version: 66.02
glider: 16
mission: 6
dive: 105
start: 11 29 107 11 27 10
data:
$ID,16
$MISSION,6
$DIVE,105
$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,-2077471.8
$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,16
$R_STBD_OVSHOOT,22
$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
$GPS1,112115,6145.124,-948.882,39,2.1,58,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-56.2
$GPS2,112620,6145.159,-949.016,16,1.9,33,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.220,0.026
$KALMAN_X,-36804.6,1334.2,1858.6,-4627.3,-23128.9
$KALMAN_Y,98951.8,-21.3,806.9,-86843.9,-696.1
$MHEAD_RNG_PITCHd_Wd,93.0,29820,-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,20,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-101.88,0.000,2,0.000,0.000,63,2405,3086
$GC,126,-0.85,-146.6,3.7,-2.5,5,148,12.20,0.00,-7.97,0.000,6,0.174,0.000,2223,2405,3415
$GC,457,-0.85,-146.6,38.7,-9.3,21,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2405,3416
$GC,765,-0.85,-146.6,65.0,-8.5,36,770,0.00,2.65,0.00,0.000,4,0.000,0.066,2223,982,3415
$GC,804,-0.85,-146.6,68.3,-8.2,38,808,0.00,2.58,0.00,0.000,6,0.000,0.053,2223,2395,3415
$GC,1129,-0.85,-146.6,97.7,-8.9,54,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2395,3415
$GC,1438,-0.85,-146.6,126.5,-9.6,69,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2395,3415
$GC,1747,-0.85,-146.6,158.2,-11.0,84,1751,0.00,2.62,0.00,0.000,4,0.000,0.064,2223,979,3415
$GC,1773,-0.85,-146.6,160.6,-8.9,85,1777,0.00,2.60,0.00,0.000,6,0.000,0.052,2223,2400,3415
$GC,2095,-0.85,-146.6,188.4,-8.5,101,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3415
$GC,2403,-0.85,-146.6,216.8,-8.6,116,2408,0.00,2.62,0.00,0.000,4,0.000,0.065,2223,983,3415
$GC,2430,-0.85,-146.6,219.5,-10.0,117,2434,0.00,2.60,0.00,0.000,6,0.000,0.052,2223,2413,3415
$GC,2751,-0.85,-146.6,244.5,-7.7,133,2755,0.00,2.65,0.00,0.000,4,0.000,0.065,2223,982,3416
$GC,2782,-0.85,-146.6,246.9,-6.8,134,2789,0.00,2.60,0.00,0.000,6,0.000,0.052,2223,2395,3415
$GC,3098,-0.85,-146.6,272.3,-8.7,150,3102,0.00,2.62,0.00,0.000,4,0.000,0.065,2223,976,3415
$GC,3118,-0.85,-146.6,274.3,-9.6,151,3123,0.00,2.62,0.00,0.000,6,0.000,0.053,2223,2398,3415
$GC,3445,-0.85,-146.6,301.2,-10.9,167,3450,0.00,2.62,0.00,0.000,4,0.000,0.066,2223,984,3415
$GC,3488,-0.85,-146.6,305.1,-7.4,169,3493,0.00,2.60,0.00,0.000,6,0.000,0.051,2223,2401,3415
$GC,3815,-0.85,-146.6,331.7,-8.6,185,3820,0.00,2.62,0.00,0.000,4,0.000,0.064,2223,981,3415
$GC,3858,-0.85,-146.6,335.8,-9.9,187,3863,0.00,2.60,0.00,0.000,6,0.000,0.051,2223,2397,3415
$GC,4185,-0.85,-146.6,367.9,-9.7,203,4189,0.00,2.62,0.00,0.000,4,0.000,0.066,2224,982,3415
$GC,4219,-0.85,-146.6,371.4,-10.2,204,4225,0.00,2.58,0.00,0.000,6,0.000,0.053,2221,2400,3415
$GC,4533,-0.85,-146.6,408.1,-10.8,220,4537,0.00,2.62,0.00,0.000,4,0.000,0.066,2223,983,3415
$GC,4559,-0.85,-146.6,410.8,-10.1,221,4563,0.00,2.60,0.00,0.000,6,0.000,0.051,2223,2398,3415
$GC,4880,-0.85,-146.6,444.7,-9.7,237,4884,0.00,2.62,0.00,0.000,4,0.000,0.064,2224,981,3415
$GC,4922,-0.85,-146.6,448.8,-9.0,239,4927,0.00,2.60,0.00,0.000,6,0.000,0.051,2223,2396,3415
$GC,5249,-0.85,-146.6,479.0,-10.3,255,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2395,3415
$GC,5559,-0.85,-146.6,504.6,-8.1,270,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2395,3415
$GC,5868,-0.85,-146.6,530.9,-8.8,285,5872,0.00,2.62,0.00,0.000,4,0.000,0.066,2223,980,3415
$GC,5916,-0.85,-146.6,535.5,-8.9,287,5921,0.00,2.60,0.00,0.000,6,0.000,0.052,2223,2398,3415
$GC,6237,-0.85,-146.6,562.9,-8.4,303,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2398,3415
$GC,6546,-0.85,-146.6,592.5,-9.5,318,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2398,3415
$GC,6856,-0.85,-146.6,621.9,-10.1,333,6860,0.00,2.62,0.00,0.000,4,0.000,0.064,2223,977,3415
$GC,6904,-0.85,-146.6,626.7,-9.7,335,6909,0.00,2.60,0.00,0.000,6,0.000,0.052,2223,2395,3414
$GC,7225,-0.85,-146.6,656.5,-9.3,351,7230,0.00,2.62,0.00,0.000,4,0.000,0.066,2223,980,3414
$GC,7264,-0.85,-146.6,660.5,-10.7,353,7268,0.00,2.55,0.00,0.000,6,0.000,0.052,2223,2399,3414
$GC,7589,-0.85,-146.6,699.2,-10.6,369,7594,0.00,2.62,0.00,0.000,4,0.000,0.065,2223,980,3414
$GC,7643,-0.85,-146.6,705.6,-12.0,371,7650,0.00,2.60,0.00,0.000,6,0.000,0.052,2223,2395,3414
$GC,7959,-0.85,-146.6,740.6,-10.5,387,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2395,3414
$GC,8268,-0.85,-146.6,768.3,-8.2,402,8273,0.00,2.60,0.00,0.000,4,0.000,0.064,2223,982,3414
$GC,8307,-0.85,-146.6,771.6,-8.9,404,8311,0.00,2.58,0.00,0.000,6,0.000,0.054,2223,2399,3414
$GC,8633,-0.85,-146.6,790.3,-4.7,420,8637,0.00,2.60,0.00,0.000,4,0.000,0.062,2223,982,3414
$GC,8659,-0.85,-146.6,791.1,-2.7,421,8664,0.00,2.58,0.00,0.000,6,0.000,0.053,2223,2398,3414
$GC,8980,-0.85,-146.6,809.0,-7.5,437,8984,0.00,2.60,0.00,0.000,4,0.000,0.067,2223,983,3414
$GC,9018,-0.85,-146.6,812.2,-8.5,439,9022,0.00,2.58,0.00,0.000,6,0.000,0.054,2223,2400,3414
$GC,9344,-0.85,-146.6,830.1,-4.8,455,9348,0.00,2.62,0.00,0.000,4,0.000,0.064,2223,979,3414
$GC,9488,-0.85,-146.6,838.0,-5.4,461,9495,0.00,2.60,0.00,0.000,6,0.000,0.055,2223,2400,3414
$GC,9804,-0.85,-146.6,855.8,-5.7,477,9808,0.00,2.62,0.00,0.000,4,0.000,0.071,2223,985,3415
$GC,9932,-0.85,-146.6,863.8,-5.0,483,9936,0.00,2.60,0.00,0.000,6,0.000,0.058,2223,2398,3414
$GC,10257,-0.85,-146.6,874.8,-2.7,499,10262,0.00,2.65,0.00,0.000,4,0.000,0.071,2223,978,3414
$GC,10329,-0.85,-146.6,882.0,-13.4,502,10334,0.00,2.65,0.00,0.000,6,0.000,0.060,2223,2400,3415
$GC,10650,-0.85,-146.6,904.9,-11.2,518,10655,0.00,2.65,0.00,0.000,4,0.000,0.092,2223,3771,3414
$GC,10734,-0.85,-146.6,916.5,-13.6,522,10738,0.00,2.53,0.00,0.000,6,0.000,0.061,2223,2400,3414
$GC,11059,-0.85,-146.6,946.4,-3.4,538,11064,0.00,2.62,0.00,0.000,4,0.000,0.085,2223,3766,3412
$GC,11076,-0.85,-146.6,947.2,-2.2,539,11080,0.00,2.53,0.00,0.000,6,0.000,0.063,2223,2399,3412
$STATE,11337,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11338,begin apogee
$GC,11342,-0.31,0.0,964.5,6.5,552,11469,0.60,0.00,123.72,1.355,6,0.117,0.000,2341,2195,2817
$STATE,11470,end apogee,CONTROL_FINISHED_OK
$STATE,11470,begin climb
$GC,11471,0.85,146.6,970.2,0.0,558,11603,1.25,2.80,122.43,1.326,4,0.113,0.077,2585,792,2219
$GC,11856,0.90,197.0,951.0,4.6,575,11904,0.00,2.60,42.30,1.284,6,0.000,0.058,2585,2202,2015
$GC,12212,0.90,197.0,930.6,7.3,593,12217,0.00,2.72,0.00,0.000,4,0.000,0.078,2585,785,2012
$GC,12417,0.90,197.0,913.2,8.1,602,12422,0.00,2.65,0.00,0.000,6,0.000,0.057,2585,2195,2011
$GC,12739,1.07,352.2,903.2,1.8,618,12870,0.25,0.00,127.32,1.319,6,0.061,0.000,2650,2195,1381
$GC,13170,1.11,390.0,877.8,5.0,639,13212,0.00,2.78,32.42,1.254,4,0.000,0.077,2650,794,1225
$GC,13250,1.11,390.0,870.9,9.1,642,13257,0.00,2.62,0.00,0.000,6,0.000,0.055,2650,2201,1224
$GC,13565,1.11,390.0,848.3,8.0,658,13570,0.00,2.70,0.00,0.000,4,0.000,0.076,2650,786,1222
$GC,13637,1.11,390.0,841.6,10.2,661,13641,0.00,2.60,0.00,0.000,6,0.000,0.053,2650,2202,1222
$GC,13957,1.11,390.0,807.1,10.4,677,13962,0.00,2.70,0.00,0.000,4,0.000,0.073,2650,782,1221
$GC,14028,1.11,390.0,798.9,10.3,680,14033,0.00,2.60,0.00,0.000,6,0.000,0.049,2650,2192,1221
$GC,14350,1.11,390.0,759.3,12.0,696,14354,0.00,2.67,0.00,0.000,4,0.000,0.071,2650,779,1222
$GC,14437,1.11,390.0,747.7,15.0,700,14442,0.00,2.60,0.00,0.000,6,0.000,0.048,2650,2193,1222
$GC,14765,1.11,390.0,704.2,13.2,716,14769,0.00,2.65,0.00,0.000,4,0.000,0.069,2651,783,1223
$GC,14848,1.11,390.0,691.8,14.6,720,14852,0.00,2.58,0.00,0.000,6,0.000,0.046,2650,2205,1224
$GC,15173,1.11,390.0,644.2,13.8,736,15177,0.00,2.67,0.00,0.000,4,0.000,0.070,2650,783,1225
$GC,15260,1.11,390.0,629.5,17.3,740,15265,0.00,2.58,0.00,0.000,6,0.000,0.046,2650,2195,1225
$GC,15588,1.11,390.0,569.5,21.0,756,15589,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2195,1226
$GC,15897,1.11,390.0,510.1,17.6,771,15901,0.00,2.65,0.00,0.000,4,0.000,0.068,2650,779,1227
$GC,15980,1.11,390.0,496.8,15.4,775,15984,0.00,2.58,0.00,0.000,6,0.000,0.045,2650,2207,1228
$GC,16305,1.11,390.0,448.8,15.2,791,16309,0.00,2.67,0.00,0.000,4,0.000,0.070,2650,782,1228
$GC,16365,1.11,390.0,439.6,15.7,794,16370,0.00,2.55,0.00,0.000,6,0.000,0.045,2650,2199,1228
$GC,16691,1.11,390.0,389.8,14.7,810,16696,0.00,2.65,0.00,0.000,4,0.000,0.070,2650,786,1229
$GC,16768,1.11,390.0,377.7,16.2,813,16775,0.00,2.58,0.00,0.000,6,0.000,0.046,2650,2199,1229
$GC,17084,1.11,390.0,323.6,18.6,829,17088,0.00,2.65,0.00,0.000,4,0.000,0.068,2650,781,1229
$GC,17144,1.11,390.0,312.2,19.0,832,17149,0.00,2.55,0.00,0.000,6,0.000,0.046,2650,2199,1229
$GC,17470,1.11,390.0,264.5,13.6,848,17474,0.00,2.65,0.00,0.000,4,0.000,0.067,2650,781,1230
$GC,17531,1.11,390.0,255.7,14.0,851,17535,0.00,2.55,0.00,0.000,6,0.000,0.046,2650,2199,1230
$GC,17856,1.11,390.0,211.7,12.9,867,17860,0.00,2.65,0.00,0.000,4,0.000,0.068,2650,779,1230
$GC,17904,1.11,390.0,205.4,12.3,869,17909,0.00,2.58,0.00,0.000,6,0.000,0.046,2650,2193,1230
$GC,18225,1.11,390.0,164.4,11.8,885,18229,0.00,2.62,0.00,0.000,4,0.000,0.067,2650,786,1231
$GC,18286,1.11,390.0,157.3,10.6,888,18291,0.00,2.55,0.00,0.000,6,0.000,0.045,2650,2204,1231
$GC,18612,1.11,390.0,112.9,14.2,904,18617,0.00,2.65,0.00,0.000,4,0.000,0.067,2650,780,1231
$GC,18666,1.11,390.0,105.3,13.1,906,18674,0.00,2.58,0.00,0.000,6,0.000,0.044,2650,2201,1231
$GC,18983,1.11,390.0,64.3,10.9,922,18987,0.00,2.62,0.00,0.000,4,0.000,0.067,2650,786,1231
$GC,19044,1.11,390.0,57.0,12.3,925,19048,0.00,2.55,0.00,0.000,6,0.000,0.045,2650,2204,1232
$GC,19370,1.11,390.0,13.6,11.7,941,19374,0.00,2.65,0.00,0.000,4,0.000,0.067,2650,779,1232
$GC,19432,1.11,390.0,6.1,12.1,944,19437,0.00,2.55,0.00,0.000,6,0.000,0.045,2650,2201,1232
$STATE,19468,end climb,SURFACE_DEPTH_REACHED
$STATE,19468,begin surface coast
$FINISH,0.8,1.027270
$STATE,19490,end surface coast,CONTROL_FINISHED_OK
$STATE,19490,begin surface
$SM_CCo,19569,0.00,0.000,0,0,1231,389.05
$SM_GC,1.46,11.27,0.00,0.00,0.041,0.000,0.000,68,2401,1231,-10.70,0.03,389.05
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2097
$TCM_TEMP,17.40
$XPDR_PINGS,35
$ALTIM_BOTTOM_PING,875.3,98.1
$24V_AH,23.5,20.451
$10V_AH,10.1,9.166
$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,25.575,210.100,448.200,0.000,0.000,32.593,27.001,133.877,16.500,0.000,0.000,33.787,1763.850,14872.083,620.807,2268.510,346.187,33.367,1772.297,0.000,2190.372,0.000,52.730
$DEVICE_MAMPS,174.109,92.040,1354.522,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,664.956,673.830,514.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47400,947
$CFSIZE,260165632,253378560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,291107,165452,6145.670,-950.679,41,2.4,60,-9.8