version: 66.02
glider: 16
mission: 6
dive: 101
start: 11 28 107 11 5 1
data:
$ID,16
$MISSION,6
$DIVE,101
$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,-2077394.6
$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,13
$R_STBD_OVSHOOT,21
$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
$GPS1,105907,6143.081,-934.860,40,1.3,52,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-63.2
$GPS2,110411,6143.106,-934.938,11,2.1,30,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.213,0.059
$KALMAN_X,2976.3,-617.6,-3928.1,-24193.6,-5227.6
$KALMAN_Y,96880.2,238.3,-385.0,-87659.1,-1582.5
$MHEAD_RNG_PITCHd_Wd,84.1,17826,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,83,0.00,0.00,-61.83,0.000,2,0.000,0.000,66,2401,3214
$GC,85,-0.85,-146.6,4.4,-7.2,3,108,12.02,2.55,-4.28,0.000,4,0.170,0.081,2222,3767,3416
$GC,287,-0.85,-146.6,28.8,-8.7,12,292,0.00,2.47,0.00,0.000,6,0.000,0.050,2222,2395,3418
$GC,615,-0.85,-146.6,51.2,-7.0,28,619,0.00,2.62,0.00,0.000,4,0.000,0.068,2222,985,3418
$GC,663,-0.85,-146.6,55.4,-9.1,30,668,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,2395,3418
$GC,985,-0.85,-146.6,79.1,-7.0,46,989,0.00,2.62,0.00,0.000,4,0.000,0.064,2222,981,3418
$GC,1016,-0.85,-146.6,81.9,-8.2,47,1023,0.00,2.60,0.00,0.000,6,0.000,0.052,2221,2403,3418
$GC,1332,-0.85,-146.6,104.8,-6.6,63,1336,0.00,2.65,0.00,0.000,4,0.000,0.067,2222,982,3417
$GC,1363,-0.85,-146.6,107.2,-7.3,64,1370,0.00,2.60,0.00,0.000,6,0.000,0.052,2222,2392,3418
$GC,1680,-0.85,-146.6,138.2,-11.6,80,1685,0.00,2.62,0.00,0.000,4,0.000,0.066,2222,978,3418
$GC,1708,-0.85,-146.6,141.9,-13.3,81,1712,0.00,2.60,0.00,0.000,6,0.000,0.054,2222,2404,3418
$GC,2023,-0.85,-146.6,182.4,-11.8,96,2027,0.00,2.62,0.00,0.000,4,0.000,0.065,2222,985,3418
$GC,2049,-0.85,-146.6,185.2,-10.2,97,2053,0.00,2.58,0.00,0.000,6,0.000,0.053,2222,2394,3418
$GC,2369,-0.85,-146.6,213.3,-8.8,113,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2395,3418
$GC,2679,-0.85,-146.6,239.1,-7.9,128,2683,0.00,2.62,0.00,0.000,4,0.000,0.066,2222,978,3418
$GC,2710,-0.85,-146.6,241.9,-8.8,129,2717,0.00,2.62,0.00,0.000,6,0.000,0.054,2222,2400,3418
$GC,3026,-0.85,-146.6,267.4,-7.2,145,3030,0.00,2.62,0.00,0.000,4,0.000,0.065,2222,977,3418
$GC,3064,-0.85,-146.6,270.2,-7.1,147,3068,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2404,3418
$GC,3389,-0.85,-146.6,294.6,-6.9,163,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3418
$GC,3698,-0.85,-146.6,317.3,-7.6,178,3702,0.00,2.62,0.00,0.000,4,0.000,0.067,2222,985,3418
$GC,3747,-0.85,-146.6,321.1,-7.2,180,3752,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2394,3418
$GC,4069,-0.85,-146.6,345.5,-7.3,196,4073,0.00,2.62,0.00,0.000,4,0.000,0.067,2222,979,3418
$GC,4111,-0.85,-146.6,348.5,-6.5,198,4116,0.00,2.60,0.00,0.000,6,0.000,0.053,2222,2392,3418
$GC,4438,-0.85,-146.6,364.9,-4.2,214,4443,0.00,2.60,0.00,0.000,4,0.000,0.066,2222,984,3418
$GC,4465,-0.85,-146.6,366.0,-4.4,215,4469,0.00,2.58,0.00,0.000,6,0.000,0.053,2222,2403,3418
$GC,4786,-0.85,-146.6,379.0,-3.8,231,4791,0.00,2.62,0.00,0.000,4,0.000,0.065,2222,983,3418
$GC,4825,-0.85,-146.6,380.6,-3.8,233,4829,0.00,2.58,0.00,0.000,6,0.000,0.054,2222,2399,3418
$GC,5150,-0.85,-146.6,392.8,-4.3,249,5154,0.00,2.62,0.00,0.000,4,0.000,0.066,2222,982,3418
$GC,5199,-0.85,-146.6,394.8,-4.0,251,5203,0.00,2.55,0.00,0.000,6,0.000,0.053,2222,2400,3418
$GC,5520,-0.85,-146.6,411.0,-5.4,267,5524,0.00,2.62,0.00,0.000,4,0.000,0.066,2222,980,3418
$GC,5568,-0.85,-146.6,414.0,-5.7,269,5573,0.00,2.55,0.00,0.000,6,0.000,0.053,2222,2400,3418
$GC,5889,-0.85,-146.6,435.0,-7.2,285,5893,0.00,2.60,0.00,0.000,4,0.000,0.067,2222,985,3418
$GC,5938,-0.85,-146.6,439.3,-9.1,287,5943,0.00,2.60,0.00,0.000,6,0.000,0.053,2222,2398,3418
$GC,6259,-0.85,-146.6,466.6,-8.3,303,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3418
$GC,6568,-0.85,-146.6,495.0,-9.7,318,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3418
$GC,6879,-0.85,-146.6,526.8,-11.6,333,6883,0.00,2.58,0.00,0.000,4,0.000,0.076,2222,3773,3418
$GC,6904,-0.85,-146.6,530.2,-12.8,334,6909,0.00,2.50,0.00,0.000,6,0.000,0.050,2223,2401,3418
$GC,7225,-0.85,-146.6,563.3,-9.8,350,7230,0.00,2.60,0.00,0.000,4,0.000,0.066,2223,983,3418
$GC,7291,-0.85,-146.6,569.7,-9.1,353,7296,0.00,2.60,0.00,0.000,6,0.000,0.053,2222,2400,3418
$GC,7618,-0.85,-146.6,598.4,-8.1,369,7623,0.00,2.55,0.00,0.000,4,0.000,0.076,2222,3766,3418
$GC,7657,-0.85,-146.6,601.3,-7.3,371,7661,0.00,2.47,0.00,0.000,6,0.000,0.051,2221,2395,3418
$GC,7982,-0.85,-146.6,623.7,-6.7,387,7987,0.00,2.60,0.00,0.000,4,0.000,0.069,2222,985,3418
$GC,8060,-0.85,-146.6,628.6,-6.0,390,8066,0.00,2.58,0.00,0.000,6,0.000,0.055,2222,2403,3418
$GC,8375,-0.85,-146.6,646.3,-5.4,406,8379,0.00,2.62,0.00,0.000,4,0.000,0.066,2222,985,3417
$GC,8423,-0.85,-146.6,649.1,-6.2,408,8428,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2398,3417
$GC,8744,-0.85,-146.6,666.6,-5.7,424,8749,0.00,2.62,0.00,0.000,4,0.000,0.066,2221,979,3418
$GC,8776,-0.85,-146.6,668.5,-5.8,425,8783,0.00,2.60,0.00,0.000,6,0.000,0.054,2222,2395,3417
$GC,9093,-0.85,-146.6,686.0,-5.5,441,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2395,3417
$GC,9402,-0.85,-146.6,697.0,-3.4,456,9406,0.00,2.62,0.00,0.000,4,0.000,0.068,2222,982,3417
$GC,9428,-0.85,-146.6,697.9,-3.5,457,9432,0.00,2.58,0.00,0.000,6,0.000,0.054,2222,2408,3417
$GC,9749,-0.85,-146.6,708.6,-4.0,473,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2408,3418
$GC,10058,-0.85,-146.6,725.6,-6.4,488,10063,0.00,2.62,0.00,0.000,4,0.000,0.067,2222,985,3417
$GC,10124,-0.85,-146.6,729.7,-5.9,491,10129,0.00,2.58,0.00,0.000,6,0.000,0.054,2222,2401,3417
$GC,10445,-0.85,-146.6,747.7,-6.0,507,10449,0.00,2.62,0.00,0.000,4,0.000,0.068,2222,985,3416
$GC,10500,-0.85,-146.6,752.4,-8.4,509,10506,0.00,2.58,0.00,0.000,6,0.000,0.056,2222,2401,3417
$GC,10814,-0.85,-146.6,779.3,-7.2,525,10819,0.00,2.62,0.00,0.000,4,0.000,0.067,2222,982,3416
$GC,10908,-0.85,-146.6,784.1,-5.2,529,10913,0.00,2.60,0.00,0.000,6,0.000,0.056,2222,2407,3416
$GC,11229,-0.85,-146.6,802.1,-6.2,545,11233,0.00,2.55,0.00,0.000,4,0.000,0.081,2222,3766,3416
$GC,11335,-0.85,-146.6,811.5,-10.4,550,11340,0.00,2.50,0.00,0.000,6,0.000,0.057,2222,2395,3416
$GC,11661,-0.85,-146.6,828.2,-6.6,566,11666,0.00,2.62,0.00,0.000,4,0.000,0.074,2222,985,3417
$GC,11823,-0.85,-146.6,847.8,-12.2,573,11828,0.00,2.60,0.00,0.000,6,0.000,0.059,2222,2398,3417
$GC,12138,-0.85,-146.6,888.7,-13.7,588,12139,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3416
$GC,12448,-0.85,-146.6,886.0,11.6,603,12452,0.00,2.62,0.00,0.000,4,0.000,0.091,2222,3767,3416
$GC,12513,-0.85,-146.6,880.5,9.7,606,12517,0.00,2.53,0.00,0.000,6,0.000,0.064,2222,2403,3416
$GC,12840,-0.85,-146.6,879.1,-5.9,622,12844,0.00,2.67,0.00,0.000,4,0.000,0.079,2222,984,3415
$GC,12956,-0.85,-146.6,888.6,-5.7,627,12960,0.00,2.62,0.00,0.000,6,0.000,0.064,2222,2405,3415
$STATE,13234,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13234,begin apogee
$GC,13239,-0.31,0.0,908.2,8.8,641,13365,0.60,0.00,123.43,1.322,6,0.115,0.000,2340,2193,2817
$STATE,13366,end apogee,CONTROL_FINISHED_OK
$STATE,13366,begin climb
$GC,13368,0.85,146.6,911.3,0.0,647,13499,1.20,2.88,122.50,1.292,4,0.086,0.091,2588,3610,2218
$GC,13600,0.86,155.6,900.9,5.8,658,13614,0.00,2.70,8.93,1.074,6,0.000,0.069,2588,2195,2182
$GC,13930,0.86,155.6,879.7,6.6,674,13934,0.00,2.78,0.00,0.000,4,0.000,0.087,2588,3616,2180
$GC,13978,0.87,169.0,877.0,5.6,676,13997,0.00,2.70,12.35,1.157,6,0.000,0.068,2588,2196,2128
$GC,14319,0.87,169.0,861.8,6.1,693,14323,0.00,2.75,0.00,0.000,4,0.000,0.085,2588,3614,2126
$GC,14384,0.87,169.0,856.7,9.1,696,14389,0.00,2.70,0.00,0.000,6,0.000,0.069,2588,2208,2126
$GC,14711,0.91,206.5,837.7,5.0,712,14752,0.00,2.85,31.40,1.262,4,0.000,0.081,2588,782,1974
$GC,14812,0.91,206.5,830.9,7.0,716,14819,0.00,2.65,0.00,0.000,6,0.000,0.058,2588,2199,1972
$GC,15128,0.91,206.5,808.0,8.7,732,15132,0.00,2.72,0.00,0.000,4,0.000,0.078,2588,785,1971
$GC,15199,1.06,340.8,805.8,2.3,735,15316,0.25,2.65,109.60,1.278,6,0.068,0.058,2645,2206,1427
$GC,15642,1.06,340.8,772.4,7.7,757,15647,0.00,2.72,0.00,0.000,4,0.000,0.074,2645,782,1425
$GC,15714,1.06,340.8,765.7,10.7,760,15718,0.00,2.65,0.00,0.000,6,0.000,0.054,2646,2198,1425
$GC,16035,1.06,340.8,736.0,9.8,776,16037,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2198,1425
$GC,16344,1.06,340.8,706.8,8.8,791,16349,0.00,2.67,0.00,0.000,4,0.000,0.073,2646,782,1425
$GC,16405,1.06,340.8,701.6,7.8,794,16410,0.00,2.60,0.00,0.000,6,0.000,0.051,2645,2205,1425
$GC,16731,1.06,340.8,676.5,7.8,810,16736,0.00,2.67,0.00,0.000,4,0.000,0.071,2645,778,1425
$GC,16802,1.06,340.8,670.8,7.2,813,16807,0.00,2.62,0.00,0.000,6,0.000,0.049,2646,2199,1425
$GC,17124,1.06,340.8,643.8,9.2,829,17128,0.00,2.67,0.00,0.000,4,0.000,0.070,2645,778,1425
$GC,17155,1.06,340.8,640.7,9.4,830,17162,0.00,2.62,0.00,0.000,6,0.000,0.049,2645,2201,1425
$GC,17471,1.06,340.8,610.1,9.5,846,17475,0.00,2.67,0.00,0.000,4,0.000,0.070,2646,779,1426
$GC,17524,1.06,340.8,604.8,9.3,848,17531,0.00,2.60,0.00,0.000,6,0.000,0.049,2646,2193,1426
$GC,17840,1.06,340.8,573.8,10.2,864,17845,0.00,2.65,0.00,0.000,4,0.000,0.071,2645,782,1428
$GC,17906,1.06,340.8,566.5,11.5,867,17910,0.00,2.60,0.00,0.000,6,0.000,0.049,2645,2195,1428
$GC,18233,1.06,340.8,531.4,10.9,883,18237,0.00,2.62,0.00,0.000,4,0.000,0.070,2646,782,1429
$GC,18275,1.06,340.8,526.4,10.6,885,18280,0.00,2.60,0.00,0.000,6,0.000,0.049,2645,2196,1429
$GC,18602,1.06,340.8,490.9,10.9,901,18607,0.00,2.65,0.00,0.000,4,0.000,0.071,2646,782,1429
$GC,18668,1.06,340.8,483.0,11.9,904,18672,0.00,2.60,0.00,0.000,6,0.000,0.048,2645,2201,1430
$GC,18994,1.06,340.8,445.7,11.1,920,18999,0.00,2.67,0.00,0.000,4,0.000,0.071,2645,779,1429
$GC,19055,1.06,340.8,438.5,12.2,923,19059,0.00,2.58,0.00,0.000,6,0.000,0.047,2645,2204,1430
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$STATE,22706,end climb,SURFACE_DEPTH_REACHED
$STATE,22706,begin surface coast
$FINISH,0.7,1.025202
$STATE,22730,end surface coast,CONTROL_FINISHED_OK
$STATE,22730,begin surface
$SM_CCo,22809,0.00,0.000,0,0,1432,339.50
$SM_GC,1.33,11.30,0.00,0.00,0.045,0.000,0.000,71,2404,1432,-10.69,0.11,339.50
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2110
$TCM_TEMP,17.50
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,826.3,91.9
$24V_AH,23.5,19.716
$10V_AH,10.1,8.794
$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,25.375,273.250,408.200,0.000,0.000,32.616,25.482,137.321,17.750,0.000,0.000,31.303,2078.971,17428.422,607.341,2626.137,369.757,33.368,1940.262,0.000,2544.996,0.000,49.478
$DEVICE_MAMPS,169.507,90.506,1322.308,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,774.305,789.188,582.492,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56868,1102
$CFSIZE,260165632,253640704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,281107,172625,6143.406,-937.088,43,1.9,44,-9.6