version: 66.02
glider: 16
mission: 6
dive: 135
start: 12 6 107 10 10 31
data:
$ID,16
$MISSION,6
$DIVE,135
$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,-2078179
$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,17
$R_STBD_OVSHOOT,28
$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
$GPS1,100408,6227.931,-1027.758,40,1.0,40,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-61.9
$GPS2,100939,6227.902,-1027.818,16,1.6,16,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.173,0.138
$KALMAN_X,-95248.8,1464.4,1337.6,20055.0,-22538.3
$KALMAN_Y,115358.5,1703.2,406.6,-25466.7,-10871.0
$MHEAD_RNG_PITCHd_Wd,61.7,57530,-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,-146.6,0.0,0.0,0,83,0.00,0.00,-62.42,0.000,2,0.000,0.000,73,2404,3160
$GC,86,-0.85,-146.6,3.5,-4.7,3,111,12.27,2.58,-5.80,0.000,4,0.174,0.074,2217,3759,3418
$GC,168,-0.85,-146.6,15.9,-8.8,7,172,0.00,2.47,0.00,0.000,6,0.000,0.048,2217,2393,3419
$GC,493,-0.85,-146.6,44.8,-8.7,23,498,0.00,2.62,0.00,0.000,4,0.000,0.067,2216,983,3418
$GC,525,-0.85,-146.6,47.8,-8.9,24,533,0.00,2.55,0.00,0.000,6,0.000,0.047,2216,2392,3419
$GC,843,-0.85,-146.6,75.1,-8.8,40,847,0.00,2.60,0.00,0.000,4,0.000,0.062,2217,986,3418
$GC,874,-0.85,-146.6,78.2,-8.8,41,882,0.00,2.55,0.00,0.000,6,0.000,0.047,2217,2393,3419
$GC,1190,-0.85,-146.6,104.8,-8.1,57,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2393,3419
$GC,1501,-0.85,-146.6,130.3,-8.0,72,1505,0.00,2.62,0.00,0.000,4,0.000,0.064,2217,978,3418
$GC,1566,-0.85,-146.6,135.8,-8.2,75,1571,0.00,2.55,0.00,0.000,6,0.000,0.048,2216,2404,3418
$GC,1893,-0.85,-146.6,161.4,-7.8,91,1898,0.00,2.62,0.00,0.000,4,0.000,0.064,2216,986,3419
$GC,1932,-0.85,-146.6,164.4,-8.0,93,1936,0.00,2.53,0.00,0.000,6,0.000,0.048,2217,2401,3418
$GC,2257,-0.85,-146.6,189.1,-7.6,109,2262,0.00,2.62,0.00,0.000,4,0.000,0.066,2216,982,3418
$GC,2284,-0.85,-146.6,191.3,-8.0,110,2288,0.00,2.58,0.00,0.000,6,0.000,0.050,2216,2400,3418
$GC,2605,-0.85,-146.6,215.9,-7.9,126,2609,0.00,2.62,0.00,0.000,4,0.000,0.066,2216,985,3418
$GC,2643,-0.85,-146.6,218.8,-7.8,128,2648,0.00,2.55,0.00,0.000,6,0.000,0.051,2216,2404,3419
$GC,2969,-0.85,-146.6,243.6,-7.4,144,2973,0.00,2.65,0.00,0.000,4,0.000,0.066,2217,980,3418
$GC,2995,-0.85,-146.6,245.6,-7.4,145,3000,0.00,2.55,0.00,0.000,6,0.000,0.050,2217,2403,3419
$GC,3317,-0.85,-146.6,267.1,-6.3,161,3321,0.00,2.62,0.00,0.000,4,0.000,0.065,2216,985,3419
$GC,3355,-0.85,-146.6,269.6,-6.0,163,3359,0.00,2.55,0.00,0.000,6,0.000,0.051,2217,2404,3419
$GC,3680,-0.85,-146.6,291.0,-6.6,179,3684,0.00,2.65,0.00,0.000,4,0.000,0.066,2217,978,3419
$GC,3707,-0.85,-146.6,292.8,-6.9,180,3711,0.00,2.55,0.00,0.000,6,0.000,0.051,2217,2403,3418
$GC,4028,-0.85,-146.6,314.5,-6.8,196,4032,0.00,2.62,0.00,0.000,4,0.000,0.065,2217,983,3419
$GC,4054,-0.85,-146.6,316.6,-7.6,197,4058,0.00,2.60,0.00,0.000,6,0.000,0.051,2217,2400,3419
$GC,4375,-0.85,-146.6,338.7,-6.8,213,4379,0.00,2.62,0.00,0.000,4,0.000,0.065,2217,984,3418
$GC,4406,-0.85,-146.6,340.8,-6.1,214,4413,0.00,2.60,0.00,0.000,6,0.000,0.051,2217,2403,3419
$GC,4722,-0.85,-146.6,360.8,-6.4,230,4726,0.00,2.62,0.00,0.000,4,0.000,0.064,2217,981,3419
$GC,4783,-0.85,-146.6,364.8,-6.9,233,4788,0.00,2.55,0.00,0.000,6,0.000,0.051,2217,2403,3418
$GC,5108,-0.85,-146.6,387.4,-7.0,249,5112,0.00,2.62,0.00,0.000,4,0.000,0.064,2216,983,3419
$GC,5147,-0.85,-146.6,390.2,-7.3,251,5151,0.00,2.55,0.00,0.000,6,0.000,0.051,2217,2404,3419
$GC,5472,-0.85,-146.6,415.7,-8.4,267,5476,0.00,2.62,0.00,0.000,4,0.000,0.064,2217,983,3419
$GC,5542,-0.85,-146.6,422.4,-9.1,270,5547,0.00,2.58,0.00,0.000,6,0.000,0.052,2216,2400,3419
$GC,5864,-0.85,-146.6,456.5,-11.6,286,5868,0.00,2.62,0.00,0.000,4,0.000,0.064,2217,981,3419
$GC,5890,-0.85,-146.6,459.7,-12.0,287,5894,0.00,2.55,0.00,0.000,6,0.000,0.051,2217,2399,3419
$GC,6211,-0.85,-146.6,495.6,-10.6,303,6215,0.00,2.50,0.00,0.000,4,0.000,0.068,2216,3762,3419
$GC,6237,-0.85,-146.6,498.5,-11.3,304,6241,0.00,2.47,0.00,0.000,6,0.000,0.048,2217,2400,3419
$GC,6558,-0.85,-146.6,528.7,-8.7,320,6562,0.00,2.62,0.00,0.000,4,0.000,0.067,2217,980,3419
$GC,6589,-0.85,-146.6,531.1,-7.5,321,6596,0.00,2.58,0.00,0.000,6,0.000,0.051,2217,2399,3419
$GC,6905,-0.85,-146.6,552.8,-6.4,337,6909,0.00,2.60,0.00,0.000,4,0.000,0.064,2217,985,3419
$GC,6938,-0.85,-146.6,554.8,-6.5,338,6944,0.00,2.58,0.00,0.000,6,0.000,0.053,2216,2406,3419
$GC,7253,-0.85,-146.6,573.1,-5.5,354,7257,0.00,2.62,0.00,0.000,4,0.000,0.065,2216,985,3419
$GC,7318,-0.85,-146.6,576.7,-5.4,357,7322,0.00,2.55,0.00,0.000,6,0.000,0.052,2217,2405,3419
$GC,7645,-0.85,-146.6,592.4,-5.7,373,7649,0.00,2.62,0.00,0.000,4,0.000,0.065,2216,986,3419
$GC,7711,-0.85,-146.6,596.4,-5.3,376,7715,0.00,2.55,0.00,0.000,6,0.000,0.052,2216,2401,3419
$GC,8037,-0.85,-146.6,613.8,-5.2,392,8042,0.00,2.55,0.00,0.000,4,0.000,0.072,2216,3768,3419
$GC,8092,-0.85,-146.6,616.3,-5.2,394,8099,0.00,2.45,0.00,0.000,6,0.000,0.048,2216,2401,3419
$STATE,8324,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8324,begin apogee
$GC,8328,-0.31,0.0,630.5,4.6,406,8452,0.62,0.00,120.82,1.111,6,0.109,0.000,2341,2191,2817
$STATE,8453,end apogee,CONTROL_FINISHED_OK
$STATE,8453,begin climb
$GC,8455,0.85,146.6,632.7,0.0,412,8582,1.27,2.75,118.85,1.088,4,0.101,0.071,2592,3616,2218
$GC,8716,0.85,146.6,621.1,7.0,424,8721,0.00,2.60,0.00,0.000,6,0.000,0.053,2592,2204,2217
$GC,9042,0.85,146.6,598.3,8.6,440,9047,0.00,2.67,0.00,0.000,4,0.000,0.071,2592,787,2217
$GC,9063,0.85,146.6,596.1,9.8,441,9068,0.00,2.58,0.00,0.000,6,0.000,0.048,2592,2203,2216
$GC,9389,0.85,146.6,572.2,7.4,457,9393,0.00,2.65,0.00,0.000,4,0.000,0.072,2592,3609,2216
$GC,9473,0.85,146.6,565.4,7.9,461,9477,0.00,2.60,0.00,0.000,6,0.000,0.052,2592,2190,2216
$GC,9798,0.85,146.6,541.5,7.1,477,9802,0.00,2.62,0.00,0.000,4,0.000,0.068,2592,790,2215
$GC,9863,0.85,146.6,536.9,6.6,480,9867,0.00,2.58,0.00,0.000,6,0.000,0.048,2592,2192,2215
$GC,10191,0.87,172.7,517.7,5.3,496,10219,0.00,2.70,21.42,1.004,4,0.000,0.070,2592,3606,2112
$GC,10246,0.87,172.7,514.5,6.2,498,10254,0.00,2.60,0.00,0.000,6,0.000,0.051,2592,2209,2111
$GC,10562,0.88,180.9,496.8,5.8,514,10576,0.00,2.72,8.05,0.873,4,0.000,0.067,2592,792,2078
$GC,10616,0.88,180.9,493.4,6.8,516,10620,0.00,2.60,0.00,0.000,6,0.000,0.048,2592,2201,2077
$GC,10937,0.88,182.0,474.2,6.0,532,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2201,2078
$GC,11246,0.88,182.0,452.9,7.5,547,11250,0.00,2.62,0.00,0.000,4,0.000,0.071,2592,3607,2078
$GC,11289,0.88,182.0,449.4,8.5,549,11293,0.00,2.60,0.00,0.000,6,0.000,0.052,2592,2203,2078
$GC,11615,0.88,182.0,426.8,6.2,565,11620,0.00,2.62,0.00,0.000,4,0.000,0.067,2592,786,2077
$GC,11654,0.88,182.0,424.4,6.7,567,11658,0.00,2.55,0.00,0.000,6,0.000,0.047,2592,2200,2077
$GC,11980,0.88,182.0,405.4,6.7,583,11984,0.00,2.62,0.00,0.000,4,0.000,0.069,2592,3614,2077
$GC,12041,0.88,182.0,400.6,8.7,586,12046,0.00,2.58,0.00,0.000,6,0.000,0.052,2592,2199,2077
$GC,12367,0.88,182.0,378.1,6.4,602,12371,0.00,2.62,0.00,0.000,4,0.000,0.066,2592,781,2077
$GC,12421,0.88,182.0,374.5,7.0,604,12428,0.00,2.58,0.00,0.000,6,0.000,0.046,2592,2194,2077
$GC,12737,0.90,198.9,356.6,5.5,620,12759,0.00,2.67,15.43,0.868,4,0.000,0.068,2592,3612,2005
$GC,12786,0.90,198.9,353.5,6.3,622,12790,0.00,2.60,0.00,0.000,6,0.000,0.054,2592,2200,2004
$GC,13112,0.90,198.9,333.4,6.3,638,13116,0.00,2.62,0.00,0.000,4,0.000,0.065,2592,778,2005
$GC,13143,0.90,198.9,331.3,6.8,639,13150,0.00,2.58,0.00,0.000,6,0.000,0.044,2592,2199,2005
$GC,13459,0.90,198.9,310.0,6.7,655,13464,0.00,2.58,0.00,0.000,4,0.000,0.064,2592,3610,2005
$GC,13498,0.90,198.9,307.0,7.9,657,13502,0.00,2.58,0.00,0.000,6,0.000,0.054,2592,2199,2005
$GC,13823,0.90,198.9,284.9,6.8,673,13827,0.00,2.62,0.00,0.000,4,0.000,0.065,2592,777,2005
$GC,13861,0.90,198.9,282.1,7.0,675,13866,0.00,2.55,0.00,0.000,6,0.000,0.043,2592,2203,2005
$GC,14188,0.90,198.9,259.8,6.8,691,14192,0.00,2.58,0.00,0.000,4,0.000,0.064,2592,3607,2006
$GC,14219,0.90,198.9,257.3,7.3,692,14226,0.00,2.58,0.00,0.000,6,0.000,0.053,2592,2207,2006
$GC,14535,0.90,198.9,235.1,7.2,708,14539,0.00,2.62,0.00,0.000,4,0.000,0.064,2592,784,2006
$GC,14561,0.90,198.9,233.0,7.7,709,14565,0.00,2.53,0.00,0.000,6,0.000,0.044,2592,2201,2006
$GC,14882,0.90,198.9,211.0,6.9,725,14883,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2201,2006
$GC,15191,0.90,198.9,190.5,6.5,740,15195,0.00,2.58,0.00,0.000,4,0.000,0.064,2592,3606,2006
$GC,15218,0.90,198.9,188.4,7.6,741,15222,0.00,2.55,0.00,0.000,6,0.000,0.052,2592,2199,2006
$GC,15539,0.90,198.9,167.2,6.4,757,15540,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2198,2007
$GC,15849,0.90,198.9,147.2,6.6,772,15850,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2198,2007
$GC,16158,0.90,198.9,126.7,6.5,787,16159,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2198,2007
$GC,16467,0.90,198.9,106.9,6.4,802,16468,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2199,2007
$GC,16776,0.90,198.9,87.1,6.6,817,16777,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2198,2008
$GC,17086,0.90,198.9,67.0,6.4,832,17087,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2199,2007
$GC,17395,0.90,198.9,45.8,7.0,847,17396,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2198,2007
$GC,17704,0.90,198.9,23.1,6.7,862,17705,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2198,2008
$STATE,17991,end climb,SURFACE_DEPTH_REACHED
$STATE,17991,begin surface coast
$FINISH,0.5,1.027378
$STATE,18013,end surface coast,CONTROL_FINISHED_OK
$STATE,18013,begin surface
$SM_CCo,18032,56.97,0.656,1,0,1593,300.00
$SM_GC,1.32,0.00,0.00,56.97,0.000,0.000,0.656,66,2401,1593,-10.79,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2075
$TCM_TEMP,17.00
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,550.2,89.4
$24V_AH,23.6,24.477
$10V_AH,10.2,11.776
$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,25.350,202.975,284.575,56.975,0.000,32.634,36.083,161.837,12.750,0.000,0.000,16.492,1623.094,13939.135,533.721,1935.030,399.052,33.368,1512.602,0.000,1892.287,0.000,34.428
$DEVICE_MAMPS,174.109,74.399,1110.616,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,620.223,623.849,564.118,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44184,877
$CFSIZE,260165632,251457536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,061207,151325,6228.708,-1029.668,27,1.9,45,-10.4