version: 66.02
glider: 16
mission: 6
dive: 239
start: 1 2 108 11 54 44
data:
$ID,16
$MISSION,6
$DIVE,239
$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,-2081393.5
$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,12
$R_STBD_OVSHOOT,17
$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
$GPS1,114708,6254.483,-559.890,38,1.7,38,-8.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-46.4
$GPS2,115351,6254.571,-559.890,15,1.9,15,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.177,-0.133
$KALMAN_X,10627.6,-859.7,-629.5,154321.8,5133.0
$KALMAN_Y,36019.7,390.5,346.2,104666.4,210.4
$MHEAD_RNG_PITCHd_Wd,241.1,27334,-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,-146.6,0.0,0.0,0,104,0.00,0.00,-81.60,0.000,2,0.000,0.000,72,2403,2609
$GC,107,-0.85,-146.6,3.1,-2.3,4,149,12.05,0.00,-23.05,0.000,6,0.168,0.000,2223,2403,3416
$GC,460,-0.85,-146.6,35.3,-6.5,21,464,0.00,2.67,0.00,0.000,4,0.000,0.066,2223,979,3417
$GC,537,-0.85,-146.6,39.2,-4.4,24,543,0.00,2.62,0.00,0.000,6,0.000,0.057,2223,2406,3417
$GC,853,-0.85,-146.6,67.2,-11.2,40,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2406,3417
$GC,1163,-0.85,-146.6,91.8,-9.2,55,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2405,3417
$GC,1471,-0.85,-146.6,114.4,-7.4,70,1475,0.00,2.70,0.00,0.000,4,0.000,0.069,2222,972,3417
$GC,1555,-0.85,-146.6,119.6,-6.2,74,1560,0.00,2.62,0.00,0.000,6,0.000,0.058,2223,2398,3417
$GC,1881,-0.85,-146.6,142.6,-8.5,90,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2399,3417
$GC,2191,-0.85,-146.6,175.5,-10.8,105,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2399,3417
$GC,2501,-0.85,-146.6,200.6,-7.7,120,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3417
$GC,2809,-0.85,-146.6,226.7,-8.5,135,2813,0.00,2.67,0.00,0.000,4,0.000,0.068,2223,974,3417
$GC,2880,-0.85,-146.6,232.7,-9.3,138,2884,0.00,2.62,0.00,0.000,6,0.000,0.059,2223,2401,3417
$GC,3202,-0.85,-146.6,258.3,-8.1,154,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3417
$GC,3510,-0.85,-146.6,282.1,-7.7,169,3515,0.00,2.67,0.00,0.000,4,0.000,0.068,2223,974,3417
$GC,3572,-0.85,-146.6,287.1,-8.2,172,3576,0.00,2.62,0.00,0.000,6,0.000,0.058,2223,2402,3417
$GC,3897,-0.85,-146.6,313.8,-8.5,188,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3417
$GC,4206,-0.85,-146.6,339.6,-8.3,203,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2402,3417
$GC,4516,-0.85,-146.6,363.7,-7.7,218,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3417
$GC,4825,-0.85,-146.6,386.1,-6.7,233,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2402,3417
$GC,5134,-0.85,-146.6,406.1,-6.9,248,5138,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,979,3418
$GC,5188,-0.85,-146.6,409.8,-6.9,250,5195,0.00,2.65,0.00,0.000,6,0.000,0.059,2223,2401,3418
$GC,5505,-0.85,-146.6,429.6,-6.0,266,5510,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,972,3418
$GC,5571,-0.85,-146.6,434.2,-6.9,269,5575,0.00,2.65,0.00,0.000,6,0.000,0.061,2223,2408,3419
$GC,5898,-0.85,-146.6,453.7,-5.9,285,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2411,3419
$GC,6207,-0.85,-146.6,471.2,-5.5,300,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2411,3419
$GC,6516,-0.85,-146.6,489.1,-5.7,315,6521,0.00,2.70,0.00,0.000,4,0.000,0.071,2223,980,3418
$GC,6565,-0.85,-146.6,492.2,-6.3,317,6570,0.00,2.62,0.00,0.000,6,0.000,0.063,2223,2404,3417
$GC,6887,-0.85,-146.6,514.6,-7.7,333,6891,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,980,3417
$GC,6975,-0.85,-146.6,522.0,-9.0,337,6979,0.00,2.65,0.00,0.000,6,0.000,0.064,2223,2404,3418
$GC,7302,-0.85,-146.6,545.9,-7.1,353,7307,0.00,2.70,0.00,0.000,4,0.000,0.075,2223,980,3417
$GC,7351,-0.85,-146.6,549.9,-8.1,355,7357,0.00,2.65,0.00,0.000,6,0.000,0.065,2223,2401,3417
$GC,7673,-0.85,-146.6,574.6,-7.8,371,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3415
$GC,7983,-0.85,-146.6,597.8,-7.5,386,7987,0.00,2.70,0.00,0.000,4,0.000,0.076,2223,982,3414
$GC,8048,-0.85,-146.6,603.2,-8.0,389,8053,0.00,2.65,0.00,0.000,6,0.000,0.067,2223,2402,3415
$GC,8375,-0.85,-146.6,628.2,-7.6,405,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2402,3413
$GC,8685,-0.85,-146.6,651.8,-8.0,420,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2403,3413
$GC,8994,-0.85,-146.6,677.2,-8.5,435,8998,0.00,2.72,0.00,0.000,4,0.000,0.077,2223,980,3412
$GC,9065,-0.85,-146.6,683.3,-8.9,438,9069,0.00,2.65,0.00,0.000,6,0.000,0.067,2222,2402,3411
$GC,9386,-0.85,-146.6,709.3,-7.8,454,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2403,3410
$GC,9695,-0.85,-146.6,733.1,-8.0,469,9700,0.00,2.72,0.00,0.000,4,0.000,0.077,2223,982,3409
$GC,9766,-0.85,-146.6,738.8,-8.2,472,9771,0.00,2.67,0.00,0.000,6,0.000,0.068,2223,2409,3409
$GC,10088,-0.85,-146.6,761.8,-7.1,488,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2410,3407
$GC,10397,-0.85,-146.6,782.3,-6.5,503,10401,0.00,2.75,0.00,0.000,4,0.000,0.077,2223,976,3406
$GC,10458,-0.85,-146.6,786.6,-7.3,506,10463,0.00,2.67,0.00,0.000,6,0.000,0.069,2222,2403,3406
$GC,10784,-0.85,-146.6,808.0,-7.0,522,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2403,3405
$GC,11093,-0.85,-146.6,829.5,-7.0,537,11094,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2403,3404
$STATE,11235,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11235,begin apogee
$GC,11241,-0.31,0.0,839.9,7.2,544,11366,0.60,0.00,121.85,1.262,6,0.123,0.000,2338,2189,2817
$STATE,11367,end apogee,CONTROL_FINISHED_OK
$STATE,11367,begin climb
$GC,11369,0.85,146.6,844.9,0.0,550,11498,1.30,0.00,123.00,1.229,6,0.104,0.000,2591,2189,2219
$GC,11808,0.88,175.6,825.8,5.2,572,11835,0.00,0.00,25.23,1.231,6,0.000,0.000,2591,2189,2101
$GC,12136,0.89,188.2,807.4,5.7,588,12150,0.00,0.00,12.25,1.154,6,0.000,0.000,2591,2189,2049
$GC,12445,0.90,192.4,788.8,5.9,603,12452,0.00,0.00,5.12,0.925,6,0.000,0.000,2591,2189,2032
$GC,12754,0.90,192.4,769.6,6.3,618,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2189,2031
$GC,13064,0.90,192.4,749.0,6.6,633,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2189,2030
$GC,13373,0.90,192.4,728.0,6.9,648,13374,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2189,2030
$GC,13683,0.90,192.4,706.6,6.8,663,13684,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2189,2030
$GC,13991,0.90,192.4,686.1,6.3,678,13993,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2189,2030
$GC,14301,0.90,192.4,666.8,6.2,693,14302,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2189,2029
$GC,14611,0.90,194.0,647.7,6.0,708,14615,0.00,2.67,0.00,0.000,4,0.000,0.081,2591,790,2029
$GC,14643,0.90,194.0,645.6,6.2,709,14649,0.00,2.60,0.00,0.000,6,0.000,0.060,2591,2197,2028
$GC,14958,0.90,194.0,625.3,6.8,725,14959,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2197,2028
$GC,15267,0.90,194.0,601.3,8.3,740,15269,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2197,2028
$GC,15577,0.90,194.0,579.7,6.3,755,15581,0.00,2.72,0.00,0.000,4,0.000,0.087,2591,3610,2028
$GC,15615,0.90,194.0,576.9,7.8,757,15620,0.00,2.67,0.00,0.000,6,0.000,0.067,2591,2196,2028
$GC,15941,0.92,211.2,557.7,5.5,773,15961,0.00,0.00,15.90,1.094,6,0.000,0.000,2591,2196,1956
$GC,16270,0.92,211.2,537.9,6.2,789,16271,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2196,1956
$GC,16579,0.92,211.2,517.7,6.8,804,16580,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2196,1955
$GC,16889,0.92,211.2,495.6,7.1,819,16893,0.00,2.70,0.00,0.000,4,0.000,0.081,2591,782,1955
$GC,16920,0.92,211.2,493.1,7.1,820,16928,0.00,2.67,0.00,0.000,6,0.000,0.060,2591,2201,1955
$GC,17236,0.92,211.2,473.3,6.1,836,17237,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2201,1955
$GC,17546,0.92,211.2,449.0,8.7,851,17547,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2201,1955
$GC,17855,0.92,211.2,422.8,7.8,866,17857,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2201,1955
$GC,18164,0.92,211.2,398.2,8.1,881,18165,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2201,1955
$GC,18473,0.92,211.2,374.6,7.7,896,18478,0.00,2.70,0.00,0.000,4,0.000,0.085,2593,3612,1955
$GC,18506,0.92,211.2,371.9,7.4,897,18513,0.00,2.65,0.00,0.000,6,0.000,0.066,2591,2203,1955
$GC,18823,0.92,211.2,347.4,7.8,913,18825,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2203,1955
$GC,19130,0.92,211.2,324.9,6.8,928,19135,0.00,2.70,0.00,0.000,4,0.000,0.074,2591,775,1955
$GC,19174,0.92,211.2,321.5,8.3,930,19178,0.00,2.65,0.00,0.000,6,0.000,0.055,2591,2205,1955
$GC,19495,0.92,211.2,298.6,6.6,946,19496,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2205,1955
$GC,19805,0.93,220.4,281.2,5.7,961,19816,0.00,0.00,9.57,0.808,6,0.000,0.000,2591,2205,1918
$GC,20114,0.95,239.7,264.6,5.5,976,20134,0.12,0.00,17.25,0.845,6,0.065,0.000,2622,2205,1838
$GC,20442,0.95,239.7,240.4,7.1,992,20444,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2205,1839
$GC,20752,0.95,239.7,215.6,7.8,1007,20757,0.00,2.67,0.00,0.000,4,0.000,0.069,2622,783,1839
$GC,20797,0.97,257.8,213.2,5.5,1009,20818,0.00,2.60,15.82,0.790,6,0.000,0.051,2622,2200,1766
$GC,21139,0.97,257.8,192.3,6.9,1026,21140,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2200,1765
$GC,21449,0.97,257.8,168.0,7.2,1041,21450,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2200,1765
$GC,21757,0.97,257.8,139.4,8.9,1056,21762,0.00,2.67,0.00,0.000,4,0.000,0.069,2622,782,1766
$GC,21801,0.97,257.8,135.3,11.0,1058,21805,0.00,2.60,0.00,0.000,6,0.000,0.051,2622,2202,1765
$GC,22129,1.02,307.7,111.1,4.6,1074,22171,0.00,0.00,40.08,0.746,6,0.000,0.000,2622,2201,1562
$GC,22479,1.02,307.7,83.5,6.6,1091,22483,0.00,2.70,0.00,0.000,4,0.000,0.069,2622,781,1561
$GC,22533,1.02,307.7,78.9,8.6,1093,22540,0.00,2.62,0.00,0.000,6,0.000,0.050,2622,2195,1561
$GC,22850,1.02,307.7,46.7,9.7,1109,22851,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2195,1561
$GC,23159,1.05,336.0,27.5,5.2,1124,23188,0.00,2.75,22.98,0.673,4,0.000,0.071,2622,788,1446
$GC,23233,1.05,336.0,19.7,11.3,1127,23237,0.00,2.62,0.00,0.000,6,0.000,0.051,2622,2204,1444
$STATE,23429,end climb,SURFACE_DEPTH_REACHED
$STATE,23429,begin surface coast
$FINISH,1.1,1.027380
$STATE,23451,end surface coast,CONTROL_FINISHED_OK
$STATE,23451,begin surface
$SM_CCo,23472,142.12,0.664,3,0,508,566.15
$SM_GC,1.56,0.00,0.00,142.12,0.000,0.000,0.664,74,2402,508,-10.75,0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2026
$TCM_TEMP,15.60
$XPDR_PINGS,88
$ALTIM_BOTTOM_PING,825.2,23.8
$24V_AH,23.4,42.255
$10V_AH,10.1,21.915
$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,25.400,118.225,409.050,142.125,0.000,32.655,47.995,201.313,29.750,0.000,0.000,15.128,1979.181,18596.578,756.366,2175.825,520.139,33.378,1798.252,0.000,2129.437,0.000,55.091
$DEVICE_MAMPS,167.973,87.438,1261.715,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,843.367,782.588,643.127,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56893,1138
$CFSIZE,260165632,244424704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,16,3,0
$GPS,020108,182938,6253.717,-605.161,28,1.7,28,-8.1