version: 66.02
glider: 16
mission: 6
dive: 133
start: 12 6 107 0 12 25
data:
$ID,16
$MISSION,6
$DIVE,133
$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,-2078129.1
$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,17
$R_STBD_OVSHOOT,29
$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
$GPS1,000626,6227.480,-1027.796,43,1.8,43,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.2
$GPS2,001133,6227.384,-1027.921,13,1.3,13,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.220,-0.025
$KALMAN_X,-85758.8,846.3,1101.6,11376.6,-18355.9
$KALMAN_Y,117409.9,-369.8,613.3,-26555.1,-10180.4
$MHEAD_RNG_PITCHd_Wd,106.9,58278,-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,-61.62,0.000,2,0.000,0.000,70,2407,3143
$GC,85,-0.85,-146.6,3.8,-5.6,3,110,12.15,2.65,-6.10,0.000,4,0.174,0.071,2219,990,3417
$GC,182,-0.85,-146.6,16.9,-7.4,7,186,0.00,2.53,0.00,0.000,6,0.000,0.045,2219,2393,3418
$GC,503,-0.85,-146.6,43.4,-7.7,23,507,0.00,2.60,0.00,0.000,4,0.000,0.059,2219,982,3418
$GC,523,-0.85,-146.6,45.1,-7.9,24,528,0.00,2.58,0.00,0.000,6,0.000,0.046,2219,2400,3418
$GC,852,-0.85,-146.6,71.5,-8.0,40,856,0.00,2.62,0.00,0.000,4,0.000,0.061,2219,980,3418
$GC,906,-0.85,-146.6,76.4,-8.6,42,913,0.00,2.58,0.00,0.000,6,0.000,0.047,2219,2401,3417
$GC,1223,-0.85,-146.6,104.6,-9.2,58,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3418
$GC,1531,-0.85,-146.6,134.3,-9.8,73,1535,0.00,2.62,0.00,0.000,4,0.000,0.062,2219,981,3418
$GC,1608,-0.85,-146.6,141.9,-9.6,76,1615,0.00,2.58,0.00,0.000,6,0.000,0.048,2219,2403,3418
$GC,1923,-0.85,-146.6,172.1,-9.4,92,1927,0.00,2.62,0.00,0.000,4,0.000,0.063,2219,985,3418
$GC,1961,-0.85,-146.6,176.0,-10.9,94,1965,0.00,2.53,0.00,0.000,6,0.000,0.048,2219,2400,3418
$GC,2287,-0.85,-146.6,209.4,-9.9,110,2291,0.00,2.62,0.00,0.000,4,0.000,0.065,2219,984,3418
$GC,2352,-0.85,-146.6,215.8,-10.2,113,2357,0.00,2.58,0.00,0.000,6,0.000,0.049,2219,2403,3418
$GC,2679,-0.85,-146.6,245.5,-8.7,129,2683,0.00,2.62,0.00,0.000,4,0.000,0.065,2219,985,3418
$GC,2750,-0.85,-146.6,252.3,-10.0,132,2754,0.00,2.55,0.00,0.000,6,0.000,0.050,2219,2405,3418
$GC,3071,-0.85,-146.6,279.2,-9.0,148,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3418
$GC,3380,-0.85,-146.6,304.1,-8.0,163,3384,0.00,2.65,0.00,0.000,4,0.000,0.066,2219,980,3418
$GC,3447,-0.85,-146.6,309.8,-7.9,166,3451,0.00,2.58,0.00,0.000,6,0.000,0.049,2219,2407,3419
$GC,3766,-0.85,-146.6,332.5,-6.7,182,3770,0.00,2.65,0.00,0.000,4,0.000,0.065,2219,983,3418
$GC,3815,-0.85,-146.6,335.8,-7.0,184,3819,0.00,2.55,0.00,0.000,6,0.000,0.050,2219,2403,3418
$GC,4135,-0.85,-146.6,356.4,-7.0,200,4140,0.00,2.62,0.00,0.000,4,0.000,0.065,2219,984,3418
$GC,4167,-0.85,-146.6,358.7,-6.6,201,4174,0.00,2.58,0.00,0.000,6,0.000,0.051,2219,2398,3418
$GC,4483,-0.85,-146.6,379.5,-6.5,217,4488,0.00,2.60,0.00,0.000,4,0.000,0.064,2219,985,3418
$GC,4522,-0.85,-146.6,382.2,-6.5,219,4526,0.00,2.55,0.00,0.000,6,0.000,0.051,2219,2407,3418
$GC,4847,-0.85,-146.6,403.2,-6.3,235,4851,0.00,2.65,0.00,0.000,4,0.000,0.064,2219,976,3418
$GC,4879,-0.85,-146.6,405.5,-7.2,236,4885,0.00,2.55,0.00,0.000,6,0.000,0.050,2220,2400,3418
$GC,5194,-0.85,-146.6,427.1,-6.7,252,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3418
$GC,5503,-0.85,-146.6,448.4,-7.0,267,5507,0.00,2.60,0.00,0.000,4,0.000,0.064,2219,985,3418
$GC,5552,-0.85,-146.6,452.1,-7.4,269,5557,0.00,2.53,0.00,0.000,6,0.000,0.050,2219,2401,3418
$GC,5873,-0.85,-146.6,473.6,-6.5,285,5878,0.00,2.62,0.00,0.000,4,0.000,0.065,2219,983,3418
$GC,5922,-0.85,-146.6,476.9,-6.7,287,5926,0.00,2.55,0.00,0.000,6,0.000,0.050,2219,2407,3418
$GC,6243,-0.85,-146.6,494.4,-4.8,303,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2407,3418
$GC,6552,-0.85,-146.6,509.9,-5.2,318,6556,0.00,2.62,0.00,0.000,4,0.000,0.064,2219,985,3418
$GC,6601,-0.85,-146.6,512.7,-5.5,320,6605,0.00,2.55,0.00,0.000,6,0.000,0.051,2219,2408,3418
$GC,6922,-0.85,-146.6,531.9,-6.0,336,6926,0.00,2.65,0.00,0.000,4,0.000,0.066,2219,979,3418
$GC,6954,-0.85,-146.6,533.9,-5.8,337,6960,0.00,2.55,0.00,0.000,6,0.000,0.049,2219,2404,3418
$GC,7269,-0.85,-146.6,553.7,-6.5,353,7273,0.00,2.62,0.00,0.000,4,0.000,0.064,2219,982,3418
$GC,7318,-0.85,-146.6,557.4,-7.8,355,7322,0.00,2.58,0.00,0.000,6,0.000,0.049,2219,2408,3418
$GC,7639,-0.85,-146.6,577.4,-6.3,371,7643,0.00,2.50,0.00,0.000,4,0.000,0.071,2219,3763,3418
$GC,7677,-0.85,-146.6,580.0,-6.8,373,7681,0.00,2.45,0.00,0.000,6,0.000,0.048,2219,2399,3418
$GC,8002,-0.85,-146.6,600.8,-6.2,389,8006,0.00,2.60,0.00,0.000,4,0.000,0.067,2219,986,3418
$GC,8073,-0.85,-146.6,605.6,-6.8,392,8078,0.00,2.58,0.00,0.000,6,0.000,0.052,2219,2399,3418
$GC,8394,-0.85,-146.6,626.2,-6.4,408,8398,0.00,2.55,0.00,0.000,4,0.000,0.074,2219,3763,3418
$GC,8437,-0.85,-146.6,629.6,-7.8,410,8441,0.00,2.47,0.00,0.000,6,0.000,0.049,2219,2392,3418
$STATE,8721,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8721,begin apogee
$GC,8725,-0.31,0.0,647.0,6.2,424,8850,0.60,0.00,120.93,1.110,6,0.107,0.000,2339,2190,2817
$STATE,8850,end apogee,CONTROL_FINISHED_OK
$STATE,8850,begin climb
$GC,8852,0.85,146.6,649.4,0.0,430,8979,1.25,2.70,119.05,1.090,4,0.102,0.069,2589,793,2218
$GC,9058,0.85,146.6,636.5,8.1,440,9063,0.00,2.60,0.00,0.000,6,0.000,0.049,2589,2208,2217
$GC,9385,0.85,146.6,615.2,6.9,456,9389,0.00,2.65,0.00,0.000,4,0.000,0.072,2589,3612,2216
$GC,9506,0.85,146.6,606.3,7.7,461,9513,0.00,2.60,0.00,0.000,6,0.000,0.054,2589,2202,2216
$GC,9821,0.85,146.6,583.3,7.5,477,9826,0.00,2.65,0.00,0.000,4,0.000,0.070,2589,786,2215
$GC,9898,0.85,146.6,577.4,7.7,480,9905,0.00,2.60,0.00,0.000,6,0.000,0.049,2589,2198,2215
$GC,10214,0.86,160.2,558.3,5.6,496,10235,0.00,2.75,11.43,0.957,4,0.000,0.071,2589,3608,2164
$GC,10273,0.86,160.2,554.3,7.5,498,10279,0.00,2.65,0.00,0.000,6,0.000,0.055,2589,2198,2164
$GC,10589,0.89,185.6,536.6,5.3,514,10617,0.00,2.78,21.67,1.008,4,0.000,0.068,2589,782,2060
$GC,10657,0.89,185.6,532.8,6.1,517,10661,0.00,2.62,0.00,0.000,6,0.000,0.048,2589,2202,2059
$GC,10984,0.95,241.0,516.1,4.5,533,11032,0.12,0.00,45.45,1.025,6,0.067,0.000,2621,2202,1833
$GC,11333,0.97,258.1,495.1,5.5,550,11355,0.00,2.70,15.18,0.952,4,0.000,0.064,2621,785,1763
$GC,11377,0.97,258.1,492.2,6.8,552,11382,0.00,2.60,0.00,0.000,6,0.000,0.046,2621,2204,1763
$GC,11703,0.97,258.1,466.7,8.4,568,11708,0.00,2.65,0.00,0.000,4,0.000,0.064,2621,785,1762
$GC,11724,0.97,258.1,464.7,8.9,569,11729,0.00,2.58,0.00,0.000,6,0.000,0.046,2621,2191,1762
$GC,12051,0.97,258.1,436.8,8.4,585,12052,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2191,1762
$GC,12360,0.97,258.1,413.1,7.2,600,12365,0.00,2.62,0.00,0.000,4,0.000,0.064,2621,782,1761
$GC,12392,0.97,258.1,410.5,7.6,601,12399,0.00,2.58,0.00,0.000,6,0.000,0.044,2621,2200,1762
$GC,12708,0.97,258.1,384.6,8.6,617,12709,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2198,1763
$GC,13017,0.97,258.1,356.1,9.5,632,13018,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2199,1762
$GC,13326,0.97,258.1,326.0,10.1,647,13331,0.00,2.62,0.00,0.000,4,0.000,0.064,2621,782,1763
$GC,13353,0.97,258.1,323.1,10.9,648,13357,0.00,2.58,0.00,0.000,6,0.000,0.044,2621,2199,1761
$GC,13674,0.97,258.1,292.1,9.2,664,13675,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2199,1763
$GC,13983,0.97,258.1,263.5,9.5,679,13988,0.00,2.62,0.00,0.000,4,0.000,0.064,2621,785,1763
$GC,14010,0.97,258.1,260.9,9.5,680,14015,0.00,2.58,0.00,0.000,6,0.000,0.044,2621,2200,1764
$GC,14331,0.97,258.1,230.7,9.9,696,14332,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2200,1764
$GC,14641,0.97,258.1,201.7,9.4,711,14645,0.00,2.62,0.00,0.000,4,0.000,0.063,2621,784,1764
$GC,14679,0.97,258.1,197.9,9.8,713,14683,0.00,2.53,0.00,0.000,6,0.000,0.044,2621,2201,1764
$GC,15004,0.97,258.1,166.4,9.5,729,15005,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2201,1765
$GC,15314,0.97,258.1,134.7,10.6,744,15315,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2202,1765
$GC,15623,0.97,258.1,103.7,9.8,759,15627,0.00,2.62,0.00,0.000,4,0.000,0.063,2621,782,1766
$GC,15654,0.97,258.1,100.3,9.5,760,15661,0.00,2.58,0.00,0.000,6,0.000,0.044,2621,2204,1765
$GC,15972,0.97,258.1,70.8,9.2,776,15973,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2204,1766
$GC,16280,0.97,258.1,42.2,9.3,791,16281,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2204,1766
$GC,16589,0.97,258.1,14.6,8.4,806,16593,0.00,2.62,0.00,0.000,4,0.000,0.061,2621,779,1766
$GC,16620,0.97,258.1,11.3,10.3,807,16627,0.00,2.58,0.00,0.000,6,0.000,0.044,2621,2201,1766
$STATE,16728,end climb,SURFACE_DEPTH_REACHED
$STATE,16728,begin surface coast
$FINISH,0.5,1.015821
$STATE,16750,end surface coast,CONTROL_FINISHED_OK
$STATE,16750,begin surface
$SM_CCo,16770,25.62,0.625,1,0,1593,300.00
$SM_GC,1.69,0.00,0.00,25.62,0.000,0.000,0.625,64,2416,1593,-10.79,0.45,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2104
$TCM_TEMP,16.90
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,551.1,105.3
$24V_AH,23.6,24.249
$10V_AH,10.2,11.612
$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,25.350,172.300,333.700,25.625,0.000,32.588,38.246,143.901,11.000,0.000,0.000,13.454,1496.208,12942.519,529.732,1781.916,363.447,33.369,1440.592,0.000,1742.500,0.000,31.644
$DEVICE_MAMPS,174.109,74.399,1109.849,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,580.678,571.226,497.046,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41118,814
$CFSIZE,260165632,251588608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,061207,045337,6226.533,-1028.716,37,1.8,37,-10.4