version: 66.02
glider: 16
mission: 6
dive: 138
start: 12 7 107 1 26 32
data:
$ID,16
$MISSION,6
$DIVE,138
$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,-2078281.6
$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,20
$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
$GPS1,010852,6231.987,-1028.843,43,2.2,62,-10.4
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-53.1
$GPS2,012539,6231.904,-1029.393,12,1.8,12,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.188,0.117
$KALMAN_X,-106765.4,1506.4,660.7,30824.1,-21759.7
$KALMAN_Y,114206.0,883.4,136.0,-15776.4,-7112.6
$MHEAD_RNG_PITCHd_Wd,68.5,53550,-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,-102.55,0.000,2,0.000,0.000,68,2407,3068
$GC,126,-0.85,-146.6,3.5,-2.8,5,153,12.15,2.70,-8.45,0.000,4,0.173,0.081,2221,982,3416
$GC,179,-0.85,-146.6,11.6,-9.1,7,187,0.00,2.60,0.00,0.000,6,0.000,0.052,2222,2392,3416
$GC,497,-0.85,-146.6,38.9,-8.7,23,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2393,3416
$GC,805,-0.85,-146.6,68.6,-10.6,38,809,0.00,2.65,0.00,0.000,4,0.000,0.066,2221,976,3416
$GC,859,-0.85,-146.6,73.8,-8.8,40,866,0.00,2.62,0.00,0.000,6,0.000,0.053,2222,2401,3416
$GC,1175,-0.85,-146.6,93.3,-5.8,56,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3416
$GC,1484,-0.85,-146.6,115.3,-5.8,71,1489,0.00,2.65,0.00,0.000,4,0.000,0.067,2221,982,3416
$GC,1523,-0.85,-146.6,117.7,-6.6,73,1527,0.00,2.60,0.00,0.000,6,0.000,0.054,2222,2404,3416
$GC,1848,-0.85,-146.6,139.7,-6.8,89,1853,0.00,2.67,0.00,0.000,4,0.000,0.067,2221,974,3416
$GC,1898,-0.85,-146.6,143.5,-7.8,91,1902,0.00,2.60,0.00,0.000,6,0.000,0.054,2222,2405,3416
$GC,2219,-0.85,-146.6,176.0,-8.8,107,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3416
$GC,2529,-0.85,-146.6,201.2,-8.5,122,2533,0.00,2.65,0.00,0.000,4,0.000,0.069,2221,982,3416
$GC,2577,-0.85,-146.6,205.4,-8.6,124,2582,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2402,3416
$GC,2898,-0.85,-146.6,229.9,-7.5,140,2902,0.00,2.65,0.00,0.000,4,0.000,0.068,2222,981,3416
$GC,2936,-0.85,-146.6,232.8,-7.5,142,2941,0.00,2.58,0.00,0.000,6,0.000,0.054,2222,2401,3416
$GC,3262,-0.85,-146.6,258.9,-8.0,158,3266,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,981,3416
$GC,3288,-0.85,-146.6,261.0,-8.2,159,3293,0.00,2.58,0.00,0.000,6,0.000,0.056,2221,2399,3416
$GC,3609,-0.85,-146.6,283.6,-7.4,175,3614,0.00,2.65,0.00,0.000,4,0.000,0.070,2221,981,3416
$GC,3641,-0.85,-146.6,286.3,-7.9,176,3648,0.00,2.60,0.00,0.000,6,0.000,0.055,2222,2400,3416
$GC,3957,-0.85,-146.6,309.4,-7.2,192,3961,0.00,2.65,0.00,0.000,4,0.000,0.068,2222,979,3416
$GC,3995,-0.85,-146.6,312.1,-7.3,194,3999,0.00,2.58,0.00,0.000,6,0.000,0.055,2222,2400,3416
$GC,4320,-0.85,-146.6,336.0,-7.6,210,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3416
$GC,4629,-0.85,-146.6,359.6,-7.4,225,4633,0.00,2.62,0.00,0.000,4,0.000,0.069,2222,982,3416
$GC,4694,-0.85,-146.6,364.6,-7.8,228,4699,0.00,2.60,0.00,0.000,6,0.000,0.055,2222,2398,3416
$GC,5021,-0.85,-146.6,389.8,-7.6,244,5026,0.00,2.65,0.00,0.000,4,0.000,0.067,2222,976,3416
$GC,5082,-0.85,-146.6,394.4,-7.9,247,5087,0.00,2.60,0.00,0.000,6,0.000,0.055,2222,2406,3416
$GC,5408,-0.85,-146.6,420.6,-8.7,263,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3416
$GC,5717,-0.85,-146.6,448.4,-8.4,278,5721,0.00,2.65,0.00,0.000,4,0.000,0.067,2222,982,3416
$GC,5743,-0.85,-146.6,450.5,-7.9,279,5747,0.00,2.60,0.00,0.000,6,0.000,0.054,2222,2401,3417
$GC,6065,-0.85,-146.6,470.6,-5.7,295,6069,0.00,2.62,0.00,0.000,4,0.000,0.068,2222,981,3417
$GC,6096,-0.85,-146.6,472.2,-5.4,296,6103,0.00,2.58,0.00,0.000,6,0.000,0.055,2222,2402,3417
$GC,6412,-0.85,-146.6,487.9,-5.3,312,6416,0.00,2.65,0.00,0.000,4,0.000,0.068,2222,979,3417
$GC,6466,-0.85,-146.6,491.7,-7.5,314,6473,0.00,2.60,0.00,0.000,6,0.000,0.055,2222,2397,3416
$GC,6781,-0.85,-146.6,514.3,-6.8,330,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3417
$GC,7091,-0.85,-146.6,529.3,-4.1,345,7095,0.00,2.65,0.00,0.000,4,0.000,0.069,2222,978,3416
$GC,7134,-0.85,-146.6,531.4,-4.9,347,7138,0.00,2.58,0.00,0.000,6,0.000,0.057,2222,2400,3417
$GC,7454,-0.85,-146.6,551.8,-7.5,363,7459,0.00,2.65,0.00,0.000,4,0.000,0.071,2222,982,3417
$GC,7503,-0.85,-146.6,556.1,-9.0,365,7508,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2395,3417
$GC,7825,-0.85,-146.6,582.4,-7.7,381,7829,0.00,2.60,0.00,0.000,4,0.000,0.081,2222,3770,3417
$GC,7908,-0.85,-146.6,589.1,-6.4,385,7912,0.00,2.53,0.00,0.000,6,0.000,0.058,2222,2393,3417
$STATE,8006,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8006,begin apogee
$GC,8010,-0.31,0.0,596.0,7.3,390,8134,0.60,0.00,120.10,1.078,6,0.105,0.000,2342,2197,2818
$STATE,8134,end apogee,CONTROL_FINISHED_OK
$STATE,8135,begin climb
$GC,8136,0.85,146.6,598.7,0.0,396,8262,1.23,2.75,118.20,1.068,4,0.097,0.074,2591,791,2219
$GC,8284,0.89,184.1,592.7,5.0,403,8321,0.00,2.60,31.23,1.016,6,0.000,0.054,2591,2201,2066
$GC,8630,0.89,184.1,573.1,6.1,420,8634,0.00,2.70,0.00,0.000,4,0.000,0.079,2591,3619,2065
$GC,8684,0.89,189.7,569.8,5.8,422,8695,0.00,2.65,6.05,0.809,6,0.000,0.060,2591,2200,2043
$GC,9015,0.89,189.7,550.6,6.1,439,9020,0.00,2.70,0.00,0.000,4,0.000,0.074,2591,778,2041
$GC,9069,0.89,189.7,546.9,6.4,441,9076,0.00,2.65,0.00,0.000,6,0.000,0.054,2591,2201,2041
$GC,9385,0.93,222.7,528.9,5.1,457,9419,0.00,2.80,27.02,1.022,4,0.000,0.079,2591,3610,1908
$GC,9453,0.93,222.7,524.7,7.0,460,9457,0.00,2.65,0.00,0.000,6,0.000,0.061,2591,2199,1908
$GC,9780,0.93,222.7,501.5,7.5,476,9784,0.00,2.67,0.00,0.000,4,0.000,0.073,2591,784,1906
$GC,9823,0.93,222.7,498.1,8.2,478,9827,0.00,2.62,0.00,0.000,6,0.000,0.052,2591,2198,1906
$GC,10150,0.93,222.7,470.8,8.1,494,10154,0.00,2.67,0.00,0.000,4,0.000,0.070,2591,776,1905
$GC,10175,0.93,222.7,468.7,8.0,495,10180,0.00,2.62,0.00,0.000,6,0.000,0.051,2591,2195,1905
$GC,10497,0.93,222.7,443.3,7.6,511,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2195,1904
$GC,10806,0.93,222.7,422.0,6.5,526,10808,0.10,0.00,0.00,0.000,6,0.073,0.000,2617,2194,1903
$GC,11116,0.93,222.7,396.9,8.7,541,11120,0.00,2.67,0.00,0.000,4,0.000,0.074,2617,3619,1904
$GC,11154,0.93,222.7,393.3,9.1,543,11158,0.00,2.62,0.00,0.000,6,0.000,0.060,2617,2197,1904
$GC,11479,0.93,222.7,368.0,7.3,559,11483,0.00,2.65,0.00,0.000,4,0.000,0.070,2617,779,1904
$GC,11540,0.93,222.7,363.4,7.7,562,11544,0.00,2.58,0.00,0.000,6,0.000,0.048,2617,2201,1903
$GC,11865,0.93,222.7,339.9,7.4,578,11866,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2201,1904
$GC,12175,0.93,222.7,317.4,7.2,593,12176,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2201,1904
$GC,12484,0.93,222.7,296.1,8.2,608,12485,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2201,1904
$GC,12793,0.93,222.7,272.3,7.9,623,12794,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2201,1906
$GC,13103,0.93,222.7,248.5,7.8,638,13104,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2201,1906
$GC,13411,0.93,222.7,221.7,9.6,653,13416,0.00,2.62,0.00,0.000,4,0.000,0.064,2617,784,1906
$GC,13444,0.93,222.7,219.1,7.8,654,13451,0.00,2.58,0.00,0.000,6,0.000,0.048,2617,2197,1906
$GC,13759,0.93,222.7,197.3,7.0,670,13763,0.00,2.62,0.00,0.000,4,0.000,0.070,2617,3610,1907
$GC,13791,0.93,222.7,195.1,6.7,671,13797,0.00,2.58,0.00,0.000,6,0.000,0.055,2617,2200,1907
$GC,14106,0.93,222.7,171.6,8.2,687,14110,0.00,2.62,0.00,0.000,4,0.000,0.067,2617,778,1906
$GC,14144,0.93,222.7,168.4,7.8,689,14148,0.00,2.58,0.00,0.000,6,0.000,0.047,2617,2206,1908
$GC,14470,0.93,222.7,147.6,7.0,705,14474,0.00,2.60,0.00,0.000,4,0.000,0.068,2617,3612,1908
$GC,14495,0.93,222.7,145.6,7.6,706,14500,0.00,2.62,0.00,0.000,6,0.000,0.058,2617,2201,1908
$GC,14819,0.93,222.7,120.7,8.2,722,14823,0.00,2.62,0.00,0.000,4,0.000,0.066,2617,784,1908
$GC,14858,0.93,222.7,117.4,8.7,724,14862,0.00,2.55,0.00,0.000,6,0.000,0.048,2617,2201,1908
$GC,15184,0.93,222.7,90.8,7.8,740,15185,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2201,1908
$GC,15493,0.93,222.7,63.0,9.4,755,15494,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2202,1908
$GC,15803,0.93,222.7,35.7,8.1,770,15804,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2202,1908
$GC,16111,0.93,222.7,18.5,6.1,785,16112,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2202,1908
$STATE,16337,end climb,SURFACE_DEPTH_REACHED
$STATE,16337,begin surface coast
$FINISH,0.5,1.024397
$STATE,16358,end surface coast,CONTROL_FINISHED_OK
$STATE,16359,begin surface
$SM_CCo,16378,191.70,0.657,1,0,508,566.15
$SM_GC,1.18,0.00,0.00,191.70,0.000,0.000,0.657,72,2405,508,-10.75,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2038
$TCM_TEMP,17.00
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,576.2,29.5
$24V_AH,23.6,24.921
$10V_AH,10.2,12.024
$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,25.300,158.400,302.600,191.700,0.000,163.206,193.505,289.959,11.250,0.000,0.000,12.134,1447.982,12928.987,684.106,1701.295,825.317,33.395,1549.637,0.000,1665.928,0.000,33.062
$DEVICE_MAMPS,172.575,80.535,1078.402,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,562.453,563.771,533.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41251,797
$CFSIZE,260165632,251260928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,071207,060409,6234.255,-1031.808,40,1.9,48,-10.4