version: 66.02
glider: 16
mission: 6
dive: 62
start: 11 22 107 15 17 56
data:
$ID,16
$MISSION,6
$DIVE,62
$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,-2076383.6
$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,12
$R_STBD_OVSHOOT,15
$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
$GPS1,151255,6141.818,-921.074,39,1.6,39,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-61.9
$GPS2,151708,6141.811,-921.072,10,1.6,15,-9.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.121,-0.214
$KALMAN_X,6502.9,-55.6,-505.0,-19500.2,-254.9
$KALMAN_Y,81453.1,58.8,764.0,-75599.0,-667.9
$MHEAD_RNG_PITCHd_Wd,160.1,44521,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.08,-146.6,0.0,0.0,0,73,0.00,0.00,-52.47,0.000,2,0.000,0.000,72,2400,2933
$GC,75,-1.08,-146.6,3.4,-3.6,3,105,11.70,2.60,-12.40,0.000,4,0.170,0.082,2169,3763,3417
$GC,356,-1.08,-146.6,38.2,-10.4,15,364,0.00,2.47,0.00,0.000,6,0.000,0.044,2169,2401,3418
$GC,672,-1.08,-146.6,66.3,-10.2,31,676,0.00,2.55,0.00,0.000,4,0.000,0.067,2170,3768,3418
$GC,845,-1.08,-146.6,83.0,-9.6,39,850,0.00,2.45,0.00,0.000,6,0.000,0.046,2170,2399,3418
$GC,1171,-1.08,-146.6,111.0,-9.0,55,1175,0.00,2.60,0.00,0.000,4,0.000,0.063,2170,985,3418
$GC,1219,-1.08,-146.6,115.4,-8.4,57,1224,0.00,2.58,0.00,0.000,6,0.000,0.048,2169,2401,3417
$GC,1541,-1.08,-146.6,142.0,-8.9,73,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3417
$GC,1849,-1.08,-146.6,171.8,-9.2,88,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3417
$GC,2159,-1.08,-146.6,205.6,-11.0,103,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3418
$GC,2468,-1.08,-146.6,241.1,-11.3,118,2472,0.00,2.60,0.00,0.000,4,0.000,0.060,2170,983,3418
$GC,2562,-1.08,-146.6,252.5,-12.6,122,2567,0.00,2.60,0.00,0.000,6,0.000,0.048,2170,2403,3417
$GC,2883,-1.08,-146.6,291.7,-12.4,138,2887,0.00,2.60,0.00,0.000,4,0.000,0.061,2170,983,3418
$GC,2925,-1.08,-146.6,297.4,-12.6,140,2931,0.00,2.60,0.00,0.000,6,0.000,0.049,2170,2401,3418
$GC,3253,-1.08,-146.6,333.7,-10.4,156,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3418
$GC,3562,-1.08,-146.6,366.9,-10.3,171,3567,0.00,2.55,0.00,0.000,4,0.000,0.071,2170,3770,3418
$GC,3611,-1.08,-146.6,371.8,-9.2,173,3616,0.00,2.47,0.00,0.000,6,0.000,0.047,2170,2405,3418
$GC,3934,-1.08,-146.6,401.2,-9.7,189,3938,0.00,2.62,0.00,0.000,4,0.000,0.065,2170,980,3418
$GC,4027,-1.08,-146.6,410.8,-9.8,193,4032,0.00,2.60,0.00,0.000,6,0.000,0.049,2170,2400,3418
$GC,4348,-1.08,-146.6,443.1,-10.4,209,4352,0.00,2.60,0.00,0.000,4,0.000,0.062,2169,980,3418
$GC,4403,-1.08,-146.6,448.7,-10.3,211,4407,0.00,2.60,0.00,0.000,6,0.000,0.050,2170,2400,3418
$GC,4724,-1.08,-146.6,478.5,-9.3,227,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2401,3418
$GC,5033,-1.08,-146.6,507.9,-10.5,242,5037,0.00,2.60,0.00,0.000,4,0.000,0.061,2170,982,3418
$GC,5104,-1.08,-146.6,514.3,-8.9,245,5109,0.00,2.58,0.00,0.000,6,0.000,0.050,2170,2398,3418
$GC,5426,-1.08,-146.6,545.0,-9.2,261,5430,0.00,2.60,0.00,0.000,4,0.000,0.060,2169,977,3417
$GC,5474,-1.08,-146.6,549.6,-9.3,263,5483,0.00,2.60,0.00,0.000,6,0.000,0.049,2169,2400,3418
$GC,5797,-1.08,-146.6,578.7,-9.0,279,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3417
$GC,6106,-1.08,-146.6,604.5,-8.3,294,6110,0.00,2.55,0.00,0.000,4,0.000,0.072,2170,3769,3418
$GC,6145,-1.08,-146.6,608.0,-9.2,296,6149,0.00,2.45,0.00,0.000,6,0.000,0.048,2170,2398,3417
$GC,6470,-1.08,-146.6,638.9,-9.2,312,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2398,3417
$GC,6779,-1.08,-146.6,672.2,-11.9,327,6783,0.00,2.58,0.00,0.000,4,0.000,0.074,2170,3769,3417
$GC,6845,-1.08,-146.6,678.6,-9.7,330,6849,0.00,2.47,0.00,0.000,6,0.000,0.048,2170,2405,3417
$GC,7173,-1.08,-146.6,708.5,-7.5,346,7177,0.00,2.60,0.00,0.000,4,0.000,0.065,2170,987,3417
$GC,7243,-1.08,-146.6,712.8,-4.6,349,7248,0.00,2.58,0.00,0.000,6,0.000,0.051,2170,2401,3417
$GC,7564,-1.08,-146.6,731.0,-6.0,365,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3417
$GC,7874,-1.08,-146.6,757.2,-11.3,380,7878,0.00,2.62,0.00,0.000,4,0.000,0.064,2170,980,3417
$GC,8115,-1.08,-146.6,776.8,-9.6,391,8119,0.00,2.60,0.00,0.000,6,0.000,0.054,2170,2405,3417
$GC,8440,-1.08,-146.6,807.4,-9.7,407,8444,0.00,2.60,0.00,0.000,4,0.000,0.084,2170,3769,3417
$GC,8533,-1.08,-146.6,819.6,-14.2,411,8538,0.00,2.53,0.00,0.000,6,0.000,0.059,2170,2409,3417
$GC,8854,-1.08,-146.6,855.5,-8.4,427,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2409,3417
$STATE,9162,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9162,begin apogee
$GC,9167,-0.31,0.0,869.4,5.4,442,9293,0.85,0.00,123.35,1.284,6,0.117,0.000,2338,2202,2818
$STATE,9294,end apogee,CONTROL_FINISHED_OK
$STATE,9294,begin climb
$GC,9295,1.08,146.6,871.3,0.0,448,9427,1.45,2.83,121.15,1.257,4,0.074,0.079,2645,785,2218
$GC,9679,1.08,146.6,843.4,12.2,465,9686,0.00,2.67,0.00,0.000,6,0.000,0.060,2645,2196,2216
$GC,9995,1.14,202.4,824.7,6.0,481,10048,0.00,2.83,45.97,1.238,4,0.000,0.089,2645,3616,1991
$GC,10070,1.14,202.4,818.7,8.3,484,10077,0.00,2.78,0.00,0.000,6,0.000,0.074,2645,2201,1990
$GC,10385,1.14,202.4,786.5,13.0,500,10386,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2201,1988
$GC,10694,1.14,202.4,756.7,14.3,515,10699,0.00,2.75,0.00,0.000,4,0.000,0.087,2645,3613,1984
$GC,10737,1.14,202.4,751.0,12.4,517,10742,0.00,2.70,0.00,0.000,6,0.000,0.067,2645,2199,1984
$GC,11064,1.14,202.4,720.1,10.1,533,11065,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2199,1982
$GC,11373,1.14,202.4,692.8,9.0,548,11374,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2199,1982
$GC,11682,1.14,202.4,665.6,8.4,563,11687,0.00,2.65,0.00,0.000,4,0.000,0.072,2645,3616,1982
$GC,11744,1.14,202.4,660.2,8.9,566,11748,0.00,2.60,0.00,0.000,6,0.000,0.054,2645,2197,1982
$GC,12069,1.14,202.4,631.1,8.9,582,12070,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2197,1982
$GC,12378,1.14,202.4,602.5,9.8,597,12382,0.00,2.65,0.00,0.000,4,0.000,0.070,2645,3619,1983
$GC,12461,1.14,202.4,593.8,10.7,601,12466,0.00,2.60,0.00,0.000,6,0.000,0.053,2645,2197,1983
$GC,12787,1.14,202.4,558.1,12.0,617,12791,0.00,2.65,0.00,0.000,4,0.000,0.069,2645,3625,1983
$GC,12852,1.14,202.4,549.4,13.1,620,12857,0.00,2.62,0.00,0.000,6,0.000,0.053,2645,2200,1983
$GC,13179,1.14,202.4,508.2,12.6,636,13183,0.00,2.62,0.00,0.000,4,0.000,0.067,2645,788,1984
$GC,13217,1.14,202.4,503.3,13.0,638,13221,0.00,2.55,0.00,0.000,6,0.000,0.044,2645,2206,1984
$GC,13542,1.14,202.4,463.6,12.0,654,13544,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,1984
$GC,13852,1.14,202.4,428.0,11.7,669,13856,0.00,2.62,0.00,0.000,4,0.000,0.061,2645,783,1985
$GC,13894,1.14,202.4,422.7,11.6,671,13899,0.00,2.58,0.00,0.000,6,0.000,0.044,2645,2200,1985
$GC,14221,1.14,202.4,384.6,11.4,687,14222,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2199,1986
$GC,14531,1.14,202.4,351.4,10.3,702,14532,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2199,1987
$GC,14840,1.14,202.4,321.9,9.5,717,14844,0.00,2.62,0.00,0.000,4,0.000,0.068,2645,3619,1988
$GC,14882,1.14,202.4,317.5,10.3,719,14887,0.00,2.60,0.00,0.000,6,0.000,0.053,2645,2207,1988
$GC,15209,1.14,202.4,285.8,9.8,735,15210,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2208,1988
$GC,15518,1.14,202.4,256.6,9.3,750,15519,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2208,1988
$GC,15827,1.14,202.4,226.0,9.6,765,15832,0.00,2.62,0.00,0.000,4,0.000,0.063,2645,782,1988
$GC,15876,1.14,202.4,221.2,10.1,767,15881,0.00,2.58,0.00,0.000,6,0.000,0.044,2645,2201,1989
$GC,16197,1.14,202.4,190.9,9.6,783,16202,0.00,2.60,0.00,0.000,4,0.000,0.068,2645,3611,1989
$GC,16252,1.14,202.4,185.4,9.1,785,16259,0.00,2.60,0.00,0.000,6,0.000,0.054,2645,2201,1990
$GC,16568,1.14,202.4,157.7,8.8,801,16569,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2202,1990
$GC,16877,1.16,216.0,133.9,7.5,816,16891,0.00,0.00,12.10,0.693,6,0.000,0.000,2645,2202,1935
$GC,17187,1.18,233.5,113.9,7.4,831,17209,0.00,2.67,15.25,0.695,4,0.000,0.067,2645,3613,1863
$GC,17242,1.18,233.5,108.9,9.1,833,17246,0.00,2.62,0.00,0.000,6,0.000,0.054,2645,2206,1863
$GC,17563,1.18,233.5,77.6,11.1,849,17564,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,1863
$GC,17872,1.18,233.5,40.6,12.7,864,17873,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,1864
$GC,18182,1.18,233.5,5.5,10.2,879,18183,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,1864
$STATE,18222,end climb,SURFACE_DEPTH_REACHED
$STATE,18222,begin surface coast
$FINISH,0.9,1.027912
$STATE,18243,end surface coast,CONTROL_FINISHED_OK
$STATE,18244,begin surface
$SM_CCo,18262,42.45,0.598,3,0,1594,300.00
$SM_GC,1.86,0.00,0.00,42.45,0.000,0.000,0.598,74,2399,1594,-10.74,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2089
$TCM_TEMP,17.50
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,775.2,102.5
$24V_AH,23.5,15.236
$10V_AH,10.2,6.480
$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,25.150,141.425,317.825,42.450,0.000,32.589,29.296,110.899,13.500,0.000,0.000,15.741,1626.369,14137.370,516.023,2015.945,281.518,33.360,1501.135,0.000,1971.886,0.000,46.257
$DEVICE_MAMPS,169.507,92.040,1283.958,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,617.750,632.419,514.313,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44291,882
$CFSIZE,260165632,255414272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,3,0
$GPS,221107,202426,6141.640,-919.742,38,1.9,38,-9.5