version: 66.02
glider: 16
mission: 6
dive: 98
start: 11 27 107 17 17 11
data:
$ID,16
$MISSION,6
$DIVE,98
$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,-2077332.4
$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,12
$R_STBD_OVSHOOT,18
$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
$GPS1,171058,6135.042,-924.310,27,2.3,47,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-61.3
$GPS2,171621,6135.023,-924.331,46,1.8,46,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.153,0.160
$KALMAN_X,13600.8,-610.2,-711.3,-28697.8,3754.4
$KALMAN_Y,92077.2,1655.5,444.8,-100088.1,-8190.7
$MHEAD_RNG_PITCHd_Wd,325.9,20207,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,83,0.00,0.00,-61.78,0.000,2,0.000,0.000,75,2410,3238
$GC,86,-0.85,-146.6,4.1,-5.7,3,108,12.02,2.72,-3.78,0.000,4,0.170,0.084,2223,976,3415
$GC,146,-0.85,-146.6,15.3,-9.1,5,154,0.00,2.62,0.00,0.000,6,0.000,0.055,2223,2399,3417
$GC,462,-0.85,-146.6,43.7,-8.6,21,466,0.00,2.65,0.00,0.000,4,0.000,0.067,2223,979,3417
$GC,510,-0.85,-146.6,48.8,-11.2,23,514,0.00,2.62,0.00,0.000,6,0.000,0.057,2223,2400,3417
$GC,832,-0.85,-146.6,76.9,-8.0,39,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3417
$GC,1141,-0.85,-146.6,101.5,-8.1,54,1145,0.00,2.65,0.00,0.000,4,0.000,0.070,2223,979,3417
$GC,1202,-0.85,-146.6,106.4,-7.5,57,1206,0.00,2.62,0.00,0.000,6,0.000,0.058,2223,2402,3417
$GC,1527,-0.85,-146.6,134.4,-9.6,73,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2403,3417
$GC,1836,-0.85,-146.6,164.3,-9.6,88,1840,0.00,2.65,0.00,0.000,4,0.000,0.070,2223,980,3417
$GC,1890,-0.85,-146.6,169.7,-9.5,90,1897,0.00,2.65,0.00,0.000,6,0.000,0.059,2223,2401,3417
$GC,2206,-0.85,-146.6,196.3,-8.1,106,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2402,3417
$GC,2515,-0.85,-146.6,220.2,-7.5,121,2519,0.00,2.65,0.00,0.000,4,0.000,0.071,2223,979,3417
$GC,2580,-0.85,-146.6,225.9,-9.1,124,2585,0.00,2.62,0.00,0.000,6,0.000,0.058,2223,2402,3417
$GC,2907,-0.85,-146.6,258.6,-10.6,140,2911,0.00,2.65,0.00,0.000,4,0.000,0.069,2223,978,3417
$GC,2945,-0.85,-146.6,262.4,-10.3,142,2949,0.00,2.58,0.00,0.000,6,0.000,0.057,2223,2400,3417
$GC,3270,-0.85,-146.6,292.4,-8.8,158,3274,0.00,2.65,0.00,0.000,4,0.000,0.071,2223,980,3417
$GC,3313,-0.85,-146.6,296.2,-8.7,160,3317,0.00,2.60,0.00,0.000,6,0.000,0.058,2223,2395,3417
$GC,3640,-0.85,-146.6,322.1,-7.7,176,3644,0.00,2.65,0.00,0.000,4,0.000,0.071,2223,975,3417
$GC,3671,-0.85,-146.6,324.7,-7.9,177,3679,0.00,2.65,0.00,0.000,6,0.000,0.057,2223,2400,3417
$GC,3987,-0.85,-146.6,351.9,-9.2,193,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3417
$GC,4296,-0.85,-146.6,381.2,-9.3,208,4300,0.00,2.65,0.00,0.000,4,0.000,0.069,2223,972,3417
$GC,4379,-0.85,-146.6,389.0,-9.4,212,4383,0.00,2.62,0.00,0.000,6,0.000,0.057,2223,2404,3417
$GC,4704,-0.85,-146.6,416.7,-7.8,228,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3417
$GC,5013,-0.85,-146.6,438.4,-6.6,243,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3417
$GC,5322,-0.85,-146.6,458.3,-6.5,258,5327,0.00,2.65,0.00,0.000,4,0.000,0.068,2223,977,3417
$GC,5371,-0.85,-146.6,461.7,-6.8,260,5376,0.00,2.62,0.00,0.000,6,0.000,0.054,2223,2401,3417
$GC,5693,-0.85,-146.6,485.7,-7.6,276,5697,0.00,2.62,0.00,0.000,4,0.000,0.067,2223,979,3417
$GC,5730,-0.85,-146.6,488.8,-7.6,278,5735,0.00,2.60,0.00,0.000,6,0.000,0.054,2223,2405,3416
$GC,6056,-0.85,-146.6,515.0,-8.2,294,6061,0.00,2.65,0.00,0.000,4,0.000,0.070,2223,972,3417
$GC,6096,-0.85,-146.6,518.2,-8.3,296,6100,0.00,2.60,0.00,0.000,6,0.000,0.055,2223,2407,3417
$GC,6420,-0.85,-146.6,543.8,-7.6,312,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2407,3417
$GC,6730,-0.85,-146.6,566.3,-7.3,327,6734,0.00,2.65,0.00,0.000,4,0.000,0.070,2223,975,3417
$GC,6761,-0.85,-146.6,568.9,-7.4,328,6768,0.00,2.62,0.00,0.000,6,0.000,0.054,2223,2396,3417
$GC,7076,-0.85,-146.6,590.3,-6.5,344,7078,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2396,3417
$GC,7386,-0.85,-146.6,611.1,-7.2,359,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2396,3417
$GC,7695,-0.85,-146.6,634.3,-7.7,374,7699,0.00,2.62,0.00,0.000,4,0.000,0.071,2223,979,3417
$GC,7756,-0.85,-146.6,639.0,-7.5,377,7761,0.00,2.60,0.00,0.000,6,0.000,0.055,2223,2404,3417
$GC,8082,-0.85,-146.6,664.3,-8.0,393,8086,0.00,2.65,0.00,0.000,4,0.000,0.072,2223,979,3417
$GC,8113,-0.85,-146.6,666.8,-8.0,394,8120,0.00,2.62,0.00,0.000,6,0.000,0.058,2223,2396,3417
$GC,8429,-0.85,-146.6,690.5,-7.4,410,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2396,3417
$GC,8738,-0.85,-146.6,713.7,-7.5,425,8742,0.00,2.62,0.00,0.000,4,0.000,0.070,2223,979,3418
$GC,8769,-0.85,-146.6,716.1,-7.7,426,8776,0.00,2.62,0.00,0.000,6,0.000,0.055,2223,2401,3417
$GC,9085,-0.85,-146.6,740.0,-7.6,442,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3417
$GC,9394,-0.85,-146.6,762.6,-7.2,457,9395,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3417
$GC,9703,-0.85,-146.6,784.0,-7.1,472,9708,0.00,2.62,0.00,0.000,4,0.000,0.068,2223,979,3417
$GC,9758,-0.85,-146.6,788.0,-8.0,474,9765,0.00,2.62,0.00,0.000,6,0.000,0.055,2223,2404,3416
$GC,10073,-0.85,-146.6,809.4,-6.8,490,10075,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3416
$GC,10382,-0.85,-146.6,831.0,-7.3,505,10387,0.00,2.65,0.00,0.000,4,0.000,0.067,2223,972,3416
$GC,10431,-0.85,-146.6,834.7,-7.2,507,10436,0.00,2.62,0.00,0.000,6,0.000,0.055,2223,2394,3416
$GC,10753,-0.85,-146.6,857.1,-7.0,523,10754,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2394,3416
$GC,11062,-0.85,-146.6,880.6,-8.4,538,11063,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2394,3416
$GC,11371,-0.85,-146.6,903.3,-6.7,553,11375,0.00,2.62,0.00,0.000,4,0.000,0.067,2223,973,3415
$GC,11409,-0.85,-146.6,906.0,-7.2,555,11414,0.00,2.62,0.00,0.000,6,0.000,0.056,2223,2408,3415
$STATE,11651,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11651,begin apogee
$GC,11656,-0.31,0.0,924.1,7.2,567,11782,0.57,0.00,123.35,1.284,6,0.104,0.000,2340,2190,2817
$STATE,11783,end apogee,CONTROL_FINISHED_OK
$STATE,11783,begin climb
$GC,11784,0.85,146.6,926.5,0.0,573,11916,1.23,2.70,122.00,1.257,4,0.087,0.066,2589,782,2219
$GC,12077,0.85,146.6,906.6,6.1,587,12082,0.00,2.62,0.00,0.000,6,0.000,0.048,2589,2200,2218
$GC,12404,0.85,146.6,886.9,6.4,603,12408,0.00,2.67,0.00,0.000,4,0.000,0.077,2589,3611,2217
$GC,12442,0.85,146.6,884.3,6.7,605,12447,0.00,2.62,0.00,0.000,6,0.000,0.061,2589,2206,2217
$GC,12768,0.85,152.9,867.0,5.8,621,12777,0.00,0.00,6.70,0.959,6,0.000,0.000,2589,2206,2193
$GC,13078,0.85,154.7,849.3,5.9,636,13079,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2206,2193
$GC,13387,0.85,154.7,828.8,7.2,651,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2206,2192
$GC,13696,0.85,154.7,803.5,7.7,666,13697,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2206,2192
$GC,14005,0.91,208.2,787.1,4.5,681,14057,0.00,2.75,45.67,1.167,4,0.000,0.071,2589,780,1968
$GC,14089,0.99,280.4,784.1,4.0,685,14155,0.17,2.62,59.88,1.165,6,0.064,0.051,2631,2204,1673
$GC,14476,0.99,280.4,760.1,6.4,704,14477,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2204,1672
$GC,14785,0.99,280.4,737.4,8.4,719,14786,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2204,1672
$GC,15094,0.99,280.4,705.6,10.9,734,15099,0.00,2.67,0.00,0.000,4,0.000,0.069,2631,781,1672
$GC,15133,0.99,280.4,701.2,10.9,736,15138,0.00,2.58,0.00,0.000,6,0.000,0.048,2630,2201,1672
$GC,15459,0.99,280.4,662.8,11.5,752,15460,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2201,1672
$GC,15768,0.99,280.4,630.2,9.6,767,15772,0.00,2.65,0.00,0.000,4,0.000,0.066,2631,779,1672
$GC,15840,0.99,280.4,623.2,10.2,770,15844,0.00,2.60,0.00,0.000,6,0.000,0.048,2631,2203,1672
$GC,16161,0.99,280.4,595.5,8.2,786,16165,0.00,2.65,0.00,0.000,4,0.000,0.067,2631,782,1672
$GC,16199,0.99,280.4,592.3,8.3,788,16203,0.00,2.58,0.00,0.000,6,0.000,0.047,2631,2207,1671
$GC,16524,0.99,280.4,566.9,7.8,804,16525,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2206,1671
$GC,16833,0.99,280.4,540.6,8.9,819,16837,0.00,2.65,0.00,0.000,4,0.000,0.065,2631,781,1671
$GC,16882,0.99,280.4,536.0,9.9,821,16887,0.00,2.58,0.00,0.000,6,0.000,0.046,2631,2192,1671
$GC,17203,0.99,280.4,507.5,8.6,837,17204,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2192,1672
$GC,17512,0.99,280.4,481.3,8.6,852,17517,0.00,2.62,0.00,0.000,4,0.000,0.066,2631,778,1672
$GC,17546,0.99,280.4,478.6,7.7,853,17552,0.00,2.58,0.00,0.000,6,0.000,0.045,2631,2207,1671
$GC,17860,0.99,280.4,454.6,7.8,869,17861,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2207,1672
$GC,18169,0.99,280.4,430.8,7.8,884,18173,0.00,2.65,0.00,0.000,4,0.000,0.065,2631,778,1672
$GC,18212,0.99,280.4,427.1,8.3,886,18216,0.00,2.58,0.00,0.000,6,0.000,0.044,2631,2194,1672
$GC,18538,0.99,280.4,398.4,9.6,902,18540,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2194,1672
$GC,18848,0.99,280.4,363.0,12.8,917,18852,0.00,2.62,0.00,0.000,4,0.000,0.065,2631,780,1672
$GC,18908,0.99,280.4,355.2,12.0,920,18913,0.00,2.55,0.00,0.000,6,0.000,0.046,2632,2204,1672
$GC,19234,0.99,280.4,313.1,12.9,936,19236,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2204,1671
$GC,19543,0.99,280.4,274.6,11.9,951,19548,0.00,2.65,0.00,0.000,4,0.000,0.066,2631,772,1673
$GC,19582,0.99,280.4,270.2,10.9,953,19586,0.00,2.58,0.00,0.000,6,0.000,0.046,2631,2207,1673
$GC,19907,0.99,280.4,235.1,10.7,969,19912,0.00,2.65,0.00,0.000,4,0.000,0.066,2630,778,1673
$GC,19945,0.99,280.4,231.1,9.7,971,19950,0.00,2.55,0.00,0.000,6,0.000,0.045,2631,2201,1672
$GC,20271,0.99,280.4,194.8,11.6,987,20272,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2201,1673
$GC,20580,0.99,280.4,162.7,9.5,1002,20585,0.00,2.62,0.00,0.000,4,0.000,0.066,2631,779,1673
$GC,20612,0.99,280.4,159.5,9.5,1003,20619,0.00,2.58,0.00,0.000,6,0.000,0.045,2631,2199,1673
$GC,20928,0.99,280.4,129.6,9.7,1019,20929,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2199,1673
$GC,21237,0.99,280.4,100.0,10.0,1034,21242,0.00,2.62,0.00,0.000,4,0.000,0.065,2630,779,1673
$GC,21286,0.99,280.4,94.6,12.1,1036,21290,0.00,2.58,0.00,0.000,6,0.000,0.045,2631,2198,1673
$GC,21607,0.99,280.4,61.7,10.4,1052,21608,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2198,1673
$GC,21917,0.99,280.4,32.1,9.2,1067,21921,0.00,2.62,0.00,0.000,4,0.000,0.065,2630,778,1674
$GC,21959,0.99,280.4,28.4,8.0,1069,21964,0.00,2.58,0.00,0.000,6,0.000,0.046,2631,2195,1674
$STATE,22264,end climb,SURFACE_DEPTH_REACHED
$STATE,22264,begin surface coast
$FINISH,0.9,1.016326
$STATE,22286,end surface coast,CONTROL_FINISHED_OK
$STATE,22286,begin surface
$SM_CCo,22305,15.95,0.535,2,0,1593,300.00
$SM_GC,1.71,0.00,0.00,15.95,0.000,0.000,0.535,68,2405,1593,-10.77,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2093
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,850.0,83.3
$24V_AH,23.5,19.201
$10V_AH,10.2,8.512
$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,25.150,179.450,357.600,15.950,0.000,32.589,23.541,143.213,7.750,0.000,0.000,46.674,1929.739,17562.275,546.795,2265.237,350.220,33.371,1657.271,0.000,2184.052,0.000,51.079
$DEVICE_MAMPS,170.274,84.370,1283.958,535.366,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,754.229,785.700,588.441,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53742,1085
$CFSIZE,260165632,253874176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,2,0
$GPS,271107,233055,6139.284,-930.335,41,1.9,60,-9.5