version: 66.02
glider: 16
mission: 6
dive: 66
start: 11 23 107 11 34 27
data:
$ID,16
$MISSION,6
$DIVE,66
$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,-2076462.6
$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,17
$R_STBD_OVSHOOT,16
$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
$GPS1,112857,6137.973,-918.847,35,3.0,54,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-52.2
$GPS2,113339,6137.983,-918.864,14,1.8,15,-9.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.149,-0.195
$KALMAN_X,-4921.9,682.5,21.2,-7431.9,-5797.5
$KALMAN_Y,96914.3,-718.1,-644.9,-95951.9,9088.0
$MHEAD_RNG_PITCHd_Wd,152.1,37284,-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,-146.6,0.0,0.0,0,83,0.00,0.00,-62.33,0.000,2,0.000,0.000,73,2406,3261
$GC,85,-1.08,-146.6,4.6,-7.5,3,108,11.65,2.55,-3.28,0.000,4,0.167,0.081,2170,3769,3417
$GC,287,-1.08,-146.6,29.5,-8.9,12,292,0.00,2.47,0.00,0.000,6,0.000,0.047,2170,2393,3418
$GC,615,-1.08,-146.6,70.5,-16.5,28,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2393,3418
$GC,923,-1.08,-146.6,106.0,-12.3,43,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2393,3418
$GC,1232,-1.08,-146.6,139.4,-8.9,58,1236,0.00,2.60,0.00,0.000,4,0.000,0.064,2170,983,3417
$GC,1274,-1.08,-146.6,143.2,-8.3,60,1279,0.00,2.60,0.00,0.000,6,0.000,0.051,2170,2395,3418
$GC,1603,-1.08,-146.6,175.2,-12.0,76,1607,0.00,2.58,0.00,0.000,4,0.000,0.071,2170,3773,3418
$GC,1640,-1.08,-146.6,180.0,-12.4,78,1645,0.00,2.47,0.00,0.000,6,0.000,0.048,2170,2398,3418
$GC,1966,-1.08,-146.6,214.7,-10.5,94,1970,0.00,2.60,0.00,0.000,4,0.000,0.065,2170,982,3418
$GC,2009,-1.08,-146.6,219.7,-11.4,96,2014,0.00,2.60,0.00,0.000,6,0.000,0.052,2170,2392,3418
$GC,2336,-1.08,-146.6,254.6,-10.5,112,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2392,3418
$GC,2645,-1.08,-146.6,286.2,-10.3,127,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2392,3418
$GC,2955,-1.08,-146.6,322.6,-12.2,142,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2392,3418
$GC,3264,-1.08,-146.6,359.4,-11.5,157,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2392,3418
$GC,3573,-1.08,-146.6,395.3,-11.6,172,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2392,3418
$GC,3882,-1.08,-146.6,429.7,-11.6,187,3887,0.00,2.60,0.00,0.000,4,0.000,0.063,2170,982,3419
$GC,3937,-1.08,-146.6,435.9,-10.9,189,3944,0.00,2.60,0.00,0.000,6,0.000,0.051,2170,2400,3418
$GC,4252,-1.08,-146.6,468.7,-9.7,205,4256,0.00,2.53,0.00,0.000,4,0.000,0.073,2170,3767,3419
$GC,4297,-1.08,-146.6,473.1,-10.0,207,4301,0.00,2.45,0.00,0.000,6,0.000,0.048,2170,2400,3419
$GC,4622,-1.08,-146.6,502.3,-8.6,223,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2399,3419
$GC,4931,-1.08,-146.6,531.0,-9.5,238,4936,0.00,2.60,0.00,0.000,4,0.000,0.064,2170,985,3419
$GC,4993,-1.08,-146.6,536.8,-9.2,241,4997,0.00,2.58,0.00,0.000,6,0.000,0.052,2169,2401,3418
$GC,5318,-1.08,-146.6,567.8,-9.2,257,5322,0.00,2.55,0.00,0.000,4,0.000,0.074,2170,3767,3419
$GC,5394,-1.08,-146.6,575.9,-10.5,260,5402,0.00,2.47,0.00,0.000,6,0.000,0.049,2170,2407,3419
$GC,5710,-1.08,-146.6,603.7,-8.1,276,5715,0.00,2.62,0.00,0.000,4,0.000,0.065,2170,983,3419
$GC,5749,-1.08,-146.6,607.0,-8.5,278,5753,0.00,2.58,0.00,0.000,6,0.000,0.052,2170,2401,3419
$GC,6074,-1.08,-146.6,634.8,-8.4,294,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2401,3419
$GC,6384,-1.08,-146.6,659.8,-8.5,309,6388,0.00,2.60,0.00,0.000,4,0.000,0.064,2170,986,3419
$GC,6422,-1.08,-146.6,662.9,-7.9,311,6427,0.00,2.58,0.00,0.000,6,0.000,0.053,2170,2402,3419
$GC,6748,-1.08,-146.6,691.6,-9.1,327,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2401,3419
$GC,7057,-1.08,-146.6,722.8,-11.3,342,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2401,3419
$GC,7366,-1.08,-146.6,753.6,-9.0,357,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2401,3419
$GC,7676,-1.08,-146.6,781.0,-7.9,372,7681,0.00,2.60,0.00,0.000,4,0.000,0.064,2170,985,3419
$GC,7753,-1.08,-146.6,787.2,-8.5,375,7760,0.00,2.60,0.00,0.000,6,0.000,0.054,2170,2395,3419
$GC,8069,-1.08,-146.6,811.8,-7.7,391,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2395,3419
$GC,8378,-1.08,-146.6,839.0,-9.1,406,8383,0.00,2.60,0.00,0.000,4,0.000,0.086,2170,3765,3419
$STATE,8471,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8471,begin apogee
$GC,8478,-0.31,0.0,847.5,8.6,410,8609,0.80,0.00,123.57,1.236,6,0.107,0.000,2334,2202,2817
$STATE,8609,end apogee,CONTROL_FINISHED_OK
$STATE,8610,begin climb
$GC,8611,1.08,146.6,850.9,0.0,417,8742,1.45,2.80,121.12,1.210,4,0.084,0.081,2637,794,2219
$GC,8904,1.08,146.6,835.0,9.9,430,8911,0.00,2.65,0.00,0.000,6,0.000,0.057,2636,2195,2218
$GC,9220,1.08,146.6,809.9,9.8,446,9224,0.00,2.75,0.00,0.000,4,0.000,0.088,2637,3616,2216
$GC,9313,1.08,146.6,800.8,9.2,450,9317,0.00,2.70,0.00,0.000,6,0.000,0.069,2637,2205,2216
$GC,9635,1.16,217.1,781.5,5.4,466,9700,0.12,2.83,57.12,1.199,4,0.054,0.075,2672,784,1931
$GC,9762,1.16,219.7,772.2,7.9,472,9767,0.00,2.62,0.00,0.000,6,0.000,0.052,2672,2204,1929
$GC,10088,1.20,250.3,748.7,6.9,488,10122,0.00,2.75,28.00,1.147,4,0.000,0.066,2672,782,1796
$GC,10167,1.21,262.1,743.0,7.6,491,10183,0.00,2.60,10.93,1.041,6,0.000,0.049,2672,2201,1749
$GC,10497,1.21,262.1,714.1,9.6,508,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,1748
$GC,10806,1.21,262.1,680.8,10.4,523,10807,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,1748
$GC,11115,1.21,262.1,648.7,10.8,538,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,1748
$GC,11425,1.21,262.1,616.0,10.4,553,11429,0.00,2.65,0.00,0.000,4,0.000,0.064,2672,781,1748
$GC,11467,1.21,262.1,611.1,11.7,555,11472,0.00,2.60,0.00,0.000,6,0.000,0.045,2672,2203,1748
$GC,11795,1.21,262.1,578.6,10.0,571,11796,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2203,1748
$GC,12104,1.21,262.1,546.4,10.9,586,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2203,1748
$GC,12413,1.21,262.1,510.9,11.4,601,12417,0.00,2.62,0.00,0.000,4,0.000,0.064,2672,781,1748
$GC,12451,1.21,262.1,506.3,11.9,603,12455,0.00,2.55,0.00,0.000,6,0.000,0.044,2673,2201,1748
$GC,12776,1.21,262.1,467.7,11.4,619,12781,0.00,2.62,0.00,0.000,4,0.000,0.068,2672,3620,1748
$GC,12815,1.21,262.1,463.4,11.6,621,12820,0.00,2.60,0.00,0.000,6,0.000,0.057,2672,2197,1748
$GC,13140,1.21,262.1,428.5,10.5,637,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,1748
$GC,13449,1.21,262.1,393.7,11.7,652,13453,0.00,2.62,0.00,0.000,4,0.000,0.066,2672,778,1749
$GC,13498,1.21,262.1,387.8,11.2,654,13503,0.00,2.58,0.00,0.000,6,0.000,0.044,2672,2197,1749
$GC,13819,1.21,262.1,348.7,12.9,670,13820,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2196,1750
$GC,14128,1.21,262.1,308.2,13.2,685,14132,0.00,2.60,0.00,0.000,4,0.000,0.063,2672,784,1750
$GC,14160,1.21,262.1,303.6,13.6,686,14167,0.00,2.58,0.00,0.000,6,0.000,0.044,2673,2201,1750
$GC,14476,1.21,262.1,258.6,14.0,702,14477,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,1751
$GC,14785,1.21,262.1,214.4,14.4,717,14786,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,1751
$GC,15094,1.21,262.1,172.1,13.3,732,15098,0.00,2.60,0.00,0.000,4,0.000,0.061,2672,783,1751
$GC,15133,1.21,262.1,166.3,15.1,734,15137,0.00,2.53,0.00,0.000,6,0.000,0.044,2672,2201,1751
$GC,15458,1.21,262.1,125.3,12.9,750,15459,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,1752
$GC,15768,1.24,293.2,97.7,6.9,765,15799,0.00,2.67,26.15,0.714,4,0.000,0.067,2673,3617,1620
$GC,15827,1.24,293.2,92.3,8.9,768,15832,0.00,2.62,0.00,0.000,6,0.000,0.056,2672,2200,1620
$GC,16153,1.24,293.2,50.4,13.4,784,16154,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,1620
$GC,16462,1.24,293.2,8.2,15.7,799,16464,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,1620
$STATE,16523,end climb,SURFACE_DEPTH_REACHED
$STATE,16523,begin surface coast
$FINISH,0.7,1.013863
$STATE,16545,end surface coast,CONTROL_FINISHED_OK
$STATE,16545,begin surface
$SM_CCo,16563,5.15,0.517,0,0,1593,300.00
$SM_GC,1.87,0.00,0.00,5.15,0.000,0.000,0.517,66,2405,1593,-10.78,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2099
$TCM_TEMP,17.40
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,751.6,105.8
$24V_AH,23.5,15.778
$10V_AH,10.2,6.781
$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,25.325,120.500,366.900,5.150,0.000,32.615,26.857,135.719,9.250,0.000,0.000,15.010,1449.750,12892.365,480.304,1728.426,301.408,33.360,1348.528,0.000,1687.596,0.000,44.636
$DEVICE_MAMPS,167.206,88.205,1236.404,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,559.728,576.650,452.406,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41100,803
$CFSIZE,260165632,255188992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,231107,161155,6136.468,-919.122,29,1.7,46,-9.4