version: 66.02
glider: 16
mission: 6
dive: 49
start: 11 20 107 6 21 57
data:
$ID,16
$MISSION,6
$DIVE,49
$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,-2076041.6
$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
$GPS1,061638,6131.055,-833.805,27,1.6,27,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-66.1
$GPS2,062109,6131.038,-833.803,17,1.5,17,-9.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.241,-0.043
$KALMAN_X,-14252.4,1777.8,1056.3,39373.2,-10877.7
$KALMAN_Y,90033.8,-1455.0,-725.9,-101086.9,13101.8
$MHEAD_RNG_PITCHd_Wd,268.8,44415,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-55.65,0.000,6,0.000,0.000,70,2405,3076
$GC,79,-1.08,-146.6,2.8,-5.0,2,104,11.77,2.58,-7.72,0.000,4,0.171,0.085,2167,3765,3417
$GC,181,-1.08,-146.6,18.8,-9.3,6,189,0.00,2.53,0.00,0.000,6,0.000,0.050,2167,2396,3417
$GC,497,-1.08,-146.6,54.1,-12.9,22,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2396,3417
$GC,806,-1.08,-146.6,89.4,-10.7,37,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2396,3417
$GC,1116,-1.08,-146.6,120.8,-9.8,52,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2396,3417
$GC,1425,-1.08,-146.6,151.7,-10.2,67,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2396,3418
$GC,1733,-1.08,-146.6,185.0,-10.7,82,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2396,3418
$GC,2043,-1.08,-146.6,215.9,-9.9,97,2047,0.00,2.60,0.00,0.000,4,0.000,0.067,2168,986,3418
$GC,2085,-1.08,-146.6,220.1,-9.8,99,2091,0.00,2.60,0.00,0.000,6,0.000,0.054,2168,2393,3418
$GC,2413,-1.08,-146.6,251.8,-10.0,115,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2391,3418
$GC,2721,-1.08,-146.6,280.8,-9.4,130,2726,0.00,2.62,0.00,0.000,4,0.000,0.067,2168,985,3418
$GC,2770,-1.08,-146.6,285.5,-9.6,132,2775,0.00,2.60,0.00,0.000,6,0.000,0.054,2168,2393,3418
$GC,3091,-1.08,-146.6,314.5,-8.9,148,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2393,3418
$GC,3401,-1.08,-146.6,341.9,-9.1,163,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2393,3418
$GC,3710,-1.08,-146.6,371.1,-9.6,178,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2393,3418
$GC,4019,-1.08,-146.6,398.2,-8.4,193,4023,0.00,2.62,0.00,0.000,4,0.000,0.065,2166,979,3418
$GC,4113,-1.08,-146.6,406.1,-8.2,197,4118,0.00,2.62,0.00,0.000,6,0.000,0.053,2168,2400,3418
$GC,4434,-1.08,-146.6,434.3,-9.4,213,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2400,3418
$GC,4743,-1.08,-146.6,462.8,-9.1,228,4747,0.00,2.62,0.00,0.000,4,0.000,0.064,2168,982,3418
$GC,4786,-1.08,-146.6,466.8,-8.7,230,4791,0.00,2.58,0.00,0.000,6,0.000,0.054,2168,2393,3418
$GC,5113,-1.08,-146.6,496.6,-9.2,246,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2393,3418
$GC,5423,-1.08,-146.6,527.1,-10.2,261,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2393,3418
$GC,5732,-1.08,-146.6,559.9,-10.6,276,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2393,3418
$GC,6041,-1.08,-146.6,591.9,-10.3,291,6046,0.00,2.60,0.00,0.000,4,0.000,0.064,2168,985,3418
$GC,6095,-1.08,-146.6,597.5,-10.0,293,6102,0.00,2.60,0.00,0.000,6,0.000,0.053,2168,2397,3418
$GC,6411,-1.08,-146.6,627.2,-9.2,309,6415,0.00,2.60,0.00,0.000,4,0.000,0.064,2168,986,3418
$GC,6451,-1.08,-146.6,630.8,-9.3,311,6456,0.00,2.58,0.00,0.000,6,0.000,0.053,2168,2401,3418
$GC,6777,-1.08,-146.6,659.4,-9.1,327,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3418
$GC,7086,-1.08,-146.6,686.6,-9.7,342,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3418
$GC,7395,-1.08,-146.6,717.3,-8.2,357,7399,0.00,2.55,0.00,0.000,4,0.000,0.075,2168,3767,3418
$GC,7579,-1.08,-146.6,734.7,-9.1,365,7584,0.00,2.50,0.00,0.000,6,0.000,0.051,2168,2398,3418
$GC,7901,-1.08,-146.6,764.3,-8.5,381,7905,0.00,2.60,0.00,0.000,4,0.000,0.079,2168,3772,3418
$GC,8039,-1.08,-146.6,776.8,-8.9,387,8044,0.00,2.53,0.00,0.000,6,0.000,0.057,2168,2405,3418
$GC,8360,-1.08,-146.6,803.8,-6.8,403,8364,0.00,2.70,0.00,0.000,4,0.000,0.084,2168,985,3419
$STATE,8424,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8424,begin apogee
$GC,8430,-0.31,0.0,810.0,10.5,406,8556,0.85,0.00,123.07,1.230,6,0.117,0.000,2338,2199,2817
$STATE,8557,end apogee,CONTROL_FINISHED_OK
$STATE,8557,begin climb
$GC,8558,1.08,146.6,812.2,0.0,412,8688,1.48,2.83,120.00,1.206,4,0.092,0.091,2642,3613,2218
$GC,8777,1.08,146.6,799.6,8.7,422,8782,0.00,2.72,0.00,0.000,6,0.000,0.074,2642,2209,2218
$GC,9098,1.11,167.6,773.7,7.2,438,9119,0.00,0.00,18.05,1.127,6,0.000,0.000,2642,2209,2133
$GC,9428,1.15,206.6,749.9,6.6,454,9470,0.00,2.83,32.47,1.183,4,0.000,0.088,2642,3610,1973
$GC,9642,1.15,206.6,732.7,8.3,463,9650,0.00,2.67,0.00,0.000,6,0.000,0.066,2642,2204,1970
$GC,9958,1.15,206.6,707.1,9.4,479,9962,0.00,2.70,0.00,0.000,4,0.000,0.081,2642,3614,1968
$GC,10120,1.15,206.6,690.4,9.8,486,10124,0.00,2.62,0.00,0.000,6,0.000,0.059,2642,2196,1968
$GC,10434,1.15,206.6,660.3,9.6,501,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2196,1966
$GC,10744,1.15,206.6,632.3,9.0,516,10748,0.00,2.67,0.00,0.000,4,0.000,0.072,2642,3619,1966
$GC,10826,1.15,206.6,624.3,10.3,520,10831,0.00,2.62,0.00,0.000,6,0.000,0.056,2642,2192,1966
$GC,11152,1.15,206.6,593.5,9.5,536,11154,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2192,1966
$GC,11462,1.15,206.6,564.1,9.9,551,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2192,1966
$GC,11771,1.15,206.6,533.4,10.1,566,11772,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2192,1966
$GC,12080,1.15,206.6,502.8,9.4,581,12085,0.00,2.67,0.00,0.000,4,0.000,0.071,2642,3625,1967
$GC,12164,1.15,206.6,494.2,10.6,585,12168,0.00,2.60,0.00,0.000,6,0.000,0.054,2642,2199,1967
$GC,12489,1.15,206.6,464.0,9.1,601,12493,0.00,2.65,0.00,0.000,4,0.000,0.070,2642,3619,1968
$GC,12537,1.15,206.6,459.4,9.6,603,12542,0.00,2.62,0.00,0.000,6,0.000,0.054,2642,2197,1968
$GC,12858,1.15,206.6,431.3,8.7,619,12862,0.00,2.65,0.00,0.000,4,0.000,0.070,2642,3617,1968
$GC,12897,1.15,206.6,427.7,9.9,621,12902,0.00,2.60,0.00,0.000,6,0.000,0.055,2642,2197,1968
$GC,13222,1.15,206.6,400.2,8.2,637,13224,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2196,1969
$GC,13532,1.16,217.5,376.3,7.6,652,13544,0.00,0.00,9.68,0.815,6,0.000,0.000,2642,2196,1929
$GC,13842,1.17,222.1,352.9,7.8,667,13849,0.00,0.00,5.45,0.683,6,0.000,0.000,2642,2196,1911
$GC,14150,1.19,244.6,329.8,7.2,682,14172,0.12,0.00,19.27,0.856,6,0.050,0.000,2683,2196,1819
$GC,14480,1.19,244.6,296.5,10.7,698,14481,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2196,1818
$GC,14789,1.19,244.6,263.3,10.7,713,14793,0.00,2.65,0.00,0.000,4,0.000,0.068,2683,3617,1818
$GC,14838,1.19,244.6,257.4,12.5,715,14842,0.00,2.62,0.00,0.000,6,0.000,0.055,2683,2200,1818
$GC,15165,1.19,244.6,220.5,11.4,731,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2200,1818
$GC,15474,1.19,244.6,185.7,11.1,746,15478,0.00,2.62,0.00,0.000,4,0.000,0.068,2683,785,1819
$GC,15522,1.19,244.6,180.2,11.4,748,15527,0.00,2.58,0.00,0.000,6,0.000,0.045,2683,2203,1818
$GC,15844,1.19,244.6,145.8,10.6,764,15848,0.00,2.60,0.00,0.000,4,0.000,0.067,2683,3611,1819
$GC,15887,1.19,244.6,140.9,10.6,766,15891,0.00,2.60,0.00,0.000,6,0.000,0.055,2683,2203,1819
$GC,16213,1.19,244.6,105.0,10.9,782,16215,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2203,1819
$GC,16523,1.19,244.6,74.4,11.2,797,16524,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2203,1820
$GC,16832,1.19,244.6,45.7,9.1,812,16833,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2203,1821
$GC,17141,1.19,244.6,13.7,11.2,827,17142,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2203,1821
$STATE,17243,end climb,SURFACE_DEPTH_REACHED
$STATE,17243,begin surface coast
$FINISH,0.8,1.011163
$STATE,17265,end surface coast,CONTROL_FINISHED_OK
$STATE,17265,begin surface
$SM_CCo,17283,33.70,0.637,1,0,1593,300.00
$SM_GC,1.80,0.00,0.00,33.70,0.000,0.000,0.637,73,2403,1593,-10.75,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2099
$TCM_TEMP,17.50
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,725.3,94.3
$24V_AH,23.5,13.602
$10V_AH,10.2,5.586
$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,25.600,105.000,328.000,33.700,0.000,32.613,25.122,129.255,12.000,0.000,0.000,17.169,1499.196,13542.566,482.769,1792.313,279.319,33.363,1352.719,0.000,1747.071,0.000,42.976
$DEVICE_MAMPS,171.041,91.273,1230.268,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,577.916,600.363,474.778,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41169,833
$CFSIZE,260165632,256077824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,201107,111155,6130.637,-840.154,43,1.2,43,-9.0