version: 66.02
glider: 16
mission: 6
dive: 46
start: 11 19 107 17 34 51
data:
$ID,16
$MISSION,6
$DIVE,46
$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,-2075998.4
$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,10
$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
$GPS1,172931,6127.566,-823.373,37,1.6,37,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-64.4
$GPS2,173403,6127.533,-823.367,12,1.6,12,-8.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,default
$TGT_LATLONG,62.000,-6.800
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.211,-0.125
$KALMAN_X,-8679.2,1454.8,1011.9,43371.7,-16138.9
$KALMAN_Y,78428.8,-1215.3,-355.1,-96597.1,12403.2
$MHEAD_RNG_PITCHd_Wd,129.7,4207,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.08,-146.6,0.0,0.0,0,83,0.00,0.00,-62.42,0.000,2,0.000,0.000,71,2401,3257
$GC,85,-1.08,-146.6,4.7,-7.2,3,108,11.77,2.67,-3.28,0.000,4,0.172,0.077,2169,980,3416
$GC,224,-1.08,-146.6,25.7,-10.1,9,229,0.00,2.60,0.00,0.000,6,0.000,0.051,2169,2397,3417
$GC,551,-1.08,-146.6,60.3,-11.1,25,555,0.00,2.58,0.00,0.000,4,0.000,0.073,2169,3768,3416
$GC,582,-1.08,-146.6,64.1,-11.7,26,590,0.00,2.53,0.00,0.000,6,0.000,0.050,2169,2395,3417
$GC,899,-1.08,-146.6,99.2,-11.1,42,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2395,3417
$GC,1207,-1.08,-146.6,133.3,-11.4,57,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2395,3417
$GC,1516,-1.08,-146.6,168.1,-11.0,72,1520,0.00,2.62,0.00,0.000,4,0.000,0.069,2169,984,3418
$GC,1555,-1.08,-146.6,172.7,-12.5,74,1559,0.00,2.60,0.00,0.000,6,0.000,0.054,2169,2403,3417
$GC,1880,-1.08,-146.6,207.0,-9.9,90,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2403,3418
$GC,2189,-1.08,-146.6,237.3,-9.5,105,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2403,3418
$GC,2498,-1.08,-146.6,266.8,-9.6,120,2503,0.00,2.65,0.00,0.000,4,0.000,0.067,2169,980,3417
$GC,2530,-1.08,-146.6,270.1,-10.1,121,2537,0.00,2.60,0.00,0.000,6,0.000,0.054,2169,2397,3418
$GC,2846,-1.08,-146.6,302.4,-10.7,137,2850,0.00,2.58,0.00,0.000,4,0.000,0.077,2169,3768,3418
$GC,2888,-1.08,-146.6,307.6,-11.9,139,2893,0.00,2.53,0.00,0.000,6,0.000,0.053,2169,2400,3418
$GC,3215,-1.08,-146.6,344.9,-11.5,155,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3418
$GC,3524,-1.08,-146.6,378.8,-10.9,170,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3418
$GC,3834,-1.08,-146.6,412.8,-11.1,185,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3418
$GC,4143,-1.08,-146.6,445.3,-10.1,200,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3418
$GC,4453,-1.08,-146.6,475.7,-10.2,215,4457,0.00,2.62,0.00,0.000,4,0.000,0.070,2169,980,3419
$GC,4506,-1.08,-146.6,481.3,-10.0,217,4514,0.00,2.60,0.00,0.000,6,0.000,0.054,2169,2399,3418
$GC,4822,-1.08,-146.6,513.4,-10.0,233,4826,0.00,2.58,0.00,0.000,4,0.000,0.077,2169,3769,3419
$GC,4871,-1.08,-146.6,518.3,-9.8,235,4876,0.00,2.50,0.00,0.000,6,0.000,0.054,2169,2407,3418
$GC,5198,-1.08,-146.6,546.6,-10.7,251,5202,0.00,2.62,0.00,0.000,4,0.000,0.068,2169,983,3419
$GC,5292,-1.08,-146.6,556.8,-10.4,255,5296,0.00,2.60,0.00,0.000,6,0.000,0.058,2169,2400,3419
$GC,5606,-1.08,-146.6,585.9,-8.5,270,5611,0.00,2.62,0.00,0.000,4,0.000,0.065,2169,982,3419
$GC,5863,-1.08,-146.6,610.6,-9.5,281,5869,0.00,2.62,0.00,0.000,6,0.000,0.056,2169,2400,3419
$GC,6178,-1.08,-146.6,639.4,-8.8,297,6182,0.00,2.60,0.00,0.000,4,0.000,0.082,2169,3773,3420
$GC,6262,-1.08,-146.6,646.9,-8.9,301,6266,0.00,2.53,0.00,0.000,6,0.000,0.058,2169,2396,3420
$GC,6587,-1.08,-146.6,674.0,-8.5,317,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2396,3420
$GC,6896,-1.08,-146.6,696.2,-5.8,332,6901,0.00,2.67,0.00,0.000,4,0.000,0.079,2169,982,3420
$GC,6935,-1.08,-146.6,699.4,-9.3,334,6939,0.00,2.62,0.00,0.000,6,0.000,0.064,2169,2403,3420
$GC,7259,-1.08,-146.6,736.6,-14.5,350,7264,0.00,2.65,0.00,0.000,4,0.000,0.093,2169,3772,3418
$GC,7398,-1.08,-146.6,753.2,-9.6,356,7403,0.00,2.58,0.00,0.000,6,0.000,0.067,2168,2410,3418
$GC,7719,-1.08,-146.6,789.5,-9.8,372,7723,0.00,2.65,0.00,0.000,4,0.000,0.097,2169,3769,3415
$GC,7807,-1.08,-146.6,802.7,-13.6,376,7812,0.00,2.58,0.00,0.000,6,0.000,0.067,2169,2408,3415
$STATE,7947,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7947,begin apogee
$GC,7951,-0.31,0.0,810.9,9.6,383,8077,0.88,0.00,122.32,1.303,6,0.120,0.000,2340,2200,2816
$STATE,8077,end apogee,CONTROL_FINISHED_OK
$STATE,8078,begin climb
$GC,8079,1.08,146.6,821.4,0.0,389,8209,1.45,2.92,120.45,1.273,4,0.084,0.096,2643,3614,2219
$GC,8230,1.23,283.2,817.9,3.0,396,8349,0.12,2.78,111.28,1.239,6,0.047,0.077,2681,2210,1662
$GC,8669,1.23,283.2,760.5,17.8,418,8674,0.00,2.80,0.00,0.000,4,0.000,0.097,2681,3616,1661
$GC,8804,1.23,283.2,738.8,17.7,424,8808,0.00,2.72,0.00,0.000,6,0.000,0.074,2681,2195,1661
$GC,9123,1.23,283.2,697.3,12.3,440,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2194,1660
$GC,9432,1.23,283.2,654.2,16.1,455,9436,0.00,2.72,0.00,0.000,4,0.000,0.085,2681,785,1658
$GC,9458,1.23,283.2,649.8,17.6,456,9463,0.00,2.67,0.00,0.000,6,0.000,0.062,2681,2193,1658
$GC,9779,1.23,283.2,602.5,12.2,472,9784,0.00,2.70,0.00,0.000,4,0.000,0.076,2681,782,1657
$GC,9885,1.23,283.2,591.1,10.3,477,9889,0.00,2.65,0.00,0.000,6,0.000,0.062,2681,2202,1656
$GC,10210,1.23,283.2,552.7,8.0,493,10215,0.00,2.67,0.00,0.000,4,0.000,0.071,2680,784,1655
$GC,10345,1.23,283.2,535.8,14.9,499,10349,0.00,2.60,0.00,0.000,6,0.000,0.051,2681,2205,1654
$GC,10664,1.23,283.2,499.7,9.1,515,10668,0.00,2.67,0.00,0.000,4,0.000,0.067,2681,782,1654
$GC,10712,1.23,283.2,494.1,11.9,517,10717,0.00,2.60,0.00,0.000,6,0.000,0.048,2681,2196,1654
$GC,11033,1.23,283.2,452.1,12.4,533,11037,0.00,2.65,0.00,0.000,4,0.000,0.064,2681,773,1655
$GC,11082,1.23,283.2,444.9,15.4,535,11087,0.00,2.60,0.00,0.000,6,0.000,0.047,2681,2195,1655
$GC,11404,1.23,283.2,403.3,12.9,551,11408,0.00,2.65,0.00,0.000,4,0.000,0.065,2681,775,1656
$GC,11435,1.23,283.2,399.0,13.1,552,11442,0.00,2.60,0.00,0.000,6,0.000,0.045,2681,2199,1656
$GC,11750,1.23,283.2,357.7,13.2,568,11754,0.00,2.62,0.00,0.000,4,0.000,0.064,2681,781,1658
$GC,11782,1.23,283.2,353.3,12.3,569,11789,0.00,2.58,0.00,0.000,6,0.000,0.045,2681,2192,1658
$GC,12098,1.23,283.2,313.2,12.8,585,12102,0.00,2.62,0.00,0.000,4,0.000,0.063,2681,779,1659
$GC,12118,1.23,283.2,310.3,13.0,586,12122,0.00,2.58,0.00,0.000,6,0.000,0.044,2681,2193,1659
$GC,12444,1.23,283.2,268.2,12.5,602,12448,0.00,2.62,0.00,0.000,4,0.000,0.064,2681,772,1660
$GC,12482,1.23,283.2,263.1,12.7,603,12489,0.00,2.60,0.00,0.000,6,0.000,0.044,2681,2199,1659
$GC,12797,1.23,283.2,223.2,12.7,619,12798,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2199,1660
$GC,13107,1.23,283.2,184.7,12.3,634,13111,0.00,2.62,0.00,0.000,4,0.000,0.062,2681,779,1661
$GC,13133,1.23,283.2,181.3,12.5,635,13138,0.00,2.58,0.00,0.000,6,0.000,0.044,2681,2198,1661
$GC,13460,1.23,283.2,141.4,12.6,651,13461,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2198,1662
$GC,13769,1.23,283.2,101.8,12.9,666,13774,0.00,2.62,0.00,0.000,4,0.000,0.061,2681,773,1662
$GC,13846,1.23,283.2,91.5,12.2,669,13854,0.00,2.58,0.00,0.000,6,0.000,0.043,2681,2197,1663
$GC,14162,1.23,283.2,52.9,12.2,685,14166,0.00,2.62,0.00,0.000,4,0.000,0.061,2681,773,1664
$GC,14200,1.23,283.2,47.9,12.5,687,14204,0.00,2.55,0.00,0.000,6,0.000,0.044,2681,2201,1664
$GC,14525,1.23,283.2,8.2,12.2,703,14526,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2201,1664
$STATE,14586,end climb,SURFACE_DEPTH_REACHED
$STATE,14586,begin surface coast
$FINISH,0.9,1.015802
$STATE,14608,end surface coast,CONTROL_FINISHED_OK
$STATE,14608,begin surface
$SM_CCo,14626,12.88,0.561,1,0,1593,300.00
$SM_GC,1.37,0.00,0.00,12.88,0.000,0.000,0.561,71,2402,1593,-10.76,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2126
$TCM_TEMP,17.40
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,727.1,91.9
$24V_AH,23.5,13.159
$10V_AH,10.1,5.374
$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,25.575,142.600,354.050,12.875,0.000,32.642,28.509,139.474,16.250,0.000,0.000,12.446,1327.514,11150.053,503.392,1654.307,288.110,33.355,1345.467,0.000,1616.153,0.000,42.963
$DEVICE_MAMPS,171.808,96.642,1303.133,560.677,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,508.092,492.520,414.504,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34835,707
$CFSIZE,260165632,256253952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,191107,214008,6128.405,-822.837,41,1.3,41,-8.9