version: 66.02
glider: 16
mission: 6
dive: 129
start: 12 5 107 4 50 36
data:
$ID,16
$MISSION,6
$DIVE,129
$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,-2078050.2
$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,17
$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
$GPS1,043733,6226.889,-1035.700,39,1.6,40,-10.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-63.0
$GPS2,044944,6226.965,-1035.655,12,1.8,17,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.188,0.118
$KALMAN_X,-74601.2,917.2,4675.1,-10216.0,-16500.3
$KALMAN_Y,129470.2,-843.6,1455.3,-39719.7,1546.2
$MHEAD_RNG_PITCHd_Wd,68.3,63519,-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,19,-0.85,-146.6,0.0,0.0,0,82,0.00,0.00,-60.85,0.000,2,0.000,0.000,73,2409,3101
$GC,85,-0.85,-146.6,3.6,-5.7,3,110,12.12,2.55,-7.22,0.000,4,0.174,0.079,2219,3763,3417
$GC,362,-0.85,-146.6,32.8,-9.5,15,367,0.00,2.50,0.00,0.000,6,0.000,0.046,2219,2396,3417
$GC,684,-0.85,-146.6,60.5,-8.8,31,688,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,986,3417
$GC,727,-0.85,-146.6,64.3,-8.3,33,731,0.00,2.55,0.00,0.000,6,0.000,0.051,2219,2399,3417
$GC,1053,-0.85,-146.6,92.0,-8.3,49,1058,0.00,2.62,0.00,0.000,4,0.000,0.064,2219,985,3417
$GC,1092,-0.85,-146.6,95.4,-8.6,51,1097,0.00,2.58,0.00,0.000,6,0.000,0.051,2219,2408,3417
$GC,1418,-0.85,-146.6,122.7,-8.4,67,1423,0.00,2.65,0.00,0.000,4,0.000,0.063,2220,979,3417
$GC,1457,-0.85,-146.6,125.9,-8.4,69,1461,0.00,2.58,0.00,0.000,6,0.000,0.051,2219,2406,3417
$GC,1782,-0.85,-146.6,153.7,-8.4,85,1786,0.00,2.65,0.00,0.000,4,0.000,0.064,2219,982,3417
$GC,1808,-0.85,-146.6,155.8,-8.2,86,1812,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,2395,3417
$GC,2129,-0.85,-146.6,182.8,-8.7,102,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2395,3417
$GC,2438,-0.85,-146.6,207.1,-7.3,117,2442,0.00,2.62,0.00,0.000,4,0.000,0.064,2219,980,3418
$GC,2499,-0.85,-146.6,211.8,-7.5,120,2503,0.00,2.58,0.00,0.000,6,0.000,0.054,2219,2404,3417
$GC,2824,-0.85,-146.6,234.6,-7.0,136,2829,0.00,2.65,0.00,0.000,4,0.000,0.066,2220,978,3417
$GC,2879,-0.85,-146.6,238.7,-7.4,138,2886,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2400,3417
$GC,3195,-0.85,-146.6,260.7,-6.7,154,3199,0.00,2.65,0.00,0.000,4,0.000,0.069,2220,980,3417
$GC,3233,-0.85,-146.6,263.5,-7.2,156,3238,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2403,3417
$GC,3558,-0.85,-146.6,287.7,-7.8,172,3562,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,984,3416
$GC,3612,-0.85,-146.6,292.2,-8.5,174,3619,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,2407,3417
$GC,3927,-0.85,-146.6,318.9,-8.7,190,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3417
$GC,4237,-0.85,-146.6,345.7,-8.7,205,4241,0.00,2.62,0.00,0.000,4,0.000,0.066,2220,984,3417
$GC,4298,-0.85,-146.6,351.1,-8.6,208,4302,0.00,2.58,0.00,0.000,6,0.000,0.053,2220,2398,3417
$GC,4622,-0.85,-146.6,379.7,-8.5,224,4627,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,983,3417
$GC,4695,-0.85,-146.6,386.1,-8.7,227,4700,0.00,2.58,0.00,0.000,6,0.000,0.052,2219,2403,3417
$GC,5010,-0.85,-146.6,412.0,-8.3,242,5014,0.00,2.62,0.00,0.000,4,0.000,0.064,2220,985,3417
$GC,5048,-0.85,-146.6,415.2,-8.4,244,5052,0.00,2.55,0.00,0.000,6,0.000,0.052,2219,2404,3417
$GC,5373,-0.85,-146.6,442.4,-8.3,260,5377,0.00,2.62,0.00,0.000,4,0.000,0.065,2220,985,3417
$GC,5422,-0.85,-146.6,446.6,-8.3,262,5426,0.00,2.55,0.00,0.000,6,0.000,0.051,2220,2400,3417
$GC,5743,-0.85,-146.6,468.2,-5.9,278,5747,0.00,2.62,0.00,0.000,4,0.000,0.065,2220,982,3417
$GC,5786,-0.85,-146.6,470.6,-5.2,280,5790,0.00,2.55,0.00,0.000,6,0.000,0.052,2219,2400,3417
$GC,6113,-0.85,-146.6,487.8,-5.6,296,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3417
$GC,6422,-0.85,-146.6,509.3,-7.1,311,6426,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,985,3417
$GC,6577,-0.85,-146.6,521.4,-8.2,318,6581,0.00,2.58,0.00,0.000,6,0.000,0.053,2220,2400,3417
$GC,6903,-0.85,-146.6,543.9,-6.2,334,6908,0.00,2.62,0.00,0.000,4,0.000,0.064,2220,980,3417
$GC,6930,-0.85,-146.6,545.7,-7.1,335,6934,0.00,2.58,0.00,0.000,6,0.000,0.052,2220,2408,3417
$GC,7252,-0.85,-146.6,566.5,-6.7,351,7256,0.00,2.62,0.00,0.000,4,0.000,0.064,2220,984,3417
$GC,7294,-0.85,-146.6,569.8,-7.4,353,7299,0.00,2.60,0.00,0.000,6,0.000,0.051,2219,2401,3417
$GC,7621,-0.85,-146.6,594.2,-7.5,369,7626,0.00,2.62,0.00,0.000,4,0.000,0.064,2220,978,3417
$GC,7653,-0.85,-146.6,596.7,-7.6,370,7660,0.00,2.58,0.00,0.000,6,0.000,0.052,2220,2395,3417
$GC,7969,-0.85,-146.6,616.0,-5.3,386,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2395,3417
$GC,8278,-0.85,-146.6,635.2,-6.8,401,8283,0.00,2.60,0.00,0.000,4,0.000,0.065,2221,984,3417
$GC,8322,-0.85,-146.6,638.2,-6.4,403,8326,0.00,2.60,0.00,0.000,6,0.000,0.055,2219,2402,3417
$STATE,8358,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8358,begin apogee
$GC,8363,-0.31,0.0,640.4,6.0,405,8487,0.60,0.00,120.70,1.097,6,0.111,0.000,2339,2197,2817
$STATE,8487,end apogee,CONTROL_FINISHED_OK
$STATE,8487,begin climb
$GC,8489,0.85,146.6,643.7,0.0,411,8616,1.23,2.75,119.12,1.078,4,0.097,0.074,2587,3609,2220
$GC,8638,0.85,146.6,637.7,7.2,418,8642,0.00,2.62,0.00,0.000,6,0.000,0.056,2587,2204,2219
$GC,8952,0.85,146.6,617.4,6.3,433,8957,0.00,2.70,0.00,0.000,4,0.000,0.076,2587,3615,2217
$GC,8984,0.85,146.6,615.1,6.7,434,8991,0.00,2.65,0.00,0.000,6,0.000,0.056,2587,2201,2217
$GC,9300,0.87,172.5,597.6,5.3,450,9324,0.00,0.00,22.10,1.020,6,0.000,0.000,2587,2200,2113
$GC,9630,0.90,198.6,580.2,5.3,466,9659,0.00,2.80,21.88,1.016,4,0.000,0.075,2587,3617,2007
$GC,9681,0.90,198.6,577.1,6.5,468,9685,0.00,2.65,0.00,0.000,6,0.000,0.054,2587,2205,2006
$GC,10002,0.90,198.6,555.4,7.2,484,10006,0.00,2.70,0.00,0.000,4,0.000,0.072,2587,780,2005
$GC,10067,0.90,198.6,550.7,7.7,487,10071,0.00,2.62,0.00,0.000,6,0.000,0.049,2587,2198,2005
$GC,10394,0.92,216.3,531.8,5.5,503,10415,0.12,0.00,15.05,0.968,6,0.066,0.000,2618,2198,1935
$GC,10723,0.92,216.3,508.4,6.9,519,10724,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2198,1935
$GC,11032,0.92,216.3,485.2,7.6,534,11036,0.00,2.65,0.00,0.000,4,0.000,0.064,2618,777,1935
$GC,11087,0.92,216.3,480.6,8.9,536,11094,0.00,2.58,0.00,0.000,6,0.000,0.045,2618,2202,1934
$GC,11402,0.92,216.3,454.7,8.0,552,11403,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2203,1935
$GC,11711,0.92,216.3,432.2,7.4,567,11716,0.00,2.62,0.00,0.000,4,0.000,0.071,2618,3613,1935
$GC,11738,0.92,216.3,430.0,8.1,568,11742,0.00,2.62,0.00,0.000,6,0.000,0.054,2618,2197,1934
$GC,12059,0.92,216.3,404.2,8.4,584,12060,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2197,1935
$GC,12368,0.92,216.3,377.2,8.8,599,12372,0.00,2.65,0.00,0.000,4,0.000,0.069,2618,3616,1935
$GC,12407,0.92,216.3,373.7,8.8,601,12412,0.00,2.60,0.00,0.000,6,0.000,0.054,2618,2196,1935
$GC,12733,0.92,216.3,346.8,8.0,617,12734,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2196,1933
$GC,13042,0.92,216.3,322.6,8.0,632,13046,0.00,2.62,0.00,0.000,4,0.000,0.069,2618,3611,1935
$GC,13087,0.92,216.3,318.8,8.8,634,13091,0.00,2.58,0.00,0.000,6,0.000,0.051,2618,2192,1935
$GC,13406,0.92,216.3,292.4,8.3,650,13411,0.00,2.60,0.00,0.000,4,0.000,0.064,2618,781,1935
$GC,13445,0.92,216.3,289.1,8.5,652,13449,0.00,2.55,0.00,0.000,6,0.000,0.045,2618,2202,1935
$GC,13770,0.92,216.3,261.5,8.5,668,13771,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2202,1935
$GC,14080,0.92,216.3,234.5,8.8,683,14081,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2201,1935
$GC,14389,0.92,216.3,208.8,8.3,698,14390,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2202,1935
$GC,14698,0.92,216.3,183.0,8.2,713,14699,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2201,1935
$GC,15007,0.92,216.3,158.0,8.2,728,15012,0.00,2.62,0.00,0.000,4,0.000,0.061,2618,777,1935
$GC,15039,0.92,216.3,155.3,7.7,729,15046,0.00,2.58,0.00,0.000,6,0.000,0.043,2619,2204,1936
$GC,15355,0.92,216.3,130.4,7.8,745,15360,0.00,2.60,0.00,0.000,4,0.000,0.059,2618,784,1935
$GC,15399,0.92,216.3,126.6,8.2,747,15403,0.00,2.53,0.00,0.000,6,0.000,0.043,2618,2200,1936
$GC,15726,0.92,216.3,99.9,8.0,763,15727,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2200,1936
$GC,16035,0.92,216.3,74.7,8.1,778,16039,0.00,2.60,0.00,0.000,4,0.000,0.065,2618,3617,1936
$GC,16067,0.92,216.3,71.9,8.9,779,16074,0.00,2.58,0.00,0.000,6,0.000,0.049,2618,2204,1936
$GC,16384,0.92,216.3,45.9,8.1,795,16388,0.00,2.60,0.00,0.000,4,0.000,0.063,2618,786,1937
$GC,16415,0.92,216.3,42.9,8.5,796,16422,0.00,2.55,0.00,0.000,6,0.000,0.044,2618,2198,1937
$GC,16731,0.92,216.3,16.8,7.5,812,16736,0.00,2.60,0.00,0.000,4,0.000,0.066,2618,3614,1938
$GC,16770,0.92,216.3,14.3,7.3,814,16775,0.00,2.55,0.00,0.000,6,0.000,0.051,2618,2200,1938
$STATE,16931,end climb,SURFACE_DEPTH_REACHED
$STATE,16931,begin surface coast
$FINISH,0.4,1.027264
$STATE,16952,end surface coast,CONTROL_FINISHED_OK
$STATE,16952,begin surface
$SM_CCo,16971,45.80,0.633,1,0,1594,300.00
$SM_GC,0.84,0.00,0.00,45.80,0.000,0.000,0.633,75,2405,1594,-10.74,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.020709
$HUMID,2099
$TCM_TEMP,17.30
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,550.6,99.7
$24V_AH,23.6,23.781
$10V_AH,10.2,11.302
$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,25.175,172.850,298.850,45.800,0.000,97.871,109.817,291.240,9.750,0.000,0.000,17.737,1522.513,13236.859,522.544,1809.865,666.065,33.353,1432.923,0.000,1768.564,0.000,31.625
$DEVICE_MAMPS,174.109,79.001,1096.810,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,573.913,597.948,519.382,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41157,823
$CFSIZE,260165632,251813888
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