version: 66.02
glider: 16
mission: 6
dive: 48
start: 11 20 107 1 29 14
data:
$ID,16
$MISSION,6
$DIVE,48
$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,412.5
$T_MISSION,440
$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,-2076023.9
$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,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
$GPS1,012037,6127.770,-826.396,27,1.1,27,-8.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-60.9
$GPS2,012826,6127.755,-826.375,13,1.3,13,-8.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.231,0.082
$KALMAN_X,-13654.5,828.3,711.9,46620.4,-13630.9
$KALMAN_Y,85293.3,-212.3,-276.9,-104125.9,12404.9
$MHEAD_RNG_PITCHd_Wd,298.5,53262,-14.8,-8.000
$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,-1.08,-146.6,0.0,0.0,0,108,0.00,0.00,-87.32,0.000,2,0.000,0.000,71,2398,3313
$GC,110,-1.08,-146.6,4.5,-3.6,5,132,11.82,2.67,-2.15,0.000,4,0.174,0.075,2166,982,3418
$GC,384,-1.08,-146.6,50.6,-14.1,17,388,0.00,2.60,0.00,0.000,6,0.000,0.051,2166,2399,3417
$GC,710,-1.08,-146.6,92.3,-10.3,33,715,0.00,2.62,0.00,0.000,4,0.000,0.062,2166,981,3417
$GC,772,-1.08,-146.6,97.9,-8.8,36,776,0.00,2.60,0.00,0.000,6,0.000,0.051,2166,2403,3417
$GC,1097,-1.08,-146.6,130.5,-9.8,52,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2403,3417
$GC,1405,-1.08,-146.6,165.6,-11.3,67,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2403,3417
$GC,1715,-1.08,-146.6,199.8,-11.5,82,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2403,3417
$GC,2024,-1.08,-146.6,236.8,-12.4,97,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2403,3417
$GC,2333,-1.08,-146.6,273.4,-12.7,112,2338,0.00,2.55,0.00,0.000,4,0.000,0.073,2167,3767,3417
$GC,2372,-1.08,-146.6,278.3,-12.3,114,2376,0.00,2.47,0.00,0.000,6,0.000,0.048,2166,2395,3417
$GC,2698,-1.08,-146.6,319.9,-12.5,130,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2395,3417
$GC,3007,-1.08,-146.6,357.7,-11.8,145,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2395,3417
$GC,3316,-1.08,-146.6,393.9,-11.7,160,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2395,3417
$GC,3625,-1.08,-146.6,428.5,-11.1,175,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2395,3417
$GC,3935,-1.08,-146.6,463.5,-11.6,190,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2395,3417
$GC,4245,-1.08,-146.6,502.5,-13.9,205,4249,0.00,2.58,0.00,0.000,4,0.000,0.072,2166,3767,3417
$GC,4293,-1.08,-146.6,510.0,-15.4,207,4298,0.00,2.47,0.00,0.000,6,0.000,0.048,2166,2404,3417
$GC,4614,-1.08,-146.6,557.7,-15.1,223,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3417
$GC,4923,-1.08,-146.6,598.7,-9.9,238,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2404,3417
$GC,5232,-1.08,-146.6,620.7,-10.8,253,5236,0.00,2.55,0.00,0.000,4,0.000,0.072,2167,3769,3417
$GC,5277,-1.08,-146.6,619.0,-0.1,255,5281,0.00,2.45,0.00,0.000,6,0.000,0.045,2166,2395,3417
$GC,5608,-1.08,-146.6,645.0,-8.7,271,5612,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,989,3417
$GC,5656,-1.08,-146.6,650.8,-12.3,273,5661,0.00,2.60,0.00,0.000,6,0.000,0.051,2166,2400,3417
$GC,5977,-1.08,-146.6,685.0,-8.7,289,5981,0.00,2.58,0.00,0.000,4,0.000,0.076,2166,3770,3417
$GC,6003,-1.08,-146.6,688.1,-11.9,290,6008,0.00,2.50,0.00,0.000,6,0.000,0.051,2167,2405,3418
$GC,6326,-1.08,-146.6,712.9,-5.1,306,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2405,3418
$GC,6634,-1.08,-146.6,743.6,-11.6,321,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2405,3418
$GC,6944,-1.08,-146.6,771.7,-8.6,336,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2405,3418
$GC,7253,-1.08,-146.6,809.5,-10.5,351,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2405,3416
$GC,7562,-1.08,-146.6,843.1,-11.2,366,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2404,3415
$GC,7872,-1.08,-146.6,850.1,-0.2,381,7876,0.00,2.65,0.00,0.000,4,0.000,0.070,2166,987,3413
$GC,7942,-1.08,-146.6,850.0,-0.8,384,7947,0.00,2.70,0.00,0.000,6,0.000,0.075,2166,2397,3412
$STATE,8242,end dive,NO_VERTICAL_VELOCITY
$STATE,8242,begin apogee
$GC,8246,-0.31,0.0,849.5,0.0,399,8371,0.85,0.00,121.93,1.311,6,0.107,0.000,2338,2186,2817
$STATE,8372,end apogee,CONTROL_FINISHED_OK
$STATE,8372,begin climb
$GC,8373,1.08,146.6,847.5,0.0,405,8504,1.38,2.90,120.82,1.284,4,0.054,0.090,2647,3613,2219
$GC,8650,1.08,146.6,819.8,12.3,418,8655,0.00,2.70,0.00,0.000,6,0.000,0.072,2647,2206,2218
$GC,8976,1.13,187.1,789.0,6.5,434,9018,0.00,2.85,33.70,1.243,4,0.000,0.081,2647,788,2054
$GC,9079,1.13,187.1,778.8,18.4,438,9086,0.00,2.67,0.00,0.000,6,0.000,0.061,2647,2207,2052
$GC,9394,1.13,187.1,745.3,8.5,454,9395,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2208,2052
$GC,9703,1.13,187.1,710.7,10.8,469,9707,0.00,2.72,0.00,0.000,4,0.000,0.089,2647,3612,2049
$GC,9959,1.13,187.1,679.8,11.9,480,9967,0.00,2.67,0.00,0.000,6,0.000,0.066,2647,2206,2047
$GC,10275,1.13,187.1,647.3,8.8,496,10279,0.00,2.70,0.00,0.000,4,0.000,0.081,2647,3622,2046
$GC,10514,1.13,187.1,625.0,9.5,507,10519,0.00,2.62,0.00,0.000,6,0.000,0.056,2647,2197,2045
$GC,10840,1.13,187.1,595.7,8.8,523,10841,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2197,2045
$GC,11149,1.13,187.1,568.5,8.5,538,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2197,2045
$GC,11458,1.13,187.1,541.6,9.2,553,11463,0.00,2.67,0.00,0.000,4,0.000,0.071,2647,3625,2047
$GC,11507,1.13,187.1,536.3,10.4,555,11512,0.00,2.62,0.00,0.000,6,0.000,0.053,2647,2203,2047
$GC,11828,1.13,187.1,504.3,9.9,571,11830,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2203,2048
$GC,12138,1.13,187.1,474.6,9.8,586,12139,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2203,2049
$GC,12447,1.13,187.1,443.5,10.0,601,12451,0.00,2.65,0.00,0.000,4,0.000,0.071,2647,3623,2051
$GC,12507,1.13,187.1,437.2,10.3,604,12512,0.00,2.60,0.00,0.000,6,0.000,0.054,2647,2197,2050
$GC,12833,1.13,187.1,406.8,9.0,620,12837,0.00,2.67,0.00,0.000,4,0.000,0.071,2647,3623,2051
$GC,12909,1.13,187.1,399.0,10.1,623,12916,0.00,2.62,0.00,0.000,6,0.000,0.053,2647,2200,2052
$GC,13225,1.13,187.1,370.9,9.0,639,13229,0.00,2.65,0.00,0.000,4,0.000,0.070,2647,3622,2053
$GC,13273,1.13,187.1,366.4,8.8,641,13278,0.00,2.62,0.00,0.000,6,0.000,0.054,2647,2200,2053
$GC,13594,1.13,187.1,337.5,9.2,657,13599,0.00,2.65,0.00,0.000,4,0.000,0.071,2647,3621,2053
$GC,13654,1.13,187.1,331.6,10.6,660,13659,0.00,2.60,0.00,0.000,6,0.000,0.055,2647,2200,2053
$GC,13981,1.13,187.1,301.0,9.7,676,13982,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2200,2054
$GC,14290,1.13,187.1,270.3,10.1,691,14291,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2200,2055
$GC,14599,1.13,187.1,237.4,10.7,706,14600,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2200,2055
$GC,14908,1.13,187.1,207.6,9.2,721,14912,0.00,2.65,0.00,0.000,4,0.000,0.069,2647,3623,2055
$GC,14956,1.13,187.1,202.5,10.6,723,14961,0.00,2.62,0.00,0.000,6,0.000,0.054,2647,2202,2056
$GC,15277,1.13,187.1,173.6,8.6,739,15278,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2202,2056
$GC,15587,1.13,187.1,145.6,9.4,754,15591,0.00,2.62,0.00,0.000,4,0.000,0.069,2647,3614,2056
$GC,15657,1.13,187.1,138.5,10.1,757,15662,0.00,2.60,0.00,0.000,6,0.000,0.054,2647,2207,2056
$GC,15980,1.13,187.1,107.2,10.0,773,15985,0.00,2.62,0.00,0.000,4,0.000,0.069,2647,3617,2056
$GC,16043,1.13,187.1,100.3,10.6,776,16047,0.00,2.60,0.00,0.000,6,0.000,0.056,2647,2196,2057
$GC,16368,1.13,187.1,68.5,9.5,792,16372,0.00,2.65,0.00,0.000,4,0.000,0.070,2647,3616,2057
$GC,16444,1.13,187.1,60.5,10.4,795,16452,0.00,2.62,0.00,0.000,6,0.000,0.058,2647,2201,2057
$GC,16760,1.13,187.1,28.7,10.3,811,16761,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2201,2058
$STATE,17068,end climb,SURFACE_DEPTH_REACHED
$STATE,17068,begin surface coast
$FINISH,0.8,1.019311
$STATE,17090,end surface coast,CONTROL_FINISHED_OK
$STATE,17090,begin surface
$SM_CCo,17108,66.03,0.643,2,0,1594,300.00
$SM_GC,1.59,0.00,0.00,66.03,0.000,0.000,0.643,71,2405,1594,-10.76,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2075
$TCM_TEMP,17.50
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,750.2,110.4
$24V_AH,23.4,13.475
$10V_AH,10.1,5.512
$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,25.275,111.175,276.450,66.025,0.000,65.228,50.441,215.754,22.000,0.000,0.000,13.015,1501.564,13409.740,499.794,1822.298,426.950,33.358,1387.538,0.000,1781.403,0.000,44.646
$DEVICE_MAMPS,174.109,89.739,1310.803,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,584.831,593.466,471.301,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41149,827
$CFSIZE,260165632,256135168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,2,0
$GPS,201107,061638,6131.055,-833.805,27,1.6,27,-9.0