version: 66.02
glider: 16
mission: 6
dive: 136
start: 12 6 107 15 20 15
data:
$ID,16
$MISSION,6
$DIVE,136
$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,-2078230.1
$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,24
$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
$GPS1,151325,6228.708,-1029.668,27,1.9,45,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.3
$GPS2,151925,6228.734,-1029.812,34,1.5,50,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.177,0.132
$KALMAN_X,-100225.0,1691.2,725.7,23680.6,-23000.7
$KALMAN_Y,114229.2,348.2,951.6,-21978.0,-10562.9
$MHEAD_RNG_PITCHd_Wd,63.6,57664,-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,20,-0.85,-146.6,0.0,0.0,0,83,0.00,0.00,-61.75,0.000,2,0.000,0.000,65,2401,3133
$GC,86,-0.85,-146.6,3.5,-5.1,3,111,12.40,2.55,-6.72,0.000,4,0.176,0.079,2218,3756,3416
$GC,172,-0.85,-146.6,14.7,-8.9,7,176,0.00,2.50,0.00,0.000,6,0.000,0.050,2219,2398,3417
$GC,499,-0.85,-146.6,39.6,-7.8,23,503,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,985,3417
$GC,530,-0.85,-146.6,42.1,-7.7,24,538,0.00,2.58,0.00,0.000,6,0.000,0.051,2219,2395,3417
$GC,848,-0.85,-146.6,67.7,-8.1,40,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2394,3417
$GC,1156,-0.85,-146.6,92.9,-8.1,55,1160,0.00,2.62,0.00,0.000,4,0.000,0.064,2219,983,3417
$GC,1221,-0.85,-146.6,98.5,-8.5,58,1225,0.00,2.55,0.00,0.000,6,0.000,0.052,2218,2400,3417
$GC,1548,-0.85,-146.6,125.4,-7.8,74,1552,0.00,2.62,0.00,0.000,4,0.000,0.066,2219,985,3417
$GC,1579,-0.85,-146.6,128.0,-8.1,75,1587,0.00,2.58,0.00,0.000,6,0.000,0.053,2219,2397,3417
$GC,1895,-0.85,-146.6,154.9,-8.4,91,1900,0.00,2.62,0.00,0.000,4,0.000,0.066,2219,982,3417
$GC,1934,-0.85,-146.6,158.2,-9.2,93,1938,0.00,2.55,0.00,0.000,6,0.000,0.052,2218,2400,3417
$GC,2259,-0.85,-146.6,183.7,-7.8,109,2264,0.00,2.62,0.00,0.000,4,0.000,0.066,2218,985,3417
$GC,2291,-0.85,-146.6,186.5,-8.4,110,2299,0.00,2.58,0.00,0.000,6,0.000,0.053,2219,2397,3417
$GC,2607,-0.85,-146.6,210.7,-7.6,126,2612,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,982,3417
$GC,2646,-0.85,-146.6,213.6,-7.6,128,2650,0.00,2.55,0.00,0.000,6,0.000,0.053,2219,2400,3417
$GC,2971,-0.85,-146.6,236.3,-6.8,144,2975,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,985,3417
$GC,2997,-0.85,-146.6,238.2,-7.3,145,3002,0.00,2.58,0.00,0.000,6,0.000,0.053,2219,2395,3417
$GC,3320,-0.85,-146.6,261.0,-7.2,161,3324,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,984,3417
$GC,3352,-0.85,-146.6,263.7,-8.0,162,3358,0.00,2.58,0.00,0.000,6,0.000,0.054,2219,2399,3417
$GC,3667,-0.85,-146.6,286.6,-7.5,178,3671,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,980,3417
$GC,3698,-0.85,-146.6,289.0,-7.3,179,3705,0.00,2.58,0.00,0.000,6,0.000,0.054,2219,2404,3417
$GC,4014,-0.85,-146.6,311.9,-7.1,195,4018,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,982,3417
$GC,4056,-0.85,-146.6,315.2,-7.1,197,4061,0.00,2.60,0.00,0.000,6,0.000,0.054,2219,2401,3417
$GC,4383,-0.85,-146.6,339.2,-7.6,213,4388,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,982,3416
$GC,4445,-0.85,-146.6,344.3,-7.9,216,4449,0.00,2.58,0.00,0.000,6,0.000,0.055,2218,2403,3417
$GC,4770,-0.85,-146.6,370.3,-7.6,232,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3417
$GC,5079,-0.85,-146.6,393.8,-7.5,247,5084,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,979,3417
$GC,5133,-0.85,-146.6,397.8,-6.9,249,5140,0.00,2.60,0.00,0.000,6,0.000,0.055,2219,2400,3417
$GC,5448,-0.85,-146.6,418.0,-6.7,265,5453,0.00,2.65,0.00,0.000,4,0.000,0.069,2218,977,3417
$GC,5487,-0.85,-146.6,420.8,-7.7,267,5492,0.00,2.58,0.00,0.000,6,0.000,0.055,2219,2400,3417
$GC,5813,-0.85,-146.6,445.3,-7.9,283,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2400,3418
$GC,6122,-0.85,-146.6,468.7,-7.2,298,6127,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,976,3418
$GC,6156,-0.85,-146.6,471.1,-6.9,299,6162,0.00,2.60,0.00,0.000,6,0.000,0.054,2219,2403,3418
$GC,6470,-0.85,-146.6,493.2,-7.5,315,6474,0.00,2.55,0.00,0.000,4,0.000,0.075,2218,3765,3418
$GC,6501,-0.85,-146.6,496.1,-8.8,316,6508,0.00,2.50,0.00,0.000,6,0.000,0.052,2219,2403,3418
$GC,6817,-0.85,-146.6,519.9,-7.5,332,6822,0.00,2.65,0.00,0.000,4,0.000,0.072,2219,982,3418
$GC,6893,-0.85,-146.6,525.4,-8.2,335,6897,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2403,3418
$GC,7207,-0.85,-146.6,548.2,-7.0,350,7211,0.00,2.65,0.00,0.000,4,0.000,0.069,2219,980,3418
$GC,7256,-0.85,-146.6,551.8,-7.2,352,7260,0.00,2.58,0.00,0.000,6,0.000,0.057,2219,2399,3418
$GC,7576,-0.85,-146.6,574.0,-7.3,368,7581,0.00,2.65,0.00,0.000,4,0.000,0.072,2219,981,3418
$GC,7603,-0.85,-146.6,576.1,-8.3,369,7608,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2394,3418
$GC,7924,-0.85,-146.6,599.0,-7.6,385,7929,0.00,2.60,0.00,0.000,4,0.000,0.082,2219,3765,3418
$GC,7963,-0.85,-146.6,601.6,-7.2,387,7967,0.00,2.50,0.00,0.000,6,0.000,0.055,2220,2395,3418
$STATE,8122,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8122,begin apogee
$GC,8126,-0.31,0.0,612.8,7.1,395,8250,0.60,0.00,120.65,1.095,6,0.111,0.000,2337,2199,2817
$STATE,8251,end apogee,CONTROL_FINISHED_OK
$STATE,8251,begin climb
$GC,8253,0.85,146.6,616.5,0.0,401,8379,1.25,2.75,119.05,1.080,4,0.103,0.074,2587,789,2217
$GC,8400,0.85,146.6,611.1,6.8,408,8405,0.00,2.65,0.00,0.000,6,0.000,0.053,2587,2193,2217
$GC,8721,0.85,146.6,591.0,6.4,424,8726,0.00,2.70,0.00,0.000,4,0.000,0.078,2587,3610,2215
$GC,8770,0.85,146.6,587.4,7.1,426,8775,0.00,2.65,0.00,0.000,6,0.000,0.059,2587,2202,2216
$GC,9092,0.88,174.2,569.3,5.2,442,9121,0.00,2.78,22.98,1.027,4,0.000,0.079,2587,3607,2105
$GC,9155,0.88,180.7,565.8,5.8,445,9169,0.00,2.65,6.68,0.840,6,0.000,0.059,2587,2194,2080
$GC,9485,0.93,226.1,550.7,4.8,461,9530,0.12,2.80,36.95,1.047,4,0.073,0.074,2619,786,1895
$GC,9585,0.93,226.1,543.8,8.0,465,9592,0.00,2.65,0.00,0.000,6,0.000,0.054,2618,2196,1894
$GC,9901,0.93,226.1,519.6,7.3,481,9902,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2196,1894
$GC,10210,0.93,226.1,498.7,6.7,496,10211,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2196,1893
$GC,10520,0.94,233.3,480.3,5.8,511,10529,0.00,0.00,7.32,0.851,6,0.000,0.000,2618,2197,1865
$GC,10829,0.94,233.3,458.2,7.4,526,10830,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2196,1864
$GC,11138,0.94,233.3,435.4,7.4,541,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2197,1863
$GC,11447,0.94,233.3,410.1,8.4,556,11452,0.00,2.65,0.00,0.000,4,0.000,0.068,2618,782,1863
$GC,11486,0.94,233.3,406.8,8.7,558,11491,0.00,2.58,0.00,0.000,6,0.000,0.050,2618,2201,1862
$GC,11812,0.94,233.3,380.1,8.4,574,11813,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2201,1863
$GC,12121,0.94,233.3,349.9,10.2,589,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2201,1862
$GC,12431,0.94,233.3,320.3,9.3,604,12432,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2201,1863
$GC,12739,0.94,233.3,292.4,9.1,619,12744,0.00,2.65,0.00,0.000,4,0.000,0.066,2618,782,1864
$GC,12779,0.94,233.3,288.7,9.6,621,12783,0.00,2.58,0.00,0.000,6,0.000,0.048,2618,2203,1864
$GC,13104,0.94,233.3,259.1,8.8,637,13105,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2203,1865
$GC,13413,0.94,233.3,232.4,8.7,652,13414,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2203,1865
$GC,13722,0.94,233.3,207.5,7.8,667,13726,0.00,2.65,0.00,0.000,4,0.000,0.067,2618,779,1865
$GC,13754,0.94,233.3,204.7,7.9,668,13760,0.00,2.58,0.00,0.000,6,0.000,0.047,2618,2207,1865
$GC,14069,0.94,233.3,179.7,7.7,684,14070,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2207,1866
$GC,14378,0.94,233.3,154.4,8.3,699,14382,0.00,2.60,0.00,0.000,4,0.000,0.070,2618,3611,1866
$GC,14405,0.94,233.3,151.9,9.6,700,14409,0.00,2.62,0.00,0.000,6,0.000,0.058,2618,2202,1866
$GC,14727,0.98,272.5,126.6,4.9,716,14768,0.00,2.70,31.60,0.768,4,0.000,0.067,2618,784,1703
$GC,14814,0.98,272.5,120.8,8.1,720,14818,0.00,2.58,0.00,0.000,6,0.000,0.047,2618,2203,1703
$GC,15139,0.98,272.5,99.9,7.7,736,15140,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2203,1703
$GC,15450,0.98,272.5,69.4,10.1,751,15454,0.00,2.65,0.00,0.000,4,0.000,0.066,2618,782,1703
$GC,15498,0.98,272.5,64.4,9.3,753,15502,0.00,2.58,0.00,0.000,6,0.000,0.047,2618,2191,1704
$GC,15820,0.98,272.5,34.5,8.5,769,15821,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2191,1703
$GC,16129,0.98,272.5,6.6,8.8,784,16133,0.00,2.65,0.00,0.000,4,0.000,0.068,2618,774,1703
$STATE,16170,end climb,SURFACE_DEPTH_REACHED
$STATE,16170,begin surface coast
$FINISH,1.2,1.027377
$STATE,16177,end surface coast,CONTROL_FINISHED_OK
$STATE,16177,begin surface
$SM_CCo,16199,19.65,0.561,2,0,1594,300.00
$SM_GC,1.71,0.00,0.00,19.65,0.000,0.000,0.561,77,2401,1594,-10.73,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2104
$TCM_TEMP,19.20
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,525.4,97.4
$24V_AH,23.6,24.597
$10V_AH,10.2,11.852
$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,25.525,162.950,345.225,19.650,0.000,32.615,34.241,159.401,11.000,0.000,0.000,50.496,1431.629,12535.557,543.019,1705.339,374.889,33.368,1394.004,0.000,1635.591,0.000,29.993
$DEVICE_MAMPS,176.410,82.069,1095.276,561.444,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,558.663,552.991,508.802,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41066,786
$CFSIZE,260165632,251412480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,16,2,0
$GPS,061207,195215,6231.480,-1028.167,37,2.3,56,-10.4