version: 66.02
glider: 16
mission: 6
dive: 183
start: 12 14 107 16 20 22
data:
$ID,16
$MISSION,6
$DIVE,183
$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,-2079565
$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,18
$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
$GPS1,160937,6335.892,-834.907,60,1.5,60,-9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-48.0
$GPS2,161932,6335.935,-834.829,37,1.5,54,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.068,0.211
$KALMAN_X,-120236.7,515.5,-448.5,147240.2,4734.4
$KALMAN_Y,91729.4,531.8,94.0,125651.4,-5586.0
$MHEAD_RNG_PITCHd_Wd,351.8,33102,-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,-102.30,0.000,2,0.000,0.000,74,2404,3104
$GC,128,-0.85,-146.6,3.4,-2.4,5,154,12.02,2.70,-8.30,0.000,4,0.168,0.081,2221,979,3416
$GC,405,-0.85,-146.6,29.9,-9.8,17,413,0.00,2.65,0.00,0.000,6,0.000,0.058,2221,2397,3417
$GC,722,-0.85,-146.6,50.1,-6.0,33,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3417
$GC,1032,-0.85,-146.6,74.4,-8.2,48,1036,0.00,2.67,0.00,0.000,4,0.000,0.067,2221,974,3417
$GC,1071,-0.85,-146.6,77.0,-6.6,50,1075,0.00,2.65,0.00,0.000,6,0.000,0.059,2221,2406,3417
$GC,1396,-0.85,-146.6,100.5,-7.4,66,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3417
$GC,1705,-0.85,-146.6,133.0,-12.5,81,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3417
$GC,2015,-0.85,-146.6,158.4,-6.2,96,2019,0.00,2.70,0.00,0.000,4,0.000,0.071,2221,975,3417
$GC,2064,-0.85,-146.6,161.6,-6.2,98,2068,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2401,3417
$GC,2379,-0.85,-146.6,184.9,-7.3,113,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3417
$GC,2688,-0.85,-146.6,206.8,-6.5,128,2692,0.00,2.67,0.00,0.000,4,0.000,0.069,2221,979,3417
$GC,2750,-0.85,-146.6,211.5,-7.7,131,2754,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2400,3417
$GC,3075,-0.85,-146.6,234.3,-7.4,147,3080,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,979,3417
$GC,3119,-0.85,-146.6,237.8,-7.8,149,3123,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2404,3417
$GC,3446,-0.85,-146.6,264.8,-8.1,165,3450,0.00,2.70,0.00,0.000,4,0.000,0.071,2221,973,3417
$GC,3466,-0.85,-146.6,266.6,-8.3,166,3470,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2401,3417
$GC,3793,-0.85,-146.6,291.7,-7.5,182,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3417
$GC,4102,-0.85,-146.6,314.0,-7.1,197,4107,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,980,3417
$GC,4168,-0.85,-146.6,318.9,-7.5,200,4173,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2403,3417
$GC,4495,-0.85,-146.6,340.9,-6.8,216,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3417
$GC,4805,-0.85,-146.6,361.1,-6.3,231,4809,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,975,3417
$GC,4866,-0.85,-146.6,364.9,-6.4,234,4870,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2400,3417
$GC,5191,-0.85,-146.6,388.7,-7.7,250,5195,0.00,2.62,0.00,0.000,4,0.000,0.085,2221,3766,3417
$GC,5256,-0.85,-146.6,394.1,-7.9,253,5261,0.00,2.55,0.00,0.000,6,0.000,0.060,2221,2390,3418
$GC,5583,-0.85,-146.6,416.1,-6.1,269,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2390,3418
$GC,5893,-0.85,-146.6,432.5,-5.1,284,5897,0.00,2.67,0.00,0.000,4,0.000,0.078,2221,983,3418
$GC,5919,-0.85,-146.6,434.1,-5.8,285,5923,0.00,2.62,0.00,0.000,6,0.000,0.064,2221,2401,3418
$GC,6240,-0.85,-146.6,452.6,-6.5,301,6245,0.00,2.70,0.00,0.000,4,0.000,0.076,2221,985,3418
$GC,6267,-0.85,-146.6,454.7,-7.8,302,6271,0.00,2.65,0.00,0.000,6,0.000,0.066,2221,2406,3418
$GC,6590,-0.85,-146.6,476.0,-6.6,318,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3417
$GC,6897,-0.85,-146.6,495.7,-6.2,333,6902,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,983,3417
$GC,6974,-0.85,-146.6,500.8,-6.3,336,6980,0.00,2.65,0.00,0.000,6,0.000,0.068,2222,2399,3417
$GC,7289,-0.85,-146.6,520.6,-6.4,352,7293,0.00,2.72,0.00,0.000,4,0.000,0.080,2221,983,3416
$GC,7321,-0.85,-146.6,522.7,-6.7,353,7327,0.00,2.67,0.00,0.000,6,0.000,0.069,2221,2405,3415
$GC,7636,-0.85,-146.6,542.2,-6.2,369,7641,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,985,3414
$GC,7668,-0.85,-146.6,544.2,-6.4,370,7675,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2404,3414
$GC,7984,-0.85,-146.6,563.7,-6.2,386,7988,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,986,3413
$GC,8015,-0.85,-146.6,565.8,-6.5,387,8022,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2400,3412
$GC,8331,-0.85,-146.6,586.0,-6.6,403,8335,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,984,3411
$GC,8357,-0.85,-146.6,587.8,-6.9,404,8362,0.00,2.70,0.00,0.000,6,0.000,0.072,2221,2395,3411
$GC,8678,-0.85,-146.6,609.9,-6.9,420,8682,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,984,3410
$GC,8721,-0.85,-146.6,613.0,-7.6,422,8726,0.00,2.67,0.00,0.000,6,0.000,0.072,2221,2400,3409
$GC,9047,-0.85,-146.6,636.4,-7.3,438,9049,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3408
$GC,9357,-0.85,-146.6,657.5,-6.7,453,9361,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,985,3407
$GC,9401,-0.85,-146.6,660.6,-6.7,455,9406,0.00,2.70,0.00,0.000,6,0.000,0.072,2221,2400,3407
$GC,9722,-0.85,-146.6,681.5,-6.2,471,9723,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3407
$STATE,9988,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9988,begin apogee
$GC,9993,-0.31,0.0,699.1,6.8,484,10117,0.60,0.00,120.30,1.242,6,0.123,0.000,2336,2192,2817
$STATE,10117,end apogee,CONTROL_FINISHED_OK
$STATE,10118,begin climb
$GC,10119,0.85,146.6,703.5,0.0,490,10252,1.30,2.80,120.47,1.211,4,0.108,0.079,2588,785,2219
$GC,10275,0.85,148.0,698.8,6.0,498,10280,0.00,2.70,0.00,0.000,6,0.000,0.065,2588,2200,2219
$GC,10602,0.86,157.7,679.6,5.7,514,10617,0.00,2.85,10.43,1.061,4,0.000,0.095,2588,3613,2174
$GC,10685,0.86,157.7,674.3,6.5,517,10690,0.00,2.70,0.00,0.000,6,0.000,0.070,2587,2203,2174
$GC,11010,0.86,157.7,654.7,6.3,533,11012,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2203,2173
$GC,11319,0.86,157.7,635.7,6.6,548,11321,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2203,2172
$GC,11629,0.87,167.7,617.1,5.7,563,11641,0.00,0.00,9.88,1.048,6,0.000,0.000,2587,2203,2133
$GC,11938,0.87,167.7,599.0,6.3,578,11939,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2203,2131
$GC,12247,0.89,185.8,580.4,5.5,593,12268,0.00,0.00,15.88,1.098,6,0.000,0.000,2587,2203,2057
$GC,12576,0.89,185.8,561.3,6.2,609,12578,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2203,2057
$GC,12886,0.89,185.8,542.7,6.2,624,12887,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2203,2057
$GC,13195,0.89,185.8,522.9,6.8,639,13199,0.00,2.75,0.00,0.000,4,0.000,0.085,2588,787,2057
$GC,13238,0.89,185.8,519.8,7.7,641,13242,0.00,2.67,0.00,0.000,6,0.000,0.064,2588,2201,2056
$GC,13565,0.89,185.8,496.9,6.9,657,13569,0.00,2.75,0.00,0.000,4,0.000,0.081,2587,785,2057
$GC,13603,0.89,185.8,494.1,7.3,659,13608,0.00,2.67,0.00,0.000,6,0.000,0.064,2588,2201,2057
$GC,13928,0.89,185.8,471.3,6.9,675,13929,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2056
$GC,14238,0.89,185.8,450.7,6.4,690,14239,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2056
$GC,14547,0.89,185.8,429.7,7.1,705,14551,0.00,2.72,0.00,0.000,4,0.000,0.079,2587,785,2056
$GC,14612,0.89,185.8,424.8,7.4,708,14616,0.00,2.67,0.00,0.000,6,0.000,0.064,2587,2203,2055
$GC,14939,0.89,185.8,401.9,6.9,724,14940,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2203,2055
$GC,15248,0.89,185.8,381.9,6.4,739,15249,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2203,2056
$GC,15557,0.91,201.7,364.1,5.6,754,15577,0.00,0.00,13.80,0.968,6,0.000,0.000,2587,2203,1993
$GC,15886,0.91,201.7,344.0,6.3,770,15887,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2203,1992
$GC,16195,0.95,243.1,327.0,4.9,785,16238,0.15,2.80,34.05,0.981,4,0.077,0.086,2622,3615,1825
$GC,16260,0.95,243.1,323.0,6.7,788,16265,0.00,2.75,0.00,0.000,6,0.000,0.071,2622,2194,1826
$GC,16586,0.95,243.1,300.0,7.3,804,16591,0.00,2.70,0.00,0.000,4,0.000,0.077,2622,783,1824
$GC,16663,0.95,243.1,293.6,8.9,807,16670,0.00,2.65,0.00,0.000,6,0.000,0.058,2621,2202,1824
$GC,16978,0.95,243.1,266.8,8.3,823,16983,0.00,2.70,0.00,0.000,4,0.000,0.074,2622,784,1824
$GC,17028,0.95,243.1,262.2,9.6,825,17032,0.00,2.62,0.00,0.000,6,0.000,0.057,2622,2201,1824
$GC,17343,0.95,243.1,234.0,8.6,840,17344,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2201,1825
$GC,17652,0.95,243.1,206.1,9.6,855,17653,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2201,1826
$GC,17962,0.95,243.1,177.5,9.4,870,17966,0.00,2.70,0.00,0.000,4,0.000,0.078,2622,3616,1827
$GC,18004,0.95,243.1,173.7,8.7,872,18009,0.00,2.67,0.00,0.000,6,0.000,0.062,2622,2193,1827
$GC,18332,0.95,243.1,146.4,8.5,888,18336,0.00,2.67,0.00,0.000,4,0.000,0.073,2621,780,1829
$GC,18386,0.95,243.1,141.4,9.3,890,18393,0.00,2.62,0.00,0.000,6,0.000,0.054,2622,2205,1829
$GC,18702,0.95,243.1,116.7,7.5,906,18706,0.00,2.70,0.00,0.000,4,0.000,0.071,2622,782,1829
$GC,18756,0.95,243.1,112.4,7.2,908,18763,0.00,2.62,0.00,0.000,6,0.000,0.052,2622,2195,1830
$GC,19072,0.95,243.1,91.3,6.2,924,19073,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2195,1830
$GC,19382,0.95,243.1,71.8,8.3,939,19383,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2195,1831
$GC,19690,0.95,243.1,44.7,10.0,954,19695,0.00,2.67,0.00,0.000,4,0.000,0.071,2622,782,1832
$GC,19730,0.95,243.1,41.6,7.2,956,19734,0.00,2.60,0.00,0.000,6,0.000,0.052,2622,2203,1832
$GC,20055,0.95,243.1,15.0,10.7,972,20057,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2203,1833
$STATE,20177,end climb,SURFACE_DEPTH_REACHED
$STATE,20177,begin surface coast
$FINISH,0.8,1.027405
$STATE,20199,end surface coast,CONTROL_FINISHED_OK
$STATE,20199,begin surface
$SM_CCo,20219,195.43,0.675,2,0,508,566.15
$SM_GC,1.42,0.00,0.00,195.43,0.000,0.000,0.675,73,2403,508,-10.75,0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2048
$TCM_TEMP,16.70
$XPDR_PINGS,79
$ALTIM_BOTTOM_PING,676.3,31.7
$24V_AH,23.4,31.580
$10V_AH,10.1,15.191
$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,25.475,161.775,324.800,195.425,0.000,65.243,81.506,236.952,25.500,0.000,0.000,54.074,1760.811,15862.335,746.328,2066.293,584.461,33.371,1747.143,0.000,1984.891,0.000,39.545
$DEVICE_MAMPS,167.973,95.108,1241.773,674.960,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,724.009,673.568,590.161,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50569,979
$CFSIZE,260165632,249024512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
$GPS,141207,220202,6338.677,-835.734,39,1.5,40,-9.8