version: 66.02
glider: 16
mission: 6
dive: 127
start: 12 4 107 18 19 28
data:
$ID,16
$MISSION,6
$DIVE,127
$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,-2078019
$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,14
$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
$GPS1,181237,6223.833,-1044.631,41,1.4,41,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-63.9
$GPS2,181838,6223.903,-1044.468,17,1.5,34,-10.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.198,0.100
$KALMAN_X,-71393.3,43.9,5597.8,-21244.9,-14052.4
$KALMAN_Y,136215.6,-337.0,-2006.3,-49223.7,12684.4
$MHEAD_RNG_PITCHd_Wd,73.8,72854,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,83,0.00,0.00,-61.05,0.000,2,0.000,0.000,75,2403,3117
$GC,86,-0.85,-146.6,3.6,-4.9,3,111,12.00,2.58,-6.88,0.000,4,0.170,0.082,2220,3762,3416
$GC,263,-0.85,-146.6,23.3,-8.8,11,268,0.00,2.47,0.00,0.000,6,0.000,0.046,2220,2391,3417
$GC,589,-0.85,-146.6,50.4,-8.1,27,593,0.00,2.60,0.00,0.000,4,0.000,0.065,2220,985,3417
$GC,621,-0.85,-146.6,53.2,-8.6,28,628,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,2395,3417
$GC,939,-0.85,-146.6,79.7,-8.8,44,943,0.00,2.60,0.00,0.000,4,0.000,0.062,2220,986,3417
$GC,970,-0.85,-146.6,82.4,-7.5,45,977,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,2395,3418
$GC,1286,-0.85,-146.6,112.1,-9.4,61,1290,0.00,2.62,0.00,0.000,4,0.000,0.064,2220,979,3418
$GC,1306,-0.85,-146.6,114.2,-9.4,62,1311,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,2406,3417
$GC,1633,-0.85,-146.6,141.0,-7.3,78,1638,0.00,2.62,0.00,0.000,4,0.000,0.063,2220,984,3417
$GC,1660,-0.85,-146.6,143.2,-7.8,79,1664,0.00,2.55,0.00,0.000,6,0.000,0.051,2220,2400,3418
$GC,1981,-0.85,-146.6,170.2,-8.2,95,1985,0.00,2.62,0.00,0.000,4,0.000,0.064,2220,982,3417
$GC,2012,-0.85,-146.6,172.7,-7.0,96,2019,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,2395,3418
$GC,2328,-0.85,-146.6,195.4,-7.3,112,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2395,3417
$GC,2637,-0.85,-146.6,220.4,-8.5,127,2641,0.00,2.62,0.00,0.000,4,0.000,0.065,2220,979,3418
$GC,2671,-0.85,-146.6,223.2,-8.4,128,2677,0.00,2.58,0.00,0.000,6,0.000,0.053,2220,2400,3417
$GC,2985,-0.85,-146.6,246.3,-6.5,144,2989,0.00,2.62,0.00,0.000,4,0.000,0.064,2220,980,3418
$GC,3024,-0.85,-146.6,248.7,-6.1,146,3029,0.00,2.58,0.00,0.000,6,0.000,0.052,2220,2406,3417
$GC,3350,-0.85,-146.6,272.2,-7.4,162,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2406,3418
$GC,3659,-0.85,-146.6,297.7,-9.1,177,3663,0.00,2.62,0.00,0.000,4,0.000,0.064,2220,985,3417
$GC,3713,-0.85,-146.6,302.5,-8.9,179,3720,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2395,3417
$GC,4029,-0.85,-146.6,331.6,-10.0,195,4033,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,982,3417
$GC,4060,-0.85,-146.6,335.2,-11.3,196,4067,0.00,2.60,0.00,0.000,6,0.000,0.053,2220,2392,3417
$GC,4375,-0.85,-146.6,366.4,-9.5,212,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2392,3418
$GC,4685,-0.85,-146.6,393.1,-8.8,227,4689,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,981,3418
$GC,4733,-0.85,-146.6,397.7,-9.0,229,4738,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2403,3418
$GC,5055,-0.85,-146.6,425.4,-8.3,245,5059,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,977,3418
$GC,5087,-0.85,-146.6,428.3,-8.5,246,5093,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2408,3418
$GC,5402,-0.85,-146.6,453.2,-8.1,262,5406,0.00,2.62,0.00,0.000,4,0.000,0.065,2220,985,3418
$GC,5463,-0.85,-146.6,458.1,-8.6,265,5467,0.00,2.58,0.00,0.000,6,0.000,0.053,2220,2400,3418
$GC,5789,-0.85,-146.6,482.9,-7.4,281,5794,0.00,2.62,0.00,0.000,4,0.000,0.065,2220,982,3418
$GC,5828,-0.85,-146.6,485.9,-7.3,283,5832,0.00,2.58,0.00,0.000,6,0.000,0.052,2220,2398,3417
$GC,6153,-0.85,-146.6,509.9,-7.7,299,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3418
$GC,6462,-0.85,-146.6,532.5,-6.9,314,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3418
$GC,6771,-0.85,-146.6,554.2,-7.1,329,6776,0.00,2.55,0.00,0.000,4,0.000,0.076,2221,3764,3418
$GC,6820,-0.85,-146.6,558.2,-7.5,331,6825,0.00,2.50,0.00,0.000,6,0.000,0.052,2220,2399,3418
$GC,7142,-0.85,-146.6,579.3,-5.9,347,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3418
$GC,7451,-0.85,-146.6,598.7,-7.2,362,7455,0.00,2.62,0.00,0.000,4,0.000,0.070,2220,982,3418
$GC,7562,-0.85,-146.6,606.3,-7.1,367,7566,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2401,3418
$GC,7888,-0.85,-146.6,630.0,-7.7,383,7892,0.00,2.58,0.00,0.000,4,0.000,0.079,2220,3769,3418
$GC,7915,-0.85,-146.6,632.3,-9.0,384,7919,0.00,2.50,0.00,0.000,6,0.000,0.054,2220,2407,3418
$GC,8236,-0.85,-146.6,654.6,-6.3,400,8240,0.00,2.65,0.00,0.000,4,0.000,0.071,2220,983,3418
$GC,8414,-0.85,-146.6,666.4,-7.1,408,8418,0.00,2.60,0.00,0.000,6,0.000,0.057,2220,2404,3418
$GC,8740,-0.85,-146.6,687.7,-6.9,424,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2404,3418
$STATE,8760,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8760,begin apogee
$GC,8765,-0.31,0.0,689.1,6.9,425,8889,0.60,0.00,121.53,1.134,6,0.104,0.000,2341,2193,2817
$STATE,8890,end apogee,CONTROL_FINISHED_OK
$STATE,8890,begin climb
$GC,8892,0.85,146.6,691.7,0.0,431,9016,1.17,0.00,119.72,1.114,6,0.074,0.000,2590,2195,2218
$GC,9324,0.85,146.6,667.4,6.0,452,9328,0.00,2.72,0.00,0.000,4,0.000,0.077,2590,3615,2217
$GC,9362,0.85,146.6,664.8,6.8,454,9366,0.00,2.62,0.00,0.000,6,0.000,0.058,2590,2204,2216
$GC,9687,0.86,162.3,646.2,5.6,470,9709,0.00,2.78,13.73,1.008,4,0.000,0.074,2590,791,2154
$GC,9809,0.86,162.3,638.6,7.1,475,9813,0.00,2.60,0.00,0.000,6,0.000,0.054,2590,2198,2153
$GC,10130,0.86,162.3,618.9,6.0,491,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2197,2151
$GC,10440,0.88,173.7,600.2,5.7,506,10452,0.00,0.00,10.48,0.965,6,0.000,0.000,2590,2197,2108
$GC,10749,0.88,173.7,581.7,6.5,521,10750,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2197,2107
$GC,11058,0.88,173.7,560.0,6.9,536,11062,0.00,2.65,0.00,0.000,4,0.000,0.067,2590,780,2106
$GC,11106,0.88,173.7,556.5,7.2,538,11111,0.00,2.60,0.00,0.000,6,0.000,0.049,2590,2207,2106
$GC,11427,0.88,173.7,534.6,7.4,554,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2207,2106
$GC,11736,0.88,173.7,511.8,7.1,569,11737,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2207,2105
$GC,12046,0.88,179.3,491.7,5.8,584,12057,0.00,2.65,5.78,0.779,4,0.000,0.071,2590,3614,2084
$GC,12107,0.88,179.3,487.5,6.5,587,12112,0.00,2.62,0.00,0.000,6,0.000,0.057,2589,2193,2084
$GC,12432,0.88,179.3,465.4,7.2,603,12433,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2193,2085
$GC,12742,0.88,179.3,444.1,6.4,618,12743,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2191,2084
$GC,13051,0.88,179.3,424.6,6.3,633,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2193,2085
$GC,13360,0.88,179.3,403.8,7.1,648,13361,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2193,2084
$GC,13669,0.88,179.3,382.3,6.9,663,13673,0.00,2.65,0.00,0.000,4,0.000,0.071,2590,3614,2085
$GC,13708,0.88,179.3,379.7,7.2,665,13712,0.00,2.60,0.00,0.000,6,0.000,0.059,2590,2197,2085
$GC,14034,0.93,227.8,362.0,4.7,681,14076,0.12,0.00,39.38,0.896,6,0.063,0.000,2622,2197,1887
$GC,14383,0.93,227.8,336.0,7.7,698,14385,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2197,1887
$GC,14692,0.93,227.8,310.2,8.4,713,14697,0.00,2.65,0.00,0.000,4,0.000,0.069,2622,3616,1887
$GC,14724,0.93,227.8,307.2,9.2,714,14731,0.00,2.65,0.00,0.000,6,0.000,0.059,2622,2202,1887
$GC,15040,0.93,227.8,277.0,9.6,730,15045,0.00,2.62,0.00,0.000,4,0.000,0.067,2622,785,1887
$GC,15083,0.93,227.8,272.7,9.6,732,15088,0.00,2.58,0.00,0.000,6,0.000,0.044,2622,2197,1887
$GC,15410,0.93,227.8,245.4,7.4,748,15411,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2197,1887
$GC,15720,0.93,227.8,223.9,7.1,763,15721,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2197,1887
$GC,16029,0.93,227.8,202.8,7.4,778,16033,0.00,2.62,0.00,0.000,4,0.000,0.070,2622,3616,1887
$GC,16060,0.93,227.8,200.3,8.2,779,16067,0.00,2.62,0.00,0.000,6,0.000,0.056,2622,2202,1887
$GC,16376,0.93,227.8,170.5,10.1,795,16377,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2202,1887
$GC,16685,0.93,227.8,143.4,8.6,810,16686,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2202,1887
$GC,16994,0.93,227.8,120.9,6.8,825,16996,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2202,1888
$GC,17304,0.93,227.8,95.9,8.1,840,17308,0.00,2.62,0.00,0.000,4,0.000,0.066,2622,781,1889
$GC,17330,0.93,227.8,93.7,8.9,841,17334,0.00,2.55,0.00,0.000,6,0.000,0.045,2622,2205,1888
$GC,17651,0.93,227.8,67.2,7.6,857,17656,0.00,2.60,0.00,0.000,4,0.000,0.069,2622,3612,1888
$GC,17683,0.93,227.8,64.3,8.1,858,17691,0.00,2.60,0.00,0.000,6,0.000,0.055,2622,2202,1888
$GC,18000,0.93,227.8,37.8,8.7,874,18004,0.00,2.62,0.00,0.000,4,0.000,0.068,2622,785,1889
$GC,18031,0.93,227.8,34.9,8.8,875,18038,0.00,2.58,0.00,0.000,6,0.000,0.048,2622,2197,1888
$GC,18348,0.93,227.8,8.6,7.8,891,18349,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2196,1890
$STATE,18428,end climb,SURFACE_DEPTH_REACHED
$STATE,18428,begin surface coast
$FINISH,0.3,1.010964
$STATE,18450,end surface coast,CONTROL_FINISHED_OK
$STATE,18450,begin surface
$SM_CCo,18469,41.60,0.625,1,0,1593,300.00
$SM_GC,1.00,0.00,0.00,41.60,0.000,0.000,0.625,77,2401,1593,-10.73,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2081
$TCM_TEMP,17.30
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,600.1,97.8
$24V_AH,23.6,23.530
$10V_AH,10.2,11.139
$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,25.100,151.825,310.600,41.600,0.000,32.625,41.303,170.588,10.500,0.000,0.000,34.312,1611.936,14453.391,520.639,1890.721,401.254,33.350,1452.166,0.000,1837.056,0.000,34.865
$DEVICE_MAMPS,169.507,82.069,1134.393,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,625.251,646.921,546.105,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44253,896
$CFSIZE,260165632,251940864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,041207,232908,6225.349,-1038.605,30,1.6,30,-10.5