version: 66.02
glider: 16
mission: 6
dive: 126
start: 12 4 107 12 58 7
data:
$ID,16
$MISSION,6
$DIVE,126
$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,300
$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,-2077984.1
$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,16
$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
$GPS1,124355,6219.611,-1052.114,26,1.5,44,-10.5
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-51.2
$GPS2,125715,6219.817,-1052.111,11,1.9,11,-10.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.192,0.110
$KALMAN_X,-70541.8,1418.3,2008.6,-26587.5,-18938.3
$KALMAN_Y,131096.9,-794.2,-118.8,-53099.1,8647.5
$MHEAD_RNG_PITCHd_Wd,70.7,82721,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.85,-146.6,0.0,0.0,0,82,0.00,0.00,-61.72,0.000,2,0.000,0.000,73,2404,3276
$GC,84,-0.85,-146.6,5.2,-10.1,3,107,12.02,2.50,-2.85,0.000,4,0.169,0.074,2221,3767,3419
$GC,287,-0.85,-146.6,37.7,-10.1,12,291,0.00,2.50,0.00,0.000,6,0.000,0.049,2221,2396,3419
$GC,614,-0.85,-146.6,68.4,-8.1,28,618,0.00,2.58,0.00,0.000,4,0.000,0.070,2221,3768,3419
$GC,645,-0.85,-146.6,70.8,-7.4,29,652,0.00,2.50,0.00,0.000,6,0.000,0.048,2221,2405,3420
$GC,961,-0.85,-146.6,94.5,-7.3,45,965,0.00,2.62,0.00,0.000,4,0.000,0.065,2221,983,3419
$GC,999,-0.85,-146.6,97.4,-8.2,47,1004,0.00,2.58,0.00,0.000,6,0.000,0.052,2221,2404,3419
$GC,1326,-0.85,-146.6,121.7,-8.1,63,1330,0.00,2.53,0.00,0.000,4,0.000,0.070,2221,3766,3419
$GC,1386,-0.85,-146.6,128.3,-10.6,66,1391,0.00,2.47,0.00,0.000,6,0.000,0.049,2221,2400,3419
$GC,1712,-0.85,-146.6,157.8,-8.4,82,1716,0.00,2.65,0.00,0.000,4,0.000,0.069,2221,977,3419
$GC,1750,-0.85,-146.6,161.1,-7.9,84,1755,0.00,2.58,0.00,0.000,6,0.000,0.053,2221,2400,3419
$GC,2076,-0.85,-146.6,187.9,-8.6,100,2080,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,977,3420
$GC,2102,-0.85,-146.6,190.5,-9.2,101,2106,0.00,2.60,0.00,0.000,6,0.000,0.051,2221,2400,3419
$GC,2423,-0.85,-146.6,217.7,-8.2,117,2427,0.00,2.62,0.00,0.000,4,0.000,0.064,2222,980,3419
$GC,2471,-0.85,-146.6,221.5,-7.5,119,2476,0.00,2.58,0.00,0.000,6,0.000,0.051,2221,2392,3419
$GC,2792,-0.85,-146.6,249.1,-8.4,135,2796,0.00,2.62,0.00,0.000,4,0.000,0.064,2221,977,3419
$GC,2820,-0.85,-146.6,251.5,-9.0,136,2825,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2401,3419
$GC,3135,-0.85,-146.6,279.0,-8.9,151,3139,0.00,2.65,0.00,0.000,4,0.000,0.067,2221,975,3419
$GC,3177,-0.85,-146.6,283.1,-9.6,153,3182,0.00,2.62,0.00,0.000,6,0.000,0.054,2221,2398,3420
$GC,3504,-0.85,-146.6,311.2,-8.6,169,3509,0.00,2.62,0.00,0.000,4,0.000,0.064,2221,979,3420
$GC,3536,-0.85,-146.6,314.3,-9.3,170,3544,0.00,2.60,0.00,0.000,6,0.000,0.053,2221,2390,3419
$GC,3852,-0.85,-146.6,341.5,-8.6,186,3857,0.00,2.60,0.00,0.000,4,0.000,0.064,2221,979,3420
$GC,3901,-0.85,-146.6,345.6,-8.6,188,3906,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2404,3419
$GC,4222,-0.85,-146.6,371.1,-7.5,204,4226,0.00,2.62,0.00,0.000,4,0.000,0.064,2221,982,3419
$GC,4265,-0.85,-146.6,374.6,-7.7,206,4270,0.00,2.58,0.00,0.000,6,0.000,0.052,2221,2396,3419
$GC,4592,-0.85,-146.6,397.4,-6.9,222,4597,0.00,2.62,0.00,0.000,4,0.000,0.064,2222,975,3419
$GC,4624,-0.85,-146.6,399.8,-7.3,223,4631,0.00,2.60,0.00,0.000,6,0.000,0.051,2221,2400,3419
$GC,4940,-0.85,-146.6,422.1,-7.3,239,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,5249,-0.85,-146.6,444.5,-7.3,254,5253,0.00,2.60,0.00,0.000,4,0.000,0.065,2221,982,3419
$GC,5314,-0.85,-146.6,449.5,-7.7,257,5319,0.00,2.58,0.00,0.000,6,0.000,0.052,2221,2395,3419
$GC,5640,-0.85,-146.6,472.4,-6.9,273,5645,0.00,2.62,0.00,0.000,4,0.000,0.065,2221,979,3419
$GC,5706,-0.85,-146.6,477.4,-7.3,276,5711,0.00,2.60,0.00,0.000,6,0.000,0.052,2221,2394,3419
$GC,6033,-0.85,-146.6,502.2,-9.1,292,6037,0.00,2.60,0.00,0.000,4,0.000,0.064,2221,982,3419
$GC,6075,-0.85,-146.6,506.5,-10.3,294,6080,0.00,2.60,0.00,0.000,6,0.000,0.051,2221,2399,3419
$GC,6402,-0.85,-146.6,536.1,-8.4,310,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3419
$GC,6711,-0.85,-146.6,558.1,-6.8,325,6716,0.00,2.55,0.00,0.000,4,0.000,0.073,2221,3768,3419
$GC,6773,-0.85,-146.6,562.3,-6.8,328,6777,0.00,2.45,0.00,0.000,6,0.000,0.048,2221,2399,3419
$GC,7098,-0.85,-146.6,584.5,-7.4,344,7102,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,980,3419
$GC,7129,-0.85,-146.6,586.9,-7.7,345,7137,0.00,2.58,0.00,0.000,6,0.000,0.051,2221,2399,3420
$GC,7446,-0.85,-146.6,614.7,-10.5,361,7450,0.00,2.60,0.00,0.000,4,0.000,0.061,2221,982,3419
$GC,7540,-0.85,-146.6,625.7,-11.7,365,7544,0.00,2.58,0.00,0.000,6,0.000,0.053,2221,2402,3419
$GC,7854,-0.85,-146.6,656.2,-8.6,380,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3420
$GC,8164,-0.85,-146.6,685.6,-9.8,395,8168,0.00,2.62,0.00,0.000,4,0.000,0.064,2221,979,3419
$GC,8285,-0.85,-146.6,697.4,-9.6,400,8293,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2401,3419
$GC,8601,-0.85,-146.6,716.5,-3.4,416,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3419
$GC,8911,-0.85,-146.6,723.4,-3.0,431,8915,0.00,2.62,0.00,0.000,4,0.000,0.065,2221,982,3419
$GC,8954,-0.85,-146.6,725.1,-3.6,433,8958,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2406,3419
$GC,9280,-0.85,-146.6,747.5,-7.4,449,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3419
$STATE,9320,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9321,begin apogee
$GC,9325,-0.31,0.0,750.4,7.1,451,9451,0.60,0.00,122.75,1.167,6,0.104,0.000,2342,2195,2817
$STATE,9452,end apogee,CONTROL_FINISHED_OK
$STATE,9452,begin climb
$GC,9454,0.85,146.6,754.8,0.0,457,9581,1.23,2.72,119.53,1.174,4,0.094,0.068,2590,785,2218
$GC,9665,0.89,186.0,743.0,4.9,467,9703,0.00,2.62,32.70,1.111,6,0.000,0.051,2590,2204,2058
$GC,10010,0.89,186.0,722.3,6.2,484,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2204,2057
$GC,10320,0.89,186.0,703.8,6.9,499,10324,0.00,2.65,0.00,0.000,4,0.000,0.077,2590,3610,2056
$GC,10351,0.89,186.0,701.4,7.2,500,10359,0.00,2.62,0.00,0.000,6,0.000,0.056,2590,2207,2056
$GC,10667,0.89,186.0,678.2,6.5,516,10668,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2207,2055
$GC,10977,0.93,226.6,659.2,4.9,531,11019,0.10,2.78,32.95,1.108,4,0.077,0.071,2613,794,1892
$GC,11057,0.97,260.6,655.2,5.1,534,11092,0.00,2.60,28.92,1.104,6,0.000,0.050,2613,2206,1753
$GC,11414,0.97,260.6,630.2,8.4,552,11418,0.00,2.70,0.00,0.000,4,0.000,0.067,2613,777,1751
$GC,11485,0.97,260.6,624.0,8.4,555,11489,0.00,2.60,0.00,0.000,6,0.000,0.048,2613,2204,1751
$GC,11806,0.97,260.6,592.2,10.6,571,11807,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2203,1750
$GC,12116,0.97,260.6,564.9,8.4,586,12120,0.00,2.67,0.00,0.000,4,0.000,0.067,2613,777,1751
$GC,12182,0.97,260.6,559.4,8.1,589,12187,0.00,2.58,0.00,0.000,6,0.000,0.046,2613,2201,1750
$GC,12502,0.97,260.6,533.9,7.7,605,12507,0.00,2.62,0.00,0.000,4,0.000,0.071,2613,3611,1750
$GC,12545,0.97,260.6,530.5,7.8,607,12550,0.00,2.62,0.00,0.000,6,0.000,0.054,2613,2199,1750
$GC,12873,0.98,272.9,506.6,5.7,623,12889,0.00,2.67,10.85,0.910,4,0.000,0.066,2613,785,1704
$GC,12943,0.98,272.9,501.3,7.9,625,12948,0.00,2.60,0.00,0.000,6,0.000,0.046,2613,2200,1703
$GC,13265,0.98,272.9,479.8,6.8,641,13269,0.00,2.65,0.00,0.000,4,0.000,0.064,2613,779,1703
$GC,13308,0.98,272.9,476.2,7.8,643,13312,0.00,2.55,0.00,0.000,6,0.000,0.045,2613,2199,1703
$GC,13634,0.98,272.9,448.4,8.6,659,13635,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2199,1703
$GC,13943,0.98,272.9,421.3,9.0,674,13948,0.00,2.65,0.00,0.000,4,0.000,0.064,2613,777,1703
$GC,13998,0.98,272.9,415.8,10.4,676,14005,0.00,2.58,0.00,0.000,6,0.000,0.045,2613,2205,1703
$GC,14313,0.98,272.9,384.7,10.4,692,14318,0.00,2.62,0.00,0.000,4,0.000,0.071,2613,3617,1704
$GC,14345,0.98,272.9,381.2,11.0,693,14352,0.00,2.62,0.00,0.000,6,0.000,0.058,2613,2205,1704
$GC,14661,0.98,272.9,349.0,9.9,709,14666,0.00,2.62,0.00,0.000,4,0.000,0.067,2613,785,1704
$GC,14710,0.98,272.9,344.0,9.8,711,14715,0.00,2.58,0.00,0.000,6,0.000,0.047,2613,2195,1704
$GC,15031,0.98,272.9,316.1,8.6,727,15032,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2195,1705
$GC,15341,0.98,272.9,287.8,9.4,742,15345,0.00,2.62,0.00,0.000,4,0.000,0.065,2614,784,1705
$GC,15366,0.98,272.9,285.2,9.4,743,15371,0.00,2.58,0.00,0.000,6,0.000,0.046,2613,2198,1705
$GC,15687,0.98,272.9,255.9,8.9,759,15689,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2198,1705
$GC,15997,0.98,272.9,229.0,8.8,774,16001,0.00,2.62,0.00,0.000,4,0.000,0.064,2613,779,1706
$GC,16028,0.98,272.9,226.0,8.7,775,16035,0.00,2.58,0.00,0.000,6,0.000,0.046,2613,2197,1706
$GC,16344,0.98,272.9,201.2,8.1,791,16345,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2197,1706
$GC,16654,0.98,272.9,177.5,7.5,806,16655,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2197,1706
$GC,16963,0.98,272.9,151.4,8.2,821,16967,0.00,2.62,0.00,0.000,4,0.000,0.062,2613,777,1707
$GC,16988,0.98,272.9,148.8,10.0,822,16993,0.00,2.58,0.00,0.000,6,0.000,0.044,2613,2201,1707
$GC,17312,0.98,272.9,121.4,7.9,838,17313,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2201,1707
$GC,17619,0.98,272.9,98.0,8.3,853,17624,0.00,2.62,0.00,0.000,4,0.000,0.064,2613,781,1707
$GC,17662,0.98,272.9,94.0,9.1,855,17667,0.00,2.58,0.00,0.000,6,0.000,0.044,2613,2201,1707
$GC,17990,0.98,272.9,65.7,8.1,871,17991,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2201,1707
$GC,18299,0.98,272.9,39.0,9.1,886,18300,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2201,1708
$GC,18608,0.98,272.9,11.9,8.2,901,18609,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2201,1708
$STATE,18730,end climb,SURFACE_DEPTH_REACHED
$STATE,18730,begin surface coast
$FINISH,0.4,1.011654
$STATE,18752,end surface coast,CONTROL_FINISHED_OK
$STATE,18752,begin surface
$SM_CCo,18772,17.73,0.586,1,0,1594,300.00
$SM_GC,1.33,0.00,0.00,17.73,0.000,0.000,0.586,75,2402,1594,-10.74,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2105
$TCM_TEMP,17.30
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,675.5,84.2
$24V_AH,23.5,23.412
$10V_AH,10.2,11.057
$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,25.050,188.200,347.700,17.725,0.000,97.786,115.179,353.596,12.000,0.000,0.000,11.461,1673.439,14641.158,528.255,2010.047,741.217,33.353,1551.579,0.000,1965.080,0.000,39.699
$DEVICE_MAMPS,168.740,76.700,1174.277,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.358,648.993,537.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47413,908
$CFSIZE,260165632,251985920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,041207,181237,6223.833,-1044.631,41,1.4,41,-10.5