version: 66.02
glider: 16
mission: 6
dive: 64
start: 11 23 107 1 0 45
data:
$ID,16
$MISSION,6
$DIVE,64
$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,-2076433.8
$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,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
$GPS1,005537,6139.152,-920.556,42,1.2,47,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-60.1
$GPS2,005957,6139.139,-920.554,16,1.2,16,-9.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.081,-0.232
$KALMAN_X,1723.0,-435.4,-350.0,-14058.8,-1895.2
$KALMAN_Y,88914.4,194.5,-606.7,-86743.9,5527.3
$MHEAD_RNG_PITCHd_Wd,170.3,39873,-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,-146.6,0.0,0.0,0,82,0.00,0.00,-62.20,0.000,2,0.000,0.000,70,2402,3260
$GC,84,-1.08,-146.6,4.9,-7.4,3,107,11.65,2.55,-3.20,0.000,4,0.167,0.081,2170,3766,3419
$GC,358,-1.08,-146.6,45.8,-12.5,15,363,0.00,2.47,0.00,0.000,6,0.000,0.047,2170,2405,3419
$GC,685,-1.08,-146.6,81.4,-10.4,31,689,0.00,2.55,0.00,0.000,4,0.000,0.070,2170,3769,3419
$GC,739,-1.08,-146.6,87.5,-11.1,33,746,0.00,2.50,0.00,0.000,6,0.000,0.048,2170,2398,3419
$GC,1055,-1.08,-146.6,115.0,-7.4,49,1059,0.00,2.60,0.00,0.000,4,0.000,0.064,2169,985,3419
$GC,1116,-1.08,-146.6,119.8,-8.1,52,1120,0.00,2.58,0.00,0.000,6,0.000,0.051,2169,2398,3419
$GC,1441,-1.08,-146.6,144.5,-7.8,68,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2398,3419
$GC,1750,-1.08,-146.6,170.0,-8.4,83,1754,0.00,2.60,0.00,0.000,4,0.000,0.064,2170,985,3419
$GC,1821,-1.08,-146.6,175.8,-7.4,86,1825,0.00,2.55,0.00,0.000,6,0.000,0.052,2170,2400,3419
$GC,2142,-1.08,-146.6,199.1,-7.1,102,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3419
$GC,2451,-1.08,-146.6,221.4,-7.7,117,2455,0.00,2.60,0.00,0.000,4,0.000,0.064,2168,985,3419
$GC,2512,-1.08,-146.6,225.8,-7.5,120,2516,0.00,2.55,0.00,0.000,6,0.000,0.052,2169,2400,3419
$GC,2837,-1.08,-146.6,252.7,-8.4,136,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3419
$GC,3147,-1.08,-146.6,278.2,-7.9,151,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3419
$GC,3456,-1.08,-146.6,301.7,-7.8,166,3460,0.00,2.60,0.00,0.000,4,0.000,0.063,2170,985,3419
$GC,3517,-1.08,-146.6,306.8,-7.9,169,3521,0.00,2.58,0.00,0.000,6,0.000,0.053,2170,2400,3419
$GC,3842,-1.08,-146.6,335.7,-9.3,185,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3419
$GC,4151,-1.08,-146.6,366.0,-9.9,200,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3419
$GC,4460,-1.08,-146.6,398.5,-10.7,215,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3419
$GC,4770,-1.08,-146.6,433.7,-11.8,230,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3419
$GC,5079,-1.08,-146.6,468.0,-10.5,245,5083,0.00,2.60,0.00,0.000,4,0.000,0.061,2170,982,3419
$GC,5127,-1.08,-146.6,472.9,-9.3,247,5132,0.00,2.58,0.00,0.000,6,0.000,0.051,2170,2391,3419
$GC,5448,-1.08,-146.6,505.2,-10.8,263,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2391,3419
$GC,5758,-1.08,-146.6,537.8,-10.7,278,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2392,3419
$GC,6067,-1.08,-146.6,566.5,-8.7,293,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2392,3419
$GC,6376,-1.08,-146.6,595.1,-9.7,308,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2392,3419
$GC,6685,-1.08,-146.6,624.5,-8.0,323,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2392,3419
$GC,6995,-1.08,-146.6,652.3,-8.1,338,6999,0.00,2.60,0.00,0.000,4,0.000,0.062,2170,978,3418
$GC,7078,-1.08,-146.6,659.5,-8.3,342,7083,0.00,2.58,0.00,0.000,6,0.000,0.049,2170,2405,3418
$GC,7404,-1.08,-146.6,690.5,-11.8,358,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2405,3418
$GC,7713,-1.08,-146.6,721.5,-8.8,373,7717,0.00,2.60,0.00,0.000,4,0.000,0.061,2170,980,3418
$GC,7795,-1.08,-146.6,728.6,-8.3,376,7802,0.00,2.60,0.00,0.000,6,0.000,0.051,2169,2400,3418
$GC,8111,-1.08,-146.6,755.9,-9.6,392,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3418
$GC,8420,-1.08,-146.6,785.4,-9.2,407,8424,0.00,2.58,0.00,0.000,4,0.000,0.061,2170,983,3418
$GC,8525,-1.08,-146.6,794.4,-8.5,411,8532,0.00,2.60,0.00,0.000,6,0.000,0.052,2170,2398,3418
$GC,8840,-1.08,-146.6,823.0,-10.9,427,8845,0.00,2.60,0.00,0.000,4,0.000,0.062,2170,981,3418
$GC,8906,-1.08,-146.6,828.8,-9.4,430,8911,0.00,2.60,0.00,0.000,6,0.000,0.053,2170,2392,3418
$GC,9234,-1.08,-146.6,852.7,-6.6,446,9238,0.00,2.62,0.00,0.000,4,0.000,0.087,2170,3768,3418
$GC,9361,-1.08,-146.6,864.6,-11.6,452,9366,0.00,2.53,0.00,0.000,6,0.000,0.061,2170,2397,3418
$STATE,9500,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9500,begin apogee
$GC,9505,-0.31,0.0,875.1,8.0,459,9632,0.82,0.00,123.53,1.261,6,0.101,0.000,2338,2189,2817
$STATE,9632,end apogee,CONTROL_FINISHED_OK
$STATE,9632,begin climb
$GC,9634,1.08,146.6,882.2,0.0,465,9766,1.50,2.85,121.32,1.242,4,0.091,0.087,2642,3617,2219
$GC,9843,1.08,146.6,869.7,23.5,475,9848,0.00,2.72,0.00,0.000,6,0.000,0.072,2642,2213,2219
$GC,10164,1.08,146.6,840.5,8.2,491,10169,0.00,2.72,0.00,0.000,4,0.000,0.091,2642,3611,2217
$GC,10399,1.19,240.6,821.7,4.6,501,10482,0.12,2.70,76.60,1.237,6,0.058,0.074,2676,2196,1835
$GC,10789,1.19,240.6,792.0,8.1,520,10790,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2196,1830
$GC,11099,1.19,240.6,764.4,8.4,535,11103,0.00,2.67,0.00,0.000,4,0.000,0.074,2676,779,1828
$GC,11137,1.19,240.6,761.1,8.7,537,11141,0.00,2.60,0.00,0.000,6,0.000,0.050,2677,2201,1828
$GC,11462,1.19,240.6,728.7,10.3,553,11466,0.00,2.65,0.00,0.000,4,0.000,0.074,2677,3614,1828
$GC,11487,1.19,240.6,725.7,11.5,554,11492,0.00,2.65,0.00,0.000,6,0.000,0.057,2677,2197,1828
$GC,11809,1.19,240.6,689.2,12.1,570,11810,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2197,1827
$GC,12118,1.19,240.6,653.9,10.7,585,12122,0.00,2.62,0.00,0.000,4,0.000,0.068,2676,786,1828
$GC,12160,1.19,240.6,649.1,10.8,587,12165,0.00,2.60,0.00,0.000,6,0.000,0.047,2677,2204,1828
$GC,12487,1.19,240.6,609.6,11.5,603,12488,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2204,1828
$GC,12796,1.19,240.6,578.3,8.8,618,12798,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2204,1829
$GC,13106,1.19,240.6,552.7,9.0,633,13107,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2204,1829
$GC,13415,1.19,240.6,524.4,8.9,648,13416,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2204,1830
$GC,13724,1.19,240.6,496.6,9.9,663,13725,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2204,1830
$GC,14033,1.19,240.6,466.8,9.6,678,14035,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2204,1831
$GC,14343,1.19,240.6,438.2,9.5,693,14347,0.00,2.62,0.00,0.000,4,0.000,0.062,2676,783,1831
$GC,14374,1.19,240.6,434.7,9.9,694,14381,0.00,2.58,0.00,0.000,6,0.000,0.044,2677,2204,1831
$GC,14690,1.19,240.6,399.1,11.0,710,14691,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2204,1832
$GC,14999,1.19,240.6,366.3,10.2,725,15000,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2204,1833
$GC,15308,1.19,240.6,335.9,9.6,740,15309,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2204,1833
$GC,15618,1.19,244.4,309.6,7.9,755,15627,0.00,2.62,4.32,0.593,4,0.000,0.062,2677,782,1820
$GC,15654,1.19,244.4,306.6,8.0,756,15661,0.00,2.58,0.00,0.000,6,0.000,0.044,2676,2196,1820
$GC,15970,1.19,247.4,281.7,7.9,772,15976,0.00,0.00,4.30,0.584,6,0.000,0.000,2677,2196,1808
$GC,16279,1.20,251.7,256.4,7.8,787,16286,0.00,0.00,5.25,0.632,6,0.000,0.000,2677,2196,1790
$GC,16588,1.23,282.0,235.1,6.9,802,16615,0.00,0.00,24.92,0.801,6,0.000,0.000,2676,2198,1667
$GC,16917,1.23,282.0,208.5,8.3,818,16918,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2196,1666
$GC,17226,1.23,282.0,180.4,10.1,833,17231,0.00,2.60,0.00,0.000,4,0.000,0.061,2676,784,1666
$GC,17277,1.23,282.0,175.2,10.7,835,17281,0.00,2.55,0.00,0.000,6,0.000,0.044,2677,2205,1666
$GC,17597,1.23,282.0,140.2,11.0,851,17598,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2205,1666
$GC,17906,1.23,282.0,104.9,12.0,866,17910,0.00,2.62,0.00,0.000,4,0.000,0.060,2676,779,1666
$GC,17932,1.23,282.0,101.4,13.0,867,17936,0.00,2.58,0.00,0.000,6,0.000,0.043,2677,2203,1666
$GC,18253,1.23,282.0,61.5,13.5,883,18254,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2203,1666
$GC,18562,1.23,282.0,20.8,12.3,898,18566,0.00,2.60,0.00,0.000,4,0.000,0.058,2676,783,1666
$GC,18582,1.23,282.0,18.9,9.7,899,18587,0.00,2.55,0.00,0.000,6,0.000,0.042,2677,2197,1666
$STATE,18722,end climb,SURFACE_DEPTH_REACHED
$STATE,18723,begin surface coast
$FINISH,0.8,1.027173
$STATE,18744,end surface coast,CONTROL_FINISHED_OK
$STATE,18744,begin surface
$SM_CCo,18762,15.98,0.534,2,0,1594,300.25
$SM_GC,1.62,0.00,0.00,15.98,0.000,0.000,0.534,72,2399,1594,-10.75,0.00,300.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2093
$TCM_TEMP,17.40
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,775.9,106.6
$24V_AH,23.5,15.514
$10V_AH,10.2,6.629
$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,25.400,115.275,360.250,15.975,0.000,32.588,30.986,114.179,10.750,0.000,0.000,16.128,1620.219,14724.825,504.685,1917.667,285.472,33.351,1442.689,0.000,1872.677,0.000,46.266
$DEVICE_MAMPS,167.206,91.273,1260.948,533.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,638.357,646.968,493.698,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47374,907
$CFSIZE,260165632,255299584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,231107,061508,6138.051,-920.838,42,1.9,42,-9.5