version: 66.02
glider: 16
mission: 6
dive: 50
start: 11 20 107 11 17 49
data:
$ID,16
$MISSION,6
$DIVE,50
$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,-2076077
$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,15
$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
$GPS1,111155,6130.637,-840.154,43,1.2,43,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-65.4
$GPS2,111702,6130.624,-840.158,17,1.1,34,-9.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.245,-0.003
$KALMAN_X,-12982.1,2496.3,719.4,32127.9,-8686.9
$KALMAN_Y,90614.1,-2744.6,-1117.2,-100725.2,12883.7
$MHEAD_RNG_PITCHd_Wd,278.3,40518,-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,-146.6,0.0,0.0,0,82,0.00,0.00,-62.50,0.000,2,0.000,0.000,72,2403,3271
$GC,84,-1.08,-146.6,4.8,-7.5,3,107,11.73,2.62,-2.95,0.000,4,0.170,0.075,2169,985,3418
$GC,309,-1.08,-146.6,37.6,-12.4,13,313,0.00,2.55,0.00,0.000,6,0.000,0.051,2169,2398,3418
$GC,634,-1.08,-146.6,79.0,-11.5,29,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2398,3419
$GC,943,-1.08,-146.6,112.2,-11.4,44,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2398,3418
$GC,1252,-1.08,-146.6,146.8,-11.0,59,1257,0.00,2.60,0.00,0.000,4,0.000,0.061,2169,983,3418
$GC,1323,-1.08,-146.6,154.3,-10.5,62,1328,0.00,2.60,0.00,0.000,6,0.000,0.050,2169,2398,3418
$GC,1645,-1.08,-146.6,188.0,-9.8,78,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2398,3418
$GC,1954,-1.08,-146.6,220.0,-10.7,93,1958,0.00,2.60,0.00,0.000,4,0.000,0.062,2169,983,3418
$GC,1996,-1.08,-146.6,224.7,-10.5,95,2002,0.00,2.60,0.00,0.000,6,0.000,0.051,2169,2400,3418
$GC,2323,-1.08,-146.6,260.1,-10.9,111,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3419
$GC,2632,-1.08,-146.6,294.7,-11.2,126,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3418
$GC,2941,-1.08,-146.6,328.7,-11.0,141,2946,0.00,2.60,0.00,0.000,4,0.000,0.062,2170,983,3419
$GC,3013,-1.08,-146.6,336.8,-10.5,144,3017,0.00,2.60,0.00,0.000,6,0.000,0.051,2169,2401,3419
$GC,3333,-1.08,-146.6,371.7,-10.6,160,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3419
$GC,3643,-1.08,-146.6,402.4,-9.7,175,3647,0.00,2.60,0.00,0.000,4,0.000,0.062,2169,983,3419
$GC,3685,-1.08,-146.6,406.5,-8.8,177,3690,0.00,2.60,0.00,0.000,6,0.000,0.051,2169,2398,3418
$GC,4012,-1.08,-146.6,437.3,-8.9,193,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2398,3419
$GC,4321,-1.08,-146.6,468.8,-10.4,208,4326,0.00,2.60,0.00,0.000,4,0.000,0.061,2169,983,3419
$GC,4370,-1.08,-146.6,473.8,-9.9,210,4375,0.00,2.60,0.00,0.000,6,0.000,0.051,2169,2402,3420
$GC,4692,-1.08,-146.6,505.6,-10.0,226,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2402,3419
$GC,5001,-1.08,-146.6,535.9,-9.9,241,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2402,3419
$GC,5310,-1.08,-146.6,566.4,-9.9,256,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2402,3419
$GC,5619,-1.08,-146.6,599.4,-11.8,271,5624,0.00,2.60,0.00,0.000,4,0.000,0.061,2169,982,3419
$GC,5667,-1.08,-146.6,604.7,-10.2,273,5672,0.00,2.58,0.00,0.000,6,0.000,0.049,2169,2395,3419
$GC,5989,-1.08,-146.6,642.4,-11.9,289,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2395,3419
$GC,6298,-1.08,-146.6,676.0,-11.0,304,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2395,3419
$STATE,6482,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6482,begin apogee
$GC,6486,-0.31,0.0,696.3,10.8,313,6611,0.88,0.00,121.45,1.128,6,0.119,0.000,2341,2191,2817
$STATE,6612,end apogee,CONTROL_FINISHED_OK
$STATE,6612,begin climb
$GC,6613,1.08,146.6,701.3,0.0,319,6740,1.50,2.75,119.22,1.109,4,0.097,0.069,2644,3617,2218
$GC,6812,1.10,158.0,692.1,7.6,328,6830,0.00,2.62,10.65,0.944,6,0.000,0.052,2642,2206,2173
$GC,7138,1.12,178.1,668.7,7.3,344,7159,0.00,0.00,17.73,1.010,6,0.000,0.000,2644,2206,2090
$GC,7467,1.13,185.1,643.1,7.7,360,7481,0.00,2.72,7.25,0.864,4,0.000,0.071,2644,3616,2062
$GC,7519,1.13,185.1,638.3,9.6,362,7524,0.00,2.62,0.00,0.000,6,0.000,0.053,2644,2200,2062
$GC,7840,1.13,185.1,610.5,9.0,378,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2200,2061
$GC,8150,1.13,185.1,585.5,9.1,393,8154,0.00,2.65,0.00,0.000,4,0.000,0.071,2644,3611,2061
$GC,8204,1.13,185.1,580.4,9.3,395,8211,0.00,2.60,0.00,0.000,6,0.000,0.054,2644,2205,2060
$GC,8519,1.13,185.1,554.1,8.4,411,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2205,2061
$GC,8829,1.13,185.1,528.3,8.6,426,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2205,2060
$GC,9138,1.13,185.1,501.8,8.6,441,9142,0.00,2.62,0.00,0.000,4,0.000,0.071,2644,3612,2060
$GC,9237,1.13,185.1,492.4,10.0,445,9244,0.00,2.60,0.00,0.000,6,0.000,0.054,2644,2202,2060
$GC,9552,1.13,185.1,465.1,9.0,461,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2202,2060
$GC,9862,1.13,185.1,435.8,9.5,476,9866,0.00,2.65,0.00,0.000,4,0.000,0.071,2644,3619,2060
$GC,9904,1.13,185.1,431.5,9.8,478,9909,0.00,2.62,0.00,0.000,6,0.000,0.055,2644,2198,2060
$GC,10231,1.13,185.1,401.9,8.8,494,10232,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2197,2060
$GC,10540,1.13,185.1,374.2,9.2,509,10544,0.00,2.65,0.00,0.000,4,0.000,0.071,2644,3616,2060
$GC,10611,1.13,185.1,367.0,9.8,512,10616,0.00,2.60,0.00,0.000,6,0.000,0.056,2644,2205,2060
$GC,10932,1.13,185.1,336.4,9.1,528,10933,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2205,2061
$GC,11242,1.13,185.1,309.2,8.4,543,11243,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2205,2060
$GC,11551,1.13,185.9,283.2,8.0,558,11552,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2205,2060
$GC,11860,1.13,185.9,257.3,8.7,573,11861,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2205,2060
$GC,12169,1.13,185.9,229.7,8.9,588,12174,0.00,2.62,0.00,0.000,4,0.000,0.070,2644,3615,2059
$GC,12231,1.13,185.9,223.9,9.5,591,12235,0.00,2.58,0.00,0.000,6,0.000,0.055,2644,2199,2060
$GC,12556,1.13,185.9,195.0,8.8,607,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2199,2060
$GC,12865,1.13,185.9,168.8,8.4,622,12869,0.00,2.62,0.00,0.000,4,0.000,0.069,2644,3611,2060
$GC,12908,1.13,185.9,165.0,8.8,624,12913,0.00,2.60,0.00,0.000,6,0.000,0.054,2644,2199,2060
$GC,13235,1.13,185.9,137.9,8.7,640,13236,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2199,2060
$GC,13545,1.13,185.9,111.5,8.5,655,13546,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2199,2060
$GC,13854,1.13,185.9,86.0,8.3,670,13855,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2199,2060
$GC,14163,1.13,185.9,60.0,9.0,685,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2199,2060
$GC,14472,1.13,185.9,31.5,8.8,700,14477,0.00,2.62,0.00,0.000,4,0.000,0.068,2642,3617,2060
$GC,14511,1.13,185.9,28.2,8.4,702,14516,0.00,2.58,0.00,0.000,6,0.000,0.052,2644,2190,2060
$GC,14836,1.13,185.9,3.1,8.4,718,14837,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2190,2061
$STATE,14856,end climb,SURFACE_DEPTH_REACHED
$STATE,14856,begin surface coast
$FINISH,0.8,1.017893
$STATE,14878,end surface coast,CONTROL_FINISHED_OK
$STATE,14878,begin surface
$SM_CCo,14896,64.35,0.662,1,0,1593,300.00
$SM_GC,1.53,0.00,0.00,64.35,0.000,0.000,0.662,68,2411,1593,-10.77,0.31,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2076
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.5,104.2
$24V_AH,23.5,13.711
$10V_AH,10.2,5.653
$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,25.300,84.450,276.300,64.350,0.000,32.661,55.012,119.798,5.000,0.000,0.000,34.718,1283.222,11736.896,470.189,1493.052,291.200,33.356,1182.906,0.000,1444.103,0.000,34.899
$DEVICE_MAMPS,170.274,75.166,1128.257,661.921,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,497.582,522.334,448.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34856,720
$CFSIZE,260165632,256045056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,201107,152825,6130.784,-843.588,38,1.4,38,-9.1