version: 66.02
glider: 16
mission: 6
dive: 63
start: 11 22 107 20 30 9
data:
$ID,16
$MISSION,6
$DIVE,63
$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,-2076417
$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,17
$R_STBD_OVSHOOT,19
$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
$GPS1,202426,6141.640,-919.742,38,1.9,38,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-61.8
$GPS2,202922,6141.633,-919.724,12,4.0,31,-9.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.089,-0.229
$KALMAN_X,4384.4,-619.0,193.1,-16346.7,-2019.2
$KALMAN_Y,87548.4,82.6,188.9,-81490.6,5247.3
$MHEAD_RNG_PITCHd_Wd,168.3,43729,-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,17,begin dive
$GC,18,-1.08,-146.6,0.0,0.0,0,82,0.00,0.00,-62.00,0.000,2,0.000,0.000,74,2400,3286
$GC,84,-1.08,-146.6,5.0,-7.9,3,107,11.75,2.58,-2.60,0.000,4,0.172,0.081,2167,3772,3418
$GC,358,-1.08,-146.6,39.5,-10.1,15,363,0.00,2.53,0.00,0.000,6,0.000,0.049,2167,2396,3418
$GC,685,-1.08,-146.6,70.8,-9.3,31,689,0.00,2.58,0.00,0.000,4,0.000,0.071,2167,3766,3417
$GC,862,-1.08,-146.6,86.5,-9.6,39,867,0.00,2.50,0.00,0.000,6,0.000,0.050,2167,2403,3418
$GC,1191,-1.08,-146.6,117.9,-10.1,55,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2403,3417
$GC,1498,-1.08,-146.6,152.6,-8.9,70,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2402,3418
$GC,1807,-1.08,-146.6,182.1,-9.8,85,1812,0.00,2.62,0.00,0.000,4,0.000,0.066,2167,984,3418
$GC,1856,-1.08,-146.6,187.0,-9.7,87,1861,0.00,2.60,0.00,0.000,6,0.000,0.052,2167,2393,3418
$GC,2177,-1.08,-146.6,218.8,-10.1,103,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2393,3418
$GC,2486,-1.08,-146.6,247.7,-8.8,118,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2393,3418
$GC,2797,-1.08,-146.6,275.8,-9.9,133,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2393,3418
$GC,3105,-1.08,-146.6,305.4,-9.5,148,3109,0.00,2.62,0.00,0.000,4,0.000,0.064,2167,979,3418
$GC,3176,-1.08,-146.6,312.3,-9.2,151,3181,0.00,2.62,0.00,0.000,6,0.000,0.053,2167,2400,3418
$GC,3497,-1.08,-146.6,341.4,-8.9,167,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3418
$GC,3807,-1.08,-146.6,368.1,-8.8,182,3811,0.00,2.62,0.00,0.000,4,0.000,0.064,2167,980,3418
$GC,3872,-1.08,-146.6,374.1,-8.9,185,3876,0.00,2.58,0.00,0.000,6,0.000,0.052,2167,2393,3418
$GC,4199,-1.08,-146.6,403.6,-8.7,201,4203,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,983,3418
$GC,4247,-1.08,-146.6,408.1,-8.7,203,4252,0.00,2.60,0.00,0.000,6,0.000,0.052,2167,2398,3418
$GC,4568,-1.08,-146.6,437.7,-9.4,219,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2398,3418
$GC,4877,-1.08,-146.6,467.7,-10.0,234,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2398,3418
$GC,5187,-1.08,-146.6,499.3,-10.7,249,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2398,3418
$GC,5496,-1.08,-146.6,528.6,-10.7,264,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2398,3418
$GC,5805,-1.08,-146.6,563.4,-11.6,279,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2398,3418
$GC,6115,-1.08,-146.6,597.5,-11.4,294,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2398,3418
$GC,6424,-1.08,-146.6,635.6,-11.7,309,6428,0.00,2.55,0.00,0.000,4,0.000,0.073,2167,3766,3418
$GC,6501,-1.08,-146.6,646.1,-13.6,312,6507,0.00,2.47,0.00,0.000,6,0.000,0.048,2167,2399,3418
$GC,6816,-1.08,-146.6,685.4,-11.2,328,6820,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,987,3418
$GC,6914,-1.08,-146.6,696.2,-11.4,332,6922,0.00,2.60,0.00,0.000,6,0.000,0.052,2168,2400,3418
$GC,7230,-1.08,-146.6,724.2,-8.4,348,7234,0.00,2.55,0.00,0.000,4,0.000,0.074,2167,3767,3418
$GC,7346,-1.08,-146.6,739.0,-13.6,353,7351,0.00,2.47,0.00,0.000,6,0.000,0.049,2167,2403,3418
$GC,7668,-1.08,-146.6,766.9,-5.7,369,7672,0.00,2.58,0.00,0.000,4,0.000,0.079,2167,3766,3418
$GC,7887,-1.08,-146.6,779.8,-6.1,379,7891,0.00,2.50,0.00,0.000,6,0.000,0.058,2167,2400,3419
$GC,8212,-1.08,-146.6,818.1,-14.2,395,8216,0.00,2.65,0.00,0.000,4,0.000,0.077,2167,985,3419
$GC,8417,-1.08,-146.6,837.6,-10.4,404,8422,0.00,2.67,0.00,0.000,6,0.000,0.068,2167,2395,3419
$STATE,8572,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8572,begin apogee
$GC,8576,-0.31,0.0,857.0,15.5,412,8703,0.85,0.00,123.53,1.269,6,0.103,0.000,2341,2197,2817
$STATE,8704,end apogee,CONTROL_FINISHED_OK
$STATE,8704,begin climb
$GC,8705,1.08,146.6,860.8,0.0,418,8835,1.48,2.88,121.65,1.242,4,0.096,0.094,2640,3606,2219
$GC,8862,1.20,248.6,854.1,4.3,425,8952,0.10,2.75,83.57,1.226,6,0.044,0.079,2674,2207,1803
$GC,9259,1.25,302.3,816.6,6.1,445,9306,0.00,0.00,44.90,1.212,6,0.000,0.000,2674,2207,1584
$GC,9608,1.25,302.3,783.0,16.1,462,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,1582
$GC,9918,1.25,302.3,715.7,21.0,477,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,1578
$GC,10227,1.25,302.3,659.8,16.1,492,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,1577
$GC,10536,1.25,302.3,610.9,14.2,507,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,1576
$GC,10846,1.25,302.3,564.4,16.0,522,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,1577
$GC,11155,1.25,302.3,522.8,12.8,537,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2206,1577
$GC,11464,1.25,302.3,483.3,12.7,552,11468,0.00,2.65,0.00,0.000,4,0.000,0.073,2674,3622,1579
$GC,11509,1.25,302.3,477.5,13.2,554,11513,0.00,2.60,0.00,0.000,6,0.000,0.055,2674,2195,1578
$GC,11828,1.25,302.3,438.7,11.4,570,11832,0.00,2.62,0.00,0.000,4,0.000,0.067,2675,786,1580
$GC,11859,1.25,302.3,434.9,11.5,571,11866,0.00,2.60,0.00,0.000,6,0.000,0.046,2675,2206,1580
$GC,12175,1.25,302.3,399.1,10.7,587,12176,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2206,1581
$GC,12484,1.25,302.3,368.5,9.9,602,12488,0.00,2.62,0.00,0.000,4,0.000,0.064,2674,786,1580
$GC,12510,1.25,302.3,365.8,10.4,603,12515,0.00,2.58,0.00,0.000,6,0.000,0.044,2674,2203,1580
$GC,12836,1.25,302.3,333.4,9.5,619,12838,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2203,1581
$GC,13146,1.25,302.3,297.8,11.2,634,13150,0.00,2.62,0.00,0.000,4,0.000,0.062,2675,781,1582
$GC,13184,1.25,302.3,293.0,12.3,636,13188,0.00,2.55,0.00,0.000,6,0.000,0.044,2674,2201,1582
$GC,13509,1.25,302.3,252.8,12.3,652,13510,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2201,1582
$GC,13818,1.25,302.3,221.0,9.0,667,13819,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,1583
$GC,14127,1.25,302.3,191.2,10.0,682,14131,0.00,2.60,0.00,0.000,4,0.000,0.061,2675,784,1583
$GC,14159,1.25,302.3,187.7,10.6,683,14164,0.00,2.58,0.00,0.000,6,0.000,0.044,2675,2204,1583
$GC,14480,1.25,302.3,154.1,11.4,699,14482,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2204,1584
$GC,14790,1.25,302.3,116.0,12.9,714,14795,0.00,2.62,0.00,0.000,4,0.000,0.061,2674,779,1584
$GC,14829,1.25,302.3,110.7,13.2,716,14833,0.00,2.55,0.00,0.000,6,0.000,0.043,2675,2206,1584
$GC,15155,1.25,302.3,66.9,11.2,732,15156,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2206,1584
$GC,15464,1.25,302.3,34.6,10.8,747,15468,0.00,2.60,0.00,0.000,4,0.000,0.059,2675,784,1584
$GC,15506,1.25,302.3,28.7,13.4,749,15511,0.00,2.55,0.00,0.000,6,0.000,0.043,2675,2196,1585
$STATE,15751,end climb,SURFACE_DEPTH_REACHED
$STATE,15751,begin surface coast
$FINISH,0.9,1.027372
$STATE,15771,end surface coast,CONTROL_FINISHED_OK
$STATE,15771,begin surface
$SM_CCo,15850,0.00,0.000,0,0,1585,302.70
$SM_GC,1.60,11.48,0.00,0.00,0.048,0.000,0.000,71,2401,1585,-10.70,0.03,302.70
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2112
$TCM_TEMP,17.50
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,775.1,91.4
$24V_AH,23.5,15.379
$10V_AH,10.2,6.550
$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,25.650,99.425,373.650,0.000,0.000,32.585,26.173,131.659,11.000,0.000,0.000,32.785,1381.076,12299.362,487.341,1685.743,290.550,33.361,1299.281,0.000,1629.897,0.000,46.221
$DEVICE_MAMPS,171.808,94.341,1268.618,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,537.165,544.758,442.061,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38008,762
$CFSIZE,260165632,255373312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,231107,005537,6139.152,-920.556,42,1.2,47,-9.5