version: 66.02
glider: 16
mission: 6
dive: 53
start: 11 20 107 23 39 9
data:
$ID,16
$MISSION,6
$DIVE,53
$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,-2076122.8
$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,20
$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
$GPS1,233337,6131.262,-848.988,39,1.3,39,-9.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.0
$GPS2,233821,6131.238,-848.991,12,1.6,12,-9.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.241,-0.046
$KALMAN_X,2501.3,-456.0,-246.4,12850.5,8083.9
$KALMAN_Y,81228.5,-124.1,-683.7,-93278.0,-1217.8
$MHEAD_RNG_PITCHd_Wd,268.3,34196,-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,-62.15,0.000,2,0.000,0.000,75,2405,3252
$GC,84,-1.08,-146.6,4.4,-7.2,3,102,11.88,0.00,-3.35,0.000,6,0.171,0.000,2165,2405,3418
$GC,411,-1.08,-146.6,47.8,-12.5,19,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2405,3419
$GC,719,-1.08,-146.6,85.2,-12.0,34,723,0.00,2.62,0.00,0.000,4,0.000,0.061,2165,980,3419
$GC,773,-1.08,-146.6,91.8,-12.0,36,781,0.00,2.58,0.00,0.000,6,0.000,0.052,2165,2389,3419
$GC,1089,-1.08,-146.6,129.2,-11.8,52,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2389,3419
$GC,1398,-1.08,-146.6,166.5,-11.5,67,1402,0.00,2.58,0.00,0.000,4,0.000,0.071,2165,3769,3419
$GC,1469,-1.08,-146.6,175.3,-12.8,70,1474,0.00,2.45,0.00,0.000,6,0.000,0.048,2165,2398,3419
$GC,1791,-1.08,-146.6,211.7,-11.3,86,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2398,3419
$GC,2099,-1.08,-146.6,248.0,-11.7,101,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2398,3420
$GC,2409,-1.08,-146.6,282.5,-10.6,116,2413,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,984,3419
$GC,2479,-1.08,-146.6,289.8,-9.9,119,2484,0.00,2.60,0.00,0.000,6,0.000,0.052,2165,2397,3419
$GC,2800,-1.08,-146.6,323.4,-10.5,135,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2397,3419
$GC,3109,-1.08,-146.6,354.7,-10.5,150,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2397,3419
$GC,3419,-1.08,-146.6,387.3,-10.7,165,3423,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,986,3419
$GC,3461,-1.08,-146.6,392.0,-10.7,167,3466,0.00,2.60,0.00,0.000,6,0.000,0.053,2165,2398,3419
$GC,3789,-1.08,-146.6,427.2,-10.8,183,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2400,3419
$GC,4098,-1.08,-146.6,460.6,-10.6,198,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2400,3420
$GC,4407,-1.08,-146.6,491.8,-10.1,213,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2400,3420
$GC,4716,-1.08,-146.6,523.2,-9.9,228,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2400,3419
$GC,5025,-1.08,-146.6,555.0,-10.4,243,5030,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,983,3419
$GC,5068,-1.08,-146.6,559.5,-9.8,245,5073,0.00,2.60,0.00,0.000,6,0.000,0.052,2165,2401,3419
$STATE,5270,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5270,begin apogee
$GC,5274,-0.31,0.0,580.3,10.5,255,5398,0.88,0.00,120.18,1.046,6,0.114,0.000,2339,2196,2817
$STATE,5399,end apogee,CONTROL_FINISHED_OK
$STATE,5399,begin climb
$GC,5400,1.08,146.6,585.0,0.0,261,5523,1.52,0.00,118.28,1.029,6,0.095,0.000,2648,2196,2219
$GC,5821,1.08,146.6,559.1,8.4,282,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2196,2218
$GC,6131,1.13,189.3,537.2,6.5,297,6172,0.00,2.72,34.85,0.980,4,0.000,0.070,2648,3613,2044
$GC,6217,1.13,189.3,530.4,9.7,301,6222,0.00,2.58,0.00,0.000,6,0.000,0.054,2648,2207,2043
$GC,6542,1.13,189.3,502.4,9.1,317,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2207,2043
$GC,6852,1.13,189.3,476.3,8.3,332,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2206,2043
$GC,7161,1.13,189.3,448.9,9.0,347,7165,0.00,2.65,0.00,0.000,4,0.000,0.071,2648,3621,2043
$GC,7215,1.13,189.3,443.5,9.8,349,7223,0.00,2.62,0.00,0.000,6,0.000,0.054,2648,2200,2043
$GC,7531,1.13,189.3,412.9,9.6,365,7535,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3613,2043
$GC,7570,1.13,189.3,408.8,10.8,367,7574,0.00,2.58,0.00,0.000,6,0.000,0.055,2648,2200,2043
$GC,7895,1.13,189.3,378.6,9.0,383,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2200,2043
$GC,8205,1.13,189.3,349.1,9.9,398,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2200,2043
$GC,8514,1.13,189.3,318.2,10.2,413,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2200,2042
$GC,8823,1.13,189.3,287.7,9.7,428,8827,0.00,2.62,0.00,0.000,4,0.000,0.070,2648,3613,2043
$GC,8872,1.13,189.3,282.5,10.4,430,8877,0.00,2.60,0.00,0.000,6,0.000,0.054,2648,2199,2042
$GC,9193,1.13,189.3,253.1,8.5,446,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2199,2043
$GC,9503,1.13,189.3,227.0,8.0,461,9507,0.00,2.62,0.00,0.000,4,0.000,0.069,2648,3614,2042
$GC,9550,1.13,189.3,222.7,9.0,463,9555,0.00,2.60,0.00,0.000,6,0.000,0.054,2648,2200,2042
$GC,9872,1.16,215.4,199.2,7.1,479,9895,0.00,0.00,21.23,0.773,6,0.000,0.000,2648,2200,1938
$GC,10201,1.16,215.4,170.9,8.7,495,10202,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2200,1938
$GC,10511,1.16,215.4,144.0,9.4,510,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2200,1938
$GC,10820,1.16,215.4,114.1,9.6,525,10821,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2200,1938
$GC,11129,1.17,223.7,88.4,7.7,540,11143,0.00,2.65,8.05,0.624,4,0.000,0.068,2648,3605,1903
$GC,11182,1.17,223.7,83.3,10.7,542,11187,0.00,2.60,0.00,0.000,6,0.000,0.053,2648,2197,1903
$GC,11504,1.17,223.7,52.5,9.7,558,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2197,1904
$GC,11813,1.17,223.7,26.6,8.8,573,11814,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2198,1903
$STATE,12121,end climb,SURFACE_DEPTH_REACHED
$STATE,12121,begin surface coast
$FINISH,0.6,1.013867
$STATE,12143,end surface coast,CONTROL_FINISHED_OK
$STATE,12143,begin surface
$SM_CCo,12162,41.20,0.639,1,0,1594,300.00
$SM_GC,1.53,0.00,0.00,41.20,0.000,0.000,0.639,69,2402,1594,-10.76,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2075
$TCM_TEMP,16.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,500.1,90.0
$24V_AH,23.6,14.027
$10V_AH,10.2,5.834
$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,25.475,58.025,302.575,41.200,0.000,32.590,29.710,148.181,4.250,0.000,0.000,12.740,1037.274,9582.957,461.611,1137.007,280.450,33.357,1010.548,0.000,1119.634,0.000,28.354
$DEVICE_MAMPS,171.041,71.331,1046.188,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.444,423.665,397.313,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28497,589
$CFSIZE,260165632,255942656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,211107,030407,6131.036,-853.075,52,1.1,57,-9.2