version: 66.02
glider: 16
mission: 6
dive: 130
start: 12 5 107 9 42 35
data:
$ID,16
$MISSION,6
$DIVE,130
$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,-2078082
$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,21
$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
$GPS1,093552,6228.575,-1031.556,40,2.4,59,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-64.7
$GPS2,094144,6228.544,-1031.469,14,2.0,31,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.221,-0.017
$KALMAN_X,-70945.7,291.5,-376.6,-4515.3,-6702.3
$KALMAN_Y,128512.3,488.7,-11.6,-35750.7,1058.0
$MHEAD_RNG_PITCHd_Wd,104.7,58933,-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,16,begin dive
$GC,19,-0.85,-146.6,0.0,0.0,0,82,0.00,0.00,-61.78,0.000,2,0.000,0.000,74,2406,3131
$GC,85,-0.85,-146.6,3.7,-6.0,3,110,12.10,2.58,-6.40,0.000,4,0.173,0.076,2221,3765,3417
$GC,323,-0.85,-146.6,31.3,-9.7,13,330,0.00,2.47,0.00,0.000,6,0.000,0.045,2221,2405,3418
$GC,639,-0.85,-146.6,57.0,-8.2,29,643,0.00,2.62,0.00,0.000,4,0.000,0.064,2221,985,3418
$GC,709,-0.85,-146.6,63.1,-8.1,32,714,0.00,2.58,0.00,0.000,6,0.000,0.049,2221,2398,3418
$GC,1031,-0.85,-146.6,89.1,-8.2,48,1035,0.00,2.62,0.00,0.000,4,0.000,0.061,2221,978,3418
$GC,1069,-0.85,-146.6,92.2,-8.6,50,1074,0.00,2.58,0.00,0.000,6,0.000,0.050,2221,2400,3418
$GC,1395,-0.85,-146.6,118.4,-8.3,66,1400,0.00,2.62,0.00,0.000,4,0.000,0.063,2221,984,3418
$GC,1434,-0.85,-146.6,121.5,-8.0,68,1438,0.00,2.55,0.00,0.000,6,0.000,0.050,2221,2400,3418
$GC,1759,-0.85,-146.6,147.1,-7.7,84,1764,0.00,2.62,0.00,0.000,4,0.000,0.063,2219,982,3418
$GC,1836,-0.85,-146.6,153.2,-8.0,87,1843,0.00,2.58,0.00,0.000,6,0.000,0.051,2221,2398,3418
$GC,2151,-0.85,-146.6,176.6,-7.5,103,2156,0.00,2.60,0.00,0.000,4,0.000,0.063,2221,983,3418
$GC,2200,-0.85,-146.6,180.2,-6.6,105,2205,0.00,2.55,0.00,0.000,6,0.000,0.051,2221,2400,3418
$GC,2522,-0.85,-146.6,204.4,-7.8,121,2526,0.00,2.62,0.00,0.000,4,0.000,0.064,2221,982,3418
$GC,2576,-0.85,-146.6,208.9,-8.6,123,2582,0.00,2.58,0.00,0.000,6,0.000,0.051,2221,2399,3418
$GC,2891,-0.85,-146.6,233.3,-7.9,139,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3418
$GC,3200,-0.85,-146.6,257.4,-7.8,154,3205,0.00,2.62,0.00,0.000,4,0.000,0.064,2221,982,3418
$GC,3284,-0.85,-146.6,264.2,-7.7,158,3289,0.00,2.55,0.00,0.000,6,0.000,0.051,2221,2400,3418
$GC,3610,-0.85,-146.6,290.9,-8.3,174,3614,0.00,2.62,0.00,0.000,4,0.000,0.064,2221,982,3418
$GC,3664,-0.85,-146.6,295.5,-8.4,176,3671,0.00,2.55,0.00,0.000,6,0.000,0.052,2221,2401,3418
$GC,3979,-0.85,-146.6,322.5,-8.6,192,3984,0.00,2.62,0.00,0.000,4,0.000,0.064,2221,985,3418
$GC,4051,-0.85,-146.6,328.8,-9.4,195,4055,0.00,2.58,0.00,0.000,6,0.000,0.051,2221,2401,3418
$GC,4372,-0.85,-146.6,355.2,-7.8,211,4377,0.00,2.62,0.00,0.000,4,0.000,0.064,2221,982,3418
$GC,4415,-0.85,-146.6,359.0,-8.5,213,4420,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2398,3418
$GC,4742,-0.85,-146.6,384.2,-7.5,229,4747,0.00,2.60,0.00,0.000,4,0.000,0.064,2221,984,3419
$GC,4786,-0.85,-146.6,387.9,-8.3,231,4790,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2404,3418
$GC,5112,-0.85,-146.6,414.4,-8.1,247,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3418
$GC,5421,-0.85,-146.6,439.1,-7.9,262,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3418
$GC,5731,-0.85,-146.6,464.9,-8.7,277,5735,0.00,2.62,0.00,0.000,4,0.000,0.063,2222,983,3418
$GC,5807,-0.85,-146.6,471.6,-8.6,280,5815,0.00,2.58,0.00,0.000,6,0.000,0.051,2221,2400,3418
$GC,6123,-0.85,-146.6,498.0,-8.5,296,6128,0.00,2.60,0.00,0.000,4,0.000,0.064,2222,984,3418
$GC,6164,-0.85,-146.6,501.4,-7.8,298,6168,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2404,3418
$GC,6491,-0.85,-146.6,529.5,-9.0,314,6495,0.00,2.62,0.00,0.000,4,0.000,0.064,2222,983,3418
$GC,6530,-0.85,-146.6,533.1,-9.3,316,6534,0.00,2.55,0.00,0.000,6,0.000,0.051,2221,2400,3418
$GC,6855,-0.85,-146.6,559.6,-7.7,332,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,7164,-0.85,-146.6,579.7,-5.7,347,7169,0.00,2.62,0.00,0.000,4,0.000,0.063,2221,977,3418
$GC,7226,-0.85,-146.6,583.3,-5.9,350,7230,0.00,2.58,0.00,0.000,6,0.000,0.052,2222,2404,3418
$GC,7551,-0.85,-146.6,603.7,-7.4,366,7556,0.00,2.62,0.00,0.000,4,0.000,0.064,2221,984,3418
$GC,7590,-0.85,-146.6,606.5,-7.0,368,7594,0.00,2.55,0.00,0.000,6,0.000,0.053,2222,2401,3418
$GC,7916,-0.85,-146.6,627.2,-5.5,384,7920,0.00,2.62,0.00,0.000,4,0.000,0.065,2221,982,3418
$STATE,7946,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7946,begin apogee
$GC,7953,-0.31,0.0,629.5,7.8,385,8079,0.55,0.00,120.90,1.088,6,0.107,0.000,2335,2200,2818
$STATE,8080,end apogee,CONTROL_FINISHED_OK
$STATE,8080,begin climb
$GC,8082,0.85,146.6,633.6,0.0,392,8205,1.25,0.00,118.85,1.069,6,0.094,0.000,2589,2200,2218
$GC,8512,0.85,146.6,607.6,7.5,413,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,2217
$GC,8821,0.85,146.6,584.4,6.8,428,8826,0.00,2.65,0.00,0.000,4,0.000,0.066,2589,788,2216
$GC,8848,0.87,168.2,583.0,5.4,429,8873,0.00,2.58,18.38,0.988,6,0.000,0.050,2589,2199,2131
$GC,9190,0.89,183.8,565.6,5.6,446,9212,0.00,2.72,13.90,0.963,4,0.000,0.074,2589,3609,2067
$GC,9238,0.89,183.8,562.6,6.6,448,9243,0.00,2.62,0.00,0.000,6,0.000,0.054,2588,2208,2067
$GC,9565,0.89,183.8,541.9,7.0,464,9570,0.00,2.65,0.00,0.000,4,0.000,0.068,2589,785,2065
$GC,9604,0.89,183.8,538.9,8.0,466,9608,0.00,2.58,0.00,0.000,6,0.000,0.048,2589,2201,2065
$GC,9929,0.89,183.8,512.8,7.5,482,9934,0.00,2.65,0.00,0.000,4,0.000,0.073,2589,3609,2064
$GC,9961,0.89,183.8,510.2,7.5,483,9968,0.00,2.60,0.00,0.000,6,0.000,0.053,2589,2207,2064
$GC,10277,0.89,183.8,490.5,6.3,499,10281,0.00,2.65,0.00,0.000,4,0.000,0.068,2589,782,2063
$GC,10308,0.89,183.8,488.4,6.5,500,10316,0.00,2.60,0.00,0.000,6,0.000,0.047,2590,2201,2063
$GC,10624,0.89,183.8,467.9,6.3,516,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2063
$GC,10934,0.89,183.8,448.9,6.2,531,10938,0.00,2.65,0.00,0.000,4,0.000,0.072,2589,3616,2063
$GC,11000,0.89,183.8,444.3,7.1,534,11005,0.00,2.60,0.00,0.000,6,0.000,0.054,2589,2191,2063
$GC,11320,0.89,183.8,423.3,6.3,550,11321,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2191,2063
$GC,11630,0.89,190.5,404.6,5.8,565,11638,0.00,0.00,6.47,0.752,6,0.000,0.000,2589,2190,2039
$GC,11939,0.91,209.4,386.8,5.5,580,11960,0.00,0.00,16.45,0.874,6,0.000,0.000,2589,2190,1962
$GC,12269,0.91,209.4,366.1,6.7,596,12270,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2191,1962
$GC,12578,0.91,209.4,345.9,6.6,611,12579,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2190,1962
$GC,12887,0.91,209.4,325.5,6.6,626,12888,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2191,1962
$GC,13196,0.91,209.4,305.5,6.7,641,13201,0.00,2.65,0.00,0.000,4,0.000,0.071,2589,3610,1962
$GC,13228,0.91,209.4,303.1,7.1,642,13235,0.00,2.60,0.00,0.000,6,0.000,0.054,2589,2203,1962
$GC,13544,0.91,209.4,283.2,6.1,658,13545,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,1962
$GC,13853,0.91,209.4,264.1,6.3,673,13854,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,1962
$GC,14163,0.91,209.4,243.5,6.9,688,14167,0.00,2.62,0.00,0.000,4,0.000,0.067,2589,784,1962
$GC,14194,0.91,209.4,241.2,6.9,689,14201,0.00,2.58,0.00,0.000,6,0.000,0.045,2589,2203,1962
$GC,14509,0.91,209.4,220.0,6.5,705,14514,0.00,2.60,0.00,0.000,4,0.000,0.069,2589,3615,1962
$GC,14536,0.91,209.4,218.2,6.9,706,14541,0.00,2.60,0.00,0.000,6,0.000,0.051,2589,2197,1962
$GC,14857,0.92,216.8,198.6,5.8,722,14871,0.00,2.67,7.60,0.680,4,0.000,0.064,2589,785,1933
$GC,14894,0.92,218.0,196.4,6.0,723,14901,0.10,2.55,0.00,0.000,6,0.075,0.044,2611,2199,1933
$GC,15209,0.92,218.0,176.4,6.3,739,15211,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2200,1933
$GC,15518,0.92,218.0,157.4,6.0,754,15519,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2199,1933
$GC,15828,0.92,218.0,137.1,7.0,769,15829,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2199,1933
$GC,16138,0.92,218.0,115.4,6.9,784,16139,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2199,1933
$GC,16447,0.92,218.0,91.9,7.7,799,16448,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2199,1933
$GC,16756,0.92,218.0,68.5,7.4,814,16760,0.00,2.60,0.00,0.000,4,0.000,0.061,2611,784,1933
$GC,16787,0.92,218.0,66.0,7.6,815,16794,0.00,2.55,0.00,0.000,6,0.000,0.043,2611,2198,1933
$GC,17104,0.92,218.0,42.9,6.8,831,17109,0.00,2.60,0.00,0.000,4,0.000,0.061,2611,782,1932
$GC,17143,0.92,218.0,40.1,8.1,833,17148,0.00,2.53,0.00,0.000,6,0.000,0.043,2611,2198,1933
$GC,17470,0.92,218.0,18.1,7.2,849,17471,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2198,1933
$STATE,17715,end climb,SURFACE_DEPTH_REACHED
$STATE,17715,begin surface coast
$FINISH,0.4,1.022998
$STATE,17737,end surface coast,CONTROL_FINISHED_OK
$STATE,17737,begin surface
$SM_CCo,17756,45.50,0.634,1,0,1593,300.00
$SM_GC,1.12,0.00,0.00,45.50,0.000,0.000,0.634,71,2401,1593,-10.76,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2085
$TCM_TEMP,17.40
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,551.6,87.5
$24V_AH,23.6,23.894
$10V_AH,10.2,11.383
$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,25.100,155.950,302.550,45.500,0.000,32.643,46.561,158.636,7.750,0.000,0.000,31.066,1560.575,13833.732,518.831,1860.769,389.356,33.384,1440.215,0.000,1805.703,0.000,34.559
$DEVICE_MAMPS,172.575,75.933,1088.373,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,600.886,622.065,553.763,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44285,862
$CFSIZE,260165632,251764736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,051207,144038,6227.283,-1030.498,42,1.2,42,-10.4