version: 66.02
glider: 16
mission: 6
dive: 99
start: 11 27 107 23 36 37
data:
$ID,16
$MISSION,6
$DIVE,99
$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,-2077348.9
$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
$GPS1,233055,6139.284,-930.335,41,1.9,60,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-66.2
$GPS2,233545,6139.310,-930.381,15,1.9,15,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.025,0.220
$KALMAN_X,11693.0,-196.0,-54.5,-33194.3,2107.2
$KALMAN_Y,96726.5,564.0,948.3,-96239.9,-4948.6
$MHEAD_RNG_PITCHd_Wd,16.1,17112,-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,19,-0.85,-146.6,0.0,0.0,0,82,0.00,0.00,-61.62,0.000,2,0.000,0.000,68,2405,3224
$GC,84,-0.85,-146.6,4.4,-6.8,3,107,12.05,2.67,-4.10,0.000,4,0.170,0.081,2222,981,3415
$GC,274,-0.85,-146.6,25.4,-8.6,11,279,0.00,2.60,0.00,0.000,6,0.000,0.054,2222,2395,3417
$GC,595,-0.85,-146.6,54.9,-9.0,27,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2395,3417
$GC,905,-0.85,-146.6,80.8,-9.4,42,909,0.00,2.65,0.00,0.000,4,0.000,0.068,2222,976,3417
$GC,943,-0.85,-146.6,84.3,-9.9,44,948,0.00,2.62,0.00,0.000,6,0.000,0.056,2222,2404,3417
$GC,1268,-0.85,-146.6,114.7,-10.0,60,1273,0.00,2.67,0.00,0.000,4,0.000,0.070,2222,976,3417
$GC,1285,-0.85,-146.6,116.3,-10.2,61,1289,0.00,2.60,0.00,0.000,6,0.000,0.055,2222,2400,3417
$GC,1610,-0.85,-146.6,145.2,-8.1,77,1615,0.00,2.65,0.00,0.000,4,0.000,0.069,2222,980,3417
$GC,1650,-0.85,-146.6,147.6,-5.8,79,1654,0.00,2.60,0.00,0.000,6,0.000,0.056,2222,2399,3417
$GC,1975,-0.85,-146.6,173.0,-8.3,95,1979,0.00,2.65,0.00,0.000,4,0.000,0.069,2222,977,3417
$GC,2013,-0.85,-146.6,176.0,-8.1,97,2017,0.00,2.60,0.00,0.000,6,0.000,0.057,2222,2404,3417
$GC,2338,-0.85,-146.6,202.1,-7.9,113,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3417
$GC,2647,-0.85,-146.6,233.1,-11.8,128,2651,0.00,2.65,0.00,0.000,4,0.000,0.067,2222,978,3417
$GC,2690,-0.85,-146.6,238.8,-11.7,130,2695,0.00,2.62,0.00,0.000,6,0.000,0.056,2222,2395,3417
$GC,3018,-0.85,-146.6,277.2,-12.2,146,3023,0.00,2.65,0.00,0.000,4,0.000,0.070,2222,976,3417
$GC,3044,-0.85,-146.6,280.6,-12.6,147,3049,0.00,2.60,0.00,0.000,6,0.000,0.056,2222,2395,3417
$GC,3366,-0.85,-146.6,314.9,-10.0,163,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2395,3417
$GC,3675,-0.85,-146.6,344.4,-9.7,178,3679,0.00,2.60,0.00,0.000,4,0.000,0.080,2222,3773,3417
$GC,3700,-0.85,-146.6,347.2,-10.8,179,3706,0.00,2.53,0.00,0.000,6,0.000,0.057,2222,2401,3417
$GC,4022,-0.85,-146.6,380.6,-10.7,195,4026,0.00,2.65,0.00,0.000,4,0.000,0.072,2222,975,3417
$GC,4092,-0.85,-146.6,388.5,-11.2,198,4097,0.00,2.60,0.00,0.000,6,0.000,0.056,2222,2392,3417
$GC,4414,-0.85,-146.6,418.6,-8.0,214,4418,0.00,2.62,0.00,0.000,4,0.000,0.071,2222,982,3417
$GC,4468,-0.85,-146.6,423.1,-7.8,216,4475,0.00,2.60,0.00,0.000,6,0.000,0.057,2222,2398,3417
$GC,4783,-0.85,-146.6,446.2,-6.3,232,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3418
$GC,5093,-0.85,-146.6,468.9,-7.5,247,5097,0.00,2.65,0.00,0.000,4,0.000,0.071,2222,976,3418
$GC,5154,-0.85,-146.6,474.1,-9.3,250,5158,0.00,2.60,0.00,0.000,6,0.000,0.057,2222,2401,3417
$GC,5479,-0.85,-146.6,499.2,-6.7,266,5483,0.00,2.65,0.00,0.000,4,0.000,0.070,2222,973,3417
$GC,5510,-0.85,-146.6,501.7,-7.5,267,5517,0.00,2.62,0.00,0.000,6,0.000,0.057,2222,2392,3417
$GC,5826,-0.85,-146.6,520.8,-5.9,283,5831,0.00,2.62,0.00,0.000,4,0.000,0.070,2222,976,3418
$GC,5858,-0.85,-146.6,523.0,-6.4,284,5865,0.00,2.65,0.00,0.000,6,0.000,0.058,2222,2403,3417
$GC,6174,-0.85,-146.6,541.4,-5.5,300,6178,0.00,2.65,0.00,0.000,4,0.000,0.069,2222,975,3418
$GC,6205,-0.85,-146.6,543.2,-6.1,301,6212,0.00,2.62,0.00,0.000,6,0.000,0.058,2222,2394,3418
$GC,6521,-0.85,-146.6,561.4,-5.9,317,6525,0.00,2.62,0.00,0.000,4,0.000,0.069,2222,980,3418
$GC,6552,-0.85,-146.6,563.8,-6.9,318,6559,0.00,2.62,0.00,0.000,6,0.000,0.058,2222,2395,3418
$GC,6868,-0.85,-146.6,588.8,-8.5,334,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2395,3417
$GC,7177,-0.85,-146.6,616.9,-8.7,349,7181,0.00,2.62,0.00,0.000,4,0.000,0.068,2222,980,3417
$GC,7220,-0.85,-146.6,620.4,-7.6,351,7225,0.00,2.62,0.00,0.000,6,0.000,0.058,2222,2394,3417
$GC,7547,-0.85,-146.6,644.0,-7.2,367,7551,0.00,2.62,0.00,0.000,4,0.000,0.068,2222,977,3417
$GC,7612,-0.85,-146.6,648.8,-7.7,370,7617,0.00,2.65,0.00,0.000,6,0.000,0.058,2222,2402,3417
$GC,7939,-0.85,-146.6,669.4,-6.1,386,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3417
$GC,8249,-0.85,-146.6,688.1,-5.9,401,8253,0.00,2.65,0.00,0.000,4,0.000,0.070,2222,975,3417
$GC,8281,-0.85,-146.6,689.8,-5.6,402,8287,0.00,2.62,0.00,0.000,6,0.000,0.058,2222,2405,3417
$GC,8596,-0.85,-146.6,704.9,-5.4,418,8600,0.00,2.65,0.00,0.000,4,0.000,0.069,2222,977,3417
$GC,8629,-0.85,-146.6,706.8,-5.9,419,8635,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2400,3417
$GC,8943,-0.85,-146.6,728.4,-8.5,435,8945,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3417
$GC,9253,-0.85,-146.6,753.4,-8.2,450,9257,0.00,2.62,0.00,0.000,4,0.000,0.070,2222,980,3417
$GC,9296,-0.85,-146.6,756.8,-8.9,452,9300,0.00,2.62,0.00,0.000,6,0.000,0.058,2222,2397,3417
$GC,9622,-0.85,-146.6,779.8,-5.7,468,9627,0.00,2.62,0.00,0.000,4,0.000,0.069,2222,980,3417
$GC,9661,-0.85,-146.6,782.1,-6.3,470,9665,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2400,3417
$GC,9987,-0.85,-146.6,802.3,-6.4,486,9988,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3417
$GC,10297,-0.85,-146.6,825.9,-7.6,501,10301,0.00,2.65,0.00,0.000,4,0.000,0.071,2222,973,3417
$GC,10367,-0.85,-146.6,830.7,-6.1,504,10372,0.00,2.65,0.00,0.000,6,0.000,0.060,2222,2397,3417
$GC,10689,-0.85,-146.6,844.9,-3.7,520,10693,0.00,2.62,0.00,0.000,4,0.000,0.071,2222,982,3417
$GC,10811,-0.85,-146.6,849.6,-2.1,525,10818,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2401,3417
$GC,11127,-0.85,-146.6,866.7,-4.4,541,11131,0.00,2.65,0.00,0.000,4,0.000,0.072,2222,982,3417
$GC,11203,-0.85,-146.6,872.0,-7.8,544,11210,0.00,2.65,0.00,0.000,6,0.000,0.062,2222,2400,3416
$GC,11518,-0.85,-146.6,890.6,-7.4,560,11523,0.00,2.67,0.00,0.000,4,0.000,0.074,2222,975,3417
$GC,11545,-0.85,-146.6,894.3,-14.6,561,11549,0.00,2.67,0.00,0.000,6,0.000,0.064,2222,2399,3417
$GC,11866,-0.85,-146.6,922.7,-5.3,577,11870,0.00,2.62,0.00,0.000,4,0.000,0.091,2222,3766,3417
$STATE,11949,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11949,begin apogee
$GC,11956,-0.31,0.0,933.3,13.8,581,12083,0.60,0.00,124.10,1.314,6,0.110,0.000,2341,2200,2817
$STATE,12084,end apogee,CONTROL_FINISHED_OK
$STATE,12084,begin climb
$GC,12085,0.85,146.6,945.3,0.0,587,12217,1.15,2.80,122.12,1.293,4,0.071,0.074,2587,786,2219
$GC,12469,0.85,146.6,900.6,24.4,604,12476,0.00,2.65,0.00,0.000,6,0.000,0.060,2587,2198,2217
$GC,12784,0.85,146.6,875.8,6.4,620,12788,0.00,2.72,0.00,0.000,4,0.000,0.077,2587,779,2217
$GC,13041,1.22,486.4,877.2,-3.3,631,13326,0.40,2.65,275.60,1.279,6,0.048,0.060,2683,2201,834
$GC,13641,1.22,486.4,822.4,11.3,661,13646,0.00,2.70,0.00,0.000,4,0.000,0.079,2683,3617,832
$GC,13808,1.22,486.4,802.7,12.2,668,13815,0.00,2.67,0.00,0.000,6,0.000,0.067,2682,2204,831
$GC,14123,1.22,486.4,765.2,11.8,684,14127,0.00,2.72,0.00,0.000,4,0.000,0.077,2683,772,832
$GC,14284,1.22,486.4,744.2,14.0,691,14289,0.00,2.62,0.00,0.000,6,0.000,0.051,2683,2203,832
$GC,14605,1.22,486.4,695.4,14.8,707,14609,0.00,2.70,0.00,0.000,4,0.000,0.074,2683,780,831
$GC,14716,1.22,486.4,678.7,15.7,712,14721,0.00,2.60,0.00,0.000,6,0.000,0.050,2683,2205,832
$GC,15036,1.22,486.4,629.0,16.0,728,15040,0.00,2.70,0.00,0.000,4,0.000,0.072,2683,779,833
$GC,15158,1.22,486.4,605.1,19.0,733,15164,0.00,2.60,0.00,0.000,6,0.000,0.051,2683,2208,833
$GC,15472,1.22,486.4,547.6,17.9,749,15477,0.00,2.70,0.00,0.000,4,0.000,0.072,2683,779,834
$GC,15583,1.22,486.4,527.6,16.6,754,15588,0.00,2.60,0.00,0.000,6,0.000,0.050,2683,2193,834
$GC,15910,1.22,486.4,473.9,18.1,770,15914,0.00,2.67,0.00,0.000,4,0.000,0.071,2683,772,834
$GC,16015,1.22,486.4,458.3,14.6,775,16020,0.00,2.60,0.00,0.000,6,0.000,0.051,2683,2203,835
$GC,16341,1.22,486.4,410.2,15.2,791,16346,0.00,2.70,0.00,0.000,4,0.000,0.074,2684,773,835
$GC,16457,1.22,486.4,391.3,16.7,796,16461,0.00,2.62,0.00,0.000,6,0.000,0.051,2683,2199,835
$GC,16778,1.22,486.4,338.9,16.8,812,16782,0.00,2.67,0.00,0.000,4,0.000,0.071,2683,775,836
$GC,16899,1.22,486.4,318.9,15.1,817,16906,0.00,2.62,0.00,0.000,6,0.000,0.050,2683,2203,836
$GC,17215,1.22,486.4,264.5,17.0,833,17219,0.00,2.67,0.00,0.000,4,0.000,0.071,2683,773,836
$GC,17336,1.22,486.4,245.6,15.2,838,17343,0.00,2.60,0.00,0.000,6,0.000,0.049,2683,2195,837
$GC,17651,1.22,486.4,194.4,16.2,854,17656,0.00,2.65,0.00,0.000,4,0.000,0.071,2683,779,837
$GC,17764,1.22,486.4,176.7,14.8,859,17768,0.00,2.58,0.00,0.000,6,0.000,0.048,2683,2206,836
$GC,18083,1.22,486.4,128.5,14.0,875,18088,0.00,2.67,0.00,0.000,4,0.000,0.069,2683,776,837
$GC,18194,1.22,486.4,111.3,15.3,880,18199,0.00,2.60,0.00,0.000,6,0.000,0.047,2683,2204,838
$GC,18521,1.22,486.4,63.4,14.6,896,18525,0.00,2.67,0.00,0.000,4,0.000,0.069,2683,773,838
$GC,18631,1.22,486.4,49.4,11.4,901,18635,0.00,2.60,0.00,0.000,6,0.000,0.047,2683,2201,838
$GC,18958,1.22,486.4,4.6,13.5,917,18962,0.00,2.65,0.00,0.000,4,0.000,0.070,2683,778,839
$STATE,18977,end climb,SURFACE_DEPTH_REACHED
$STATE,18977,begin surface coast
$FINISH,0.8,1.027275
$STATE,18983,end surface coast,CONTROL_FINISHED_OK
$STATE,18984,begin surface
$SM_CCo,19065,0.00,0.000,0,0,837,485.69
$SM_GC,1.56,11.30,0.00,0.00,0.035,0.000,0.000,74,2403,837,-10.69,0.08,485.69
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2111
$TCM_TEMP,19.70
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,850.4,92.9
$24V_AH,23.5,19.404
$10V_AH,10.1,8.601
$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,25.500,217.150,521.825,0.000,0.000,32.614,26.716,136.320,12.250,0.000,0.000,15.881,1733.779,14270.947,649.520,2354.886,344.990,33.369,1853.248,0.000,2291.966,0.000,51.094
$DEVICE_MAMPS,170.274,91.273,1313.871,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.517,657.337,495.450,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47419,918
$CFSIZE,260165632,253816832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,281107,045537,6141.181,-934.112,43,1.7,43,-9.6