version: 66.02
glider: 16
mission: 6
dive: 103
start: 11 28 107 23 58 55
data:
$ID,16
$MISSION,6
$DIVE,103
$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,-2077421.1
$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,13
$R_STBD_OVSHOOT,18
$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
$GPS1,234638,6143.623,-939.027,37,1.4,38,-9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-61.7
$GPS2,235803,6143.634,-939.098,11,1.6,11,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.078,0.207
$KALMAN_X,-21622.6,469.9,1674.3,-9961.8,-33683.8
$KALMAN_Y,97298.2,-450.7,1738.7,-88526.7,-10546.4
$MHEAD_RNG_PITCHd_Wd,30.3,21275,-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,-146.6,0.0,0.0,0,83,0.00,0.00,-62.35,0.000,2,0.000,0.000,65,2400,3049
$GC,85,-0.85,-146.6,3.5,-4.9,3,115,12.18,2.58,-9.00,0.000,4,0.173,0.086,2221,3767,3415
$GC,271,-0.85,-146.6,22.6,-7.3,11,276,0.00,2.55,0.00,0.000,6,0.000,0.054,2222,2397,3415
$GC,592,-0.85,-146.6,49.7,-10.0,27,597,0.00,2.65,0.00,0.000,4,0.000,0.069,2221,978,3416
$GC,631,-0.85,-146.6,52.9,-7.8,29,636,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2404,3415
$GC,957,-0.85,-146.6,75.9,-7.1,45,962,0.00,2.65,0.00,0.000,4,0.000,0.067,2222,983,3415
$GC,1019,-0.85,-146.6,80.7,-6.8,48,1023,0.00,2.60,0.00,0.000,6,0.000,0.055,2221,2403,3415
$GC,1344,-0.85,-146.6,107.7,-7.8,64,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3416
$GC,1654,-0.85,-146.6,131.8,-8.2,79,1658,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,983,3415
$GC,1724,-0.85,-146.6,136.9,-7.2,82,1729,0.00,2.62,0.00,0.000,6,0.000,0.054,2222,2416,3415
$GC,2045,-0.85,-146.6,160.3,-8.5,98,2050,0.00,2.67,0.00,0.000,4,0.000,0.067,2223,982,3415
$GC,2094,-0.85,-146.6,164.5,-8.6,100,2099,0.00,2.60,0.00,0.000,6,0.000,0.054,2222,2393,3415
$GC,2416,-0.85,-146.6,194.5,-10.7,116,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2393,3415
$GC,2725,-0.85,-146.6,223.5,-7.9,131,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2393,3415
$GC,3034,-0.85,-146.6,247.4,-6.8,146,3038,0.00,2.62,0.00,0.000,4,0.000,0.071,2221,982,3415
$GC,3095,-0.85,-146.6,253.1,-9.9,149,3099,0.00,2.58,0.00,0.000,6,0.000,0.055,2222,2404,3415
$GC,3419,-0.85,-146.6,281.4,-7.7,165,3424,0.00,2.65,0.00,0.000,4,0.000,0.067,2222,981,3415
$GC,3485,-0.85,-146.6,288.0,-10.4,168,3490,0.00,2.60,0.00,0.000,6,0.000,0.054,2222,2401,3415
$GC,3811,-0.85,-146.6,319.3,-9.2,184,3816,0.00,2.65,0.00,0.000,4,0.000,0.070,2222,982,3415
$GC,3872,-0.85,-146.6,325.6,-10.4,187,3876,0.00,2.58,0.00,0.000,6,0.000,0.055,2222,2403,3415
$GC,4198,-0.85,-146.6,359.6,-9.3,203,4202,0.00,2.55,0.00,0.000,4,0.000,0.080,2221,3768,3415
$GC,4218,-0.85,-146.6,361.4,-8.9,204,4222,0.00,2.53,0.00,0.000,6,0.000,0.057,2222,2401,3415
$GC,4545,-0.85,-146.6,390.7,-8.1,220,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3415
$GC,4854,-0.85,-146.6,420.1,-9.3,235,4858,0.00,2.65,0.00,0.000,4,0.000,0.076,2222,985,3415
$GC,4892,-0.85,-146.6,424.0,-10.4,237,4896,0.00,2.58,0.00,0.000,6,0.000,0.055,2222,2400,3415
$GC,5218,-0.85,-146.6,458.9,-11.5,253,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3415
$GC,5527,-0.85,-146.6,494.8,-11.3,268,5531,0.00,2.65,0.00,0.000,4,0.000,0.071,2222,978,3415
$GC,5558,-0.85,-146.6,497.8,-9.5,269,5565,0.00,2.62,0.00,0.000,6,0.000,0.054,2222,2401,3415
$GC,5874,-0.85,-146.6,534.6,-12.4,285,5878,0.00,2.65,0.00,0.000,4,0.000,0.073,2222,985,3415
$GC,5900,-0.85,-146.6,538.1,-13.4,286,5904,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2418,3415
$GC,6221,-0.85,-146.6,578.8,-13.9,302,6225,0.00,2.67,0.00,0.000,4,0.000,0.070,2222,983,3415
$GC,6247,-0.85,-146.6,582.8,-15.0,303,6251,0.00,2.62,0.00,0.000,6,0.000,0.057,2222,2400,3415
$GC,6570,-0.85,-146.6,626.0,-11.1,319,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3415
$GC,6877,-0.85,-146.6,654.2,-8.5,334,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3414
$GC,7186,-0.85,-146.6,676.6,-6.8,349,7191,0.00,2.65,0.00,0.000,4,0.000,0.070,2222,982,3415
$GC,7225,-0.85,-146.6,679.0,-6.8,351,7230,0.00,2.58,0.00,0.000,6,0.000,0.056,2222,2401,3415
$GC,7552,-0.85,-146.6,700.3,-6.5,367,7556,0.00,2.65,0.00,0.000,4,0.000,0.068,2222,978,3415
$GC,7662,-0.85,-146.6,707.6,-7.0,372,7667,0.00,2.60,0.00,0.000,6,0.000,0.054,2222,2398,3415
$GC,7989,-0.85,-146.6,724.1,-4.7,388,7993,0.00,2.62,0.00,0.000,4,0.000,0.068,2222,985,3415
$GC,8037,-0.85,-146.6,727.3,-6.5,390,8042,0.00,2.58,0.00,0.000,6,0.000,0.054,2220,2394,3414
$GC,8359,-0.85,-146.6,752.4,-8.8,406,8363,0.00,2.60,0.00,0.000,4,0.000,0.081,2222,3773,3414
$GC,8397,-0.85,-146.6,756.0,-10.2,408,8401,0.00,2.50,0.00,0.000,6,0.000,0.054,2221,2396,3415
$GC,8722,-0.85,-146.6,780.8,-6.7,424,8727,0.00,2.62,0.00,0.000,4,0.000,0.075,2222,988,3414
$GC,8883,-0.85,-146.6,792.6,-7.8,431,8888,0.00,2.58,0.00,0.000,6,0.000,0.056,2222,2392,3414
$GC,9205,-0.85,-146.6,812.6,-4.8,447,9209,0.00,2.60,0.00,0.000,4,0.000,0.070,2222,987,3415
$GC,9288,-0.85,-146.6,817.0,-5.9,451,9293,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2403,3414
$GC,9614,-0.85,-146.6,841.7,-6.8,467,9618,0.00,2.65,0.00,0.000,4,0.000,0.071,2222,987,3414
$GC,9697,-0.85,-146.6,849.3,-9.0,471,9702,0.00,2.60,0.00,0.000,6,0.000,0.061,2221,2399,3415
$GC,10023,-0.85,-146.6,869.1,-5.9,487,10028,0.00,2.62,0.00,0.000,4,0.000,0.092,2221,3765,3415
$GC,10040,-0.85,-146.6,869.8,-4.0,488,10044,0.00,2.50,0.00,0.000,6,0.000,0.061,2222,2403,3415
$GC,10364,-0.85,-146.6,885.6,-7.3,504,10369,0.00,2.62,0.00,0.000,4,0.000,0.087,2222,3765,3414
$GC,10426,-0.85,-146.6,889.9,-5.5,507,10431,0.00,2.53,0.00,0.000,6,0.000,0.061,2222,2393,3414
$STATE,10585,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10585,begin apogee
$GC,10589,-0.31,0.0,908.5,13.0,515,10716,0.60,0.00,123.18,1.304,6,0.125,0.000,2337,2196,2817
$STATE,10716,end apogee,CONTROL_FINISHED_OK
$STATE,10716,begin climb
$GC,10718,0.85,146.6,911.8,0.0,521,10849,1.17,2.83,121.95,1.273,4,0.067,0.083,2588,3606,2219
$GC,10906,0.85,151.7,899.3,5.9,530,10917,0.00,2.65,6.00,0.936,6,0.000,0.064,2589,2205,2198
$GC,11232,0.88,181.2,887.4,5.2,546,11263,0.00,2.80,25.50,1.220,4,0.000,0.080,2589,784,2077
$GC,11449,1.00,286.9,890.5,3.1,556,11544,0.17,2.65,86.80,1.283,6,0.068,0.057,2632,2204,1647
$GC,11859,1.00,286.9,847.6,8.5,576,11863,0.00,2.72,0.00,0.000,4,0.000,0.075,2632,785,1644
$GC,12009,1.00,286.9,833.7,8.3,583,12013,0.00,2.62,0.00,0.000,6,0.000,0.054,2632,2204,1643
$GC,12335,1.00,286.9,804.7,9.1,599,12339,0.00,2.70,0.00,0.000,4,0.000,0.070,2632,778,1640
$GC,12383,1.00,286.9,799.7,10.1,601,12388,0.00,2.62,0.00,0.000,6,0.000,0.050,2632,2195,1640
$GC,12704,1.00,286.9,768.8,10.3,617,12708,0.00,2.65,0.00,0.000,4,0.000,0.068,2632,782,1640
$GC,12776,1.00,286.9,759.9,12.1,620,12780,0.00,2.60,0.00,0.000,6,0.000,0.048,2632,2195,1639
$GC,13097,1.00,286.9,718.8,14.0,636,13102,0.00,2.65,0.00,0.000,4,0.000,0.066,2632,784,1639
$GC,13158,1.00,286.9,710.6,12.6,639,13162,0.00,2.58,0.00,0.000,6,0.000,0.047,2632,2203,1639
$GC,13484,1.00,286.9,674.4,9.7,655,13485,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2202,1640
$GC,13793,1.00,286.9,645.4,8.8,670,13797,0.00,2.65,0.00,0.000,4,0.000,0.066,2632,782,1641
$GC,13836,1.00,286.9,641.6,8.7,672,13841,0.00,2.60,0.00,0.000,6,0.000,0.047,2630,2201,1641
$GC,14163,1.00,286.9,616.5,8.4,688,14167,0.00,2.65,0.00,0.000,4,0.000,0.067,2632,782,1642
$GC,14196,1.00,286.9,613.5,10.2,689,14202,0.00,2.58,0.00,0.000,6,0.000,0.047,2632,2206,1642
$GC,14510,1.00,286.9,581.4,11.0,705,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2206,1644
$GC,14819,1.00,286.9,543.5,11.5,720,14824,0.00,2.65,0.00,0.000,4,0.000,0.066,2632,782,1643
$GC,14885,1.00,286.9,536.2,11.7,723,14890,0.00,2.58,0.00,0.000,6,0.000,0.047,2632,2195,1643
$GC,15212,1.00,286.9,498.6,12.8,739,15216,0.00,2.62,0.00,0.000,4,0.000,0.066,2631,782,1643
$GC,15266,1.00,286.9,492.9,8.6,741,15272,0.00,2.58,0.00,0.000,6,0.000,0.047,2632,2194,1644
$GC,15581,1.00,286.9,466.7,9.3,757,15582,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2193,1644
$GC,15890,1.00,286.9,432.8,11.1,772,15891,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2194,1645
$GC,16200,1.00,286.9,404.1,8.6,787,16204,0.00,2.62,0.00,0.000,4,0.000,0.067,2632,781,1645
$GC,16238,1.00,286.9,400.6,9.1,789,16242,0.00,2.58,0.00,0.000,6,0.000,0.048,2632,2202,1645
$GC,16563,1.00,286.9,373.6,8.0,805,16567,0.00,2.65,0.00,0.000,4,0.000,0.068,2632,782,1646
$GC,16601,1.00,286.9,370.6,8.6,807,16605,0.00,2.58,0.00,0.000,6,0.000,0.048,2632,2206,1646
$GC,16926,1.00,286.9,345.8,6.9,823,16930,0.00,2.65,0.00,0.000,4,0.000,0.067,2632,782,1645
$GC,16964,1.00,286.9,342.9,6.1,825,16968,0.00,2.55,0.00,0.000,6,0.000,0.048,2632,2201,1646
$GC,17290,1.00,286.9,317.3,7.7,841,17294,0.00,2.65,0.00,0.000,4,0.000,0.068,2632,782,1647
$GC,17332,1.00,286.9,313.1,9.3,843,17337,0.00,2.58,0.00,0.000,6,0.000,0.047,2633,2194,1646
$GC,17659,1.00,286.9,290.7,7.0,859,17660,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2194,1647
$GC,17968,1.00,286.9,270.2,6.9,874,17972,0.00,2.62,0.00,0.000,4,0.000,0.066,2632,781,1647
$GC,18011,1.00,286.9,267.0,7.2,876,18015,0.00,2.58,0.00,0.000,6,0.000,0.046,2634,2198,1647
$GC,18338,1.00,286.9,239.2,8.7,892,18342,0.00,2.65,0.00,0.000,4,0.000,0.068,2632,777,1647
$GC,18369,1.00,286.9,235.8,10.4,893,18376,0.00,2.58,0.00,0.000,6,0.000,0.044,2632,2199,1647
$GC,18684,1.00,286.9,205.6,10.4,909,18689,0.00,2.62,0.00,0.000,4,0.000,0.065,2632,782,1648
$GC,18740,1.00,286.9,199.7,11.0,911,18746,0.00,2.55,0.00,0.000,6,0.000,0.045,2632,2205,1648
$GC,19055,1.00,286.9,166.5,9.8,927,19056,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2205,1648
$GC,19364,1.00,286.9,134.0,10.3,942,19368,0.00,2.62,0.00,0.000,4,0.000,0.064,2632,782,1648
$GC,19418,1.00,286.9,127.7,11.4,944,19425,0.00,2.58,0.00,0.000,6,0.000,0.044,2632,2199,1648
$GC,19734,1.00,286.9,93.2,11.1,960,19735,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2199,1648
$GC,20043,1.00,286.9,58.8,10.4,975,20047,0.00,2.62,0.00,0.000,4,0.000,0.065,2632,782,1648
$GC,20086,1.00,286.9,54.0,10.5,977,20090,0.00,2.55,0.00,0.000,6,0.000,0.044,2632,2193,1648
$GC,20413,1.00,286.9,18.8,10.3,993,20414,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2193,1649
$STATE,20576,end climb,SURFACE_DEPTH_REACHED
$STATE,20576,begin surface coast
$FINISH,0.6,1.016326
$STATE,20598,end surface coast,CONTROL_FINISHED_OK
$STATE,20598,begin surface
$SM_CCo,20617,12.52,0.548,1,0,1594,300.00
$SM_GC,1.30,0.00,0.00,12.52,0.000,0.000,0.548,67,2403,1594,-10.77,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2102
$TCM_TEMP,17.50
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,825.9,92.3
$24V_AH,23.5,20.039
$10V_AH,10.2,8.986
$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,25.325,215.250,363.425,12.525,0.000,97.901,143.398,224.025,15.250,0.000,0.000,11.870,1858.812,15981.388,544.849,2310.392,623.485,33.365,1709.858,0.000,2252.833,0.000,49.461
$DEVICE_MAMPS,173.342,92.040,1303.900,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,700.072,717.145,562.480,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50534,1002
$CFSIZE,260165632,253509632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$GPS,291107,054402,6145.805,-944.259,39,1.2,39,-9.7