version: 66.02
glider: 16
mission: 6
dive: 137
start: 12 6 107 20 12 20
data:
$ID,16
$MISSION,6
$DIVE,137
$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,566.1524
$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,-2078268.9
$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,14
$R_STBD_OVSHOOT,17
$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
$GPS1,195215,6231.480,-1028.167,37,2.3,56,-10.4
$_CALLS,5
$_XMS_NAKs,24
$_XMS_TOUTs,6
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-62.0
$GPS2,201129,6231.511,-1028.289,18,2.2,37,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.192,0.110
$KALMAN_X,-103182.6,1476.8,1959.5,26940.1,-24961.7
$KALMAN_Y,116913.0,179.9,776.5,-19193.7,-4392.4
$MHEAD_RNG_PITCHd_Wd,70.6,53290,-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,-146.6,0.0,0.0,0,93,0.00,0.00,-70.68,0.000,6,0.000,0.000,75,2403,3416
$GC,95,-0.85,-146.6,5.6,-6.3,4,112,12.30,0.00,0.00,0.000,6,0.176,0.000,2217,2403,3419
$GC,423,-0.85,-146.6,38.4,-6.6,20,427,0.00,2.58,0.00,0.000,4,0.000,0.074,2217,3768,3421
$GC,449,-0.85,-146.6,40.9,-8.4,21,454,0.00,2.50,0.00,0.000,6,0.000,0.052,2217,2398,3421
$GC,770,-0.85,-146.6,66.2,-7.1,37,775,0.00,2.65,0.00,0.000,4,0.000,0.071,2218,983,3421
$GC,814,-0.85,-146.6,69.2,-6.1,39,818,0.00,2.58,0.00,0.000,6,0.000,0.056,2217,2400,3421
$GC,1141,-0.85,-146.6,92.7,-6.8,55,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2400,3421
$GC,1451,-0.85,-146.6,117.2,-8.6,70,1456,0.00,2.67,0.00,0.000,4,0.000,0.070,2217,977,3421
$GC,1490,-0.85,-146.6,120.3,-7.3,72,1494,0.00,2.60,0.00,0.000,6,0.000,0.056,2217,2400,3421
$GC,1815,-0.85,-146.6,144.8,-7.4,88,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2400,3420
$GC,2124,-0.85,-146.6,167.2,-7.5,103,2129,0.00,2.67,0.00,0.000,4,0.000,0.071,2217,976,3421
$GC,2179,-0.85,-146.6,171.6,-8.0,105,2186,0.00,2.62,0.00,0.000,6,0.000,0.058,2217,2395,3421
$GC,2495,-0.85,-146.6,195.1,-7.5,121,2499,0.00,2.65,0.00,0.000,4,0.000,0.071,2217,983,3421
$GC,2526,-0.85,-146.6,197.8,-8.6,122,2533,0.00,2.60,0.00,0.000,6,0.000,0.058,2217,2407,3421
$GC,2841,-0.85,-146.6,222.1,-7.8,138,2846,0.00,2.67,0.00,0.000,4,0.000,0.072,2217,983,3421
$GC,2873,-0.85,-146.6,224.7,-8.0,139,2880,0.00,2.60,0.00,0.000,6,0.000,0.058,2217,2391,3421
$GC,3189,-0.85,-146.6,248.5,-7.7,155,3193,0.00,2.65,0.00,0.000,4,0.000,0.073,2217,983,3421
$GC,3215,-0.85,-146.6,250.6,-7.7,156,3220,0.00,2.62,0.00,0.000,6,0.000,0.058,2217,2398,3421
$GC,3537,-0.85,-146.6,275.1,-7.7,172,3541,0.00,2.65,0.00,0.000,4,0.000,0.074,2217,983,3421
$GC,3563,-0.85,-146.6,277.4,-8.4,173,3567,0.00,2.60,0.00,0.000,6,0.000,0.058,2217,2405,3421
$GC,3884,-0.85,-146.6,301.0,-7.4,189,3889,0.00,2.67,0.00,0.000,4,0.000,0.074,2217,983,3422
$GC,3923,-0.85,-146.6,303.9,-7.7,191,3928,0.00,2.60,0.00,0.000,6,0.000,0.059,2217,2401,3421
$GC,4249,-0.85,-146.6,328.5,-7.7,207,4254,0.00,2.67,0.00,0.000,4,0.000,0.073,2217,982,3420
$GC,4288,-0.85,-146.6,331.6,-7.9,209,4292,0.00,2.60,0.00,0.000,6,0.000,0.058,2217,2404,3421
$GC,4613,-0.85,-146.6,355.8,-7.5,225,4617,0.00,2.67,0.00,0.000,4,0.000,0.074,2217,979,3422
$GC,4667,-0.85,-146.6,360.0,-7.7,227,4674,0.00,2.60,0.00,0.000,6,0.000,0.058,2217,2404,3421
$GC,4982,-0.85,-146.6,384.4,-7.8,243,4987,0.00,2.67,0.00,0.000,4,0.000,0.074,2217,976,3422
$GC,5027,-0.85,-146.6,388.0,-8.3,245,5031,0.00,2.62,0.00,0.000,6,0.000,0.058,2217,2403,3422
$GC,5347,-0.85,-146.6,411.4,-7.1,261,5351,0.00,2.65,0.00,0.000,4,0.000,0.073,2218,982,3422
$GC,5373,-0.85,-146.6,413.5,-7.4,262,5377,0.00,2.60,0.00,0.000,6,0.000,0.057,2217,2398,3422
$GC,5694,-0.85,-146.6,436.9,-7.8,278,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2398,3422
$GC,6003,-0.85,-146.6,459.9,-6.9,293,6008,0.00,2.65,0.00,0.000,4,0.000,0.071,2217,982,3422
$GC,6114,-0.85,-146.6,467.3,-6.9,298,6119,0.00,2.60,0.00,0.000,6,0.000,0.056,2217,2395,3422
$GC,6441,-0.85,-146.6,488.7,-6.3,314,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2395,3421
$GC,6750,-0.85,-146.6,508.7,-6.0,329,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2395,3422
$GC,7059,-0.85,-146.6,527.4,-6.4,344,7063,0.00,2.62,0.00,0.000,4,0.000,0.071,2217,983,3422
$GC,7090,-0.85,-146.6,529.8,-7.5,345,7098,0.00,2.62,0.00,0.000,6,0.000,0.059,2217,2400,3422
$GC,7407,-0.85,-146.6,552.8,-7.7,361,7411,0.00,2.67,0.00,0.000,4,0.000,0.073,2217,977,3422
$GC,7432,-0.85,-146.6,554.8,-7.9,362,7437,0.00,2.62,0.00,0.000,6,0.000,0.060,2217,2394,3422
$GC,7754,-0.85,-146.6,576.9,-6.5,378,7758,0.00,2.65,0.00,0.000,4,0.000,0.073,2217,983,3422
$GC,7808,-0.85,-146.6,580.7,-7.5,380,7815,0.00,2.62,0.00,0.000,6,0.000,0.061,2217,2395,3422
$STATE,7998,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7998,begin apogee
$GC,8003,-0.31,0.0,594.3,7.5,390,8127,0.60,0.00,121.03,1.081,6,0.108,0.000,2337,2195,2816
$STATE,8127,end apogee,CONTROL_FINISHED_OK
$STATE,8128,begin climb
$GC,8129,0.85,146.6,598.4,0.0,396,8255,1.20,2.78,118.30,1.066,4,0.076,0.076,2589,785,2218
$GC,8333,0.85,146.6,590.1,7.5,405,8340,0.00,2.67,0.00,0.000,6,0.000,0.054,2589,2201,2216
$GC,8649,0.85,150.1,569.9,5.9,421,8658,0.00,2.70,4.18,0.675,4,0.000,0.072,2589,789,2204
$GC,8708,0.85,150.1,565.6,6.8,423,8715,0.00,2.65,0.00,0.000,6,0.000,0.056,2589,2198,2204
$GC,9023,0.85,150.1,545.0,6.5,439,9024,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2197,2203
$GC,9332,0.85,150.1,524.9,6.6,454,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2198,2202
$GC,9642,0.85,150.1,504.2,6.8,469,9643,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2197,2202
$GC,9951,0.85,150.1,484.2,6.1,484,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2197,2201
$GC,10260,0.85,150.1,465.5,6.4,499,10265,0.00,2.70,0.00,0.000,4,0.000,0.080,2589,3615,2200
$GC,10292,0.85,150.1,463.5,6.8,500,10299,0.00,2.67,0.00,0.000,6,0.000,0.064,2589,2201,2200
$GC,10608,0.86,162.4,445.8,5.7,516,10620,0.00,0.00,10.45,0.895,6,0.000,0.000,2589,2201,2155
$GC,10917,0.89,191.6,429.5,5.2,531,10947,0.00,2.75,24.42,0.953,4,0.000,0.073,2590,782,2036
$GC,10998,0.91,203.5,425.2,5.7,535,11014,0.00,2.60,11.02,0.872,6,0.000,0.051,2589,2201,1987
$GC,11322,0.91,203.5,406.1,6.2,550,11323,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,1986
$GC,11632,0.91,203.5,386.7,6.6,565,11636,0.00,2.65,0.00,0.000,4,0.000,0.075,2589,3619,1986
$GC,11657,0.91,203.5,384.7,7.4,566,11662,0.00,2.67,0.00,0.000,6,0.000,0.062,2589,2200,1986
$GC,11979,0.91,203.5,362.6,6.8,582,11983,0.00,2.65,0.00,0.000,4,0.000,0.071,2589,785,1986
$GC,12017,0.91,203.5,359.8,7.1,584,12022,0.00,2.58,0.00,0.000,6,0.000,0.048,2589,2204,1986
$GC,12343,0.91,203.5,339.0,6.3,600,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,1986
$GC,12652,0.91,203.5,318.9,6.2,615,12653,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,1986
$GC,12961,0.91,203.5,297.9,6.8,630,12962,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,1987
$GC,13271,0.91,203.5,276.2,6.9,645,13272,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,1987
$GC,13580,0.91,203.5,255.4,6.6,660,13584,0.00,2.65,0.00,0.000,4,0.000,0.066,2589,780,1987
$GC,13606,0.91,203.5,253.4,6.7,661,13610,0.00,2.58,0.00,0.000,6,0.000,0.046,2589,2196,1988
$GC,13927,0.91,203.5,232.3,6.7,677,13931,0.00,2.62,0.00,0.000,4,0.000,0.071,2589,3613,1988
$GC,13953,0.91,203.5,230.4,6.9,678,13957,0.00,2.62,0.00,0.000,6,0.000,0.058,2589,2200,1988
$GC,14274,0.91,203.5,208.5,6.9,694,14278,0.00,2.62,0.00,0.000,4,0.000,0.068,2589,784,1989
$GC,14313,0.91,203.5,205.8,7.0,696,14317,0.00,2.55,0.00,0.000,6,0.000,0.046,2589,2203,1989
$GC,14638,0.91,203.5,184.3,6.6,712,14639,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,1989
$GC,14947,0.91,203.5,163.4,7.2,727,14948,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,1989
$GC,15257,0.91,203.5,145.8,7.1,742,15258,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,1989
$GC,15566,0.91,203.5,126.4,6.0,757,15570,0.00,2.62,0.00,0.000,4,0.000,0.064,2589,784,1990
$GC,15592,0.91,203.5,124.4,8.1,758,15596,0.00,2.55,0.00,0.000,6,0.000,0.044,2589,2195,1990
$GC,15915,0.91,203.5,100.3,7.3,774,15919,0.00,2.62,0.00,0.000,4,0.000,0.068,2589,3617,1990
$GC,15941,0.91,203.5,98.2,7.5,775,15946,0.00,2.60,0.00,0.000,6,0.000,0.054,2589,2191,1990
$GC,16262,0.91,203.5,77.1,6.0,791,16267,0.00,2.60,0.00,0.000,4,0.000,0.067,2587,785,1990
$GC,16289,0.91,203.5,75.2,7.2,792,16293,0.00,2.58,0.00,0.000,6,0.000,0.047,2589,2202,1990
$GC,16611,0.91,203.5,53.6,6.4,808,16615,0.00,2.60,0.00,0.000,4,0.000,0.069,2589,3609,1990
$GC,16649,0.91,203.5,51.2,6.6,810,16654,0.00,2.58,0.00,0.000,6,0.000,0.055,2589,2194,1990
$GC,16975,0.91,203.5,32.3,6.9,826,16979,0.00,2.62,0.00,0.000,4,0.000,0.068,2589,776,1990
$GC,17018,0.92,210.5,29.2,5.8,828,17035,0.00,2.55,7.88,0.598,6,0.000,0.048,2589,2199,1958
$GC,17345,0.92,210.5,9.4,7.2,844,17349,0.00,2.62,0.00,0.000,4,0.000,0.072,2590,3610,1958
$GC,17371,0.92,210.5,7.3,8.1,845,17375,0.00,2.58,0.00,0.000,6,0.000,0.057,2589,2202,1958
$STATE,17443,end climb,SURFACE_DEPTH_REACHED
$STATE,17443,begin surface coast
$FINISH,0.7,1.027381
$STATE,17465,end surface coast,CONTROL_FINISHED_OK
$STATE,17465,begin surface
$SM_CCo,17485,199.75,0.650,2,0,508,566.15
$SM_GC,1.14,0.00,0.00,199.75,0.000,0.000,0.650,71,2405,508,-10.76,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2030
$TCM_TEMP,15.90
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,501.3,103.0
$24V_AH,23.6,24.761
$10V_AH,10.2,11.941
$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,25.150,168.975,297.275,199.750,0.000,163.215,215.325,377.803,10.500,0.000,0.000,38.082,1534.775,13884.387,675.577,1806.676,953.243,33.367,1577.911,0.000,1744.884,0.000,28.389
$DEVICE_MAMPS,175.643,79.768,1080.703,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,599.532,601.250,569.317,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44252,850
$CFSIZE,260165632,251326464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,2,0
$GPS,071207,010852,6231.987,-1028.843,43,2.2,62,-10.4