version: 66.02
glider: 16
mission: 6
dive: 104
start: 11 29 107 5 50 7
data:
$ID,16
$MISSION,6
$DIVE,104
$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,-2077437.4
$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,13
$R_STBD_OVSHOOT,17
$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
$GPS1,054402,6145.805,-944.259,39,1.2,39,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-63.9
$GPS2,054915,6145.792,-944.302,15,1.2,15,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.162,-0.151
$KALMAN_X,-32557.6,-310.7,7434.1,-8606.4,-28473.5
$KALMAN_Y,99484.2,-80.3,-3303.7,-82049.3,6282.2
$MHEAD_RNG_PITCHd_Wd,142.6,25727,-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,17,begin dive
$GC,19,-0.85,-146.6,0.0,0.0,0,82,0.00,0.00,-61.40,0.000,2,0.000,0.000,67,2403,3173
$GC,84,-0.85,-146.6,4.1,-6.3,3,107,12.20,2.70,-5.30,0.000,4,0.176,0.077,2221,982,3418
$GC,265,-0.85,-146.6,25.1,-10.5,11,269,0.00,2.60,0.00,0.000,6,0.000,0.051,2221,2407,3418
$GC,590,-0.85,-146.6,53.4,-6.6,27,595,0.00,2.65,0.00,0.000,4,0.000,0.064,2221,980,3418
$GC,633,-0.85,-146.6,56.6,-7.6,29,638,0.00,2.60,0.00,0.000,6,0.000,0.053,2221,2397,3418
$GC,961,-0.85,-146.6,83.7,-9.5,45,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3417
$GC,1270,-0.85,-146.6,109.1,-7.9,60,1274,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,979,3418
$GC,1353,-0.85,-146.6,116.4,-8.9,64,1357,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2403,3418
$GC,1678,-0.85,-146.6,142.1,-6.5,80,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,1987,-0.85,-146.6,159.6,-5.1,95,1992,0.00,2.65,0.00,0.000,4,0.000,0.067,2221,980,3418
$GC,2082,-0.85,-146.6,164.7,-4.8,99,2086,0.00,2.60,0.00,0.000,6,0.000,0.052,2221,2407,3418
$GC,2403,-0.85,-146.6,181.1,-5.2,115,2407,0.00,2.65,0.00,0.000,4,0.000,0.066,2221,980,3418
$GC,2451,-0.85,-146.6,184.1,-6.2,117,2455,0.00,2.60,0.00,0.000,6,0.000,0.052,2221,2395,3418
$GC,2772,-0.85,-146.6,210.2,-10.5,133,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3418
$GC,3081,-0.85,-146.6,247.1,-13.6,148,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3418
$GC,3390,-0.85,-146.6,292.0,-15.3,163,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3418
$GC,3700,-0.85,-146.6,331.7,-12.6,178,3704,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,980,3418
$GC,3731,-0.85,-146.6,337.0,-16.9,179,3738,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2397,3418
$GC,4047,-0.85,-146.6,352.3,-3.7,195,4051,0.00,2.65,0.00,0.000,4,0.000,0.067,2221,972,3418
$GC,4103,-0.85,-146.6,354.4,-4.3,197,4108,0.00,2.60,0.00,0.000,6,0.000,0.055,2221,2400,3417
$GC,4417,-0.85,-146.6,365.7,-2.9,213,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,4726,-0.85,-146.6,373.2,-1.9,228,4731,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,973,3418
$GC,4782,-0.85,-146.6,375.0,-3.1,230,4788,0.00,2.60,0.00,0.000,6,0.000,0.056,2221,2400,3418
$GC,5097,-0.85,-146.6,386.1,-1.7,246,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,5406,-0.85,-146.6,403.9,-4.8,261,5411,0.00,2.65,0.00,0.000,4,0.000,0.070,2221,978,3418
$GC,5455,-0.85,-146.6,405.5,-3.3,263,5460,0.00,2.60,0.00,0.000,6,0.000,0.057,2221,2401,3418
$GC,5776,-0.85,-146.6,421.6,-6.0,279,5780,0.00,2.65,0.00,0.000,4,0.000,0.072,2221,980,3419
$GC,5869,-0.85,-146.6,427.9,-7.1,283,5874,0.00,2.60,0.00,0.000,6,0.000,0.055,2221,2401,3418
$GC,6190,-0.85,-146.6,448.4,-6.2,299,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3418
$GC,6500,-0.85,-146.6,468.2,-6.2,314,6504,0.00,2.65,0.00,0.000,4,0.000,0.069,2221,976,3418
$GC,6548,-0.85,-146.6,471.2,-6.3,316,6552,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2391,3418
$GC,6869,-0.85,-146.6,491.9,-7.0,332,6873,0.00,2.62,0.00,0.000,4,0.000,0.068,2221,977,3418
$GC,6929,-0.85,-146.6,496.1,-7.0,335,6934,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2406,3418
$GC,7256,-0.85,-146.6,517.0,-6.6,351,7260,0.00,2.65,0.00,0.000,4,0.000,0.067,2221,978,3418
$GC,7304,-0.85,-146.6,520.5,-7.1,353,7309,0.00,2.60,0.00,0.000,6,0.000,0.053,2221,2393,3417
$GC,7625,-0.85,-146.6,536.9,-5.1,369,7626,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2393,3418
$GC,7934,-0.85,-146.6,557.0,-6.7,384,7936,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2393,3418
$GC,8243,-0.85,-146.6,587.3,-11.3,399,8248,0.00,2.62,0.00,0.000,4,0.000,0.070,2221,981,3417
$GC,8315,-0.85,-146.6,595.8,-12.1,402,8319,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2395,3418
$GC,8636,-0.85,-146.6,627.4,-10.4,418,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3418
$GC,8945,-0.85,-146.6,657.4,-9.9,433,8949,0.00,2.62,0.00,0.000,4,0.000,0.069,2221,981,3418
$GC,8988,-0.85,-146.6,661.7,-9.1,435,8993,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2393,3418
$GC,9316,-0.85,-146.6,689.5,-8.2,451,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2393,3418
$GC,9625,-0.85,-146.6,711.7,-5.3,466,9629,0.00,2.62,0.00,0.000,4,0.000,0.066,2221,972,3418
$GC,9673,-0.85,-146.6,715.0,-6.2,468,9678,0.00,2.62,0.00,0.000,6,0.000,0.053,2221,2403,3418
$GC,9995,-0.85,-146.6,739.8,-9.1,484,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3418
$GC,10304,-0.85,-146.6,760.6,-6.8,499,10308,0.00,2.62,0.00,0.000,4,0.000,0.066,2221,980,3417
$GC,10346,-0.85,-146.6,763.9,-7.4,501,10351,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2394,3418
$GC,10673,-0.85,-146.6,790.1,-9.5,517,10678,0.00,2.60,0.00,0.000,4,0.000,0.065,2221,979,3417
$GC,10716,-0.85,-146.6,794.8,-10.1,519,10720,0.00,2.60,0.00,0.000,6,0.000,0.053,2220,2397,3417
$GC,11043,-0.85,-146.6,827.8,-11.1,535,11047,0.00,2.58,0.00,0.000,4,0.000,0.080,2221,3765,3417
$GC,11115,-0.85,-146.6,836.7,-12.7,538,11119,0.00,2.47,0.00,0.000,6,0.000,0.053,2221,2392,3417
$GC,11429,-0.85,-146.6,873.6,-12.4,553,11433,0.00,2.62,0.00,0.000,4,0.000,0.071,2221,977,3417
$GC,11574,-0.85,-146.6,886.7,-6.9,559,11580,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2404,3417
$GC,11889,-0.85,-146.6,894.5,0.1,575,11893,0.00,2.58,0.00,0.000,4,0.000,0.081,2221,3770,3417
$GC,12022,-0.85,-146.6,891.8,3.3,581,12026,0.00,2.50,0.00,0.000,6,0.000,0.054,2221,2392,3417
$GC,12348,-0.85,-146.6,871.1,5.5,597,12349,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2392,3417
$GC,12657,-0.85,-146.6,892.1,-15.2,612,12661,0.00,2.65,0.00,0.000,4,0.000,0.078,2221,983,3417
$GC,12678,-0.85,-146.6,896.3,-19.6,613,12683,0.00,2.60,0.00,0.000,6,0.000,0.059,2221,2393,3417
$GC,13004,-0.85,-146.6,959.5,-13.1,629,13009,0.00,2.60,0.00,0.000,4,0.000,0.083,2221,3763,3418
$GC,13038,-0.85,-146.6,961.0,-3.6,630,13045,0.00,2.47,0.00,0.000,6,0.000,0.055,2221,2392,3417
$STATE,13104,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13104,begin apogee
$GC,13109,-0.31,0.0,970.1,13.6,634,13236,0.60,0.00,124.55,1.349,6,0.120,0.000,2338,2197,2817
$STATE,13237,end apogee,CONTROL_FINISHED_OK
$STATE,13237,begin climb
$GC,13239,0.85,146.6,978.1,0.0,640,13370,1.23,2.78,122.88,1.321,4,0.090,0.073,2589,790,2220
$GC,13427,0.85,146.6,962.2,17.6,649,13432,0.00,2.62,0.00,0.000,6,0.000,0.052,2589,2206,2218
$GC,13753,0.85,146.6,904.5,11.0,665,13757,0.00,2.70,0.00,0.000,4,0.000,0.082,2589,3613,2216
$GC,14009,1.37,624.3,890.7,-7.1,676,14361,0.52,2.62,341.25,1.282,6,0.045,0.059,2713,2200,509
$GC,14668,1.37,624.3,860.9,11.2,709,14673,0.00,2.72,0.00,0.000,4,0.000,0.082,2713,788,509
$GC,14752,1.37,624.3,851.2,11.3,713,14756,0.00,2.60,0.00,0.000,6,0.000,0.052,2713,2201,508
$GC,15077,1.37,624.3,809.9,13.4,729,15082,0.00,2.70,0.00,0.000,4,0.000,0.074,2713,789,506
$GC,15206,1.37,624.3,789.7,15.2,735,15210,0.00,2.58,0.00,0.000,6,0.000,0.049,2713,2204,506
$GC,15537,1.37,624.3,741.2,14.7,751,15542,0.00,2.67,0.00,0.000,4,0.000,0.071,2713,788,506
$GC,15653,1.37,624.3,722.4,11.8,756,15658,0.00,2.58,0.00,0.000,6,0.000,0.048,2713,2207,506
$GC,15974,1.37,624.3,671.3,15.8,772,15978,0.00,2.67,0.00,0.000,4,0.000,0.070,2713,788,507
$GC,16103,1.37,624.3,650.4,15.5,778,16107,0.00,2.55,0.00,0.000,6,0.000,0.046,2713,2200,507
$GC,16428,1.37,624.3,603.0,15.5,794,16432,0.00,2.67,0.00,0.000,4,0.000,0.071,2713,780,508
$GC,16556,1.37,624.3,583.7,13.5,800,16560,0.00,2.58,0.00,0.000,6,0.000,0.046,2713,2206,509
$GC,16881,1.37,624.3,532.5,17.1,816,16886,0.00,2.67,0.03,0.268,4,0.000,0.070,2713,785,509
$GC,17020,1.37,624.3,512.9,14.4,822,17026,0.00,2.55,0.28,0.143,6,0.000,0.046,2713,2201,509
$GC,17335,1.37,624.3,466.3,15.6,837,17341,0.00,2.67,1.02,0.134,4,0.000,0.071,2713,785,510
$GC,17481,1.37,624.3,443.7,15.5,843,17488,0.00,2.55,2.22,0.264,6,0.000,0.046,2713,2199,509
$GC,17795,1.37,624.3,382.4,21.9,859,17800,0.00,2.65,0.00,0.000,4,0.000,0.072,2713,788,509
$GC,17947,1.37,624.3,349.6,20.4,866,17951,0.00,2.55,0.00,0.000,6,0.000,0.047,2713,2200,509
$GC,18273,1.37,624.3,282.0,21.1,882,18279,0.00,2.67,0.98,0.140,4,0.000,0.074,2713,780,510
$GC,18385,1.37,624.3,258.0,16.1,887,18394,0.00,2.55,1.95,0.131,6,0.000,0.046,2713,2199,510
$GC,18710,1.37,624.3,185.2,23.0,903,18719,0.00,2.70,2.22,0.247,4,0.000,0.072,2713,786,509
$GC,18871,1.37,624.3,153.8,18.7,910,18876,0.00,2.55,0.00,0.000,6,0.000,0.047,2713,2204,509
$GC,19198,1.37,624.3,90.0,19.4,926,19203,0.00,2.67,0.08,0.180,4,0.000,0.071,2713,781,509
$GC,19350,1.37,624.3,61.5,18.4,933,19355,0.00,2.55,0.12,0.160,6,0.000,0.047,2713,2200,509
$STATE,19675,end climb,SURFACE_DEPTH_REACHED
$STATE,19675,begin surface coast
$FINISH,0.7,1.006322
$STATE,19698,end surface coast,CONTROL_FINISHED_OK
$STATE,19698,begin surface
$SM_CCo,19777,0.00,0.000,0,0,510,565.91
$SM_GC,1.37,11.62,0.00,0.00,0.044,0.000,0.000,64,2404,510,-10.70,0.11,565.91
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2128
$TCM_TEMP,16.30
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,875.5,103.2
$24V_AH,23.5,20.270
$10V_AH,10.1,9.076
$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,26.175,189.150,597.575,0.000,0.000,32.589,33.902,150.908,13.250,0.000,0.000,15.567,1788.428,14853.589,669.278,2406.569,371.494,33.364,1895.096,0.000,2342.054,0.000,52.755
$DEVICE_MAMPS,175.643,82.836,1349.153,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,664.051,675.602,498.870,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47283,950
$CFSIZE,260165632,253444096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,291107,112115,6145.124,-948.882,39,2.1,58,-9.7