version: 66.02
glider: 16
mission: 6
dive: 97
start: 11 27 107 10 55 25
data:
$ID,16
$MISSION,6
$DIVE,97
$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,-2077285.1
$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,14
$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
$GPS1,104946,6133.800,-915.069,42,2.9,61,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-57.5
$GPS2,105435,6133.817,-915.074,10,5.5,29,-9.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,0.097
$KALMAN_X,15835.8,-862.2,-276.8,-22983.2,6714.2
$KALMAN_Y,92976.2,767.9,582.0,-102497.4,-7284.1
$MHEAD_RNG_PITCHd_Wd,304.8,20711,-10.7,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.83,-146.6,0.0,0.0,0,83,0.00,0.00,-62.58,0.000,2,0.000,0.000,72,2403,3084
$GC,85,-0.83,-146.6,3.6,-5.3,3,111,12.07,2.58,-7.93,0.000,4,0.171,0.084,2226,3769,3417
$GC,155,-0.83,-146.6,11.7,-6.9,6,159,0.00,2.50,0.00,0.000,6,0.000,0.050,2226,2404,3418
$GC,476,-0.83,-146.6,35.3,-7.2,22,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2404,3418
$GC,785,-0.83,-146.6,61.7,-9.5,37,790,0.00,2.62,0.00,0.000,4,0.000,0.068,2226,985,3418
$GC,834,-0.83,-146.6,67.2,-10.6,39,839,0.00,2.60,0.00,0.000,6,0.000,0.053,2226,2393,3418
$GC,1156,-0.83,-146.6,97.1,-8.0,55,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2393,3418
$GC,1465,-0.83,-146.6,116.8,-6.0,70,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2393,3418
$GC,1774,-0.83,-146.6,137.4,-7.4,85,1778,0.00,2.60,0.00,0.000,4,0.000,0.065,2227,985,3418
$GC,1862,-0.83,-146.6,144.7,-8.6,89,1866,0.00,2.58,0.00,0.000,6,0.000,0.054,2226,2393,3418
$GC,2188,-0.83,-146.6,169.7,-8.2,105,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2393,3417
$GC,2498,-0.83,-146.6,193.5,-7.9,120,2502,0.00,2.60,0.00,0.000,4,0.000,0.065,2227,983,3417
$GC,2568,-0.83,-146.6,199.1,-7.6,123,2573,0.00,2.60,0.00,0.000,6,0.000,0.054,2226,2393,3418
$GC,2889,-0.83,-146.6,224.1,-8.1,139,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2393,3417
$GC,3199,-0.83,-146.6,250.1,-8.4,154,3204,0.00,2.62,0.00,0.000,4,0.000,0.068,2226,980,3418
$GC,3299,-0.83,-146.6,258.4,-8.7,158,3306,0.00,2.62,0.00,0.000,6,0.000,0.054,2226,2402,3417
$GC,3614,-0.83,-146.6,282.8,-7.5,174,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2402,3418
$GC,3924,-0.83,-146.6,306.6,-7.8,189,3928,0.00,2.62,0.00,0.000,4,0.000,0.068,2226,983,3418
$GC,4000,-0.83,-146.6,313.0,-8.5,192,4007,0.00,2.60,0.00,0.000,6,0.000,0.055,2226,2393,3418
$GC,4315,-0.83,-146.6,340.5,-9.3,208,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2393,3418
$GC,4625,-0.83,-146.6,370.5,-10.0,223,4629,0.00,2.60,0.00,0.000,4,0.000,0.067,2226,984,3418
$GC,4680,-0.83,-146.6,376.1,-10.1,225,4686,0.00,2.58,0.00,0.000,6,0.000,0.056,2226,2401,3418
$GC,4994,-0.83,-146.6,405.5,-9.0,241,4999,0.00,2.62,0.00,0.000,4,0.000,0.069,2226,983,3418
$GC,5033,-0.83,-146.6,408.9,-8.8,243,5037,0.00,2.58,0.00,0.000,6,0.000,0.056,2226,2400,3418
$GC,5359,-0.83,-146.6,433.1,-6.6,259,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2400,3417
$GC,5668,-0.83,-146.6,453.0,-6.5,274,5672,0.00,2.62,0.00,0.000,4,0.000,0.068,2226,982,3418
$GC,5744,-0.83,-146.6,458.0,-6.5,277,5751,0.00,2.60,0.00,0.000,6,0.000,0.056,2226,2391,3417
$GC,6060,-0.83,-146.6,478.1,-6.7,293,6064,0.00,2.62,0.00,0.000,4,0.000,0.069,2226,978,3418
$GC,6098,-0.83,-146.6,481.0,-7.7,295,6102,0.00,2.60,0.00,0.000,6,0.000,0.057,2226,2403,3417
$GC,6424,-0.83,-146.6,505.7,-7.3,311,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2403,3417
$GC,6733,-0.83,-146.6,530.6,-8.2,326,6737,0.00,2.62,0.00,0.000,4,0.000,0.068,2226,985,3417
$GC,6803,-0.83,-146.6,537.1,-9.5,329,6808,0.00,2.58,0.00,0.000,6,0.000,0.055,2226,2393,3417
$GC,7124,-0.83,-146.6,564.6,-8.0,345,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2393,3417
$GC,7433,-0.83,-146.6,587.4,-6.6,360,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2393,3417
$GC,7743,-0.83,-146.6,602.2,-3.7,375,7748,0.00,2.60,0.00,0.000,4,0.000,0.068,2226,984,3417
$GC,7815,-0.83,-146.6,604.4,-2.6,378,7819,0.00,2.60,0.00,0.000,6,0.000,0.057,2226,2406,3417
$GC,8136,-0.83,-146.6,616.1,-5.4,394,8140,0.00,2.55,0.00,0.000,4,0.000,0.079,2226,3768,3417
$GC,8179,-0.83,-146.6,619.2,-7.6,396,8183,0.00,2.50,0.00,0.000,6,0.000,0.055,2226,2406,3417
$GC,8505,-0.83,-146.6,643.3,-8.3,412,8509,0.00,2.65,0.00,0.000,4,0.000,0.074,2226,983,3417
$GC,8544,-0.83,-146.6,646.8,-9.1,414,8548,0.00,2.60,0.00,0.000,6,0.000,0.058,2226,2404,3417
$GC,8869,-0.83,-146.6,673.0,-7.4,430,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2404,3417
$GC,9178,-0.83,-146.6,690.8,-5.0,445,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2404,3416
$GC,9488,-0.83,-146.6,706.9,-5.5,460,9492,0.00,2.62,0.00,0.000,4,0.000,0.066,2226,981,3416
$GC,9558,-0.83,-146.6,710.9,-6.5,463,9563,0.00,2.62,0.00,0.000,6,0.000,0.058,2226,2398,3416
$GC,9879,-0.83,-146.6,731.3,-6.5,479,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2398,3416
$GC,10189,-0.83,-146.6,752.4,-6.9,494,10190,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2398,3416
$GC,10498,-0.83,-146.6,774.4,-7.5,509,10502,0.00,2.62,0.00,0.000,4,0.000,0.068,2226,979,3416
$GC,10546,-0.83,-146.6,778.0,-7.0,511,10551,0.00,2.62,0.00,0.000,6,0.000,0.058,2226,2397,3416
$GC,10867,-0.83,-146.6,800.5,-7.1,527,10868,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2397,3416
$GC,11176,-0.83,-146.6,823.7,-7.3,542,11177,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2397,3415
$STATE,11216,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11216,begin apogee
$GC,11221,-0.31,0.0,827.0,7.8,544,11346,0.55,0.00,122.25,1.220,6,0.105,0.000,2338,2197,2817
$STATE,11347,end apogee,CONTROL_FINISHED_OK
$STATE,11347,begin climb
$GC,11348,0.83,146.6,831.1,0.0,550,11473,1.23,0.00,121.45,1.195,6,0.091,0.000,2585,2196,2219
$GC,11769,0.88,194.2,810.7,4.8,571,11810,0.00,0.00,40.08,1.151,6,0.000,0.000,2585,2197,2024
$GC,12117,0.88,195.5,791.3,6.0,588,12118,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2196,2024
$GC,12427,0.89,202.3,774.0,5.8,603,12437,0.00,0.00,8.10,0.963,6,0.000,0.000,2584,2196,1992
$GC,12736,0.90,215.8,756.6,5.6,618,12757,0.00,2.72,12.48,1.039,4,0.000,0.066,2585,783,1937
$GC,12784,0.90,215.8,753.5,6.6,620,12789,0.00,2.62,0.00,0.000,6,0.000,0.049,2584,2196,1936
$GC,13112,0.91,225.4,733.7,5.7,636,13124,0.12,0.00,9.68,0.991,6,0.063,0.000,2617,2196,1897
$GC,13420,0.91,225.4,712.4,7.2,651,13422,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2196,1896
$GC,13730,0.91,225.4,688.7,8.0,666,13734,0.00,2.62,0.00,0.000,4,0.000,0.065,2618,782,1896
$GC,13790,0.91,225.4,683.4,9.2,669,13795,0.00,2.58,0.00,0.000,6,0.000,0.050,2617,2202,1896
$GC,14116,0.91,225.4,653.1,9.9,685,14117,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2201,1896
$GC,14425,0.91,225.4,619.1,11.0,700,14427,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2201,1896
$GC,14734,0.91,225.4,585.2,10.4,715,14736,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2201,1896
$GC,15044,0.91,225.4,557.6,8.5,730,15045,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,1896
$GC,15353,0.91,225.4,532.5,8.1,745,15354,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2202,1896
$GC,15662,0.91,225.4,506.5,8.4,760,15663,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2201,1896
$GC,15971,0.91,225.4,482.4,7.3,775,15976,0.00,2.62,0.00,0.000,4,0.000,0.064,2617,783,1896
$GC,16015,0.91,225.4,478.9,7.7,777,16019,0.00,2.60,0.00,0.000,6,0.000,0.049,2617,2203,1896
$GC,16342,0.91,225.4,454.5,7.1,793,16343,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,1896
$GC,16651,0.91,225.4,434.5,6.3,808,16652,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2203,1895
$GC,16960,0.91,225.4,415.8,6.1,823,16961,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,1895
$GC,17269,0.91,225.4,396.4,6.6,838,17271,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,1896
$GC,17578,0.91,225.4,373.5,7.8,853,17580,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,1896
$GC,17888,0.91,225.4,350.3,7.5,868,17889,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,1896
$GC,18197,0.91,225.4,323.9,8.8,883,18202,0.00,2.62,0.00,0.000,4,0.000,0.065,2617,782,1896
$GC,18245,0.91,225.4,319.4,8.8,885,18250,0.00,2.58,0.00,0.000,6,0.000,0.049,2617,2195,1896
$GC,18567,0.91,225.4,290.9,8.6,901,18568,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2195,1896
$GC,18877,0.91,225.4,266.1,8.1,916,18878,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2195,1896
$GC,19186,0.91,225.4,241.4,8.0,931,19187,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2195,1896
$GC,19495,0.91,225.4,218.8,7.4,946,19496,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2195,1896
$GC,19804,0.91,225.4,196.3,6.9,961,19809,0.00,2.60,0.00,0.000,4,0.000,0.064,2617,782,1896
$GC,19853,0.91,225.4,192.4,7.0,963,19858,0.00,2.58,0.00,0.000,6,0.000,0.049,2617,2193,1896
$GC,20174,0.91,225.4,170.5,6.7,979,20175,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2193,1896
$GC,20484,0.91,225.4,149.3,6.7,994,20485,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2193,1897
$GC,20793,0.91,225.4,127.5,6.6,1009,20797,0.00,2.65,0.00,0.000,4,0.000,0.073,2617,3623,1897
$GC,20831,0.91,225.4,124.7,7.4,1011,20836,0.00,2.60,0.00,0.000,6,0.000,0.061,2617,2202,1897
$GC,21157,0.91,225.4,99.7,7.3,1027,21159,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2202,1897
$GC,21467,0.96,270.0,81.4,4.8,1042,21509,0.00,2.70,35.12,0.709,4,0.000,0.069,2618,781,1715
$GC,21554,0.96,270.0,73.6,10.4,1046,21559,0.00,2.58,0.00,0.000,6,0.000,0.046,2617,2201,1715
$GC,21880,0.96,270.0,48.3,8.8,1062,21882,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2201,1715
$GC,22189,0.96,270.0,18.4,8.9,1077,22194,0.00,2.65,0.00,0.000,4,0.000,0.067,2617,775,1715
$GC,22243,0.96,270.0,13.3,9.6,1079,22251,0.00,2.60,0.00,0.000,6,0.000,0.048,2617,2198,1714
$STATE,22372,end climb,SURFACE_DEPTH_REACHED
$STATE,22372,begin surface coast
$FINISH,0.6,1.027283
$STATE,22394,end surface coast,CONTROL_FINISHED_OK
$STATE,22394,begin surface
$SM_CCo,22413,22.70,0.556,3,0,1594,300.00
$SM_GC,1.53,0.00,0.00,22.70,0.000,0.000,0.556,76,2409,1594,-10.74,0.25,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2086
$TCM_TEMP,16.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,725.9,110.1
$24V_AH,23.6,19.060
$10V_AH,10.2,8.418
$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,25.000,125.875,349.150,22.700,0.000,32.664,26.074,125.327,7.000,0.000,0.000,30.523,1903.047,17805.820,556.155,2150.577,327.872,33.384,1569.728,0.000,2096.888,0.000,43.025
$DEVICE_MAMPS,171.041,84.370,1220.297,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,751.814,781.605,629.585,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53684,1087
$CFSIZE,260165632,253952000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,3,0
$GPS,271107,171058,6135.042,-924.310,27,2.3,47,-9.5