version: 66.02
glider: 16
mission: 6
dive: 131
start: 12 5 107 14 46 55
data:
$ID,16
$MISSION,6
$DIVE,131
$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,-2078095.5
$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,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
$GPS1,144038,6227.283,-1030.498,42,1.2,42,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-64.5
$GPS2,144603,6227.231,-1030.561,12,1.5,12,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.176,0.134
$KALMAN_X,-77979.2,406.2,114.4,2738.7,-13725.5
$KALMAN_Y,126416.7,98.7,245.1,-35944.0,-2045.9
$MHEAD_RNG_PITCHd_Wd,63.2,60050,-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,-146.6,0.0,0.0,0,82,0.00,0.00,-61.50,0.000,2,0.000,0.000,70,2401,3143
$GC,84,-0.85,-146.6,3.7,-6.2,3,109,12.18,2.58,-6.15,0.000,4,0.175,0.081,2222,3763,3416
$GC,338,-0.85,-146.6,32.0,-8.5,14,343,0.00,2.50,0.00,0.000,6,0.000,0.048,2222,2398,3417
$GC,660,-0.85,-146.6,59.0,-8.5,30,664,0.00,2.62,0.00,0.000,4,0.000,0.065,2222,984,3417
$GC,736,-0.85,-146.6,65.7,-9.3,33,744,0.00,2.58,0.00,0.000,6,0.000,0.050,2222,2397,3417
$GC,1054,-0.85,-146.6,93.0,-8.7,49,1058,0.00,2.62,0.00,0.000,4,0.000,0.061,2222,978,3417
$GC,1074,-0.85,-146.6,95.1,-9.3,50,1079,0.00,2.58,0.00,0.000,6,0.000,0.049,2222,2397,3417
$GC,1401,-0.85,-146.6,122.6,-8.4,66,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3417
$GC,1710,-0.85,-146.6,148.0,-8.3,81,1715,0.00,2.62,0.00,0.000,4,0.000,0.063,2222,977,3417
$GC,1765,-0.85,-146.6,152.9,-8.9,83,1772,0.00,2.58,0.00,0.000,6,0.000,0.050,2222,2393,3417
$GC,2080,-0.85,-146.6,177.6,-7.3,99,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2394,3417
$GC,2392,-0.85,-146.6,200.5,-7.5,114,2396,0.00,2.60,0.00,0.000,4,0.000,0.064,2222,985,3417
$GC,2430,-0.85,-146.6,203.4,-7.5,116,2435,0.00,2.55,0.00,0.000,6,0.000,0.051,2221,2400,3417
$GC,2756,-0.85,-146.6,227.2,-7.7,132,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3417
$GC,3065,-0.85,-146.6,252.3,-8.4,147,3070,0.00,2.62,0.00,0.000,4,0.000,0.064,2222,978,3417
$GC,3137,-0.85,-146.6,258.9,-9.0,150,3141,0.00,2.58,0.00,0.000,6,0.000,0.049,2222,2398,3417
$GC,3458,-0.85,-146.6,285.8,-8.4,166,3463,0.00,2.62,0.00,0.000,4,0.000,0.063,2222,976,3417
$GC,3513,-0.85,-146.6,290.5,-8.0,168,3520,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2397,3417
$GC,3828,-0.85,-146.6,315.7,-8.4,184,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3417
$GC,4138,-0.85,-146.6,340.6,-8.0,199,4142,0.00,2.62,0.00,0.000,4,0.000,0.064,2222,978,3417
$GC,4208,-0.85,-146.6,346.2,-7.9,202,4213,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2397,3418
$GC,4530,-0.85,-146.6,371.1,-7.7,218,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3417
$GC,4839,-0.85,-146.6,395.7,-8.1,233,4844,0.00,2.62,0.00,0.000,4,0.000,0.065,2222,976,3417
$GC,4888,-0.85,-146.6,400.0,-8.4,235,4892,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2400,3417
$GC,5203,-0.85,-146.6,426.6,-7.2,250,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3417
$GC,5512,-0.85,-146.6,448.3,-8.6,265,5517,0.00,2.60,0.00,0.000,4,0.000,0.064,2222,983,3417
$GC,5561,-0.85,-146.6,452.1,-7.4,267,5566,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2401,3417
$GC,5885,-0.85,-146.6,475.6,-7.2,283,5889,0.00,2.62,0.00,0.000,4,0.000,0.064,2222,979,3417
$GC,5910,-0.85,-146.6,477.6,-7.6,284,5915,0.00,2.58,0.00,0.000,6,0.000,0.050,2222,2399,3417
$GC,6231,-0.85,-146.6,502.0,-7.9,300,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3417
$GC,6541,-0.85,-146.6,528.6,-8.8,315,6545,0.00,2.62,0.00,0.000,4,0.000,0.064,2222,980,3417
$GC,6589,-0.85,-146.6,533.2,-9.2,317,6594,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2400,3417
$GC,6910,-0.85,-146.6,559.9,-8.0,333,6914,0.00,2.60,0.00,0.000,4,0.000,0.064,2221,983,3417
$GC,6987,-0.85,-146.6,566.2,-7.7,336,6994,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2403,3417
$GC,7303,-0.85,-146.6,587.1,-6.2,352,7307,0.00,2.62,0.00,0.000,4,0.000,0.064,2222,982,3417
$GC,7357,-0.85,-146.6,590.6,-6.2,354,7364,0.00,2.58,0.00,0.000,6,0.000,0.053,2222,2396,3417
$GC,7672,-0.85,-146.6,612.1,-7.1,370,7676,0.00,2.58,0.00,0.000,4,0.000,0.077,2222,3767,3417
$GC,7734,-0.85,-146.6,616.9,-8.1,373,7738,0.00,2.47,0.00,0.000,6,0.000,0.051,2222,2396,3417
$STATE,7996,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7996,begin apogee
$GC,8001,-0.31,0.0,634.9,6.8,386,8124,0.60,0.00,120.65,1.100,6,0.110,0.000,2342,2195,2817
$STATE,8125,end apogee,CONTROL_FINISHED_OK
$STATE,8125,begin climb
$GC,8127,0.85,146.6,638.8,0.0,392,8254,1.23,2.78,118.88,1.081,4,0.097,0.076,2589,3616,2218
$GC,8276,0.85,146.6,633.7,6.5,399,8281,0.00,2.67,0.00,0.000,6,0.000,0.056,2589,2203,2218
$GC,8597,0.85,149.7,615.1,5.9,415,8606,0.00,2.75,3.92,0.653,4,0.000,0.073,2589,788,2206
$GC,8641,0.85,149.7,612.3,6.1,417,8646,0.00,2.60,0.00,0.000,6,0.000,0.052,2589,2201,2205
$GC,8966,0.85,149.7,593.7,6.0,433,8970,0.00,2.70,0.00,0.000,4,0.000,0.079,2589,3616,2205
$GC,9037,0.85,149.7,588.7,7.5,436,9042,0.00,2.65,0.00,0.000,6,0.000,0.058,2589,2201,2204
$GC,9359,0.85,149.7,567.5,6.7,452,9363,0.00,2.67,0.00,0.000,4,0.000,0.071,2589,782,2203
$GC,9419,0.85,149.7,563.2,7.3,455,9424,0.00,2.60,0.00,0.000,6,0.000,0.051,2589,2201,2204
$GC,9745,0.85,149.7,539.4,7.5,471,9750,0.00,2.65,0.00,0.000,4,0.000,0.066,2589,786,2203
$GC,9811,0.85,149.7,534.3,7.4,474,9816,0.00,2.58,0.00,0.000,6,0.000,0.050,2589,2202,2203
$GC,10138,0.86,157.5,513.5,5.8,490,10147,0.00,0.00,6.93,0.841,6,0.000,0.000,2589,2202,2175
$GC,10447,0.90,195.3,496.7,5.0,505,10484,0.00,2.72,31.42,0.996,4,0.000,0.073,2589,3616,2021
$GC,10512,0.95,241.7,493.7,4.7,507,10557,0.12,2.62,38.50,0.990,6,0.059,0.054,2625,2196,1830
$GC,10879,0.95,245.9,471.4,5.9,525,10888,0.00,2.67,4.57,0.687,4,0.000,0.067,2625,784,1814
$GC,10939,0.95,245.9,467.3,6.7,528,10943,0.00,2.58,0.00,0.000,6,0.000,0.047,2625,2199,1813
$GC,11264,0.95,245.9,444.2,8.4,544,11268,0.00,2.65,0.00,0.000,4,0.000,0.063,2625,781,1814
$GC,11290,0.95,245.9,442.2,7.8,545,11294,0.00,2.60,0.00,0.000,6,0.000,0.046,2625,2195,1813
$GC,11611,0.95,245.9,414.3,9.2,561,11613,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2195,1813
$GC,11920,0.95,245.9,386.9,9.4,576,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2195,1813
$GC,12230,0.95,245.9,357.1,9.8,591,12234,0.00,2.62,0.00,0.000,4,0.000,0.071,2625,3610,1813
$GC,12261,0.95,245.9,353.9,10.1,592,12268,0.00,2.60,0.00,0.000,6,0.000,0.055,2625,2193,1813
$GC,12576,0.95,245.9,324.2,9.2,608,12581,0.00,2.60,0.00,0.000,4,0.000,0.065,2625,784,1814
$GC,12625,0.95,245.9,319.3,9.4,610,12630,0.00,2.55,0.00,0.000,6,0.000,0.045,2625,2201,1814
$GC,12947,0.95,245.9,290.5,9.0,626,12951,0.00,2.62,0.00,0.000,4,0.000,0.069,2625,3613,1814
$GC,12978,0.95,245.9,287.3,9.9,627,12985,0.00,2.60,0.00,0.000,6,0.000,0.053,2625,2207,1814
$GC,13294,0.95,245.9,257.2,10.1,643,13298,0.00,2.62,0.00,0.000,4,0.000,0.064,2625,782,1815
$GC,13343,0.95,245.9,252.2,9.8,645,13347,0.00,2.55,0.00,0.000,6,0.000,0.044,2625,2204,1815
$GC,13664,0.95,245.9,221.7,9.5,661,13665,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2204,1815
$GC,13973,0.95,245.9,193.8,8.8,676,13974,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2204,1816
$GC,14283,0.95,245.9,166.4,8.2,691,14284,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2204,1816
$GC,14591,0.95,245.9,141.4,8.2,706,14596,0.00,2.62,0.00,0.000,4,0.000,0.061,2625,778,1816
$GC,14630,0.95,245.9,138.1,9.3,708,14635,0.00,2.53,0.00,0.000,6,0.000,0.042,2625,2201,1816
$GC,14957,0.95,245.9,110.2,8.5,724,14961,0.00,2.60,0.00,0.000,4,0.000,0.065,2625,3617,1817
$GC,14999,0.95,245.9,106.0,9.2,726,15004,0.00,2.58,0.00,0.000,6,0.000,0.050,2625,2190,1817
$GC,15326,0.95,245.9,78.4,8.2,742,15328,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2191,1817
$GC,15636,0.95,245.9,57.3,6.2,757,15637,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2190,1817
$GC,15946,0.95,245.9,32.3,8.8,772,15951,0.00,2.58,0.00,0.000,4,0.000,0.062,2626,787,1817
$GC,15995,0.95,245.9,27.5,9.3,774,16000,0.00,2.55,0.00,0.000,6,0.000,0.043,2625,2202,1817
$STATE,16294,end climb,SURFACE_DEPTH_REACHED
$STATE,16295,begin surface coast
$FINISH,0.4,1.027297
$STATE,16317,end surface coast,CONTROL_FINISHED_OK
$STATE,16317,begin surface
$SM_CCo,16336,32.30,0.622,1,0,1594,300.00
$SM_GC,1.70,0.00,0.00,32.30,0.000,0.000,0.622,70,2405,1594,-10.76,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2101
$TCM_TEMP,16.20
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,550.1,94.5
$24V_AH,23.6,24.011
$10V_AH,10.2,11.459
$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,25.275,157.100,324.875,32.300,0.000,32.587,40.028,158.991,9.250,0.000,0.000,12.832,1457.802,12606.580,499.640,1760.179,379.462,33.374,1392.200,0.000,1724.728,0.000,31.607
$DEVICE_MAMPS,174.876,80.535,1099.878,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,554.161,568.711,509.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41052,790
$CFSIZE,260165632,251711488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,051207,192102,6228.126,-1028.150,39,1.2,39,-10.4