version: 66.02
glider: 16
mission: 6
dive: 141
start: 12 7 107 15 19 55
data:
$ID,16
$MISSION,6
$DIVE,141
$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,-2078345.8
$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,22
$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
$GPS1,151008,6237.698,-1030.569,29,1.9,29,-10.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-58.8
$GPS2,151902,6237.692,-1030.743,11,1.9,16,-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,-121079.8,2053.2,1156.9,42911.3,-30719.1
$KALMAN_Y,118238.8,89.8,202.8,-8347.3,-1374.8
$MHEAD_RNG_PITCHd_Wd,82.7,48587,-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,-146.6,0.0,0.0,0,124,0.00,0.00,-102.53,0.000,2,0.000,0.000,66,2403,3125
$GC,126,-0.85,-146.6,3.8,-2.7,5,152,12.18,2.67,-6.53,0.000,4,0.173,0.077,2221,990,3417
$GC,269,-0.85,-146.6,20.9,-7.4,11,273,0.00,2.55,0.00,0.000,6,0.000,0.051,2221,2400,3418
$GC,586,-0.85,-146.6,46.2,-7.0,26,590,0.00,2.65,0.00,0.000,4,0.000,0.064,2221,976,3417
$GC,612,-0.85,-146.6,48.5,-7.6,27,616,0.00,2.58,0.00,0.000,6,0.000,0.051,2221,2398,3418
$GC,933,-0.85,-146.6,72.7,-7.4,43,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3417
$GC,1243,-0.85,-146.6,97.0,-8.6,58,1247,0.00,2.62,0.00,0.000,4,0.000,0.064,2221,982,3417
$GC,1304,-0.85,-146.6,102.2,-7.4,61,1308,0.00,2.58,0.00,0.000,6,0.000,0.051,2221,2400,3417
$GC,1629,-0.85,-146.6,131.0,-8.5,77,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3417
$GC,1938,-0.85,-146.6,158.4,-9.0,92,1943,0.00,2.65,0.00,0.000,4,0.000,0.066,2221,979,3418
$GC,1977,-0.85,-146.6,161.6,-7.6,94,1981,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2400,3417
$GC,2302,-0.85,-146.6,183.9,-6.2,110,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3417
$GC,2611,-0.85,-146.6,203.7,-7.0,125,2616,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,977,3417
$GC,2654,-0.85,-146.6,207.1,-7.6,127,2659,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2397,3417
$GC,2981,-0.85,-146.6,236.8,-9.5,143,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3417
$GC,3291,-0.85,-146.6,260.2,-7.0,158,3295,0.00,2.62,0.00,0.000,4,0.000,0.065,2221,982,3417
$GC,3344,-0.85,-146.6,264.1,-7.6,160,3352,0.00,2.60,0.00,0.000,6,0.000,0.053,2221,2401,3417
$GC,3661,-0.85,-146.6,284.6,-6.7,176,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3417
$GC,3970,-0.85,-146.6,310.2,-8.8,191,3974,0.00,2.65,0.00,0.000,4,0.000,0.065,2221,976,3417
$GC,4013,-0.85,-146.6,314.0,-8.9,193,4017,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2398,3417
$GC,4339,-0.85,-146.6,341.9,-8.5,209,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3417
$GC,4649,-0.85,-146.6,366.5,-7.0,224,4653,0.00,2.65,0.00,0.000,4,0.000,0.067,2221,975,3417
$GC,4697,-0.85,-146.6,370.6,-8.1,226,4702,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2391,3417
$GC,5018,-0.85,-146.6,394.3,-6.9,242,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2392,3417
$GC,5328,-0.85,-146.6,415.0,-6.6,257,5332,0.00,2.55,0.00,0.000,4,0.000,0.068,2221,3771,3417
$GC,5366,-0.85,-146.6,417.8,-7.4,259,5370,0.00,2.47,0.00,0.000,6,0.000,0.048,2221,2392,3418
$GC,5691,-0.85,-146.6,438.1,-6.0,275,5696,0.00,2.58,0.00,0.000,4,0.000,0.073,2221,3765,3417
$GC,5802,-0.85,-146.6,446.1,-7.1,280,5807,0.00,2.45,0.00,0.000,6,0.000,0.048,2221,2397,3417
$GC,6129,-0.85,-146.6,467.7,-6.2,296,6133,0.00,2.58,0.00,0.000,4,0.000,0.074,2221,3768,3418
$GC,6242,-0.85,-146.6,475.3,-6.7,301,6246,0.00,2.45,0.00,0.000,6,0.000,0.048,2221,2398,3417
$GC,6561,-0.85,-146.6,497.2,-6.9,317,6565,0.00,2.60,0.00,0.000,4,0.000,0.068,2221,992,3418
$GC,6632,-0.85,-146.6,501.7,-6.2,320,6637,0.00,2.58,0.00,0.000,6,0.000,0.055,2221,2399,3418
$GC,6955,-0.85,-146.6,518.3,-5.2,336,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3418
$GC,7264,-0.85,-146.6,536.2,-5.8,351,7268,0.00,2.62,0.00,0.000,4,0.000,0.066,2221,987,3418
$GC,7289,-0.85,-146.6,537.9,-6.2,352,7294,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2389,3418
$GC,7611,-0.85,-146.6,560.0,-7.8,368,7615,0.00,2.60,0.00,0.000,4,0.000,0.078,2221,3767,3418
$STATE,7631,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7631,begin apogee
$GC,7639,-0.31,0.0,561.5,6.9,369,7762,0.57,0.00,120.12,1.054,6,0.111,0.000,2336,2207,2817
$STATE,7763,end apogee,CONTROL_FINISHED_OK
$STATE,7763,begin climb
$GC,7764,0.85,146.6,566.2,0.0,375,7891,1.25,2.80,117.80,1.035,4,0.096,0.074,2589,792,2218
$GC,7918,0.85,147.3,561.6,6.0,382,7923,0.00,2.58,0.00,0.000,6,0.000,0.051,2589,2205,2219
$GC,8239,0.86,155.7,544.2,5.8,398,8253,0.00,2.70,8.88,0.874,4,0.000,0.075,2590,3607,2181
$GC,8276,0.86,155.7,541.8,6.6,399,8283,0.00,2.65,0.00,0.000,6,0.000,0.060,2590,2193,2182
$GC,8591,0.86,155.7,520.0,6.6,415,8596,0.00,2.72,0.00,0.000,4,0.000,0.080,2590,3610,2180
$GC,8640,0.86,155.7,516.6,7.0,417,8645,0.00,2.65,0.00,0.000,6,0.000,0.058,2590,2201,2180
$GC,8962,0.89,182.6,499.2,5.3,433,8991,0.00,2.78,22.45,0.983,4,0.000,0.074,2590,794,2072
$GC,9007,0.90,193.4,496.8,5.7,435,9025,0.00,2.60,10.27,0.893,6,0.000,0.054,2589,2205,2028
$GC,9333,0.90,193.4,477.7,6.6,451,9337,0.00,2.67,0.00,0.000,4,0.000,0.069,2590,782,2025
$GC,9365,0.90,193.4,475.5,6.8,452,9371,0.00,2.60,0.00,0.000,6,0.000,0.052,2590,2201,2025
$GC,9680,0.90,193.4,452.7,7.3,468,9684,0.00,2.65,0.00,0.000,4,0.000,0.069,2590,785,2025
$GC,9706,0.90,193.4,450.5,8.1,469,9710,0.00,2.60,0.00,0.000,6,0.000,0.051,2590,2195,2025
$GC,10027,0.90,193.4,425.6,8.2,485,10031,0.00,2.67,0.00,0.000,4,0.000,0.074,2590,3612,2024
$GC,10065,0.90,193.4,422.2,9.2,487,10069,0.00,2.62,0.00,0.000,6,0.000,0.060,2590,2195,2024
$GC,10390,0.90,193.4,397.2,7.6,503,10394,0.00,2.62,0.00,0.000,4,0.000,0.071,2590,785,2024
$GC,10428,0.90,193.4,394.2,8.1,505,10433,0.00,2.58,0.00,0.000,6,0.000,0.049,2590,2207,2022
$GC,10754,0.90,193.4,371.5,7.0,521,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2207,2023
$GC,11064,0.90,193.4,350.0,7.0,536,11068,0.00,2.67,0.00,0.000,4,0.000,0.067,2589,778,2023
$GC,11102,0.90,193.4,347.1,7.5,538,11107,0.00,2.58,0.00,0.000,6,0.000,0.047,2590,2202,2022
$GC,11428,0.90,193.4,324.1,7.4,554,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2202,2022
$GC,11737,0.90,193.4,301.7,7.3,569,11741,0.00,2.65,0.00,0.000,4,0.000,0.065,2589,779,2023
$GC,11769,0.90,193.4,299.1,7.7,570,11776,0.00,2.58,0.00,0.000,6,0.000,0.047,2590,2195,2023
$GC,12084,0.90,193.4,275.8,7.5,586,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2195,2023
$GC,12394,0.90,193.4,253.5,7.0,601,12395,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2195,2024
$GC,12703,0.90,193.4,232.7,6.5,616,12704,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2195,2025
$GC,13012,0.90,193.4,212.6,6.6,631,13013,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2195,2025
$GC,13321,0.90,193.4,192.5,6.7,646,13322,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2195,2026
$GC,13631,0.90,193.4,171.4,7.0,661,13632,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2195,2026
$GC,13940,0.90,193.4,151.1,6.4,676,13941,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2195,2026
$GC,14249,0.90,193.4,131.7,6.4,691,14250,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2195,2026
$GC,14558,0.90,193.4,111.5,6.4,706,14560,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2195,2027
$GC,14868,0.90,193.4,91.5,6.4,721,14872,0.00,2.60,0.00,0.000,4,0.000,0.067,2590,3607,2027
$GC,14899,0.90,193.4,89.1,7.2,722,14907,0.00,2.60,0.00,0.000,6,0.000,0.053,2589,2197,2027
$GC,15217,0.90,193.4,68.5,6.6,738,15221,0.00,2.60,0.00,0.000,4,0.000,0.066,2590,785,2027
$GC,15249,0.90,193.4,66.3,6.2,739,15255,0.00,2.53,0.00,0.000,6,0.000,0.044,2589,2203,2027
$GC,15564,0.90,193.4,42.9,7.4,755,15565,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2203,2027
$GC,15873,0.90,193.4,21.7,6.6,770,15874,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2203,2027
$GC,16183,0.90,197.8,3.7,5.9,785,16190,0.00,0.00,5.20,0.522,6,0.000,0.000,2590,2203,2010
$STATE,16222,end climb,SURFACE_DEPTH_REACHED
$STATE,16222,begin surface coast
$FINISH,0.7,1.015336
$STATE,16246,end surface coast,CONTROL_FINISHED_OK
$STATE,16246,begin surface
$SM_CCo,16265,210.30,0.649,2,0,508,566.15
$SM_GC,1.31,0.00,0.00,210.30,0.000,0.000,0.649,68,2411,508,-10.77,0.28,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2040
$TCM_TEMP,17.10
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,500.3,71.2
$24V_AH,23.6,25.364
$10V_AH,10.2,12.254
$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,25.100,136.500,284.725,210.300,0.000,65.300,73.816,230.895,10.250,0.000,0.000,16.098,1425.758,12730.650,678.467,1667.927,524.875,33.367,1515.306,0.000,1635.096,0.000,28.300
$DEVICE_MAMPS,172.575,79.768,1053.858,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,557.339,557.645,545.232,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41161,788
$CFSIZE,260165632,251125760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,2,0
$GPS,071207,195601,6239.793,-1027.079,40,1.1,46,-10.4