version: 66.02
glider: 16
mission: 6
dive: 128
start: 12 4 107 23 37 37
data:
$ID,16
$MISSION,6
$DIVE,128
$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,-2078031.9
$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,16
$R_STBD_OVSHOOT,21
$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
$GPS1,232908,6225.349,-1038.605,30,1.6,30,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.8
$GPS2,233645,6225.359,-1038.688,12,1.6,12,-10.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.195,0.104
$KALMAN_X,-72721.7,130.3,6637.8,-15982.0,-9872.5
$KALMAN_Y,137141.6,-1166.2,-3954.1,-44616.0,12713.8
$MHEAD_RNG_PITCHd_Wd,72.4,67418,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,82,0.00,0.00,-60.62,0.000,2,0.000,0.000,76,2401,3105
$GC,85,-0.85,-146.6,3.6,-5.8,3,110,12.02,2.60,-7.20,0.000,4,0.170,0.080,2219,3779,3417
$GC,278,-0.85,-146.6,23.6,-8.9,11,285,0.00,2.53,0.00,0.000,6,0.000,0.047,2220,2398,3419
$GC,594,-0.85,-146.6,48.8,-7.9,27,598,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,977,3418
$GC,625,-0.85,-146.6,51.7,-8.7,28,632,0.00,2.62,0.00,0.000,6,0.000,0.051,2219,2399,3418
$GC,942,-0.85,-146.6,76.0,-7.3,44,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3418
$GC,1251,-0.85,-146.6,99.1,-7.3,59,1255,0.00,2.62,0.00,0.000,4,0.000,0.064,2219,984,3418
$GC,1277,-0.85,-146.6,101.1,-7.9,60,1281,0.00,2.55,0.00,0.000,6,0.000,0.052,2219,2398,3418
$GC,1598,-0.85,-146.6,126.0,-8.2,76,1602,0.00,2.62,0.00,0.000,4,0.000,0.064,2219,984,3418
$GC,1624,-0.85,-146.6,128.2,-8.3,77,1628,0.00,2.58,0.00,0.000,6,0.000,0.051,2219,2394,3418
$GC,1945,-0.85,-146.6,154.7,-8.1,93,1949,0.00,2.55,0.00,0.000,4,0.000,0.070,2219,3765,3418
$GC,1976,-0.85,-146.6,157.6,-9.4,94,1983,0.00,2.50,0.00,0.000,6,0.000,0.049,2218,2396,3418
$GC,2292,-0.85,-146.6,181.6,-7.5,110,2296,0.00,2.62,0.00,0.000,4,0.000,0.070,2219,986,3418
$GC,2335,-0.85,-146.6,184.9,-7.2,112,2339,0.00,2.58,0.00,0.000,6,0.000,0.053,2219,2396,3418
$GC,2661,-0.85,-146.6,209.7,-7.9,128,2666,0.00,2.62,0.00,0.000,4,0.000,0.068,2219,986,3418
$GC,2688,-0.85,-146.6,211.7,-7.3,129,2693,0.00,2.60,0.00,0.000,6,0.000,0.054,2219,2395,3418
$GC,3009,-0.85,-146.6,235.1,-7.6,145,3013,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,985,3418
$GC,3052,-0.85,-146.6,238.6,-8.0,147,3056,0.00,2.58,0.00,0.000,6,0.000,0.053,2219,2396,3418
$GC,3378,-0.85,-146.6,266.0,-8.5,163,3383,0.00,2.62,0.00,0.000,4,0.000,0.066,2219,983,3418
$GC,3422,-0.85,-146.6,269.7,-8.7,165,3427,0.00,2.58,0.00,0.000,6,0.000,0.054,2219,2404,3418
$GC,3749,-0.85,-146.6,294.7,-7.6,181,3753,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,981,3418
$GC,3787,-0.85,-146.6,297.9,-8.2,183,3791,0.00,2.58,0.00,0.000,6,0.000,0.057,2219,2401,3418
$GC,4112,-0.85,-146.6,323.7,-7.5,199,4117,0.00,2.62,0.00,0.000,4,0.000,0.068,2219,985,3418
$GC,4167,-0.85,-146.6,328.1,-7.9,201,4174,0.00,2.58,0.00,0.000,6,0.000,0.055,2219,2390,3418
$GC,4483,-0.85,-146.6,351.3,-7.7,217,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2390,3418
$GC,4791,-0.85,-146.6,377.1,-8.7,232,4796,0.00,2.62,0.00,0.000,4,0.000,0.071,2220,986,3418
$GC,4825,-0.85,-146.6,380.1,-8.8,233,4831,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2406,3418
$GC,5139,-0.85,-146.6,408.7,-8.8,249,5143,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,979,3419
$GC,5160,-0.85,-146.6,410.4,-8.1,250,5165,0.00,2.62,0.00,0.000,6,0.000,0.054,2220,2403,3418
$GC,5487,-0.85,-146.6,432.2,-6.1,266,5492,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,986,3418
$GC,5514,-0.85,-146.6,433.9,-6.2,267,5519,0.00,2.60,0.00,0.000,6,0.000,0.054,2219,2393,3418
$GC,5835,-0.85,-146.6,457.1,-7.4,283,5839,0.00,2.62,0.00,0.000,4,0.000,0.069,2219,985,3418
$GC,5877,-0.85,-146.6,460.3,-7.3,285,5882,0.00,2.60,0.00,0.000,6,0.000,0.051,2219,2401,3418
$GC,6205,-0.85,-146.6,484.2,-6.9,301,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3419
$GC,6514,-0.85,-146.6,504.3,-6.3,316,6518,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,986,3418
$GC,6568,-0.85,-146.6,507.9,-7.1,318,6575,0.00,2.60,0.00,0.000,6,0.000,0.055,2219,2403,3419
$GC,6883,-0.85,-146.6,528.6,-6.8,334,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3418
$GC,7193,-0.85,-146.6,551.6,-7.2,349,7197,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,985,3418
$GC,7276,-0.85,-146.6,557.3,-7.2,353,7280,0.00,2.58,0.00,0.000,6,0.000,0.053,2219,2401,3418
$GC,7601,-0.85,-146.6,579.1,-6.9,369,7606,0.00,2.62,0.00,0.000,4,0.000,0.065,2219,982,3419
$GC,7656,-0.85,-146.6,583.1,-7.2,371,7663,0.00,2.60,0.00,0.000,6,0.000,0.054,2219,2403,3418
$GC,7971,-0.85,-146.6,604.8,-7.1,387,7976,0.00,2.55,0.00,0.000,4,0.000,0.075,2220,3765,3418
$GC,7992,-0.85,-146.6,606.3,-7.3,388,7997,0.00,2.47,0.00,0.000,6,0.000,0.049,2219,2408,3418
$GC,8319,-0.85,-146.6,628.5,-6.6,404,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2407,3418
$GC,8628,-0.85,-146.6,649.8,-7.2,419,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2407,3418
$STATE,8834,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8834,begin apogee
$GC,8838,-0.31,0.0,664.6,7.2,429,8963,0.60,0.00,121.35,1.115,6,0.109,0.000,2339,2196,2817
$STATE,8964,end apogee,CONTROL_FINISHED_OK
$STATE,8964,begin climb
$GC,8965,0.85,146.6,667.7,0.0,435,9092,1.20,2.75,119.15,1.098,4,0.084,0.072,2588,786,2218
$GC,9131,0.85,146.6,660.5,7.4,443,9136,0.00,2.65,0.00,0.000,6,0.000,0.051,2588,2198,2217
$GC,9458,0.85,146.6,639.4,6.6,459,9463,0.00,2.70,0.00,0.000,4,0.000,0.077,2588,3615,2216
$GC,9523,0.85,146.6,634.9,6.5,462,9528,0.00,2.65,0.00,0.000,6,0.000,0.056,2588,2200,2216
$GC,9850,0.90,200.5,618.2,4.5,478,9898,0.00,0.00,43.70,1.069,6,0.000,0.000,2588,2200,1998
$GC,10221,0.92,214.0,598.1,5.6,496,10235,0.10,0.00,12.07,0.973,6,0.076,0.000,2612,2200,1944
$GC,10530,0.92,214.0,576.3,7.5,511,10531,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2200,1942
$GC,10839,0.92,214.0,550.9,9.3,526,10844,0.00,2.65,0.00,0.000,4,0.000,0.070,2612,786,1941
$GC,10915,0.92,214.0,544.0,7.5,529,10922,0.00,2.60,0.00,0.000,6,0.000,0.049,2612,2198,1941
$GC,11231,0.92,214.0,519.2,8.5,545,11235,0.00,2.62,0.00,0.000,4,0.000,0.064,2612,785,1941
$GC,11263,0.92,214.0,516.6,7.9,546,11269,0.00,2.58,0.00,0.000,6,0.000,0.048,2612,2203,1940
$GC,11578,0.92,214.0,492.9,7.5,562,11582,0.00,2.65,0.00,0.000,4,0.000,0.072,2612,3619,1940
$GC,11626,0.92,214.0,488.9,8.2,564,11631,0.00,2.62,0.00,0.000,6,0.000,0.055,2612,2203,1940
$GC,11948,0.92,214.0,465.1,7.3,580,11952,0.00,2.62,0.00,0.000,4,0.000,0.068,2612,788,1940
$GC,11990,0.92,214.0,461.7,7.8,582,11995,0.00,2.58,0.00,0.000,6,0.000,0.047,2612,2199,1940
$GC,12317,0.92,214.0,436.0,8.7,598,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2199,1940
$GC,12626,0.92,214.0,410.4,8.7,613,12631,0.00,2.62,0.00,0.000,4,0.000,0.061,2612,779,1940
$GC,12669,0.92,214.0,406.7,8.8,615,12674,0.00,2.58,0.00,0.000,6,0.000,0.046,2612,2193,1940
$GC,12997,0.92,214.0,380.9,7.9,631,12998,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2194,1940
$GC,13306,0.92,214.0,354.5,8.7,646,13307,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2193,1941
$GC,13615,0.92,214.0,326.9,8.7,661,13619,0.00,2.65,0.00,0.000,4,0.000,0.070,2612,3620,1941
$GC,13654,0.92,214.0,323.6,8.1,663,13658,0.00,2.60,0.00,0.000,6,0.000,0.057,2612,2202,1941
$GC,13979,0.92,214.0,301.7,6.2,679,13980,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2202,1941
$GC,14288,0.92,214.0,279.7,7.4,694,14289,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2202,1942
$GC,14597,0.92,214.0,255.2,8.1,709,14601,0.00,2.62,0.00,0.000,4,0.000,0.066,2612,781,1942
$GC,14624,0.92,214.0,253.1,8.5,710,14628,0.00,2.55,0.00,0.000,6,0.000,0.045,2612,2205,1942
$GC,14945,0.92,214.0,227.7,7.7,726,14946,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2205,1942
$GC,15254,0.92,214.0,206.5,6.4,741,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2205,1942
$GC,15564,0.92,214.0,184.0,7.5,756,15565,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2205,1943
$GC,15873,0.92,214.0,158.4,8.6,771,15874,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2205,1943
$GC,16182,0.92,214.0,132.6,7.9,786,16186,0.00,2.60,0.00,0.000,4,0.000,0.066,2612,3619,1943
$GC,16225,0.92,214.0,128.9,8.6,788,16229,0.00,2.60,0.00,0.000,6,0.000,0.052,2612,2202,1944
$GC,16552,0.92,214.0,102.2,8.2,804,16556,0.00,2.62,0.00,0.000,4,0.000,0.065,2612,779,1944
$GC,16591,0.92,214.0,98.6,8.5,806,16595,0.00,2.55,0.00,0.000,6,0.000,0.044,2612,2204,1944
$GC,16916,0.92,214.0,73.7,7.7,822,16920,0.00,2.60,0.00,0.000,4,0.000,0.066,2612,3616,1944
$GC,16955,0.92,214.0,70.6,9.2,824,16959,0.00,2.58,0.00,0.000,6,0.000,0.052,2612,2192,1944
$GC,17280,0.92,214.0,44.9,7.7,840,17284,0.00,2.60,0.00,0.000,4,0.000,0.064,2612,779,1944
$GC,17318,0.92,214.0,41.6,9.0,842,17323,0.00,2.55,0.00,0.000,6,0.000,0.044,2612,2204,1944
$GC,17645,0.92,214.0,16.1,7.8,858,17646,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2205,1945
$STATE,17828,end climb,SURFACE_DEPTH_REACHED
$STATE,17828,begin surface coast
$FINISH,0.4,1.027268
$STATE,17852,end surface coast,CONTROL_FINISHED_OK
$STATE,17852,begin surface
$SM_CCo,17871,45.78,0.633,1,0,1594,300.00
$SM_GC,1.37,0.00,0.00,45.78,0.000,0.000,0.633,74,2408,1594,-10.75,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2074
$TCM_TEMP,17.30
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,600.4,73.2
$24V_AH,23.6,23.654
$10V_AH,10.2,11.221
$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,25.300,167.500,296.275,45.775,0.000,32.615,32.590,299.816,8.250,0.000,0.000,12.279,1576.730,13930.242,511.872,1849.412,515.005,33.360,1439.826,0.000,1809.694,0.000,34.798
$DEVICE_MAMPS,169.507,79.768,1115.218,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,601.531,625.410,550.345,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44254,868
$CFSIZE,260165632,251875328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$GPS,051207,043733,6226.889,-1035.700,39,1.6,40,-10.4