version: 66.02
glider: 16
mission: 6
dive: 134
start: 12 6 107 5 0 16
data:
$ID,16
$MISSION,6
$DIVE,134
$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,-2078161.9
$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,15
$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
$GPS1,045337,6226.533,-1028.716,37,1.8,37,-10.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-61.9
$GPS2,045926,6226.514,-1028.804,15,1.5,32,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.171,0.140
$KALMAN_X,-92951.1,1487.7,1040.3,17208.0,-25185.5
$KALMAN_Y,115836.6,1212.5,1067.2,-28679.5,-12401.0
$MHEAD_RNG_PITCHd_Wd,61.0,59958,-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,-61.80,0.000,2,0.000,0.000,64,2416,3136
$GC,86,-0.85,-146.6,3.7,-4.7,3,107,12.35,0.00,-6.47,0.000,6,0.175,0.000,2218,2416,3417
$GC,413,-0.85,-146.6,34.3,-8.1,19,417,0.00,2.67,0.00,0.000,4,0.000,0.062,2219,975,3419
$GC,466,-0.85,-146.6,39.2,-8.4,21,474,0.00,2.58,0.00,0.000,6,0.000,0.049,2218,2390,3418
$GC,784,-0.85,-146.6,63.8,-7.5,37,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2390,3418
$GC,1092,-0.85,-146.6,88.0,-7.9,52,1096,0.00,2.62,0.00,0.000,4,0.000,0.063,2218,976,3418
$GC,1140,-0.85,-146.6,91.9,-8.0,54,1145,0.00,2.58,0.00,0.000,6,0.000,0.050,2218,2404,3418
$GC,1461,-0.85,-146.6,116.4,-7.4,70,1466,0.00,2.65,0.00,0.000,4,0.000,0.064,2218,977,3418
$GC,1487,-0.85,-146.6,118.5,-8.3,71,1492,0.00,2.58,0.00,0.000,6,0.000,0.049,2218,2398,3418
$GC,1810,-0.85,-146.6,143.8,-8.4,87,1815,0.00,2.62,0.00,0.000,4,0.000,0.064,2218,981,3418
$GC,1831,-0.85,-146.6,145.9,-8.8,88,1836,0.00,2.58,0.00,0.000,6,0.000,0.050,2219,2398,3418
$GC,2158,-0.85,-146.6,173.5,-8.5,104,2162,0.00,2.62,0.00,0.000,4,0.000,0.064,2218,976,3418
$GC,2184,-0.85,-146.6,175.9,-8.8,105,2188,0.00,2.58,0.00,0.000,6,0.000,0.050,2219,2398,3418
$GC,2506,-0.85,-146.6,201.7,-8.0,121,2510,0.00,2.62,0.00,0.000,4,0.000,0.064,2218,983,3418
$GC,2548,-0.85,-146.6,205.4,-8.4,123,2553,0.00,2.58,0.00,0.000,6,0.000,0.051,2219,2395,3418
$GC,2875,-0.85,-146.6,231.2,-8.0,139,2880,0.00,2.62,0.00,0.000,4,0.000,0.066,2218,982,3418
$GC,2902,-0.85,-146.6,233.6,-8.8,140,2906,0.00,2.55,0.00,0.000,6,0.000,0.051,2218,2400,3418
$GC,3223,-0.85,-146.6,260.1,-8.2,156,3228,0.00,2.62,0.00,0.000,4,0.000,0.065,2219,982,3418
$GC,3255,-0.85,-146.6,262.8,-8.1,157,3262,0.00,2.55,0.00,0.000,6,0.000,0.051,2219,2401,3418
$GC,3571,-0.85,-146.6,288.4,-8.3,173,3575,0.00,2.62,0.00,0.000,4,0.000,0.066,2219,982,3418
$GC,3597,-0.85,-146.6,290.7,-9.1,174,3601,0.00,2.58,0.00,0.000,6,0.000,0.052,2219,2395,3418
$GC,3918,-0.85,-146.6,316.1,-8.0,190,3922,0.00,2.62,0.00,0.000,4,0.000,0.067,2218,982,3418
$GC,3949,-0.85,-146.6,318.6,-7.8,191,3956,0.00,2.58,0.00,0.000,6,0.000,0.052,2219,2395,3418
$GC,4265,-0.85,-146.6,342.2,-7.3,207,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2395,3418
$GC,4574,-0.85,-146.6,363.3,-6.9,222,4578,0.00,2.62,0.00,0.000,4,0.000,0.066,2219,980,3419
$GC,4646,-0.85,-146.6,368.1,-6.8,225,4650,0.00,2.58,0.00,0.000,6,0.000,0.053,2219,2404,3418
$GC,4967,-0.85,-146.6,389.9,-7.1,241,4971,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,977,3418
$GC,4998,-0.85,-146.6,392.3,-7.7,242,5005,0.00,2.60,0.00,0.000,6,0.000,0.052,2219,2401,3418
$GC,5314,-0.85,-146.6,415.8,-7.7,258,5318,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,980,3419
$GC,5352,-0.85,-146.6,419.0,-8.0,260,5357,0.00,2.60,0.00,0.000,6,0.000,0.053,2218,2408,3418
$GC,5678,-0.85,-146.6,446.9,-8.8,276,5683,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,982,3418
$GC,5717,-0.85,-146.6,450.5,-9.5,278,5721,0.00,2.55,0.00,0.000,6,0.000,0.053,2219,2400,3418
$GC,6042,-0.85,-146.6,481.6,-9.7,294,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3418
$GC,6351,-0.85,-146.6,508.2,-8.0,309,6356,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,982,3419
$GC,6451,-0.85,-146.6,516.4,-8.2,313,6458,0.00,2.58,0.00,0.000,6,0.000,0.054,2218,2406,3418
$GC,6766,-0.85,-146.6,540.0,-7.2,329,6770,0.00,2.65,0.00,0.000,4,0.000,0.064,2219,977,3418
$GC,6793,-0.85,-146.6,542.0,-7.5,330,6798,0.00,2.60,0.00,0.000,6,0.000,0.054,2219,2398,3418
$GC,7114,-0.85,-146.6,563.8,-7.3,346,7119,0.00,2.62,0.00,0.000,4,0.000,0.066,2219,982,3419
$GC,7163,-0.85,-146.6,567.8,-7.9,348,7168,0.00,2.58,0.00,0.000,6,0.000,0.056,2219,2400,3418
$GC,7484,-0.85,-146.6,591.7,-7.1,364,7489,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,983,3419
$GC,7505,-0.85,-146.6,593.4,-7.7,365,7510,0.00,2.60,0.00,0.000,6,0.000,0.056,2219,2402,3418
$GC,7832,-0.85,-146.6,617.2,-7.0,381,7837,0.00,2.58,0.00,0.000,4,0.000,0.081,2219,3763,3418
$GC,7893,-0.85,-146.6,621.6,-7.1,384,7898,0.00,2.47,0.00,0.000,6,0.000,0.054,2219,2397,3418
$STATE,8115,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8115,begin apogee
$GC,8120,-0.31,0.0,636.8,6.5,395,8244,0.60,0.00,120.85,1.109,6,0.110,0.000,2338,2199,2818
$STATE,8244,end apogee,CONTROL_FINISHED_OK
$STATE,8244,begin climb
$GC,8246,0.85,146.6,640.3,0.0,401,8373,1.25,2.75,118.93,1.088,4,0.100,0.074,2588,792,2217
$GC,8390,0.87,164.7,634.8,5.5,408,8411,0.00,2.60,16.20,0.989,6,0.000,0.053,2587,2199,2144
$GC,8732,0.87,164.7,614.3,6.1,425,8736,0.00,2.67,0.00,0.000,4,0.000,0.075,2588,3609,2144
$GC,8775,0.87,164.7,611.4,7.0,427,8779,0.00,2.62,0.00,0.000,6,0.000,0.058,2588,2200,2144
$GC,9101,0.87,173.2,592.2,5.8,443,9115,0.00,2.75,7.88,0.897,4,0.000,0.079,2588,3604,2111
$GC,9144,0.87,173.2,589.5,6.7,445,9149,0.00,2.62,0.00,0.000,6,0.000,0.059,2588,2200,2111
$GC,9471,0.88,177.2,570.5,5.9,461,9481,0.00,2.70,5.10,0.775,4,0.000,0.073,2588,786,2093
$GC,9514,0.88,177.2,567.5,6.5,463,9518,0.00,2.62,0.00,0.000,6,0.000,0.052,2587,2196,2093
$GC,9841,0.88,177.2,545.9,6.8,479,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2195,2092
$GC,10150,0.88,177.2,525.5,6.4,494,10154,0.00,2.65,0.00,0.000,4,0.000,0.067,2587,785,2091
$GC,10193,0.88,177.2,522.3,7.0,496,10197,0.00,2.62,0.00,0.000,6,0.000,0.052,2588,2203,2091
$GC,10520,0.88,180.4,502.5,5.9,512,10525,0.00,0.00,3.72,0.628,6,0.000,0.000,2588,2203,2081
$GC,10829,0.90,198.3,484.4,5.5,527,10851,0.00,2.72,15.95,0.963,4,0.000,0.067,2587,785,2007
$GC,10878,0.90,198.3,481.4,6.6,529,10882,0.00,2.62,0.00,0.000,6,0.000,0.050,2587,2195,2006
$GC,11204,0.90,198.3,460.0,7.1,545,11209,0.00,2.65,0.00,0.000,4,0.000,0.067,2587,782,2006
$GC,11230,0.90,198.3,458.1,7.5,546,11235,0.00,2.60,0.00,0.000,6,0.000,0.049,2588,2194,2006
$GC,11551,0.90,198.3,434.8,7.3,562,11556,0.00,2.65,0.00,0.000,4,0.000,0.072,2588,3607,2005
$GC,11590,0.90,198.3,431.6,8.6,564,11594,0.00,2.60,0.00,0.000,6,0.000,0.058,2587,2201,2005
$GC,11915,0.90,198.3,408.1,6.9,580,11920,0.00,2.65,0.00,0.000,4,0.000,0.069,2588,782,2005
$GC,11954,0.90,198.3,405.1,7.6,582,11959,0.00,2.58,0.00,0.000,6,0.000,0.048,2588,2207,2005
$GC,12280,0.90,198.3,381.6,6.8,598,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2207,2006
$GC,12589,0.90,198.3,361.0,6.5,613,12590,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2207,2005
$GC,12898,0.90,198.3,340.0,6.5,628,12899,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2207,2005
$GC,13207,0.90,198.3,319.1,6.8,643,13208,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2207,2006
$GC,13516,0.90,198.3,299.2,6.4,658,13518,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2207,2007
$GC,13826,0.90,198.8,280.2,6.0,673,13827,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2207,2007
$GC,14135,0.90,198.8,261.3,6.1,688,14139,0.00,2.65,0.00,0.000,4,0.000,0.064,2586,778,2007
$GC,14166,0.90,198.8,259.3,6.2,689,14173,0.00,2.55,0.00,0.000,6,0.000,0.045,2587,2201,2008
$GC,14482,0.91,205.0,240.9,5.8,705,14496,0.00,2.67,7.15,0.696,4,0.000,0.066,2588,3607,1981
$GC,14517,0.91,205.0,238.5,7.5,706,14524,0.00,2.62,0.00,0.000,6,0.000,0.055,2588,2196,1981
$GC,14833,0.91,205.0,218.5,6.3,722,14838,0.00,2.60,0.00,0.000,4,0.000,0.067,2588,787,1981
$GC,14872,0.91,205.0,215.9,7.0,724,14876,0.00,2.50,0.00,0.000,6,0.000,0.044,2588,2201,1981
$GC,15197,0.91,205.0,194.1,6.9,740,15198,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,1981
$GC,15506,0.91,205.0,173.4,6.9,755,15508,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,1981
$GC,15815,0.91,205.0,152.1,6.7,770,15817,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,1981
$GC,16125,0.91,205.0,131.0,6.8,785,16126,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,1981
$GC,16435,0.91,205.0,110.1,6.8,800,16436,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,1981
$GC,16744,0.91,205.0,89.3,6.8,815,16745,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,1981
$GC,17053,0.91,205.0,69.0,6.7,830,17057,0.00,2.62,0.00,0.000,4,0.000,0.063,2588,779,1981
$GC,17084,0.91,205.0,66.7,7.5,831,17092,0.00,2.55,0.00,0.000,6,0.000,0.043,2588,2200,1981
$GC,17402,0.91,205.0,45.6,6.5,847,17403,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,1981
$GC,17710,0.91,205.0,24.4,6.2,862,17711,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,1981
$GC,18019,0.91,205.0,3.4,7.3,877,18020,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,1982
$STATE,18058,end climb,SURFACE_DEPTH_REACHED
$STATE,18058,begin surface coast
$FINISH,0.6,1.003552
$STATE,18081,end surface coast,CONTROL_FINISHED_OK
$STATE,18081,begin surface
$SM_CCo,18100,52.50,0.648,1,0,1593,300.00
$SM_GC,1.41,0.00,0.00,52.50,0.000,0.000,0.648,73,2403,1593,-10.75,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2098
$TCM_TEMP,15.80
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,550.7,95.9
$24V_AH,23.6,24.363
$10V_AH,10.2,11.694
$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,25.275,168.025,295.775,52.500,0.000,32.619,36.469,170.203,10.000,0.000,0.000,32.165,1588.104,14174.805,518.123,1837.601,391.966,33.366,1435.478,0.000,1782.308,0.000,31.617
$DEVICE_MAMPS,174.876,80.535,1109.082,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,620.965,628.934,576.023,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44222,880
$CFSIZE,260165632,251531264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,061207,100408,6227.931,-1027.758,40,1.0,40,-10.4