version: 66.02
glider: 16
mission: 6
dive: 61
start: 11 22 107 10 58 43
data:
$ID,16
$MISSION,6
$DIVE,61
$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,-2076367.2
$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,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
$GPS1,104707,6143.976,-917.224,29,2.0,29,-9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-55.2
$GPS2,105756,6143.890,-917.153,16,2.0,33,-9.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.052,-0.240
$KALMAN_X,9108.9,-41.0,-433.2,-18759.7,3091.6
$KALMAN_Y,80178.9,513.1,-646.0,-69513.2,630.0
$MHEAD_RNG_PITCHd_Wd,201.7,46795,-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,-146.6,0.0,0.0,0,103,0.00,0.00,-82.70,0.000,2,0.000,0.000,64,2404,3158
$GC,106,-1.08,-146.6,4.2,-4.5,4,128,11.77,2.60,-5.68,0.000,4,0.170,0.082,2171,3764,3416
$GC,380,-1.08,-146.6,44.9,-11.7,16,385,0.00,2.50,0.00,0.000,6,0.000,0.047,2171,2396,3417
$GC,707,-1.08,-146.6,81.0,-10.6,32,711,0.00,2.58,0.00,0.000,4,0.000,0.070,2171,3768,3417
$GC,858,-1.08,-146.6,98.5,-12.1,39,862,0.00,2.47,0.00,0.000,6,0.000,0.048,2171,2396,3417
$GC,1183,-1.08,-146.6,129.6,-11.2,55,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2396,3417
$GC,1492,-1.08,-146.6,173.8,-13.4,70,1496,0.00,2.60,0.00,0.000,4,0.000,0.064,2171,986,3417
$GC,1535,-1.08,-146.6,178.9,-12.2,72,1540,0.00,2.60,0.00,0.000,6,0.000,0.051,2171,2397,3417
$GC,1862,-1.08,-146.6,219.1,-11.9,88,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2397,3417
$GC,2171,-1.08,-146.6,254.3,-11.4,103,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2397,3417
$GC,2480,-1.08,-146.6,287.8,-11.3,118,2485,0.00,2.60,0.00,0.000,4,0.000,0.063,2171,985,3417
$GC,2529,-1.08,-146.6,293.5,-11.8,120,2534,0.00,2.60,0.00,0.000,6,0.000,0.052,2171,2400,3417
$GC,2851,-1.08,-146.6,328.0,-10.3,136,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3417
$GC,3160,-1.08,-146.6,358.1,-9.6,151,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3417
$GC,3470,-1.08,-146.6,388.1,-9.2,166,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3417
$GC,3779,-1.08,-146.6,415.9,-8.5,181,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3417
$GC,4088,-1.08,-146.6,439.6,-7.5,196,4093,0.00,2.62,0.00,0.000,4,0.000,0.064,2171,979,3417
$GC,4143,-1.08,-146.6,443.8,-7.6,198,4149,0.00,2.60,0.00,0.000,6,0.000,0.051,2171,2397,3417
$GC,4458,-1.08,-146.6,470.9,-9.2,214,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2397,3417
$GC,4767,-1.08,-146.6,503.5,-11.0,229,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2397,3417
$GC,5076,-1.08,-146.6,539.8,-12.2,244,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2397,3417
$GC,5386,-1.08,-146.6,580.2,-13.3,259,5390,0.00,2.60,0.00,0.000,4,0.000,0.061,2171,985,3417
$GC,5440,-1.08,-146.6,587.5,-12.6,261,5447,0.00,2.58,0.00,0.000,6,0.000,0.050,2171,2393,3417
$GC,5756,-1.08,-146.6,625.8,-12.7,277,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2392,3417
$GC,6064,-1.08,-146.6,664.9,-12.3,292,6069,0.00,2.60,0.00,0.000,4,0.000,0.061,2171,979,3417
$GC,6113,-1.08,-146.6,671.2,-12.6,294,6118,0.00,2.58,0.00,0.000,6,0.000,0.049,2171,2397,3417
$GC,6434,-1.08,-146.6,705.2,-9.4,310,6438,0.00,2.58,0.00,0.000,4,0.000,0.074,2171,3770,3417
$GC,6691,-1.08,-146.6,736.3,-12.6,321,6698,0.00,2.50,0.00,0.000,6,0.000,0.051,2171,2405,3417
$GC,7007,-1.08,-146.6,756.8,-3.6,337,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2404,3417
$GC,7316,-1.08,-146.6,781.8,-8.8,352,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2404,3417
$GC,7626,-1.08,-146.6,796.2,-5.8,367,7630,0.00,2.70,0.00,0.000,4,0.000,0.080,2171,979,3417
$GC,7687,-1.08,-146.6,799.9,-5.9,370,7691,0.00,2.62,0.00,0.000,6,0.000,0.065,2171,2398,3416
$GC,8012,-1.08,-146.6,828.4,-12.0,386,8016,0.00,2.70,0.00,0.000,4,0.000,0.081,2171,987,3415
$GC,8072,-1.08,-146.6,831.8,-7.9,389,8077,0.00,2.65,0.00,0.000,6,0.000,0.067,2171,2400,3414
$STATE,8149,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8149,begin apogee
$GC,8153,-0.31,0.0,837.1,5.4,393,8279,0.82,0.00,122.30,1.285,6,0.103,0.000,2338,2198,2818
$STATE,8280,end apogee,CONTROL_FINISHED_OK
$STATE,8280,begin climb
$GC,8281,1.08,146.6,845.2,0.0,399,8414,1.52,2.78,121.32,1.253,4,0.093,0.074,2647,795,2219
$GC,8654,1.26,306.9,818.5,2.2,416,8792,0.12,2.67,129.62,1.242,6,0.048,0.061,2685,2199,1566
$GC,9113,1.26,306.9,768.9,13.8,439,9117,0.00,2.72,0.00,0.000,4,0.000,0.079,2685,789,1564
$GC,9166,1.26,306.9,761.7,12.2,441,9174,0.00,2.67,0.00,0.000,6,0.000,0.061,2685,2198,1563
$GC,9482,1.26,306.9,722.9,14.0,457,9486,0.00,2.72,0.00,0.000,4,0.000,0.085,2685,3611,1562
$GC,9553,1.26,306.9,712.6,13.2,460,9558,0.00,2.67,0.00,0.000,6,0.000,0.067,2685,2209,1561
$GC,9874,1.26,306.9,667.3,14.9,476,9875,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2209,1559
$GC,10184,1.26,306.9,623.1,14.6,491,10185,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2209,1559
$GC,10493,1.26,306.9,577.6,14.0,506,10497,0.00,2.67,0.00,0.000,4,0.000,0.071,2686,784,1560
$GC,10535,1.26,306.9,570.9,14.5,508,10540,0.00,2.60,0.00,0.000,6,0.000,0.048,2685,2196,1559
$GC,10862,1.26,306.9,526.2,13.0,524,10866,0.00,2.65,0.00,0.000,4,0.000,0.064,2685,776,1559
$GC,10901,1.26,306.9,521.0,13.4,526,10905,0.00,2.58,0.00,0.000,6,0.000,0.046,2685,2201,1559
$GC,11226,1.26,306.9,483.7,11.0,542,11227,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2201,1560
$GC,11535,1.26,306.9,445.7,13.2,557,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2201,1561
$GC,11844,1.26,306.9,405.0,12.2,572,11846,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2202,1562
$GC,12154,1.26,306.9,369.7,11.3,587,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2201,1562
$GC,12463,1.26,306.9,338.0,10.1,602,12467,0.00,2.65,0.00,0.000,4,0.000,0.063,2685,773,1563
$GC,12501,1.26,306.9,333.4,11.6,604,12505,0.00,2.55,0.00,0.000,6,0.000,0.044,2685,2201,1564
$GC,12826,1.26,306.9,292.4,12.8,620,12828,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2201,1565
$GC,13136,1.26,306.9,252.8,12.6,635,13140,0.00,2.62,0.00,0.000,4,0.000,0.061,2685,781,1565
$GC,13184,1.26,306.9,246.2,12.7,637,13189,0.00,2.58,0.00,0.000,6,0.000,0.043,2685,2199,1565
$GC,13505,1.26,306.9,205.8,12.6,653,13506,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2199,1566
$GC,13814,1.26,306.9,169.8,10.6,668,13815,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2199,1566
$GC,14126,1.26,306.9,135.3,12.4,683,14127,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2199,1567
$GC,14434,1.26,306.9,94.6,14.3,698,14435,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2199,1567
$GC,14743,1.26,306.9,49.8,14.5,713,14744,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2199,1568
$GC,15052,1.26,306.9,7.5,14.4,728,15057,0.00,2.60,0.00,0.000,4,0.000,0.059,2685,781,1569
$STATE,15094,end climb,SURFACE_DEPTH_REACHED
$STATE,15094,begin surface coast
$FINISH,1.0,1.027239
$STATE,15101,end surface coast,CONTROL_FINISHED_OK
$STATE,15101,begin surface
$SM_CCo,15182,0.00,0.000,0,0,1566,306.87
$SM_GC,1.73,11.40,0.00,0.00,0.041,0.000,0.000,73,2399,1566,-10.69,-0.03,306.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2098
$TCM_TEMP,19.60
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,776.8,67.6
$24V_AH,23.5,15.108
$10V_AH,10.1,6.399
$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,25.650,94.975,373.250,0.000,0.000,97.769,86.169,237.666,14.000,0.000,0.000,33.096,1325.551,11850.217,485.978,1651.299,520.876,33.357,1293.165,0.000,1590.668,0.000,49.738
$DEVICE_MAMPS,169.507,85.137,1285.492,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,510.912,517.418,407.698,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37945,730
$CFSIZE,260165632,255492096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,221107,151255,6141.818,-921.074,39,1.6,39,-9.5