version: 66.02
glider: 16
mission: 6
dive: 52
start: 11 20 107 19 41 33
data:
$ID,16
$MISSION,6
$DIVE,52
$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,-2076109.4
$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,17
$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
$GPS1,193637,6130.917,-846.046,44,1.3,49,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-65.0
$GPS2,194045,6130.900,-846.030,13,1.9,13,-9.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.201,0.141
$KALMAN_X,-1368.3,454.5,424.2,17693.0,3639.4
$KALMAN_Y,85901.4,-731.9,-1004.9,-97634.3,5604.2
$MHEAD_RNG_PITCHd_Wd,314.2,36425,-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,-62.38,0.000,2,0.000,0.000,72,2407,3268
$GC,84,-1.08,-146.6,4.4,-6.9,3,107,11.80,2.67,-3.10,0.000,4,0.172,0.077,2170,980,3418
$GC,274,-1.08,-146.6,30.3,-11.0,11,279,0.00,2.62,0.00,0.000,6,0.000,0.053,2170,2396,3418
$GC,595,-1.08,-146.6,64.8,-11.3,27,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2396,3419
$GC,904,-1.08,-146.6,101.0,-11.0,42,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2395,3419
$GC,1213,-1.08,-146.6,132.2,-9.9,57,1218,0.00,2.62,0.00,0.000,4,0.000,0.064,2170,980,3419
$GC,1245,-1.08,-146.6,135.7,-10.6,58,1252,0.00,2.62,0.00,0.000,6,0.000,0.053,2170,2400,3419
$GC,1560,-1.08,-146.6,167.3,-9.5,74,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3418
$GC,1870,-1.08,-146.6,198.7,-10.3,89,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3419
$GC,2179,-1.08,-146.6,227.9,-9.7,104,2183,0.00,2.62,0.00,0.000,4,0.000,0.064,2170,978,3419
$GC,2240,-1.08,-146.6,233.8,-9.5,107,2244,0.00,2.60,0.00,0.000,6,0.000,0.054,2170,2404,3419
$GC,2566,-1.08,-146.6,266.2,-10.3,123,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2404,3418
$GC,2875,-1.08,-146.6,299.1,-10.7,138,2879,0.00,2.62,0.00,0.000,4,0.000,0.064,2170,982,3419
$GC,2901,-1.08,-146.6,302.4,-12.6,139,2906,0.00,2.60,0.00,0.000,6,0.000,0.053,2170,2394,3419
$GC,3228,-1.08,-146.6,339.6,-11.2,155,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2394,3419
$GC,3537,-1.08,-146.6,373.3,-10.6,170,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2394,3419
$GC,3846,-1.08,-146.6,405.2,-10.2,185,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2394,3419
$GC,4156,-1.08,-146.6,435.1,-9.5,200,4160,0.00,2.60,0.00,0.000,4,0.000,0.063,2170,977,3419
$GC,4194,-1.08,-146.6,438.7,-9.1,202,4198,0.00,2.60,0.00,0.000,6,0.000,0.053,2170,2408,3419
$GC,4519,-1.08,-146.6,469.1,-10.4,218,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2408,3420
$GC,4830,-1.08,-146.6,500.9,-10.7,233,4834,0.00,2.62,0.00,0.000,4,0.000,0.063,2170,978,3419
$GC,4922,-1.08,-146.6,510.5,-10.6,237,4927,0.00,2.60,0.00,0.000,6,0.000,0.052,2170,2395,3420
$GC,5244,-1.08,-146.6,541.7,-9.6,253,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2395,3420
$GC,5553,-1.08,-146.6,571.6,-9.7,268,5557,0.00,2.60,0.00,0.000,4,0.000,0.062,2171,979,3420
$GC,5585,-1.08,-146.6,574.8,-8.9,269,5592,0.00,2.58,0.00,0.000,6,0.000,0.053,2170,2396,3420
$GC,5900,-1.08,-146.6,605.0,-9.7,285,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2397,3420
$STATE,6085,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6085,begin apogee
$GC,6089,-0.31,0.0,623.1,9.7,294,6213,0.85,0.00,120.60,1.082,6,0.111,0.000,2340,2195,2817
$STATE,6214,end apogee,CONTROL_FINISHED_OK
$STATE,6214,begin climb
$GC,6215,1.08,146.6,626.4,0.0,300,6338,1.48,0.00,118.32,1.059,6,0.097,0.000,2642,2195,2219
$GC,6646,1.09,152.6,598.3,7.8,321,6654,0.00,0.00,6.72,0.812,6,0.000,0.000,2642,2195,2193
$GC,6955,1.09,154.8,574.7,7.9,336,6959,0.00,2.67,0.00,0.000,4,0.000,0.070,2642,3614,2193
$GC,7038,1.09,154.8,567.1,8.9,340,7042,0.00,2.58,0.00,0.000,6,0.000,0.053,2642,2205,2193
$GC,7363,1.09,154.8,539.2,9.0,356,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2205,2193
$GC,7673,1.09,154.8,510.9,9.0,371,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2205,2192
$GC,7982,1.09,154.8,482.5,8.8,386,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2205,2192
$GC,8291,1.09,154.8,456.3,8.2,401,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2205,2192
$GC,8600,1.10,164.1,432.3,7.7,416,8614,0.00,0.00,10.48,0.844,6,0.000,0.000,2642,2205,2146
$GC,8931,1.13,184.7,407.2,7.3,432,8951,0.00,0.00,17.45,0.884,6,0.000,0.000,2642,2205,2064
$GC,9260,1.14,193.6,381.9,7.7,448,9270,0.00,0.00,8.73,0.787,6,0.000,0.000,2642,2205,2027
$GC,9569,1.14,200.1,358.7,7.8,463,9582,0.00,2.70,6.65,0.729,4,0.000,0.071,2642,3613,2000
$GC,9638,1.14,200.1,352.5,9.1,466,9643,0.00,2.62,0.00,0.000,6,0.000,0.056,2642,2201,2001
$GC,9965,1.14,200.1,323.9,8.7,482,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2202,2001
$GC,10274,1.14,200.1,297.2,8.7,497,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2201,2001
$GC,10584,1.14,200.1,268.6,9.5,512,10588,0.00,2.65,0.00,0.000,4,0.000,0.071,2642,3617,2001
$GC,10626,1.14,200.1,264.3,10.3,514,10631,0.00,2.62,0.00,0.000,6,0.000,0.057,2642,2199,2001
$GC,10953,1.14,200.1,234.9,8.8,530,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2199,2001
$GC,11262,1.14,200.1,207.8,8.7,545,11263,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2198,2001
$GC,11571,1.14,200.1,181.1,8.7,560,11572,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2199,2000
$GC,11881,1.14,200.1,155.1,8.3,575,11885,0.00,2.62,0.00,0.000,4,0.000,0.070,2642,3613,2001
$GC,11929,1.14,200.1,150.7,9.0,577,11934,0.00,2.60,0.00,0.000,6,0.000,0.055,2642,2200,2001
$GC,12252,1.14,200.1,124.5,8.1,593,12256,0.00,2.62,0.00,0.000,4,0.000,0.070,2642,3613,2001
$GC,12314,1.14,200.1,119.1,8.8,596,12318,0.00,2.58,0.00,0.000,6,0.000,0.055,2642,2199,2001
$GC,12639,1.14,200.1,93.2,8.1,612,12640,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2199,2001
$GC,12948,1.14,200.1,67.4,8.3,627,12949,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2199,2001
$GC,13258,1.14,200.1,42.2,8.4,642,13259,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2199,2001
$GC,13567,1.14,200.1,16.4,8.9,657,13568,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2199,2001
$STATE,13751,end climb,SURFACE_DEPTH_REACHED
$STATE,13751,begin surface coast
$FINISH,0.7,1.016231
$STATE,13773,end surface coast,CONTROL_FINISHED_OK
$STATE,13773,begin surface
$SM_CCo,13791,55.60,0.650,1,0,1593,300.00
$SM_GC,1.59,0.00,0.00,55.60,0.000,0.000,0.650,75,2405,1593,-10.74,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2085
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,525.7,106.8
$24V_AH,23.6,13.922
$10V_AH,10.2,5.778
$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,25.300,63.600,288.950,55.600,0.000,32.593,27.370,111.779,4.500,0.000,0.000,13.714,1183.310,10893.372,460.387,1320.565,248.700,33.351,1095.071,0.000,1298.196,0.000,30.020
$DEVICE_MAMPS,171.808,77.467,1082.237,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.111,481.869,442.044,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31694,667
$CFSIZE,260165632,255971328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,201107,233337,6131.262,-848.988,39,1.3,39,-9.1