version: 66.02
glider: 16
mission: 6
dive: 140
start: 12 7 107 10 47 19
data:
$ID,16
$MISSION,6
$DIVE,140
$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,-2078329
$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,25
$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
$GPS1,104125,6236.994,-1029.975,25,1.8,42,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-55.7
$GPS2,104627,6236.984,-1030.017,15,1.9,15,-10.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.211,0.068
$KALMAN_X,-115591.5,1709.1,895.7,38637.3,-26655.4
$KALMAN_Y,119404.3,323.6,-6.3,-10892.7,1184.5
$MHEAD_RNG_PITCHd_Wd,82.5,48681,-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,-146.6,0.0,0.0,0,123,0.00,0.00,-101.72,0.000,2,0.000,0.000,68,2404,3107
$GC,125,-0.85,-146.6,3.9,-3.0,5,147,12.35,0.00,-7.22,0.000,6,0.176,0.000,2220,2404,3417
$GC,452,-0.85,-146.6,33.6,-8.9,21,456,0.00,2.65,0.00,0.000,4,0.000,0.062,2220,981,3417
$GC,506,-0.85,-146.6,37.7,-6.7,23,513,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,2390,3417
$GC,823,-0.85,-146.6,58.9,-6.8,39,827,0.00,2.62,0.00,0.000,4,0.000,0.062,2221,976,3417
$GC,861,-0.85,-146.6,61.8,-7.1,41,866,0.00,2.60,0.00,0.000,6,0.000,0.052,2220,2405,3417
$GC,1188,-0.85,-146.6,84.5,-7.2,57,1192,0.00,2.65,0.00,0.000,4,0.000,0.065,2220,982,3417
$GC,1226,-0.85,-146.6,87.6,-8.3,59,1231,0.00,2.58,0.00,0.000,6,0.000,0.053,2220,2400,3418
$GC,1552,-0.85,-146.6,112.9,-7.8,75,1556,0.00,2.65,0.00,0.000,4,0.000,0.065,2220,975,3417
$GC,1578,-0.85,-146.6,115.1,-7.6,76,1582,0.00,2.60,0.00,0.000,6,0.000,0.054,2220,2406,3417
$GC,1899,-0.85,-146.6,139.5,-7.1,92,1904,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,983,3417
$GC,1930,-0.85,-146.6,141.8,-6.9,93,1938,0.00,2.60,0.00,0.000,6,0.000,0.055,2220,2395,3417
$GC,2246,-0.85,-146.6,162.0,-6.1,109,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2395,3417
$GC,2556,-0.85,-146.6,180.4,-5.0,124,2560,0.00,2.65,0.00,0.000,4,0.000,0.068,2220,978,3417
$GC,2643,-0.85,-146.6,186.4,-9.1,128,2648,0.00,2.60,0.00,0.000,6,0.000,0.053,2220,2396,3417
$GC,2970,-0.85,-146.6,213.2,-7.9,144,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2396,3417
$GC,3279,-0.85,-146.6,236.5,-8.0,159,3283,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,982,3417
$GC,3322,-0.85,-146.6,240.1,-8.7,161,3326,0.00,2.60,0.00,0.000,6,0.000,0.054,2220,2401,3417
$GC,3649,-0.85,-146.6,265.3,-7.5,177,3653,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,979,3417
$GC,3687,-0.85,-146.6,268.1,-7.4,179,3691,0.00,2.58,0.00,0.000,6,0.000,0.056,2220,2401,3418
$GC,4012,-0.85,-146.6,293.4,-8.1,195,4016,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,979,3417
$GC,4043,-0.85,-146.6,296.3,-8.7,196,4050,0.00,2.58,0.00,0.000,6,0.000,0.055,2220,2401,3417
$GC,4359,-0.85,-146.6,321.7,-8.0,212,4363,0.00,2.65,0.00,0.000,4,0.000,0.067,2221,976,3417
$GC,4397,-0.85,-146.6,324.7,-8.1,214,4402,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2401,3417
$GC,4730,-0.85,-146.6,351.0,-7.8,230,4734,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,974,3418
$GC,4761,-0.85,-146.6,353.9,-8.1,231,4768,0.00,2.60,0.00,0.000,6,0.000,0.054,2220,2393,3417
$GC,5077,-0.85,-146.6,377.6,-7.5,247,5081,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,980,3417
$GC,5109,-0.85,-146.6,380.0,-7.5,248,5115,0.00,2.58,0.00,0.000,6,0.000,0.056,2220,2401,3417
$GC,5424,-0.85,-146.6,402.3,-6.9,264,5428,0.00,2.65,0.00,0.000,4,0.000,0.067,2221,980,3417
$GC,5457,-0.85,-146.6,404.3,-6.0,265,5463,0.00,2.60,0.00,0.000,6,0.000,0.056,2220,2406,3417
$GC,5772,-0.85,-146.6,421.1,-4.7,281,5776,0.00,2.65,0.00,0.000,4,0.000,0.066,2220,980,3417
$GC,5810,-0.85,-146.6,422.9,-4.2,283,5815,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2400,3417
$GC,6136,-0.85,-146.6,435.7,-4.4,299,6141,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,982,3418
$GC,6169,-0.85,-146.6,437.3,-5.2,300,6176,0.00,2.58,0.00,0.000,6,0.000,0.055,2220,2406,3417
$GC,6484,-0.85,-146.6,459.3,-7.7,316,6488,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,982,3417
$GC,6522,-0.85,-146.6,462.4,-7.9,318,6527,0.00,2.55,0.00,0.000,6,0.000,0.056,2221,2400,3417
$GC,6848,-0.85,-146.6,490.1,-9.2,334,6852,0.00,2.58,0.00,0.000,4,0.000,0.077,2220,3771,3418
$GC,6879,-0.85,-146.6,493.4,-10.1,335,6887,0.00,2.50,0.00,0.000,6,0.000,0.050,2220,2401,3418
$GC,7195,-0.85,-146.6,519.1,-7.4,351,7200,0.00,2.62,0.00,0.000,4,0.000,0.071,2220,979,3418
$GC,7257,-0.85,-146.6,523.9,-7.7,354,7261,0.00,2.58,0.00,0.000,6,0.000,0.056,2220,2400,3418
$GC,7582,-0.85,-146.6,549.4,-8.0,370,7586,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,985,3418
$GC,7624,-0.85,-146.6,553.2,-8.6,372,7629,0.00,2.60,0.00,0.000,6,0.000,0.057,2220,2396,3418
$STATE,7806,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7806,begin apogee
$GC,7811,-0.31,0.0,567.0,7.4,381,7934,0.60,0.00,120.12,1.055,6,0.117,0.000,2337,2192,2817
$STATE,7935,end apogee,CONTROL_FINISHED_OK
$STATE,7935,begin climb
$GC,7937,0.85,146.6,569.6,0.0,387,8063,1.30,2.78,118.20,1.032,4,0.105,0.076,2592,3611,2218
$GC,8140,0.85,146.6,558.8,8.0,397,8145,0.00,2.65,0.00,0.000,6,0.000,0.057,2592,2208,2218
$GC,8467,0.89,188.3,540.1,4.9,413,8509,0.00,2.75,34.12,0.996,4,0.000,0.072,2592,786,2048
$GC,8586,0.89,188.3,533.6,6.0,418,8591,0.00,2.62,0.00,0.000,6,0.000,0.052,2592,2206,2047
$GC,8907,0.89,188.3,514.1,7.3,434,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2206,2047
$GC,9216,0.89,188.3,488.7,8.2,449,9221,0.00,2.67,0.00,0.000,4,0.000,0.069,2592,785,2046
$GC,9256,0.89,188.3,485.3,9.1,451,9260,0.00,2.60,0.00,0.000,6,0.000,0.051,2592,2200,2045
$GC,9581,0.92,211.2,463.7,5.4,467,9605,0.00,2.75,18.88,0.953,4,0.000,0.077,2592,3616,1955
$GC,9634,0.93,223.0,460.8,5.7,469,9650,0.00,2.65,10.90,0.888,6,0.000,0.058,2592,2200,1907
$GC,9970,0.93,223.0,442.5,6.3,486,9975,0.00,2.67,0.00,0.000,4,0.000,0.071,2592,781,1906
$GC,10002,0.93,223.0,440.2,6.6,487,10009,0.00,2.62,0.00,0.000,6,0.000,0.049,2592,2202,1906
$GC,10317,0.93,223.0,418.8,6.7,503,10322,0.00,2.65,0.00,0.000,4,0.000,0.066,2592,785,1905
$GC,10366,0.93,223.0,415.2,7.8,505,10371,0.00,2.58,0.00,0.000,6,0.000,0.048,2592,2202,1905
$GC,10688,0.93,223.0,394.5,6.3,521,10689,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2202,1905
$GC,10997,0.93,223.0,371.7,7.5,536,11001,0.00,2.65,0.00,0.000,4,0.000,0.065,2592,784,1905
$GC,11035,0.93,223.0,368.7,7.6,538,11040,0.00,2.58,0.00,0.000,6,0.000,0.047,2592,2206,1905
$GC,11361,0.93,223.0,344.4,7.4,554,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2206,1905
$GC,11670,0.93,223.0,318.9,9.3,569,11671,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2206,1905
$GC,11980,0.93,223.0,288.7,9.8,584,11984,0.00,2.65,0.00,0.000,4,0.000,0.066,2592,785,1906
$GC,12018,0.93,223.0,285.2,9.5,586,12022,0.00,2.55,0.00,0.000,6,0.000,0.046,2592,2201,1905
$GC,12343,0.93,223.0,260.9,6.1,602,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2201,1906
$GC,12653,0.93,223.0,243.0,6.0,617,12654,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2201,1906
$GC,12962,0.96,250.5,226.0,5.2,632,12987,0.12,0.00,23.15,0.791,6,0.067,0.000,2627,2201,1794
$GC,13291,0.96,250.5,202.0,7.6,648,13295,0.00,2.62,0.00,0.000,4,0.000,0.064,2627,784,1794
$GC,13322,0.96,250.5,199.4,8.0,649,13329,0.00,2.55,0.00,0.000,6,0.000,0.046,2627,2202,1794
$GC,13638,0.96,250.5,173.9,8.6,665,13639,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2202,1794
$GC,13948,0.96,250.5,147.0,9.0,680,13952,0.00,2.65,0.00,0.000,4,0.000,0.064,2627,776,1794
$GC,13986,0.96,250.5,143.3,9.9,682,13990,0.00,2.58,0.00,0.000,6,0.000,0.045,2627,2207,1794
$GC,14312,0.96,250.5,112.4,9.7,698,14313,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2207,1794
$GC,14621,0.96,250.5,82.0,10.5,713,14625,0.00,2.65,0.00,0.000,4,0.000,0.063,2627,780,1794
$GC,14652,0.96,250.5,78.8,9.5,714,14659,0.00,2.58,0.00,0.000,6,0.000,0.046,2627,2196,1793
$GC,14970,0.96,250.5,48.7,9.2,730,14974,0.00,2.62,0.00,0.000,4,0.000,0.068,2627,3614,1794
$GC,14996,0.96,250.5,45.9,10.5,731,15000,0.00,2.60,0.00,0.000,6,0.000,0.054,2627,2194,1794
$GC,15317,0.96,250.5,14.7,9.1,747,15321,0.00,2.62,0.00,0.000,4,0.000,0.067,2627,777,1795
$GC,15356,0.96,250.5,10.9,9.8,749,15360,0.00,2.55,0.00,0.000,6,0.000,0.046,2627,2207,1795
$STATE,15473,end climb,SURFACE_DEPTH_REACHED
$STATE,15474,begin surface coast
$FINISH,0.7,1.027377
$STATE,15496,end surface coast,CONTROL_FINISHED_OK
$STATE,15496,begin surface
$SM_CCo,15515,180.80,0.649,2,0,508,566.15
$SM_GC,1.30,0.00,0.00,180.80,0.000,0.000,0.649,67,2402,508,-10.78,0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2052
$TCM_TEMP,16.90
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,475.4,101.3
$24V_AH,23.6,25.222
$10V_AH,10.2,12.176
$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,25.750,168.325,325.375,180.800,0.000,32.646,36.837,138.170,8.750,0.000,0.000,15.176,1388.913,11917.149,716.855,1637.198,355.278,33.367,1557.323,0.000,1600.003,0.000,26.769
$DEVICE_MAMPS,175.643,77.467,1055.392,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,542.618,528.933,503.492,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37997,756
$CFSIZE,260165632,251187200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,19,2,0
$GPS,071207,151008,6237.698,-1030.569,29,1.9,29,-10.5