version: 66.02
glider: 16
mission: 6
dive: 139
start: 12 7 107 6 19 34
data:
$ID,16
$MISSION,6
$DIVE,139
$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,-2078313.2
$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,15
$R_STBD_OVSHOOT,23
$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
$GPS1,060409,6234.255,-1031.808,40,1.9,48,-10.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-55.5
$GPS2,061844,6234.372,-1032.043,13,1.9,31,-10.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.200,0.094
$KALMAN_X,-113830.6,1205.9,1277.7,35260.6,-27808.1
$KALMAN_Y,115715.6,592.8,636.6,-12955.8,-5737.7
$MHEAD_RNG_PITCHd_Wd,75.3,52672,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-101.80,0.000,2,0.000,0.000,69,2406,3073
$GC,127,-0.85,-146.6,3.4,-2.7,5,150,12.25,0.00,-8.43,0.000,6,0.172,0.000,2216,2407,3416
$GC,454,-0.85,-146.6,40.4,-10.1,21,458,0.00,2.65,0.00,0.000,4,0.000,0.064,2216,982,3417
$GC,492,-0.85,-146.6,43.8,-8.4,23,497,0.00,2.58,0.00,0.000,6,0.000,0.052,2216,2396,3417
$GC,819,-0.85,-146.6,71.8,-9.9,39,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2396,3417
$GC,1128,-0.85,-146.6,94.0,-6.3,54,1132,0.00,2.65,0.00,0.000,4,0.000,0.065,2216,977,3417
$GC,1159,-0.85,-146.6,96.4,-7.0,55,1166,0.00,2.60,0.00,0.000,6,0.000,0.052,2216,2393,3417
$GC,1475,-0.85,-146.6,121.1,-7.9,71,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2392,3417
$GC,1786,-0.85,-146.6,146.9,-7.9,86,1790,0.00,2.62,0.00,0.000,4,0.000,0.064,2216,980,3417
$GC,1829,-0.85,-146.6,150.2,-7.0,88,1834,0.00,2.58,0.00,0.000,6,0.000,0.052,2216,2400,3417
$GC,2150,-0.85,-146.6,172.4,-7.2,104,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2400,3417
$GC,2459,-0.85,-146.6,194.5,-7.5,119,2463,0.00,2.65,0.00,0.000,4,0.000,0.066,2216,976,3417
$GC,2519,-0.85,-146.6,198.9,-7.1,122,2524,0.00,2.58,0.00,0.000,6,0.000,0.054,2216,2403,3417
$GC,2848,-0.85,-146.6,225.8,-8.3,138,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2401,3417
$GC,3154,-0.85,-146.6,250.0,-7.8,153,3159,0.00,2.65,0.00,0.000,4,0.000,0.066,2216,969,3417
$GC,3202,-0.85,-146.6,253.9,-8.1,155,3207,0.00,2.62,0.00,0.000,6,0.000,0.054,2216,2401,3417
$GC,3530,-0.85,-146.6,278.5,-7.4,171,3534,0.00,2.65,0.00,0.000,4,0.000,0.065,2216,974,3417
$GC,3584,-0.85,-146.6,282.7,-8.0,173,3591,0.00,2.60,0.00,0.000,6,0.000,0.054,2216,2393,3417
$GC,3899,-0.85,-146.6,304.6,-6.8,189,3904,0.00,2.62,0.00,0.000,4,0.000,0.067,2216,982,3418
$GC,3933,-0.85,-146.6,307.1,-7.2,190,3939,0.00,2.58,0.00,0.000,6,0.000,0.054,2216,2400,3417
$GC,4248,-0.85,-146.6,331.2,-7.7,206,4252,0.00,2.62,0.00,0.000,4,0.000,0.065,2216,982,3417
$GC,4286,-0.85,-146.6,334.2,-8.1,208,4290,0.00,2.58,0.00,0.000,6,0.000,0.055,2216,2401,3417
$GC,4611,-0.85,-146.6,357.7,-7.0,224,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2401,3417
$GC,4920,-0.85,-146.6,378.7,-6.6,239,4924,0.00,2.65,0.00,0.000,4,0.000,0.067,2216,977,3417
$GC,4959,-0.85,-146.6,381.2,-6.7,241,4963,0.00,2.60,0.00,0.000,6,0.000,0.055,2216,2407,3417
$GC,5284,-0.85,-146.6,402.1,-6.4,257,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2406,3417
$GC,5594,-0.85,-146.6,425.8,-9.0,272,5598,0.00,2.65,0.00,0.000,4,0.000,0.065,2216,977,3417
$GC,5632,-0.85,-146.6,429.5,-9.6,274,5636,0.00,2.60,0.00,0.000,6,0.000,0.054,2216,2401,3417
$GC,5957,-0.85,-146.6,461.2,-10.4,290,5961,0.00,2.62,0.00,0.000,4,0.000,0.063,2216,980,3417
$GC,5979,-0.85,-146.6,463.4,-10.1,291,5983,0.00,2.58,0.00,0.000,6,0.000,0.051,2216,2400,3417
$GC,6299,-0.85,-146.6,495.1,-9.3,307,6303,0.00,2.62,0.00,0.000,4,0.000,0.064,2216,976,3418
$GC,6319,-0.85,-146.6,497.1,-9.1,308,6324,0.00,2.60,0.00,0.000,6,0.000,0.052,2216,2401,3418
$GC,6646,-0.85,-146.6,524.2,-7.3,324,6650,0.00,2.62,0.00,0.000,4,0.000,0.064,2216,982,3418
$GC,6745,-0.85,-146.6,530.4,-6.0,328,6752,0.00,2.58,0.00,0.000,6,0.000,0.054,2216,2404,3418
$GC,7060,-0.85,-146.6,549.5,-6.5,344,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2404,3418
$GC,7369,-0.85,-146.6,571.6,-7.7,359,7374,0.00,2.65,0.00,0.000,4,0.000,0.066,2216,978,3418
$STATE,7384,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7385,begin apogee
$GC,7391,-0.31,0.0,573.1,8.7,360,7514,0.62,0.00,120.05,1.068,6,0.106,0.000,2341,2200,2817
$STATE,7515,end apogee,CONTROL_FINISHED_OK
$STATE,7515,begin climb
$GC,7517,0.85,146.6,577.5,0.0,366,7643,1.20,2.78,118.07,1.043,4,0.090,0.077,2586,3618,2218
$GC,7755,0.90,194.2,569.2,4.7,377,7800,0.00,2.65,38.92,1.010,6,0.000,0.056,2586,2193,2024
$GC,8123,0.90,195.7,549.5,6.0,395,8127,0.00,2.65,0.00,0.000,4,0.000,0.071,2587,787,2022
$GC,8149,0.90,195.7,547.5,7.5,396,8153,0.00,2.62,0.00,0.000,6,0.000,0.051,2586,2197,2022
$GC,8470,0.90,195.7,524.2,7.7,412,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2197,2022
$GC,8779,0.90,195.7,503.3,6.1,427,8783,0.00,2.65,0.00,0.000,4,0.000,0.067,2586,784,2021
$GC,8827,0.90,195.7,500.2,6.5,429,8832,0.00,2.62,0.00,0.000,6,0.000,0.051,2586,2201,2019
$GC,9148,0.90,195.7,480.8,6.7,445,9153,0.00,2.67,0.00,0.000,4,0.000,0.077,2587,3614,2019
$GC,9187,0.90,195.7,477.9,7.9,447,9191,0.00,2.62,0.00,0.000,6,0.000,0.057,2587,2194,2019
$GC,9512,0.90,195.7,452.6,8.0,463,9517,0.00,2.65,0.00,0.000,4,0.000,0.070,2586,781,2019
$GC,9566,0.90,195.7,447.9,9.0,465,9573,0.00,2.60,0.00,0.000,6,0.000,0.051,2586,2193,2017
$GC,9882,0.90,195.7,423.0,7.3,481,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2193,2017
$GC,10191,0.90,195.7,403.3,6.3,496,10196,0.00,2.65,0.00,0.000,4,0.000,0.076,2586,3609,2017
$GC,10241,0.90,195.7,399.8,6.8,498,10245,0.00,2.60,0.00,0.000,6,0.000,0.057,2586,2200,2017
$GC,10561,0.90,195.7,378.0,7.0,514,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2017
$GC,10871,0.90,198.0,358.4,5.9,529,10875,0.00,2.65,0.00,0.000,4,0.000,0.069,2586,781,2017
$GC,10896,0.90,198.0,356.8,6.4,530,10901,0.00,2.60,0.00,0.000,6,0.000,0.049,2586,2195,2017
$GC,11219,0.95,241.3,339.8,4.8,546,11259,0.15,0.00,37.03,0.900,6,0.064,0.000,2626,2195,1832
$GC,11567,0.95,241.3,317.6,6.2,563,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2195,1832
$GC,11876,0.95,241.3,297.8,6.8,578,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2195,1832
$GC,12185,0.95,241.3,274.7,7.8,593,12190,0.00,2.62,0.00,0.000,4,0.000,0.065,2626,784,1832
$GC,12212,0.95,241.3,272.3,8.9,594,12216,0.00,2.58,0.00,0.000,6,0.000,0.046,2626,2198,1832
$GC,12533,0.95,241.3,245.7,8.3,610,12534,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2198,1832
$GC,12842,0.95,241.3,220.2,8.5,625,12843,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2198,1832
$GC,13151,0.95,241.3,194.0,8.4,640,13152,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2198,1833
$GC,13460,0.95,241.3,167.0,8.7,655,13465,0.00,2.62,0.00,0.000,4,0.000,0.064,2626,784,1833
$GC,13499,0.95,241.3,163.5,9.0,657,13503,0.00,2.55,0.00,0.000,6,0.000,0.046,2626,2201,1833
$GC,13825,0.95,241.3,134.6,8.6,673,13826,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2201,1833
$GC,14134,0.95,241.3,108.1,8.9,688,14138,0.00,2.62,0.00,0.000,4,0.000,0.063,2626,782,1834
$GC,14165,0.95,241.3,105.2,8.6,689,14172,0.00,2.58,0.00,0.000,6,0.000,0.046,2626,2202,1834
$GC,14481,0.95,241.3,76.5,9.3,705,14482,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2202,1834
$GC,14790,0.95,241.3,49.9,7.7,720,14791,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2202,1834
$GC,15100,0.95,241.3,26.9,6.3,735,15104,0.00,2.62,0.00,0.000,4,0.000,0.063,2626,782,1835
$GC,15131,0.95,241.3,24.3,7.8,736,15138,0.00,2.55,0.00,0.000,6,0.000,0.044,2626,2193,1835
$STATE,15404,end climb,SURFACE_DEPTH_REACHED
$STATE,15404,begin surface coast
$FINISH,0.5,1.005825
$STATE,15426,end surface coast,CONTROL_FINISHED_OK
$STATE,15426,begin surface
$SM_CCo,15446,183.15,0.660,1,0,509,566.15
$SM_GC,1.33,0.00,0.00,183.15,0.000,0.000,0.660,68,2404,509,-10.77,0.11,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2048
$TCM_TEMP,16.90
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,477.0,106.0
$24V_AH,23.6,25.082
$10V_AH,10.2,12.102
$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,25.425,131.000,314.075,183.150,0.000,97.789,107.315,420.994,9.750,0.000,0.000,30.985,1352.192,12124.482,680.351,1571.715,784.611,33.368,1461.426,0.000,1523.337,0.000,26.781
$DEVICE_MAMPS,171.808,76.700,1067.664,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,532.969,526.185,498.403,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37996,751
$CFSIZE,260165632,251244544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,071207,104125,6236.994,-1029.975,25,1.8,42,-10.4