version: 66.02
glider: 16
mission: 6
dive: 54
start: 11 21 107 3 9 58
data:
$ID,16
$MISSION,6
$DIVE,54
$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,-2076136.5
$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,18
$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
$GPS1,030407,6131.036,-853.075,52,1.1,57,-9.2
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-64.1
$GPS2,030909,6131.046,-853.086,13,1.6,13,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.177,0.170
$KALMAN_X,4883.1,-1145.5,-166.7,7495.1,10164.0
$KALMAN_Y,81076.0,-113.8,400.9,-94624.3,-2449.9
$MHEAD_RNG_PITCHd_Wd,323.0,32200,-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,-62.80,0.000,2,0.000,0.000,70,2403,3296
$GC,84,-1.08,-146.6,4.9,-8.8,3,106,11.82,2.62,-2.38,0.000,4,0.173,0.074,2167,985,3418
$GC,200,-1.08,-146.6,24.4,-10.1,8,205,0.00,2.60,0.00,0.000,6,0.000,0.051,2167,2390,3418
$GC,529,-1.08,-146.6,62.1,-11.8,24,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2390,3418
$GC,837,-1.08,-146.6,99.0,-11.9,39,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2390,3418
$GC,1146,-1.08,-146.6,134.1,-11.0,54,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2390,3418
$GC,1455,-1.08,-146.6,168.1,-10.9,69,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2390,3418
$GC,1765,-1.08,-146.6,201.4,-11.2,84,1769,0.00,2.55,0.00,0.000,4,0.000,0.071,2167,3767,3418
$GC,1818,-1.08,-146.6,208.2,-12.4,86,1825,0.00,2.47,0.00,0.000,6,0.000,0.048,2167,2405,3418
$GC,2134,-1.08,-146.6,242.2,-10.4,102,2138,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,987,3418
$GC,2172,-1.08,-146.6,246.1,-10.5,104,2176,0.00,2.58,0.00,0.000,6,0.000,0.054,2167,2400,3418
$GC,2497,-1.08,-146.6,278.6,-9.9,120,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3418
$GC,2806,-1.08,-146.6,309.2,-9.7,135,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3418
$GC,3115,-1.08,-146.6,339.8,-9.9,150,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3418
$GC,3425,-1.08,-146.6,372.3,-10.7,165,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3418
$GC,3734,-1.08,-146.6,404.4,-10.0,180,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3418
$GC,4043,-1.08,-146.6,434.0,-9.5,195,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3419
$GC,4352,-1.08,-146.6,465.1,-10.4,210,4357,0.00,2.55,0.00,0.000,4,0.000,0.074,2167,3766,3419
$GC,4396,-1.08,-146.6,469.9,-10.4,212,4400,0.00,2.47,0.00,0.000,6,0.000,0.049,2167,2404,3419
$GC,4722,-1.08,-146.6,505.9,-11.3,228,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3418
$GC,5031,-1.08,-146.6,540.5,-11.0,243,5036,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,986,3419
$GC,5085,-1.08,-146.6,546.8,-11.3,245,5093,0.00,2.58,0.00,0.000,6,0.000,0.051,2167,2396,3419
$GC,5401,-1.08,-146.6,580.3,-10.4,261,5406,0.00,2.60,0.00,0.000,4,0.000,0.063,2167,981,3418
$GC,5450,-1.08,-146.6,585.4,-10.1,263,5455,0.00,2.60,0.00,0.000,6,0.000,0.052,2167,2398,3419
$GC,5771,-1.08,-146.6,618.3,-10.2,279,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2398,3418
$STATE,5997,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5997,begin apogee
$GC,6001,-0.31,0.0,641.5,10.2,290,6125,0.85,0.00,120.50,1.095,6,0.110,0.000,2337,2195,2817
$STATE,6126,end apogee,CONTROL_FINISHED_OK
$STATE,6126,begin climb
$GC,6127,1.08,146.6,645.8,0.0,296,6253,1.48,2.72,118.05,1.071,4,0.091,0.071,2643,3615,2219
$GC,6292,1.08,146.6,638.6,8.2,304,6297,0.00,2.62,0.00,0.000,6,0.000,0.053,2643,2211,2218
$GC,6618,1.08,146.6,610.8,9.0,320,6623,0.00,2.65,0.00,0.000,4,0.000,0.064,2643,786,2218
$GC,6657,1.08,146.6,607.0,10.1,322,6661,0.00,2.58,0.00,0.000,6,0.000,0.047,2643,2204,2218
$GC,6983,1.08,146.6,579.5,8.2,338,6987,0.00,2.62,0.00,0.000,4,0.000,0.071,2643,3613,2218
$GC,7021,1.08,146.6,576.3,8.8,340,7025,0.00,2.58,0.00,0.000,6,0.000,0.054,2643,2200,2218
$GC,7347,1.12,176.4,552.1,6.9,356,7377,0.00,2.70,24.75,0.985,4,0.000,0.064,2643,781,2096
$GC,7420,1.12,176.4,546.4,8.6,359,7427,0.00,2.60,0.00,0.000,6,0.000,0.045,2644,2195,2096
$GC,7736,1.12,176.4,520.8,8.2,375,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2195,2095
$GC,8045,1.12,176.4,493.0,9.1,390,8049,0.00,2.62,0.00,0.000,4,0.000,0.071,2642,3611,2095
$GC,8099,1.12,176.4,487.8,9.1,392,8104,0.00,2.60,0.00,0.000,6,0.000,0.054,2643,2200,2095
$GC,8421,1.13,190.3,462.0,7.5,408,8435,0.00,0.00,12.30,0.878,6,0.000,0.000,2643,2201,2041
$GC,8730,1.14,199.2,438.6,7.7,423,8744,0.00,2.70,8.62,0.815,4,0.000,0.071,2643,3610,2005
$GC,8799,1.14,199.2,432.6,9.1,426,8804,0.00,2.62,0.00,0.000,6,0.000,0.054,2643,2199,2005
$GC,9126,1.15,206.8,407.9,7.7,442,9136,0.00,0.00,7.90,0.783,6,0.000,0.000,2643,2199,1973
$GC,9435,1.15,206.8,382.3,8.8,457,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,1973
$GC,9744,1.15,206.8,355.9,8.6,472,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,1973
$GC,10054,1.15,206.8,330.6,8.0,487,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,1973
$GC,10363,1.15,206.8,306.4,8.0,502,10367,0.00,2.60,0.00,0.000,4,0.000,0.065,2643,786,1973
$GC,10395,1.15,206.8,303.8,8.5,503,10400,0.00,2.58,0.00,0.000,6,0.000,0.046,2643,2199,1972
$GC,10716,1.15,206.8,277.2,8.3,519,10720,0.00,2.62,0.00,0.000,4,0.000,0.070,2643,3618,1972
$GC,10782,1.15,206.8,271.4,9.8,522,10787,0.00,2.60,0.00,0.000,6,0.000,0.054,2643,2201,1972
$GC,11109,1.15,206.8,243.1,9.4,538,11110,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2201,1972
$GC,11418,1.15,206.8,213.7,9.4,553,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2201,1972
$GC,11727,1.15,206.8,185.1,9.5,568,11728,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2202,1972
$GC,12037,1.15,210.9,159.4,7.8,583,12043,0.00,0.00,4.80,0.565,6,0.000,0.000,2643,2201,1956
$GC,12347,1.15,210.9,134.5,8.2,598,12348,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2201,1957
$GC,12656,1.21,262.7,113.3,6.1,613,12703,0.15,2.67,40.72,0.732,4,0.046,0.062,2693,782,1745
$GC,12752,1.21,262.7,103.3,11.6,617,12759,0.00,2.60,0.00,0.000,6,0.000,0.045,2693,2199,1744
$GC,13068,1.21,262.7,67.0,9.3,633,13069,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2199,1744
$GC,13377,1.21,262.7,30.5,11.3,648,13378,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2199,1744
$STATE,13623,end climb,SURFACE_DEPTH_REACHED
$STATE,13623,begin surface coast
$FINISH,0.6,1.003931
$STATE,13645,end surface coast,CONTROL_FINISHED_OK
$STATE,13645,begin surface
$SM_CCo,13664,24.40,0.571,2,0,1594,300.00
$SM_GC,1.69,0.00,0.00,24.40,0.000,0.000,0.571,71,2402,1594,-10.76,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2097
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,551.9,98.5
$24V_AH,23.6,14.140
$10V_AH,10.2,5.895
$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,25.725,78.850,337.650,24.400,0.000,32.716,37.228,160.140,4.750,0.000,0.000,13.108,1179.349,10719.413,463.635,1337.134,310.692,33.363,1135.140,0.000,1312.913,0.000,31.623
$DEVICE_MAMPS,173.342,74.399,1095.276,570.648,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.617,478.267,407.653,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31697,661
$CFSIZE,260165632,255881216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,211107,065925,6133.387,-853.785,36,1.9,36,-9.2