version: 66.02
glider: 16
mission: 6
dive: 51
start: 11 20 107 15 33 15
data:
$ID,16
$MISSION,6
$DIVE,51
$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,-2076095
$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,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
$GPS1,152825,6130.784,-843.588,38,1.4,38,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-66.3
$GPS2,153227,6130.799,-843.551,17,1.4,17,-9.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.244,0.024
$KALMAN_X,-8285.2,1649.2,1261.6,24740.7,-5240.5
$KALMAN_Y,88837.3,-2198.4,-878.4,-99402.1,10116.5
$MHEAD_RNG_PITCHd_Wd,284.8,38101,-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,-62.22,0.000,2,0.000,0.000,68,2412,3275
$GC,84,-1.08,-146.6,4.6,-7.3,3,107,11.80,2.65,-2.88,0.000,4,0.172,0.074,2169,982,3418
$GC,223,-1.08,-146.6,26.1,-9.4,9,228,0.00,2.60,0.00,0.000,6,0.000,0.051,2169,2392,3419
$GC,550,-1.08,-146.6,61.9,-11.7,25,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2392,3419
$GC,859,-1.08,-146.6,97.7,-11.3,40,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2392,3419
$GC,1169,-1.08,-146.6,132.4,-11.3,55,1173,0.00,2.60,0.00,0.000,4,0.000,0.063,2169,985,3419
$GC,1245,-1.08,-146.6,141.9,-11.5,58,1252,0.00,2.60,0.00,0.000,6,0.000,0.051,2169,2397,3419
$GC,1561,-1.08,-146.6,176.9,-10.3,74,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2397,3419
$GC,1870,-1.08,-146.6,207.6,-9.9,89,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2397,3419
$GC,2179,-1.08,-146.6,237.1,-9.3,104,2183,0.00,2.60,0.00,0.000,4,0.000,0.062,2169,985,3419
$GC,2255,-1.08,-146.6,244.2,-9.1,107,2262,0.00,2.60,0.00,0.000,6,0.000,0.051,2169,2398,3419
$GC,2571,-1.08,-146.6,272.2,-8.8,123,2575,0.00,2.60,0.00,0.000,4,0.000,0.064,2169,986,3419
$GC,2619,-1.08,-146.6,276.6,-9.1,125,2624,0.00,2.60,0.00,0.000,6,0.000,0.052,2169,2400,3419
$GC,2940,-1.08,-146.6,306.3,-9.4,141,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3419
$GC,3250,-1.08,-146.6,335.4,-9.6,156,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3419
$GC,3559,-1.08,-146.6,365.5,-9.9,171,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3419
$GC,3868,-1.08,-146.6,395.5,-9.5,186,3873,0.00,2.60,0.00,0.000,4,0.000,0.061,2169,982,3419
$GC,3929,-1.08,-146.6,400.9,-8.9,189,3933,0.00,2.58,0.00,0.000,6,0.000,0.053,2169,2400,3419
$GC,4255,-1.08,-146.6,429.6,-8.5,205,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3419
$GC,4564,-1.08,-146.6,458.1,-9.4,220,4568,0.00,2.60,0.00,0.000,4,0.000,0.063,2169,984,3419
$GC,4630,-1.08,-146.6,464.0,-8.0,223,4635,0.00,2.60,0.00,0.000,6,0.000,0.052,2169,2403,3419
$GC,4956,-1.08,-146.6,491.6,-9.4,239,4961,0.00,2.60,0.00,0.000,4,0.000,0.062,2169,984,3419
$GC,5005,-1.08,-146.6,496.3,-9.6,241,5010,0.00,2.60,0.00,0.000,6,0.000,0.052,2169,2400,3419
$GC,5327,-1.08,-146.6,527.4,-9.6,257,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3419
$GC,5636,-1.08,-146.6,556.6,-9.3,272,5640,0.00,2.60,0.00,0.000,4,0.000,0.062,2169,978,3419
$GC,5685,-1.08,-146.6,561.4,-9.0,274,5689,0.00,2.60,0.00,0.000,6,0.000,0.052,2169,2397,3419
$GC,6011,-1.08,-146.6,592.7,-9.0,290,6016,0.00,2.58,0.00,0.000,4,0.000,0.061,2169,986,3419
$GC,6060,-1.08,-146.6,597.0,-8.5,292,6065,0.00,2.60,0.00,0.000,6,0.000,0.052,2169,2401,3419
$GC,6381,-1.08,-146.6,624.8,-9.0,308,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3419
$GC,6690,-1.08,-146.6,652.4,-9.9,323,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3419
$STATE,6792,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6793,begin apogee
$GC,6797,-0.31,0.0,661.7,9.2,328,6921,0.85,0.00,120.82,1.107,6,0.117,0.000,2338,2190,2817
$STATE,6921,end apogee,CONTROL_FINISHED_OK
$STATE,6922,begin climb
$GC,6923,1.08,146.6,664.9,0.0,334,7049,1.50,2.75,117.97,1.103,4,0.096,0.070,2644,3619,2219
$GC,7120,1.08,146.6,653.4,9.7,343,7125,0.00,2.65,0.00,0.000,6,0.000,0.055,2644,2206,2219
$GC,7441,1.08,146.6,624.8,9.4,359,7446,0.00,2.65,0.00,0.000,4,0.000,0.065,2644,778,2218
$GC,7490,1.08,146.6,620.1,9.2,361,7495,0.00,2.60,0.00,0.000,6,0.000,0.046,2644,2194,2218
$GC,7811,1.08,146.6,591.1,8.9,377,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2194,2218
$GC,8120,1.08,146.6,562.0,9.6,392,8125,0.00,2.65,0.00,0.000,4,0.000,0.072,2644,3611,2218
$GC,8187,1.08,146.6,555.0,10.3,395,8191,0.00,2.62,0.00,0.000,6,0.000,0.054,2642,2197,2218
$GC,8513,1.08,146.6,522.4,10.0,411,8514,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2197,2218
$GC,8823,1.08,146.6,492.4,9.6,426,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2197,2218
$GC,9132,1.08,146.6,462.7,9.4,441,9136,0.00,2.62,0.00,0.000,4,0.000,0.065,2644,778,2218
$GC,9202,1.08,146.6,456.1,9.2,444,9207,0.00,2.60,0.00,0.000,6,0.000,0.046,2644,2202,2217
$GC,9523,1.08,146.6,426.7,9.2,460,9528,0.00,2.62,0.00,0.000,4,0.000,0.072,2644,3613,2217
$GC,9595,1.08,146.6,419.5,10.3,463,9600,0.00,2.60,0.00,0.000,6,0.000,0.056,2644,2203,2217
$GC,9916,1.08,146.6,390.6,8.8,479,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2203,2217
$GC,10225,1.08,146.6,364.8,8.5,494,10229,0.00,2.62,0.00,0.000,4,0.000,0.065,2644,779,2217
$GC,10286,1.08,146.6,359.4,8.5,497,10291,0.00,2.58,0.00,0.000,6,0.000,0.047,2644,2207,2217
$GC,10612,1.10,162.4,334.3,7.4,513,10628,0.00,0.00,13.75,0.831,6,0.000,0.000,2644,2208,2154
$GC,10922,1.13,192.8,312.4,6.9,528,10952,0.00,2.70,24.75,0.854,4,0.000,0.071,2644,3616,2029
$GC,10989,1.13,192.8,307.0,9.4,531,10994,0.00,2.65,0.00,0.000,6,0.000,0.056,2644,2199,2029
$GC,11310,1.13,192.8,280.2,8.3,547,11311,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2199,2029
$GC,11620,1.13,192.8,253.3,8.9,562,11624,0.00,2.65,0.00,0.000,4,0.000,0.072,2644,3614,2029
$GC,11690,1.13,192.8,246.7,9.3,565,11695,0.00,2.60,0.00,0.000,6,0.000,0.055,2644,2206,2029
$GC,12012,1.15,203.4,223.2,7.6,581,12024,0.00,0.00,9.82,0.729,6,0.000,0.000,2644,2206,1987
$GC,12321,1.16,217.5,199.2,7.5,596,12336,0.00,0.00,12.27,0.734,6,0.000,0.000,2644,2206,1930
$GC,12630,1.16,217.5,173.9,8.4,611,12631,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2206,1930
$GC,12939,1.16,217.5,144.6,9.3,626,12940,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2206,1930
$GC,13249,1.16,217.5,115.1,10.3,641,13253,0.00,2.62,0.00,0.000,4,0.000,0.071,2644,3613,1930
$GC,13302,1.16,217.5,109.4,9.8,643,13310,0.00,2.60,0.00,0.000,6,0.000,0.054,2644,2204,1930
$GC,13618,1.16,217.5,78.7,9.7,659,13619,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2203,1929
$GC,13928,1.16,217.5,49.2,9.7,674,13929,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2202,1930
$GC,14237,1.16,219.3,19.8,7.9,689,14238,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2203,1929
$STATE,14421,end climb,SURFACE_DEPTH_REACHED
$STATE,14421,begin surface coast
$FINISH,0.8,1.015214
$STATE,14443,end surface coast,CONTROL_FINISHED_OK
$STATE,14443,begin surface
$SM_CCo,14461,48.30,0.624,2,0,1594,300.00
$SM_GC,1.63,0.00,0.00,48.30,0.000,0.000,0.624,72,2406,1594,-10.75,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2084
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.3,95.5
$24V_AH,23.6,13.818
$10V_AH,10.2,5.717
$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,25.350,94.950,299.400,48.300,0.000,32.664,27.037,103.273,5.000,0.000,0.000,17.321,1263.867,11304.206,478.935,1473.279,247.427,33.353,1199.528,0.000,1439.531,0.000,36.072
$DEVICE_MAMPS,171.808,74.399,1106.781,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.662,504.323,429.993,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34824,699
$CFSIZE,260165632,256000000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,201107,193637,6130.917,-846.046,44,1.3,49,-9.1