version: 66.02
glider: 16
mission: 6
dive: 240
start: 1 2 108 18 44 23
data:
$ID,16
$MISSION,6
$DIVE,240
$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,-2081428.4
$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
$GPS1,182938,6253.717,-605.161,28,1.7,28,-8.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-40.3
$GPS2,184333,6253.863,-605.026,34,1.6,34,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.023,-0.220
$KALMAN_X,10696.0,-136.0,-279.1,148653.2,2864.7
$KALMAN_Y,39208.2,408.0,335.8,100149.5,1557.7
$MHEAD_RNG_PITCHd_Wd,194.1,25675,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.85,-146.6,0.0,0.0,0,126,0.00,0.00,-101.65,0.000,2,0.000,0.000,72,2405,3147
$GC,128,-0.85,-146.6,4.4,-3.2,5,152,12.20,2.78,-5.72,0.000,4,0.175,0.087,2221,982,3416
$GC,230,-0.85,-146.6,20.8,-14.9,9,234,0.00,2.62,0.00,0.000,6,0.000,0.055,2221,2403,3417
$GC,552,-0.85,-146.6,57.8,-9.8,25,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3417
$GC,860,-0.85,-146.6,86.5,-8.6,40,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3417
$GC,1170,-0.85,-146.6,115.7,-8.1,55,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3417
$GC,1479,-0.85,-146.6,140.8,-7.2,70,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3417
$GC,1788,-0.85,-146.6,165.0,-7.4,85,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3417
$GC,2097,-0.85,-146.6,187.7,-7.3,100,2101,0.00,2.67,0.00,0.000,4,0.000,0.068,2221,979,3417
$GC,2158,-0.85,-146.6,192.9,-8.8,103,2163,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2404,3417
$GC,2484,-0.85,-146.6,218.6,-7.8,119,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3417
$GC,2793,-0.85,-146.6,242.1,-7.6,134,2797,0.00,2.67,0.00,0.000,4,0.000,0.068,2221,979,3417
$GC,2858,-0.85,-146.6,247.3,-8.0,137,2862,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2406,3417
$GC,3185,-0.85,-146.6,270.8,-7.3,153,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3417
$GC,3494,-0.85,-146.6,295.1,-7.8,168,3498,0.00,2.67,0.00,0.000,4,0.000,0.067,2221,979,3417
$GC,3566,-0.85,-146.6,300.7,-8.1,171,3570,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2401,3417
$GC,3883,-0.85,-146.6,326.3,-8.3,186,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3417
$GC,4191,-0.85,-146.6,351.1,-8.1,201,4196,0.00,2.65,0.00,0.000,4,0.000,0.067,2221,979,3417
$GC,4257,-0.85,-146.6,356.9,-8.9,204,4262,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2400,3417
$GC,4578,-0.85,-146.6,381.3,-7.4,220,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3417
$GC,4887,-0.85,-146.6,404.8,-8.3,235,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3417
$GC,5197,-0.85,-146.6,427.1,-6.9,250,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,5506,-0.85,-146.6,445.9,-5.9,265,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3418
$GC,5815,-0.85,-146.6,464.6,-7.0,280,5819,0.00,2.62,0.00,0.000,4,0.000,0.082,2221,3771,3418
$GC,5870,-0.85,-146.6,469.1,-8.8,282,5876,0.00,2.53,0.00,0.000,6,0.000,0.056,2221,2395,3418
$GC,6185,-0.85,-146.6,494.8,-8.7,298,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3418
$GC,6494,-0.85,-146.6,519.9,-7.9,313,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2393,3418
$GC,6804,-0.85,-146.6,542.8,-7.1,328,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2394,3417
$GC,7112,-0.85,-146.6,564.4,-6.8,343,7117,0.00,2.67,0.00,0.000,4,0.000,0.077,2221,985,3416
$GC,7184,-0.85,-146.6,569.3,-6.3,346,7188,0.00,2.62,0.00,0.000,6,0.000,0.065,2221,2403,3416
$GC,7506,-0.85,-146.6,590.5,-6.5,362,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3415
$GC,7815,-0.85,-146.6,608.8,-5.9,377,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3414
$GC,8124,-0.85,-146.6,626.9,-6.0,392,8128,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,987,3413
$GC,8173,-0.85,-146.6,630.2,-7.0,394,8177,0.00,2.65,0.00,0.000,6,0.000,0.067,2221,2405,3413
$GC,8490,-0.85,-146.6,650.7,-6.8,409,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3412
$GC,8797,-0.85,-146.6,670.9,-6.7,424,8802,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,980,3410
$GC,8841,-0.85,-146.6,674.1,-7.6,426,8845,0.00,2.67,0.00,0.000,6,0.000,0.069,2221,2409,3410
$GC,9161,-0.85,-146.6,695.7,-6.9,442,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2412,3409
$GC,9470,-0.85,-146.6,716.9,-6.7,457,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2411,3408
$GC,9780,-0.85,-146.6,738.0,-6.8,472,9784,0.00,2.72,0.00,0.000,4,0.000,0.080,2221,988,3407
$GC,9828,-0.85,-146.6,741.6,-6.8,474,9833,0.00,2.65,0.00,0.000,6,0.000,0.070,2221,2401,3407
$STATE,9983,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9983,begin apogee
$GC,9989,-0.31,0.0,751.5,6.4,482,10114,0.57,0.00,121.80,1.272,6,0.090,0.000,2340,2199,2817
$STATE,10114,end apogee,CONTROL_FINISHED_OK
$STATE,10114,begin climb
$GC,10116,0.85,146.6,751.4,0.0,488,10248,1.27,2.85,122.12,1.238,4,0.109,0.080,2591,789,2218
$GC,10390,0.85,146.6,742.0,6.3,500,10396,0.00,2.65,0.00,0.000,6,0.000,0.064,2590,2200,2216
$GC,10705,0.85,146.6,723.9,6.0,516,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2200,2216
$GC,11015,0.85,153.4,706.9,5.8,531,11028,0.00,2.85,6.55,0.975,4,0.000,0.087,2590,3616,2191
$GC,11068,0.85,153.4,703.4,6.9,533,11073,0.00,2.70,0.00,0.000,6,0.000,0.071,2590,2202,2191
$GC,11384,0.86,158.7,684.4,5.9,548,11392,0.00,0.00,6.12,0.948,6,0.000,0.000,2590,2202,2169
$GC,11693,0.86,159.6,666.0,6.0,563,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2202,2168
$GC,12002,0.86,159.6,647.9,6.1,578,12007,0.00,2.78,0.00,0.000,4,0.000,0.091,2591,3615,2168
$GC,12041,0.86,159.6,645.2,7.2,580,12045,0.00,2.67,0.00,0.000,6,0.000,0.069,2590,2200,2167
$GC,12367,0.86,159.6,624.5,6.3,596,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2200,2166
$GC,12677,0.86,159.6,604.7,6.6,611,12678,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2200,2166
$GC,12986,0.87,170.2,586.3,5.7,626,12999,0.00,0.00,10.52,1.052,6,0.000,0.000,2591,2200,2123
$GC,13317,0.87,170.2,567.0,6.2,642,13318,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2200,2122
$GC,13626,0.91,202.5,550.0,5.1,657,13655,0.00,0.00,27.67,1.137,6,0.000,0.000,2590,2200,1991
$GC,13955,0.93,225.1,531.9,5.4,673,13977,0.00,0.00,19.75,1.091,6,0.000,0.000,2591,2200,1899
$GC,14285,0.97,258.0,514.8,5.1,689,14315,0.15,0.00,27.98,1.103,6,0.080,0.000,2625,2200,1765
$GC,14613,0.97,258.0,488.3,8.9,705,14618,0.00,2.72,0.00,0.000,4,0.000,0.082,2625,788,1763
$GC,14662,0.97,258.0,483.6,9.6,707,14667,0.00,2.62,0.00,0.000,6,0.000,0.060,2625,2201,1763
$GC,14984,0.97,258.0,454.7,8.8,723,14985,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2201,1763
$GC,15293,0.97,258.0,429.5,7.9,738,15294,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2201,1762
$GC,15602,0.97,258.0,405.3,7.7,753,15603,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2201,1762
$GC,15912,0.97,258.0,382.3,7.3,768,15916,0.00,2.70,0.00,0.000,4,0.000,0.073,2625,779,1762
$GC,15977,0.97,258.0,377.2,7.6,771,15982,0.00,2.62,0.00,0.000,6,0.000,0.055,2625,2202,1763
$GC,16305,0.97,258.0,349.6,8.8,787,16306,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2202,1762
$GC,16614,0.97,258.0,321.9,9.1,802,16615,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2202,1763
$GC,16923,0.97,258.0,294.5,8.6,817,16927,0.00,2.67,0.00,0.000,4,0.000,0.070,2625,785,1763
$GC,16983,0.97,258.0,288.7,9.7,820,16988,0.00,2.60,0.00,0.000,6,0.000,0.052,2625,2200,1763
$GC,17310,0.97,258.0,256.9,9.4,836,17312,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2200,1764
$GC,17619,0.97,258.0,227.6,9.5,851,17620,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2200,1765
$GC,17928,0.97,258.0,200.1,8.4,866,17933,0.00,2.67,0.00,0.000,4,0.000,0.068,2625,777,1766
$GC,17972,0.97,258.0,196.2,9.0,868,17977,0.00,2.60,0.00,0.000,6,0.000,0.051,2625,2201,1766
$GC,18293,0.97,258.0,166.5,8.8,884,18294,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2201,1767
$GC,18603,0.97,258.0,136.3,10.9,899,18604,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2201,1768
$GC,18913,0.97,258.0,106.9,9.9,914,18917,0.00,2.65,0.00,0.000,4,0.000,0.067,2626,785,1768
$GC,18956,0.97,258.0,102.6,8.5,916,18960,0.00,2.58,0.00,0.000,6,0.000,0.049,2625,2202,1768
$GC,19283,0.97,258.0,71.5,9.8,932,19284,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2202,1769
$GC,19592,0.97,258.0,40.5,11.4,947,19597,0.00,2.65,0.00,0.000,4,0.000,0.067,2625,784,1769
$GC,19636,0.97,258.0,37.2,6.7,949,19640,0.00,2.58,0.00,0.000,6,0.000,0.051,2625,2201,1769
$GC,19963,0.97,258.0,10.8,7.6,965,19964,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2201,1770
$STATE,20043,end climb,SURFACE_DEPTH_REACHED
$STATE,20043,begin surface coast
$FINISH,1.0,1.006787
$STATE,20065,end surface coast,CONTROL_FINISHED_OK
$STATE,20065,begin surface
$SM_CCo,20086,189.62,0.670,2,0,508,566.15
$SM_GC,1.62,0.00,0.00,189.62,0.000,0.000,0.670,74,2408,508,-10.74,0.23,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2030
$TCM_TEMP,16.70
$XPDR_PINGS,76
$ALTIM_BOTTOM_PING,700.1,60.4
$24V_AH,23.4,42.441
$10V_AH,10.1,22.005
$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,25.725,102.050,342.525,189.625,0.000,97.889,112.418,359.036,25.000,0.000,0.000,34.249,1702.199,16007.224,693.132,1917.933,796.981,33.379,1614.808,0.000,1860.982,0.000,41.253
$DEVICE_MAMPS,174.876,90.506,1271.686,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,716.553,666.904,543.528,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50553,970
$CFSIZE,260165632,244375552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,2,0
$GPS,030108,002338,6252.525,-604.963,32,1.9,33,-8.1