version: 66.02
glider: 16
mission: 6
dive: 65
start: 11 23 107 6 20 33
data:
$ID,16
$MISSION,6
$DIVE,65
$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,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,-2076447
$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
$GPS1,061508,6138.051,-920.838,42,1.9,42,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-58.3
$GPS2,061945,6138.080,-920.819,12,1.9,12,-9.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.193,-0.151
$KALMAN_X,-1998.1,404.9,258.1,-12021.9,-5154.9
$KALMAN_Y,92282.3,-684.4,473.9,-92288.8,4424.6
$MHEAD_RNG_PITCHd_Wd,137.6,38252,-14.8,-8.000
$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,-1.08,-146.6,0.0,0.0,0,83,0.00,0.00,-62.50,0.000,2,0.000,0.000,71,2400,3273
$GC,85,-1.08,-146.6,4.6,-7.1,3,108,11.68,2.55,-2.97,0.000,4,0.168,0.080,2169,3765,3417
$GC,359,-1.08,-146.6,41.1,-13.6,15,364,0.00,2.47,0.00,0.000,6,0.000,0.044,2170,2401,3418
$GC,686,-1.08,-146.6,88.8,-13.8,31,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2401,3418
$GC,995,-1.08,-146.6,120.5,-10.0,46,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2401,3417
$GC,1304,-1.08,-146.6,153.0,-10.3,61,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2401,3418
$GC,1614,-1.08,-146.6,185.0,-10.0,76,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3418
$GC,1923,-1.08,-146.6,217.6,-11.4,91,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3418
$GC,2232,-1.08,-146.6,247.8,-9.2,106,2237,0.00,2.60,0.00,0.000,4,0.000,0.062,2170,985,3418
$GC,2275,-1.08,-146.6,251.8,-8.5,108,2280,0.00,2.58,0.00,0.000,6,0.000,0.050,2170,2397,3418
$GC,2602,-1.08,-146.6,282.3,-10.3,124,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2397,3418
$GC,2911,-1.08,-146.6,310.5,-7.2,139,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2397,3418
$GC,3220,-1.08,-146.6,336.4,-9.0,154,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2397,3418
$GC,3530,-1.08,-146.6,365.7,-8.8,169,3534,0.00,2.58,0.00,0.000,4,0.000,0.061,2170,988,3418
$GC,3570,-1.08,-146.6,369.1,-9.0,171,3574,0.00,2.58,0.00,0.000,6,0.000,0.051,2170,2408,3418
$GC,3895,-1.08,-146.6,397.4,-8.2,187,3899,0.00,2.60,0.00,0.000,4,0.000,0.061,2170,988,3418
$GC,3937,-1.08,-146.6,401.0,-7.9,189,3942,0.00,2.58,0.00,0.000,6,0.000,0.050,2171,2408,3418
$GC,4264,-1.08,-146.6,428.1,-8.6,205,4268,0.00,2.60,0.00,0.000,4,0.000,0.061,2170,987,3418
$GC,4295,-1.08,-146.6,431.0,-8.5,206,4302,0.00,2.58,0.00,0.000,6,0.000,0.050,2170,2397,3418
$GC,4611,-1.08,-146.6,457.4,-8.5,222,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2397,3418
$GC,4920,-1.08,-146.6,484.8,-9.4,237,4924,0.00,2.58,0.00,0.000,4,0.000,0.061,2170,988,3418
$GC,4957,-1.08,-146.6,488.6,-9.9,238,4964,0.00,2.58,0.00,0.000,6,0.000,0.050,2170,2396,3418
$GC,5273,-1.08,-146.6,517.7,-9.8,254,5277,0.00,2.58,0.00,0.000,4,0.000,0.060,2170,988,3418
$GC,5311,-1.08,-146.6,521.7,-9.9,256,5316,0.00,2.55,0.00,0.000,6,0.000,0.051,2170,2407,3418
$GC,5637,-1.08,-146.6,554.9,-10.6,272,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2407,3418
$GC,5946,-1.08,-146.6,587.3,-10.6,287,5950,0.00,2.60,0.00,0.000,4,0.000,0.061,2170,986,3418
$GC,6030,-1.08,-146.6,594.7,-8.2,291,6034,0.00,2.55,0.00,0.000,6,0.000,0.051,2170,2401,3418
$GC,6355,-1.08,-146.6,621.6,-9.0,307,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2401,3418
$GC,6666,-1.08,-146.6,651.3,-10.1,322,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2401,3418
$GC,6973,-1.08,-146.6,681.4,-10.2,337,6978,0.00,2.60,0.00,0.000,4,0.000,0.060,2170,981,3418
$GC,7016,-1.08,-146.6,686.0,-10.0,339,7021,0.00,2.60,0.00,0.000,6,0.000,0.051,2170,2400,3418
$GC,7343,-1.08,-146.6,718.0,-9.7,355,7348,0.00,2.55,0.00,0.000,4,0.000,0.074,2170,3772,3418
$GC,7392,-1.08,-146.6,722.8,-9.2,357,7397,0.00,2.47,0.00,0.000,6,0.000,0.049,2170,2407,3418
$GC,7716,-1.08,-146.6,751.3,-10.2,373,7720,0.00,2.62,0.00,0.000,4,0.000,0.067,2170,982,3418
$GC,7735,-1.08,-146.6,753.2,-8.3,374,7740,0.00,2.58,0.00,0.000,6,0.000,0.053,2170,2396,3418
$GC,8065,-1.08,-146.6,776.5,-8.1,390,8069,0.00,2.60,0.00,0.000,4,0.000,0.065,2170,987,3418
$GC,8171,-1.08,-146.6,783.8,-7.9,395,8175,0.00,2.58,0.00,0.000,6,0.000,0.054,2170,2400,3418
$GC,8496,-1.08,-146.6,814.1,-10.1,411,8500,0.00,2.58,0.00,0.000,4,0.000,0.079,2170,3769,3418
$GC,8752,-1.08,-146.6,837.1,-5.4,422,8759,0.00,2.53,0.00,0.000,6,0.000,0.058,2170,2405,3419
$GC,9067,-1.08,-146.6,868.3,-10.2,438,9072,0.00,2.60,0.00,0.000,4,0.000,0.089,2170,3765,3419
$STATE,9087,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9087,begin apogee
$GC,9094,-0.31,0.0,870.8,11.9,439,9221,0.82,0.00,123.72,1.262,6,0.120,0.000,2335,2200,2818
$STATE,9222,end apogee,CONTROL_FINISHED_OK
$STATE,9222,begin climb
$GC,9223,1.08,146.6,880.3,0.0,445,9355,1.48,2.78,121.32,1.243,4,0.081,0.074,2644,784,2219
$GC,9607,1.08,146.6,852.1,16.3,462,9614,0.00,2.65,0.00,0.000,6,0.000,0.061,2644,2197,2218
$GC,9922,1.16,217.5,824.9,5.4,478,9984,0.00,0.00,58.60,1.231,6,0.000,0.000,2644,2196,1930
$GC,10292,1.16,219.8,797.8,7.9,496,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2196,1925
$GC,10601,1.16,219.8,768.6,12.1,511,10605,0.00,2.72,0.00,0.000,4,0.000,0.082,2644,3622,1923
$GC,10666,1.16,219.8,760.2,12.4,514,10671,0.00,2.67,0.00,0.000,6,0.000,0.060,2644,2201,1922
$GC,10993,1.16,219.8,725.3,11.9,530,10994,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2201,1921
$GC,11302,1.16,219.8,697.8,8.0,545,11303,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2201,1921
$GC,11611,1.16,219.8,672.7,8.1,560,11615,0.00,2.67,0.00,0.000,4,0.000,0.073,2644,3622,1920
$GC,11660,1.16,219.8,668.0,9.0,562,11665,0.00,2.62,0.00,0.000,6,0.000,0.053,2644,2203,1921
$GC,11981,1.16,219.8,639.3,9.4,578,11982,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2203,1920
$GC,12290,1.16,219.8,610.5,9.3,593,12295,0.00,2.65,0.00,0.000,4,0.000,0.071,2644,3617,1921
$GC,12329,1.16,219.8,606.6,10.3,595,12333,0.00,2.58,0.00,0.000,6,0.000,0.054,2644,2200,1921
$GC,12655,1.16,219.8,575.5,9.6,611,12659,0.00,2.62,0.00,0.000,4,0.000,0.067,2644,785,1922
$GC,12681,1.16,219.8,573.0,10.3,612,12685,0.00,2.58,0.00,0.000,6,0.000,0.046,2644,2198,1921
$GC,13002,1.16,219.8,541.1,10.1,628,13003,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2199,1922
$GC,13311,1.16,219.8,508.6,10.3,643,13312,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2198,1923
$GC,13620,1.16,219.8,478.7,9.3,658,13621,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2198,1924
$GC,13929,1.16,219.8,450.2,8.9,673,13930,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2198,1925
$GC,14238,1.16,219.8,419.6,10.3,688,14243,0.00,2.62,0.00,0.000,4,0.000,0.071,2644,3613,1925
$GC,14277,1.16,219.8,415.4,11.0,690,14281,0.00,2.58,0.00,0.000,6,0.000,0.055,2644,2198,1924
$GC,14604,1.16,219.8,378.7,11.4,706,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2199,1925
$GC,14913,1.16,219.8,342.8,11.5,721,14914,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2199,1925
$GC,15222,1.16,219.8,306.1,11.6,736,15223,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2199,1926
$GC,15531,1.16,219.8,270.4,11.1,751,15536,0.00,2.62,0.00,0.000,4,0.000,0.068,2644,3612,1926
$GC,15563,1.16,219.8,266.6,11.5,752,15570,0.00,2.60,0.00,0.000,6,0.000,0.054,2644,2200,1926
$GC,15878,1.16,219.8,233.3,9.3,768,15879,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2200,1926
$GC,16188,1.16,219.8,205.3,8.4,783,16189,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2200,1926
$GC,16497,1.16,219.8,179.1,8.3,798,16501,0.00,2.62,0.00,0.000,4,0.000,0.068,2644,3620,1926
$GC,16528,1.16,219.8,175.9,9.4,799,16535,0.00,2.60,0.00,0.000,6,0.000,0.054,2644,2202,1926
$GC,16844,1.16,219.8,143.2,10.9,815,16849,0.00,2.62,0.00,0.000,4,0.000,0.066,2644,776,1927
$GC,16876,1.16,219.8,139.6,11.3,816,16883,0.00,2.58,0.00,0.000,6,0.000,0.044,2644,2203,1926
$GC,17192,1.16,219.8,105.1,11.0,832,17193,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2203,1927
$GC,17501,1.16,219.8,72.7,9.9,847,17505,0.00,2.60,0.00,0.000,4,0.000,0.068,2644,3614,1928
$GC,17544,1.17,227.5,69.2,7.7,849,17562,0.00,2.60,9.20,0.625,6,0.000,0.054,2644,2181,1889
$GC,17871,1.17,227.5,45.1,10.9,865,17872,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2181,1889
$GC,18179,1.17,227.5,12.3,10.2,880,18180,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2181,1889
$STATE,18322,end climb,SURFACE_DEPTH_REACHED
$STATE,18322,begin surface coast
$FINISH,0.8,1.025105
$STATE,18344,end surface coast,CONTROL_FINISHED_OK
$STATE,18344,begin surface
$SM_CCo,18362,43.20,0.618,2,0,1594,300.00
$SM_GC,1.66,0.00,0.00,43.20,0.000,0.000,0.618,74,2405,1594,-10.75,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2091
$TCM_TEMP,17.40
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,776.5,104.2
$24V_AH,23.5,15.643
$10V_AH,10.2,6.708
$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,25.300,125.425,312.850,43.200,0.000,32.633,27.179,134.141,11.500,0.000,0.000,12.649,1595.661,14396.258,511.802,1889.144,300.965,33.357,1432.301,0.000,1846.535,0.000,46.261
$DEVICE_MAMPS,167.973,88.972,1262.482,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,618.683,631.286,491.979,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44329,888
$CFSIZE,260165632,255242240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,2,0
$GPS,231107,112857,6137.973,-918.847,35,3.0,54,-9.4