version: 66.02
glider: 16
mission: 6
dive: 96
start: 11 27 107 5 46 43
data:
$ID,16
$MISSION,6
$DIVE,96
$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,550
$T_MISSION,580
$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,-2077254
$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,11
$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
$GPS1,054132,6129.655,-915.448,38,2.0,38,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-59.6
$GPS2,054551,6129.646,-915.444,13,1.9,13,-9.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.034,0.219
$KALMAN_X,15097.6,-678.7,-348.4,-22665.7,7211.3
$KALMAN_Y,90457.9,407.2,748.3,-107484.0,-15417.4
$MHEAD_RNG_PITCHd_Wd,0.5,28439,-11.0,-6.000
$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,-0.85,-146.6,0.0,0.0,0,82,0.00,0.00,-62.28,0.000,2,0.000,0.000,69,2405,3260
$GC,84,-0.85,-146.6,4.4,-6.8,3,107,12.18,2.70,-3.25,0.000,4,0.176,0.084,2219,980,3417
$GC,219,-0.85,-146.6,23.4,-8.6,9,224,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2402,3418
$GC,545,-0.85,-146.6,49.5,-7.2,25,549,0.00,2.67,0.00,0.000,4,0.000,0.073,2219,979,3418
$GC,571,-0.85,-146.6,51.6,-8.1,26,575,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2401,3416
$GC,892,-0.85,-146.6,76.4,-8.2,42,897,0.00,2.67,0.00,0.000,4,0.000,0.074,2219,980,3418
$GC,919,-0.85,-146.6,78.7,-8.6,43,923,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2406,3418
$GC,1240,-0.85,-146.6,106.3,-9.1,59,1244,0.00,2.70,0.00,0.000,4,0.000,0.075,2219,979,3418
$GC,1271,-0.85,-146.6,109.3,-9.7,60,1279,0.00,2.62,0.00,0.000,6,0.000,0.062,2219,2393,3418
$GC,1589,-0.85,-146.6,140.5,-10.3,76,1593,0.00,2.67,0.00,0.000,4,0.000,0.077,2219,979,3418
$GC,1615,-0.85,-146.6,143.6,-11.3,77,1619,0.00,2.62,0.00,0.000,6,0.000,0.063,2219,2404,3418
$GC,1935,-0.85,-146.6,178.3,-10.9,93,1940,0.00,2.70,0.00,0.000,4,0.000,0.077,2219,980,3417
$GC,1974,-0.85,-146.6,182.7,-11.5,95,1978,0.00,2.62,0.00,0.000,6,0.000,0.064,2219,2403,3417
$GC,2299,-0.85,-146.6,218.3,-11.0,111,2303,0.00,2.70,0.00,0.000,4,0.000,0.078,2219,979,3417
$GC,2325,-0.85,-146.6,221.3,-11.1,112,2329,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2400,3418
$GC,2646,-0.85,-146.6,254.3,-10.3,128,2650,0.00,2.70,0.00,0.000,4,0.000,0.078,2219,974,3418
$GC,2671,-0.85,-146.6,257.3,-11.0,129,2676,0.00,2.67,0.00,0.000,6,0.000,0.063,2219,2397,3418
$GC,2993,-0.85,-146.6,290.6,-9.5,145,2997,0.00,2.70,0.00,0.000,4,0.000,0.078,2220,974,3417
$GC,3009,-0.85,-146.6,292.0,-9.3,146,3013,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2400,3418
$GC,3334,-0.85,-146.6,319.0,-7.3,162,3338,0.00,2.70,0.00,0.000,4,0.000,0.080,2219,978,3418
$GC,3371,-0.85,-146.6,321.7,-7.2,164,3376,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2404,3417
$GC,3697,-0.85,-146.6,341.3,-6.1,180,3702,0.00,2.70,0.00,0.000,4,0.000,0.078,2219,976,3417
$GC,3724,-0.85,-146.6,342.8,-6.0,181,3728,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2404,3418
$GC,4044,-0.85,-146.6,363.9,-7.5,197,4049,0.00,2.70,0.00,0.000,4,0.000,0.078,2219,979,3418
$GC,4098,-0.85,-146.6,368.2,-8.2,199,4105,0.00,2.67,0.00,0.000,6,0.000,0.063,2219,2401,3418
$GC,4414,-0.85,-146.6,397.5,-10.0,215,4418,0.00,2.70,0.00,0.000,4,0.000,0.078,2219,973,3417
$GC,4468,-0.85,-146.6,403.0,-10.0,217,4475,0.00,2.67,0.00,0.000,6,0.000,0.062,2219,2401,3418
$GC,4783,-0.85,-146.6,434.7,-10.0,233,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3418
$GC,5092,-0.85,-146.6,465.3,-9.1,248,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3418
$GC,5402,-0.85,-146.6,488.1,-6.4,263,5406,0.00,2.70,0.00,0.000,4,0.000,0.077,2219,972,3418
$GC,5433,-0.85,-146.6,490.2,-7.2,264,5440,0.00,2.65,0.00,0.000,6,0.000,0.059,2219,2400,3418
$GC,5749,-0.85,-146.6,510.2,-6.6,280,5753,0.00,2.67,0.00,0.000,4,0.000,0.073,2219,969,3418
$GC,5787,-0.85,-146.6,513.0,-7.9,282,5791,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2400,3418
$GC,6112,-0.85,-146.6,534.5,-6.7,298,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3418
$GC,6421,-0.85,-146.6,559.7,-8.7,313,6425,0.00,2.65,0.00,0.000,4,0.000,0.071,2219,977,3418
$GC,6464,-0.85,-146.6,563.7,-9.3,315,6469,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2391,3418
$GC,6792,-0.85,-146.6,594.2,-9.1,331,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2391,3418
$GC,7101,-0.85,-146.6,620.5,-8.0,346,7105,0.00,2.62,0.00,0.000,4,0.000,0.071,2219,979,3418
$GC,7154,-0.85,-146.6,624.7,-7.6,348,7167,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2394,3418
$GC,7470,-0.85,-146.6,645.7,-5.8,364,7475,0.00,2.65,0.00,0.000,4,0.000,0.071,2219,972,3418
$GC,7502,-0.85,-146.6,647.9,-6.2,365,7510,0.00,2.65,0.00,0.000,6,0.000,0.058,2219,2397,3418
$GC,7818,-0.85,-146.6,666.2,-6.3,381,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3417
$GC,8128,-0.85,-146.6,688.6,-8.2,396,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3417
$GC,8437,-0.85,-146.6,715.5,-8.8,411,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3417
$STATE,8579,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8579,begin apogee
$GC,8584,-0.31,0.0,729.2,9.2,418,8708,0.60,0.00,121.43,1.146,6,0.107,0.000,2340,2192,2817
$STATE,8709,end apogee,CONTROL_FINISHED_OK
$STATE,8709,begin climb
$GC,8711,0.85,146.6,735.0,0.0,424,8835,1.23,0.00,119.55,1.127,6,0.100,0.000,2586,2192,2219
$GC,9141,0.92,216.3,720.7,4.1,445,9205,0.12,2.75,56.80,1.100,4,0.063,0.069,2620,789,1935
$GC,9227,0.92,216.3,715.5,6.9,449,9231,0.00,2.62,0.00,0.000,6,0.000,0.049,2620,2209,1934
$GC,9552,0.92,216.3,689.7,9.0,465,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2210,1934
$GC,9861,0.92,216.3,661.9,8.5,480,9862,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2210,1933
$GC,10171,0.92,216.3,637.4,7.1,495,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2209,1933
$GC,10480,0.92,216.3,613.1,9.2,510,10481,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2209,1932
$GC,10789,0.92,216.3,588.0,7.9,525,10790,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2209,1932
$GC,11098,0.92,216.3,564.5,7.2,540,11099,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2209,1932
$GC,11407,0.92,216.3,541.8,7.7,555,11409,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2209,1932
$GC,11717,0.92,216.3,517.0,8.8,570,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2209,1932
$GC,12026,0.92,216.3,487.5,9.9,585,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2208,1932
$GC,12335,0.92,216.3,457.0,9.7,600,12340,0.00,2.62,0.00,0.000,4,0.000,0.066,2620,788,1932
$GC,12378,0.92,216.3,452.7,10.7,602,12383,0.00,2.58,0.00,0.000,6,0.000,0.048,2619,2199,1932
$GC,12705,0.92,216.3,423.6,8.2,618,12710,0.00,2.65,0.00,0.000,4,0.000,0.075,2619,3614,1932
$GC,12744,0.92,216.3,420.1,9.1,620,12748,0.00,2.60,0.00,0.000,6,0.000,0.063,2620,2207,1932
$GC,13069,0.92,216.3,394.0,7.6,636,13074,0.00,2.62,0.00,0.000,4,0.000,0.066,2620,781,1932
$GC,13112,0.92,216.3,390.3,8.3,638,13117,0.00,2.58,0.00,0.000,6,0.000,0.047,2620,2194,1931
$GC,13439,0.92,216.3,365.1,8.1,654,13440,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2194,1932
$GC,13748,0.92,216.3,341.2,7.9,669,13749,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2194,1932
$GC,14057,0.92,216.3,314.7,8.7,684,14062,0.00,2.62,0.00,0.000,4,0.000,0.074,2620,3614,1931
$GC,14101,0.92,216.3,310.7,9.2,686,14106,0.00,2.62,0.00,0.000,6,0.000,0.061,2619,2204,1931
$GC,14427,0.92,216.3,285.8,6.7,702,14428,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2205,1932
$GC,14737,1.03,312.3,272.9,3.4,717,14819,0.00,2.70,74.80,0.838,4,0.000,0.067,2619,784,1542
$GC,14852,1.05,332.5,267.8,5.4,722,14876,0.00,2.60,17.10,0.782,6,0.000,0.048,2620,2207,1461
$GC,15191,1.05,332.5,248.3,6.9,739,15196,0.00,2.67,0.00,0.000,4,0.000,0.067,2619,781,1460
$GC,15225,1.05,332.5,245.8,7.9,740,15231,0.00,2.58,0.00,0.000,6,0.000,0.048,2619,2204,1460
$GC,15539,1.05,332.5,218.1,9.4,756,15544,0.00,2.67,0.00,0.000,4,0.000,0.069,2620,776,1460
$GC,15578,1.05,332.5,214.0,10.9,758,15582,0.00,2.58,0.00,0.000,6,0.000,0.048,2619,2201,1459
$GC,15903,1.05,332.5,181.2,9.9,774,15907,0.00,2.65,0.00,0.000,4,0.000,0.067,2620,779,1460
$GC,15941,1.05,332.5,177.6,9.8,776,15946,0.00,2.58,0.00,0.000,6,0.000,0.047,2620,2203,1460
$GC,16267,1.05,332.5,146.8,8.7,792,16271,0.00,2.62,0.00,0.000,4,0.000,0.066,2620,783,1459
$GC,16310,1.05,332.5,142.6,10.0,794,16314,0.00,2.58,0.00,0.000,6,0.000,0.047,2620,2196,1460
$GC,16637,1.05,332.5,120.6,8.6,810,16641,0.00,2.62,0.00,0.000,4,0.000,0.067,2619,782,1460
$GC,16679,1.05,332.5,115.9,11.1,812,16684,0.00,2.58,0.00,0.000,6,0.000,0.046,2620,2196,1460
$GC,17007,1.05,332.5,86.3,9.8,828,17011,0.00,2.62,0.00,0.000,4,0.000,0.065,2620,779,1460
$GC,17038,1.05,332.5,82.5,11.4,829,17045,0.00,2.58,0.00,0.000,6,0.000,0.046,2620,2195,1460
$GC,17355,1.05,332.5,55.5,8.1,845,17360,0.00,2.60,0.00,0.000,4,0.000,0.064,2619,782,1460
$GC,17388,1.05,332.5,52.0,9.9,846,17395,0.00,2.58,0.00,0.000,6,0.000,0.047,2620,2196,1460
$GC,17703,1.05,332.5,25.8,8.8,862,17707,0.00,2.62,0.00,0.000,4,0.000,0.066,2620,779,1460
$GC,17746,1.05,332.5,21.9,10.0,864,17750,0.00,2.58,0.00,0.000,6,0.000,0.046,2619,2197,1459
$STATE,17989,end climb,SURFACE_DEPTH_REACHED
$STATE,17989,begin surface coast
$FINISH,0.8,1.015567
$STATE,18011,end surface coast,CONTROL_FINISHED_OK
$STATE,18011,begin surface
$SM_CCo,18090,0.00,0.000,0,0,1458,333.12
$SM_GC,1.69,11.12,0.00,0.00,0.042,0.000,0.000,73,2402,1458,-10.68,0.08,333.12
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2093
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,625.1,112.8
$24V_AH,23.6,18.933
$10V_AH,10.2,8.325
$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,25.250,169.950,389.675,0.000,0.000,32.655,24.518,115.213,5.500,0.000,0.000,13.085,1572.421,14117.018,527.265,1834.191,304.153,33.365,1477.427,0.000,1793.626,0.000,36.552
$DEVICE_MAMPS,175.643,84.370,1145.898,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,613.453,629.344,531.514,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44234,877
$CFSIZE,260165632,254038016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,271107,104946,6133.800,-915.069,42,2.9,61,-9.4