version: 66.02
glider: 16
mission: 6
dive: 188
start: 12 16 107 2 40 37
data:
$ID,16
$MISSION,6
$DIVE,188
$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,-2079685
$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,11
$R_STBD_OVSHOOT,22
$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
$GPS1,021828,6346.920,-805.507,38,3.6,57,-9.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-59.2
$GPS2,023945,6346.890,-805.094,10,1.9,10,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.065,-0.110
$KALMAN_X,-109846.2,515.6,-61.3,162665.1,2331.6
$KALMAN_Y,96308.9,256.2,712.7,141046.3,122.9
$MHEAD_RNG_PITCHd_Wd,158.9,5447,-22.2,-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,-1.43,-43.1,0.0,0.0,0,124,0.00,0.00,-97.20,0.000,6,0.000,0.000,71,2406,2992
$GC,126,-1.47,-74.1,4.5,-3.1,5,149,11.50,2.58,-3.12,0.000,4,0.176,0.086,2087,3762,3120
$GC,378,-1.47,-74.1,42.2,-14.8,16,382,0.00,2.55,0.00,0.000,6,0.000,0.056,2087,2401,3120
$GC,705,-1.47,-74.1,84.4,-12.5,32,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2401,3121
$GC,1015,-1.47,-74.1,123.0,-12.5,47,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2401,3121
$GC,1323,-1.47,-74.1,162.1,-12.8,62,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2401,3121
$GC,1632,-1.47,-74.1,199.1,-11.3,77,1637,0.00,2.70,0.00,0.000,4,0.000,0.074,2087,975,3122
$GC,1699,-1.47,-74.1,207.0,-12.2,80,1703,0.00,2.62,0.00,0.000,6,0.000,0.059,2087,2401,3121
$GC,2019,-1.47,-74.1,244.9,-11.8,96,2023,0.00,2.60,0.00,0.000,4,0.000,0.077,2087,3772,3122
$GC,2265,-1.47,-74.1,274.9,-12.1,107,2270,0.00,2.55,0.00,0.000,6,0.000,0.059,2087,2395,3122
$GC,2590,-1.47,-74.1,312.3,-12.2,123,2595,0.00,2.62,0.00,0.000,4,0.000,0.081,2087,3766,3123
$GC,2753,-1.47,-74.1,331.8,-12.9,130,2757,0.00,2.55,0.00,0.000,6,0.000,0.062,2087,2396,3123
$GC,3067,-1.47,-74.1,366.4,-10.5,145,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2396,3124
$GC,3377,-1.47,-74.1,399.9,-11.3,160,3382,0.00,2.65,0.00,0.000,4,0.000,0.086,2087,3770,3123
$GC,3459,-1.47,-74.1,409.8,-11.8,163,3466,0.00,2.55,0.00,0.000,6,0.000,0.063,2087,2400,3123
$GC,3775,-1.47,-74.1,442.7,-10.3,179,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2400,3123
$GC,4085,-1.47,-74.1,475.6,-10.8,194,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2400,3122
$GC,4393,-1.47,-74.1,509.5,-11.0,209,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2400,3121
$GC,4703,-1.47,-74.1,542.8,-10.5,224,4707,0.00,2.65,0.00,0.000,4,0.000,0.088,2087,3765,3120
$GC,4757,-1.47,-74.1,549.1,-11.5,226,4763,0.00,2.58,0.00,0.000,6,0.000,0.066,2087,2393,3120
$GC,5072,-1.47,-74.1,582.5,-10.6,242,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2393,3119
$GC,5381,-1.47,-74.1,614.5,-10.4,257,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2392,3117
$GC,5691,-1.47,-74.1,646.0,-9.8,272,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2392,3116
$GC,6001,-1.47,-74.1,676.2,-9.7,287,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2393,3115
$GC,6309,-1.47,-74.1,706.3,-9.3,302,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2392,3114
$GC,6619,-1.47,-74.1,735.8,-9.6,317,6623,0.00,2.70,0.00,0.000,4,0.000,0.081,2087,985,3112
$GC,6667,-1.47,-74.1,740.8,-10.4,319,6672,0.00,2.67,0.00,0.000,6,0.000,0.071,2087,2405,3112
$GC,6988,-1.47,-74.1,772.2,-9.6,335,6993,0.00,2.67,0.00,0.000,4,0.000,0.095,2087,3767,3112
$GC,7052,-1.47,-74.1,778.6,-10.4,338,7056,0.00,2.60,0.00,0.000,6,0.000,0.071,2087,2395,3111
$GC,7377,-1.47,-74.1,809.7,-9.5,354,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2394,3110
$GC,7687,-1.47,-74.1,839.1,-9.4,369,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2394,3110
$GC,7996,-1.47,-74.1,870.1,-10.2,384,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2394,3110
$GC,8306,-1.47,-74.1,901.3,-10.1,399,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2393,3109
$GC,8614,-1.47,-74.1,931.3,-9.6,414,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2393,3108
$GC,8924,-1.47,-74.1,959.8,-8.8,429,8928,0.00,2.70,0.00,0.000,4,0.000,0.093,2087,3768,3107
$GC,9023,-1.47,-74.1,969.5,-9.8,433,9030,0.00,2.58,0.00,0.000,6,0.000,0.064,2087,2391,3107
$STATE,9254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9254,begin apogee
$GC,9260,-0.31,0.0,990.6,9.1,445,9325,1.33,0.00,61.92,1.355,6,0.137,0.000,2336,2194,2816
$STATE,9326,end apogee,CONTROL_FINISHED_OK
$STATE,9326,begin climb
$GC,9328,1.47,74.1,992.2,0.0,448,9397,1.90,0.00,64.12,1.331,6,0.081,0.000,2725,2194,2514
$GC,9706,1.47,74.1,964.3,8.6,467,9710,0.00,2.75,0.00,0.000,4,0.000,0.084,2726,3610,2512
$GC,9805,1.47,74.1,954.9,8.7,471,9811,0.00,2.67,0.00,0.000,6,0.000,0.065,2725,2194,2511
$GC,10120,1.47,74.1,929.1,8.3,487,10124,0.00,2.78,0.00,0.000,4,0.000,0.085,2725,3615,2511
$GC,10242,1.47,74.1,918.4,8.8,492,10248,0.00,2.67,0.00,0.000,6,0.000,0.066,2725,2196,2511
$GC,10557,1.47,74.1,892.3,8.1,508,10561,0.00,2.75,0.00,0.000,4,0.000,0.085,2725,3609,2511
$GC,10622,1.47,74.1,886.4,8.8,511,10627,0.00,2.65,0.00,0.000,6,0.000,0.066,2725,2201,2511
$GC,10949,1.47,74.1,860.7,7.8,527,10954,0.00,2.72,0.00,0.000,4,0.000,0.086,2725,3609,2510
$GC,11011,1.47,74.1,855.3,8.2,530,11015,0.00,2.65,0.00,0.000,6,0.000,0.067,2725,2201,2510
$GC,11336,1.47,74.1,829.8,7.7,546,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2200,2510
$GC,11646,1.47,74.1,806.6,7.4,561,11650,0.00,2.78,0.00,0.000,4,0.000,0.089,2725,3616,2509
$GC,11752,1.47,74.1,798.0,7.6,566,11756,0.00,2.67,0.00,0.000,6,0.000,0.070,2725,2201,2509
$GC,12077,1.47,74.1,774.6,6.9,582,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2201,2509
$GC,12387,1.47,74.1,753.7,6.6,597,12391,0.00,2.78,0.00,0.000,4,0.000,0.091,2725,3615,2509
$GC,12566,1.47,74.1,740.8,6.7,605,12570,0.00,2.70,0.00,0.000,6,0.000,0.073,2725,2197,2509
$GC,12886,1.47,74.1,720.1,6.1,621,12890,0.00,2.78,0.00,0.000,4,0.000,0.093,2725,3609,2509
$GC,12979,1.47,74.1,713.6,7.4,625,12984,0.00,2.70,0.00,0.000,6,0.000,0.071,2725,2200,2509
$GC,13300,1.47,74.1,692.1,6.8,641,13305,0.00,2.78,0.00,0.000,4,0.000,0.094,2725,3609,2508
$GC,13372,1.47,74.1,686.6,7.8,644,13376,0.00,2.67,0.00,0.000,6,0.000,0.071,2725,2199,2509
$GC,13687,1.47,74.1,665.2,6.8,659,13691,0.00,2.75,0.00,0.000,4,0.000,0.087,2726,3609,2509
$GC,13742,1.47,74.1,661.1,7.5,661,13748,0.00,2.67,0.00,0.000,6,0.000,0.071,2725,2197,2508
$GC,14057,1.47,74.1,639.5,6.7,677,14058,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2197,2509
$GC,14366,1.47,74.1,618.5,6.6,692,14367,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2196,2508
$GC,14675,1.47,74.1,597.5,6.7,707,14676,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2197,2508
$GC,14985,1.47,74.1,576.6,6.8,722,14986,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2196,2508
$GC,15294,1.47,74.1,556.1,6.3,737,15295,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2196,2508
$GC,15603,1.47,74.1,536.3,6.1,752,15608,0.00,2.78,0.00,0.000,4,0.000,0.091,2725,3615,2508
$GC,15725,1.47,74.1,528.4,6.6,757,15731,0.00,2.67,0.00,0.000,6,0.000,0.070,2725,2200,2508
$GC,16040,1.47,79.1,510.9,5.5,773,16047,0.00,0.00,4.80,0.826,6,0.000,0.000,2725,2200,2495
$GC,16350,1.48,85.1,493.7,5.4,788,16359,0.00,0.00,6.93,0.928,6,0.000,0.000,2725,2200,2470
$GC,16659,1.48,85.1,473.9,6.8,803,16663,0.00,2.78,0.00,0.000,4,0.000,0.092,2725,3614,2469
$GC,16748,1.48,85.1,467.4,7.1,807,16752,0.00,2.70,0.00,0.000,6,0.000,0.073,2724,2199,2470
$GC,17068,1.48,85.1,444.3,7.3,823,17069,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2199,2469
$GC,17377,1.48,85.1,421.9,7.3,838,17378,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2199,2470
$GC,17686,1.48,85.1,401.4,6.2,853,17687,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2199,2470
$GC,17996,1.49,94.7,383.7,5.1,868,18007,0.00,0.00,9.43,0.939,6,0.000,0.000,2725,2199,2430
$GC,18305,1.49,95.1,366.1,6.0,883,18309,0.00,2.78,0.00,0.000,4,0.000,0.091,2725,3612,2429
$GC,18343,1.49,95.1,363.7,6.4,885,18347,0.00,2.70,0.00,0.000,6,0.000,0.074,2725,2199,2429
$GC,18669,1.49,95.1,342.1,7.2,901,18673,0.00,2.78,0.00,0.000,4,0.000,0.091,2725,3612,2429
$GC,18925,1.49,95.1,321.0,7.4,912,18932,0.00,2.70,0.00,0.000,6,0.000,0.075,2725,2201,2429
$GC,19241,1.49,95.1,299.5,6.4,928,19245,0.00,2.72,0.00,0.000,4,0.000,0.085,2725,782,2429
$GC,19302,1.49,95.1,295.8,6.4,931,19307,0.00,2.65,0.00,0.000,6,0.000,0.061,2725,2202,2429
$GC,19629,1.49,98.1,275.2,5.7,947,19638,0.00,2.72,4.57,0.706,4,0.000,0.077,2725,784,2417
$GC,19834,1.49,98.1,260.9,7.1,956,19838,0.00,2.65,0.00,0.000,6,0.000,0.058,2725,2205,2417
$GC,20156,1.49,98.1,239.2,7.7,972,20157,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2205,2417
$GC,20464,1.49,98.1,216.4,7.5,987,20469,0.00,2.70,0.00,0.000,4,0.000,0.081,2726,3618,2417
$GC,20721,1.49,98.1,197.0,7.0,998,20727,0.00,2.70,0.00,0.000,6,0.000,0.068,2725,2191,2418
$GC,21036,1.49,98.1,177.1,6.2,1014,21040,0.00,2.72,0.00,0.000,4,0.000,0.079,2725,3619,2419
$GC,21198,1.49,98.7,167.0,5.9,1021,21203,0.00,2.65,0.00,0.000,6,0.000,0.064,2726,2201,2419
$GC,21513,1.49,98.7,148.0,6.2,1036,21514,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2201,2420
$GC,21824,1.49,98.7,127.2,6.9,1051,21828,0.00,2.67,0.00,0.000,4,0.000,0.075,2725,3612,2421
$GC,21878,1.49,98.7,122.8,7.5,1053,21886,0.00,2.65,3.45,0.503,6,0.000,0.061,2725,2203,2414
$GC,22195,1.49,98.7,99.9,7.3,1069,22197,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2203,2414
$GC,22503,1.49,98.7,77.4,7.4,1084,22508,0.00,2.67,0.00,0.000,4,0.000,0.074,2726,3613,2415
$GC,22625,1.49,98.7,67.6,8.0,1089,22632,0.00,2.62,0.00,0.000,6,0.000,0.061,2726,2200,2415
$GC,22942,1.49,98.7,43.8,7.9,1105,22947,0.00,2.70,0.00,0.000,4,0.000,0.074,2725,3620,2416
$GC,23042,1.49,98.7,34.8,8.5,1109,23049,0.00,2.67,0.00,0.000,6,0.000,0.061,2726,2202,2418
$GC,23358,1.49,98.7,7.2,7.3,1125,23363,0.00,2.70,0.00,0.000,4,0.000,0.076,2726,3618,2418
$STATE,23419,end climb,SURFACE_DEPTH_REACHED
$STATE,23419,begin surface coast
$FINISH,0.9,1.027403
$STATE,23435,end surface coast,CONTROL_FINISHED_OK
$STATE,23435,begin surface
$SM_CCo,23457,288.35,0.672,3,0,508,566.15
$SM_GC,1.60,0.00,0.00,288.35,0.000,0.000,0.672,70,2393,508,-10.76,-0.20,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2005
$TCM_TEMP,19.00
$XPDR_PINGS,105
$24V_AH,23.3,32.433
$10V_AH,10.1,15.727
$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,26.550,160.825,155.225,288.350,0.000,163.072,206.439,522.774,34.750,0.000,0.000,10.806,2081.441,18526.197,703.751,2573.342,1147.304,33.367,1911.846,0.000,2522.350,0.000,56.129
$DEVICE_MAMPS,176.410,95.108,1354.522,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,831.120,785.898,594.941,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56794,1128
$CFSIZE,260165632,248623104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,3,0
$GPS,161207,091758,6345.553,-802.572,24,3.0,43,-9.5