version: 66.02
glider: 16
mission: 6
dive: 100
start: 11 28 107 5 1 43
data:
$ID,16
$MISSION,6
$DIVE,100
$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,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,-2077362.8
$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,9
$R_STBD_OVSHOOT,14
$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
$GPS1,045537,6141.181,-934.112,43,1.7,43,-9.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-62.6
$GPS2,050051,6141.160,-934.195,13,2.0,13,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.216,0.048
$KALMAN_X,7246.1,-312.9,-438.5,-31593.2,-3420.2
$KALMAN_Y,96954.7,-569.8,-1785.9,-89125.6,-27.3
$MHEAD_RNG_PITCHd_Wd,87.0,18267,-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,-146.6,0.0,0.0,0,113,0.00,0.00,-92.60,0.000,2,0.000,0.000,74,2404,3247
$GC,116,-0.85,-146.6,4.6,-3.6,5,138,12.05,2.58,-3.53,0.000,4,0.172,0.085,2219,3770,3417
$GC,267,-0.85,-146.6,25.5,-10.1,11,273,0.00,2.50,0.00,0.000,6,0.000,0.053,2219,2395,3417
$GC,582,-0.85,-146.6,52.2,-8.9,27,586,0.00,2.62,0.00,0.000,4,0.000,0.070,2219,983,3416
$GC,613,-0.85,-146.6,54.9,-7.6,28,620,0.00,2.62,0.00,0.000,6,0.000,0.055,2219,2395,3416
$GC,930,-0.85,-146.6,78.4,-7.7,44,935,0.00,2.65,0.00,0.000,4,0.000,0.069,2218,979,3416
$GC,962,-0.85,-146.6,81.2,-8.4,45,970,0.00,2.60,0.00,0.000,6,0.000,0.054,2219,2398,3416
$GC,1278,-0.85,-146.6,105.2,-8.2,61,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2398,3416
$GC,1588,-0.85,-146.6,131.5,-7.7,76,1592,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,977,3416
$GC,1641,-0.85,-146.6,136.0,-7.8,78,1649,0.00,2.62,0.00,0.000,6,0.000,0.055,2220,2392,3416
$GC,1957,-0.85,-146.6,160.5,-7.8,94,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2392,3416
$GC,2266,-0.85,-146.6,182.7,-6.8,109,2271,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,980,3416
$GC,2309,-0.85,-146.6,186.1,-7.4,111,2313,0.00,2.60,0.00,0.000,6,0.000,0.055,2218,2396,3416
$GC,2635,-0.85,-146.6,207.8,-6.5,127,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2396,3416
$GC,2945,-0.85,-146.6,226.7,-6.2,142,2949,0.00,2.62,0.00,0.000,4,0.000,0.067,2218,982,3416
$GC,3010,-0.85,-146.6,231.4,-7.2,145,3014,0.00,2.60,0.00,0.000,6,0.000,0.054,2219,2400,3416
$GC,3337,-0.85,-146.6,253.7,-7.1,161,3341,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,973,3416
$GC,3375,-0.85,-146.6,256.2,-6.5,163,3379,0.00,2.62,0.00,0.000,6,0.000,0.054,2219,2407,3416
$GC,3700,-0.85,-146.6,281.7,-9.0,179,3704,0.00,2.65,0.00,0.000,4,0.000,0.070,2218,982,3416
$GC,3738,-0.85,-146.6,285.0,-8.7,181,3743,0.00,2.58,0.00,0.000,6,0.000,0.055,2219,2400,3416
$GC,4064,-0.85,-146.6,314.3,-9.2,197,4068,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,979,3416
$GC,4089,-0.85,-146.6,316.6,-8.4,198,4095,0.00,2.60,0.00,0.000,6,0.000,0.056,2219,2392,3417
$GC,4411,-0.85,-146.6,346.3,-8.9,214,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2392,3416
$GC,4720,-0.85,-146.6,373.6,-9.6,229,4724,0.00,2.62,0.00,0.000,4,0.000,0.069,2219,982,3416
$GC,4807,-0.85,-146.6,382.9,-10.7,233,4812,0.00,2.62,0.00,0.000,6,0.000,0.055,2219,2399,3416
$GC,5134,-0.85,-146.6,417.1,-10.8,249,5139,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,976,3416
$GC,5208,-0.85,-146.6,425.1,-11.5,252,5212,0.00,2.60,0.00,0.000,6,0.000,0.057,2218,2400,3416
$GC,5522,-0.85,-146.6,460.3,-11.6,267,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2400,3416
$GC,5831,-0.85,-146.6,494.9,-10.9,282,5836,0.00,2.62,0.00,0.000,4,0.000,0.067,2218,981,3416
$GC,5870,-0.85,-146.6,500.0,-13.8,284,5875,0.00,2.60,0.00,0.000,6,0.000,0.057,2218,2402,3416
$GC,6201,-0.85,-146.6,539.9,-10.2,300,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3416
$GC,6510,-0.85,-146.6,568.6,-10.4,315,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2402,3416
$GC,6819,-0.85,-146.6,595.1,-7.9,330,6824,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,979,3416
$GC,6903,-0.85,-146.6,601.3,-8.3,334,6907,0.00,2.60,0.00,0.000,6,0.000,0.057,2219,2401,3416
$GC,7228,-0.85,-146.6,636.8,-12.2,350,7232,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,979,3416
$GC,7315,-0.85,-146.6,649.1,-14.4,354,7320,0.00,2.60,0.00,0.000,6,0.000,0.057,2218,2397,3415
$GC,7642,-0.85,-146.6,690.9,-12.4,370,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2397,3416
$GC,7952,-0.85,-146.6,731.0,-13.7,385,7956,0.00,2.65,0.00,0.000,4,0.000,0.070,2218,976,3415
$GC,8000,-0.85,-146.6,737.2,-12.2,387,8005,0.00,2.62,0.00,0.000,6,0.000,0.057,2218,2390,3415
$GC,8321,-0.85,-146.6,777.9,-12.1,403,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2390,3415
$GC,8630,-0.85,-146.6,816.4,-11.4,418,8635,0.00,2.62,0.00,0.000,4,0.000,0.069,2219,982,3415
$GC,8724,-0.85,-146.6,827.0,-11.4,422,8729,0.00,2.62,0.00,0.000,6,0.000,0.058,2218,2398,3415
$GC,9046,-0.85,-146.6,857.8,-5.9,438,9050,0.00,2.65,0.00,0.000,4,0.000,0.069,2219,976,3415
$GC,9156,-0.85,-146.6,860.6,-2.1,443,9160,0.00,2.60,0.00,0.000,6,0.000,0.057,2218,2399,3415
$GC,9482,-0.85,-146.6,871.7,-4.4,459,9487,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,976,3415
$GC,9544,-0.85,-146.6,874.7,-5.0,462,9548,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2402,3415
$GC,9869,-0.85,-146.6,892.2,-6.6,478,9870,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2402,3415
$GC,10178,-0.85,-146.6,923.0,-10.3,493,10183,0.00,2.62,0.00,0.000,4,0.000,0.065,2219,982,3415
$GC,10210,-0.85,-146.6,926.9,-12.3,494,10217,0.00,2.65,0.00,0.000,6,0.000,0.059,2219,2401,3415
$STATE,10421,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10421,begin apogee
$GC,10426,-0.31,0.0,949.8,10.5,505,10553,0.60,0.00,123.85,1.322,6,0.101,0.000,2341,2195,2817
$STATE,10553,end apogee,CONTROL_FINISHED_OK
$STATE,10554,begin climb
$GC,10555,0.85,146.6,956.6,0.0,511,10686,1.15,2.78,122.45,1.300,4,0.058,0.072,2598,791,2219
$GC,10878,0.85,146.6,932.2,14.7,526,10883,0.00,2.62,0.00,0.000,6,0.000,0.055,2599,2204,2217
$GC,11203,0.91,205.3,910.6,4.4,542,11256,0.00,0.00,48.78,1.279,6,0.000,0.000,2598,2204,1980
$GC,11573,0.98,269.1,888.4,4.3,560,11635,0.12,2.78,53.12,1.284,4,0.062,0.079,2632,3609,1719
$GC,11668,0.98,269.1,882.2,7.2,564,11672,0.00,2.67,0.00,0.000,6,0.000,0.062,2632,2192,1718
$GC,11989,0.98,269.1,841.4,15.8,580,11993,0.00,2.67,0.00,0.000,4,0.000,0.077,2632,788,1714
$GC,12054,0.98,269.1,830.2,16.9,583,12058,0.00,2.62,0.00,0.000,6,0.000,0.051,2632,2198,1714
$GC,12380,0.98,269.1,782.8,13.1,599,12385,0.00,2.67,0.00,0.000,4,0.000,0.069,2632,782,1712
$GC,12469,0.98,269.1,771.5,13.1,603,12473,0.00,2.62,0.00,0.000,6,0.000,0.049,2632,2201,1711
$GC,12796,0.98,269.1,737.1,9.5,619,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2201,1711
$GC,13105,0.98,269.1,706.8,9.9,634,13109,0.00,2.65,0.00,0.000,4,0.000,0.065,2632,782,1711
$GC,13136,0.98,269.1,703.5,9.6,635,13144,0.00,2.60,0.00,0.000,6,0.000,0.047,2633,2202,1711
$GC,13452,0.98,269.1,675.1,8.5,651,13453,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2201,1711
$GC,13761,0.98,269.1,649.4,8.3,666,13765,0.00,2.65,0.00,0.000,4,0.000,0.065,2632,781,1712
$GC,13803,0.98,269.1,645.6,8.6,668,13808,0.00,2.60,0.00,0.000,6,0.000,0.046,2633,2201,1712
$GC,14130,0.98,269.1,621.4,6.9,684,14135,0.00,2.62,0.00,0.000,4,0.000,0.069,2632,3614,1713
$GC,14157,0.98,269.1,619.4,7.2,685,14162,0.00,2.62,0.00,0.000,6,0.000,0.055,2632,2202,1713
$GC,14478,0.98,269.1,595.5,6.9,701,14482,0.00,2.65,0.00,0.000,4,0.000,0.070,2632,782,1714
$GC,14532,0.98,269.1,591.3,7.6,703,14539,0.00,2.58,0.00,0.000,6,0.000,0.045,2633,2199,1713
$GC,14848,0.98,269.1,566.6,7.9,719,14849,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2199,1714
$GC,15156,0.98,269.1,539.3,9.6,734,15161,0.00,2.62,0.00,0.000,4,0.000,0.064,2632,775,1715
$GC,15182,0.98,269.1,536.5,10.3,735,15187,0.00,2.58,0.00,0.000,6,0.000,0.044,2632,2193,1715
$GC,15504,0.98,269.1,508.2,7.4,751,15508,0.00,2.62,0.00,0.000,4,0.000,0.070,2632,3612,1715
$GC,15530,0.98,269.1,506.1,6.9,752,15534,0.00,2.62,0.00,0.000,6,0.000,0.057,2632,2198,1715
$GC,15851,0.98,269.1,479.8,8.5,768,15855,0.00,2.62,0.00,0.000,4,0.000,0.069,2632,783,1715
$GC,15882,0.98,269.1,476.6,9.9,769,15889,0.00,2.58,0.00,0.000,6,0.000,0.045,2632,2201,1715
$GC,16198,0.98,269.1,443.2,10.8,785,16199,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2201,1716
$GC,16507,0.98,269.1,414.5,8.4,800,16511,0.00,2.62,0.00,0.000,4,0.000,0.064,2633,781,1716
$GC,16538,0.98,269.1,411.9,8.6,801,16545,0.00,2.58,0.00,0.000,6,0.000,0.045,2632,2199,1716
$GC,16854,0.98,269.1,389.8,7.3,817,16858,0.00,2.60,0.00,0.000,4,0.000,0.070,2632,3611,1717
$GC,16885,0.98,269.1,387.2,7.3,818,16892,0.00,2.62,0.00,0.000,6,0.000,0.059,2633,2203,1717
$GC,17201,0.98,269.1,367.1,6.5,834,17205,0.00,2.62,0.00,0.000,4,0.000,0.068,2632,779,1717
$GC,17277,0.98,269.1,360.4,10.5,837,17284,0.00,2.58,0.00,0.000,6,0.000,0.044,2632,2199,1717
$GC,17592,0.98,269.1,335.9,7.1,853,17597,0.00,2.62,0.00,0.000,4,0.000,0.065,2632,778,1717
$GC,17619,0.98,269.1,333.8,7.2,854,17623,0.00,2.58,0.00,0.000,6,0.000,0.044,2633,2201,1717
$GC,17940,0.98,269.1,309.9,6.9,870,17941,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2201,1718
$GC,18249,0.98,269.1,287.8,7.8,885,18253,0.00,2.65,0.00,0.000,4,0.000,0.066,2632,773,1718
$GC,18303,0.98,269.1,283.9,8.5,887,18311,0.00,2.58,0.00,0.000,6,0.000,0.044,2632,2199,1718
$GC,18619,0.98,269.1,259.3,8.9,903,18620,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2199,1718
$GC,18928,0.98,269.1,231.8,9.7,918,18929,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2199,1718
$GC,19237,0.98,269.1,202.5,9.2,933,19242,0.00,2.62,0.00,0.000,4,0.000,0.063,2632,774,1718
$GC,19276,0.98,269.1,199.1,8.3,935,19281,0.00,2.55,0.00,0.000,6,0.000,0.043,2632,2203,1718
$GC,19602,0.98,269.1,169.3,9.3,951,19603,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2204,1719
$GC,19913,0.98,269.1,134.5,11.9,966,19917,0.00,2.62,0.00,0.000,4,0.000,0.063,2632,779,1720
$GC,19951,0.98,269.1,130.0,10.6,968,19956,0.00,2.53,0.00,0.000,6,0.000,0.043,2633,2199,1719
$GC,20278,0.98,269.1,98.9,9.6,984,20279,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2199,1720
$GC,20587,0.98,269.1,70.0,11.0,999,20591,0.00,2.60,0.00,0.000,4,0.000,0.062,2633,782,1720
$GC,20635,0.98,269.1,65.2,10.1,1001,20640,0.00,2.55,0.00,0.000,6,0.000,0.044,2632,2194,1720
$GC,20956,0.98,269.1,32.7,10.4,1017,20957,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2193,1720
$GC,21266,0.98,269.1,2.6,9.4,1032,21267,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2193,1721
$STATE,21285,end climb,SURFACE_DEPTH_REACHED
$STATE,21285,begin surface coast
$FINISH,0.7,1.027328
$STATE,21307,end surface coast,CONTROL_FINISHED_OK
$STATE,21307,begin surface
$SM_CCo,21326,22.02,0.571,2,0,1594,300.00
$SM_GC,1.81,0.00,0.00,22.02,0.000,0.000,0.571,67,2401,1594,-10.78,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2092
$TCM_TEMP,16.30
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,900.5,57.7
$24V_AH,23.5,19.552
$10V_AH,10.2,8.694
$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,25.150,199.950,348.200,22.025,0.000,32.594,30.617,160.549,14.500,0.000,0.000,13.296,1877.791,16569.072,590.598,2264.575,372.986,33.360,1727.576,0.000,2208.848,0.000,54.255
$DEVICE_MAMPS,171.808,85.137,1321.541,570.648,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,723.158,740.647,577.981,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53663,1034
$CFSIZE,260165632,253734912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,2,0
$GPS,281107,105907,6143.081,-934.860,40,1.3,52,-9.6