATE,8572,end apogee,CONTROL_FINISHED_OK
$STATE,8573,begin climb
$GC,8574,0.85,146.6,630.1,0.0,414,8701,1.25,2.88,119.53,1.144,4,0.107,0.092,2587,3611,2219
$GC,8729,0.86,159.3,626.2,5.7,421,8748,0.00,2.72,11.88,0.997,6,0.000,0.073,2588,2196,2167
$GC,9064,0.87,170.7,607.5,5.7,438,9079,0.00,2.80,10.55,1.000,4,0.000,0.084,2588,784,2120
$GC,9112,0.87,170.7,604.4,6.6,439,9117,0.00,2.70,0.00,0.000,6,0.000,0.065,2588,2199,2119
$GC,9427,0.87,170.7,585.1,6.3,454,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,2118
$GC,9737,0.89,186.3,567.7,5.6,469,9756,0.00,0.00,13.77,1.049,6,0.000,0.000,2588,2199,2057
$GC,10066,0.89,186.3,547.2,6.8,485,10070,0.00,2.78,0.00,0.000,4,0.000,0.094,2588,3613,2056
$GC,10104,0.89,186.3,544.2,8.7,487,10108,0.00,2.72,0.00,0.000,6,0.000,0.076,2588,2199,2056
$GC,10429,0.89,186.3,520.4,7.5,503,10433,0.00,2.75,0.00,0.000,4,0.000,0.087,2588,786,2055
$GC,10468,0.89,186.3,517.3,8.9,505,10472,0.00,2.67,0.00,0.000,6,0.000,0.064,2588,2202,2055
$GC,10793,0.89,186.3,493.6,7.2,521,10798,0.00,2.78,0.00,0.000,4,0.000,0.094,2588,3613,2054
$GC,10854,0.89,186.3,488.9,8.2,524,10858,0.00,2.72,0.00,0.000,6,0.000,0.076,2588,2199,2054
$GC,11179,0.89,186.3,466.4,6.3,540,11184,0.00,2.80,0.00,0.000,4,0.000,0.096,2588,3612,2053
$GC,11205,0.89,186.3,464.6,6.2,541,11210,0.00,2.72,0.00,0.000,6,0.000,0.077,2588,2196,2053
$GC,11526,0.89,186.3,444.1,6.5,557,11531,0.00,2.75,0.00,0.000,4,0.000,0.087,2588,786,2052
$GC,11593,0.89,186.3,439.7,6.4,560,11597,0.00,2.65,0.00,0.000,6,0.000,0.063,2588,2203,2052
$GC,11914,0.89,186.3,419.2,6.7,576,11918,0.00,2.72,0.00,0.000,4,0.000,0.089,2588,3610,2052
$GC,11952,0.89,186.3,416.5,7.1,578,11956,0.00,2.70,0.00,0.000,6,0.000,0.074,2588,2198,2052
$GC,12277,0.89,186.3,394.8,6.4,594,12282,0.00,2.75,0.00,0.000,4,0.000,0.089,2588,3608,2051
$GC,12361,0.90,195.4,389.6,5.7,598,12375,0.00,2.67,8.05,0.889,6,0.000,0.072,2588,2201,2019
$GC,12691,0.90,195.4,369.9,6.5,614,12695,0.00,2.72,0.00,0.000,4,0.000,0.081,2588,783,2018
$GC,12756,0.90,195.4,365.0,7.5,617,12760,0.00,2.65,0.00,0.000,6,0.000,0.064,2587,2200,2017
$GC,13083,0.90,195.4,340.2,7.5,633,13084,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,2018
$GC,13393,0.90,195.4,318.8,6.7,648,13397,0.00,2.72,0.00,0.000,4,0.000,0.080,2588,782,2018
$GC,13435,0.90,195.4,315.7,7.5,650,13440,0.00,2.65,0.00,0.000,6,0.000,0.061,2588,2207,2018
$GC,13763,0.91,201.9,296.7,5.8,666,13777,0.00,2.78,7.12,0.775,4,0.000,0.082,2588,3613,1992
$GC,13806,0.91,201.9,294.0,6.3,668,13811,0.00,2.70,0.00,0.000,6,0.000,0.071,2588,2198,1992
$GC,14132,0.94,234.6,276.0,5.1,684,14162,0.12,0.00,27.42,0.881,6,0.065,0.000,2619,2197,1860
$GC,14461,0.94,234.6,253.2,7.0,700,14465,0.00,2.67,0.00,0.000,4,0.000,0.071,2619,778,1859
$GC,14499,0.94,234.6,250.5,6.8,702,14504,0.00,2.62,0.00,0.000,6,0.000,0.051,2619,2210,1859
$GC,14824,0.94,234.6,227.2,7.6,718,14829,0.00,2.62,0.00,0.000,4,0.000,0.074,2619,3607,1860
$GC,14863,0.94,234.6,223.9,8.5,720,14868,0.00,2.62,0.00,0.000,6,0.000,0.061,2619,2200,1860
$GC,15190,0.94,234.6,197.9,8.2,736,15194,0.00,2.67,0.00,0.000,4,0.000,0.074,2619,784,1861
$GC,15221,0.94,234.6,195.0,8.3,737,15228,0.00,2.60,0.00,0.000,6,0.000,0.054,2619,2201,1861
$GC,15537,0.94,234.6,167.9,8.5,753,15541,0.00,2.65,0.00,0.000,4,0.000,0.074,2619,3607,1862
$GC,15569,0.94,234.6,165.1,8.7,754,15575,0.00,2.62,0.00,0.000,6,0.000,0.063,2619,2200,1862
$GC,15884,0.94,234.6,138.3,9.2,770,15885,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2200,1862
$GC,16195,0.94,234.6,110.9,9.8,785,16196,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2200,1863
$GC,16503,0.94,234.6,81.2,9.9,800,16505,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2200,1864
$GC,16812,0.94,234.6,50.5,10.2,815,16816,0.00,2.67,0.00,0.000,4,0.000,0.074,2619,784,1864
$GC,16851,0.94,234.6,46.8,10.7,817,16855,0.00,2.60,0.00,0.000,6,0.000,0.054,2619,2201,1864
$GC,17176,0.94,234.6,19.9,8.3,833,17181,0.00,2.65,0.00,0.000,4,0.000,0.074,2619,3608,1865
$GC,17202,0.94,234.6,17.2,10.3,834,17207,0.00,2.62,0.00,0.000,6,0.000,0.061,2619,2199,1866
$STATE,17419,end climb,SURFACE_DEPTH_REACHED
$STATE,17419,begin surface coast
$FINISH,0.9,1.015030
$STATE,17441,end surface coast,CONTROL_FINISHED_OK
$STATE,17441,begin surface
$SM_CCo,17460,201.62,0.665,2,0,509,566.15
$SM_GC,1.59,0.00,0.00,201.62,0.000,0.000,0.665,71,2395,509,-10.75,-0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2048
$TCM_TEMP,16.70
$XPDR_PINGS,70
$ALTIM_BOTTOM_PING,550.4,84.5
$24V_AH,23.5,31.076
$10V_AH,10.2,14.919
$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,25.475,193.950,318.775,201.625,0.000,65.243,67.547,257.213,22.000,0.000,0.000,32.163,1568.672,13475.520,754.689,1874.190,577.689,33.361,1692.392,0.000,1815.537,0.000,31.581
$DEVICE_MAMPS,174.109,95.875,1169.675,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,613.870,589.799,511.064,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44324,846
$CFSIZE,260165632,249233408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
$GPS,141207,051358,6329.792,-837.978,30,3.3,49,-9.7