version: 66.02
glider: 16
mission: 6
dive: 55
start: 11 21 107 7 4 48
data:
$ID,16
$MISSION,6
$DIVE,55
$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,-2076176.2
$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,16
$R_STBD_OVSHOOT,21
$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
$GPS1,065925,6133.387,-853.785,36,1.9,36,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.5
$GPS2,070401,6133.401,-853.724,39,1.4,39,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.199,0.143
$KALMAN_X,8132.0,-1139.8,-400.2,3912.8,12098.1
$KALMAN_Y,81674.1,302.2,-131.8,-90745.2,-706.4
$MHEAD_RNG_PITCHd_Wd,314.9,28447,-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,-62.35,0.000,2,0.000,0.000,71,2403,3247
$GC,84,-1.08,-146.6,4.2,-6.7,3,107,11.77,2.65,-3.55,0.000,4,0.173,0.073,2168,979,3416
$GC,189,-1.08,-146.6,22.3,-12.0,7,197,0.00,2.62,0.00,0.000,6,0.000,0.051,2167,2399,3417
$GC,505,-1.08,-146.6,60.6,-12.2,23,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2399,3417
$GC,814,-1.08,-146.6,97.2,-12.4,38,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2399,3417
$GC,1124,-1.08,-146.6,135.2,-11.8,53,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2399,3417
$GC,1433,-1.08,-146.6,170.9,-11.3,68,1437,0.00,2.60,0.00,0.000,4,0.000,0.060,2168,981,3417
$GC,1464,-1.08,-146.6,174.7,-11.5,69,1472,0.00,2.60,0.00,0.000,6,0.000,0.051,2168,2397,3417
$GC,1779,-1.08,-146.6,208.4,-11.1,85,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2397,3417
$GC,2089,-1.08,-146.6,242.3,-10.9,100,2093,0.00,2.60,0.00,0.000,4,0.000,0.061,2168,982,3417
$GC,2131,-1.08,-146.6,247.1,-10.9,102,2136,0.00,2.60,0.00,0.000,6,0.000,0.051,2168,2399,3417
$GC,2458,-1.08,-146.6,284.9,-12.3,118,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2400,3417
$GC,2768,-1.08,-146.6,320.4,-10.3,133,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3417
$GC,3077,-1.08,-146.6,349.8,-9.2,148,3084,0.00,2.60,0.00,0.000,4,0.000,0.061,2168,976,3417
$GC,3124,-1.08,-146.6,354.1,-9.1,150,3129,0.00,2.58,0.00,0.000,6,0.000,0.051,2168,2401,3417
$GC,3450,-1.08,-146.6,385.1,-9.7,166,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3417
$GC,3760,-1.08,-146.6,415.8,-9.9,181,3764,0.00,2.60,0.00,0.000,4,0.000,0.061,2168,982,3417
$GC,3807,-1.08,-146.6,420.8,-10.4,183,3812,0.00,2.60,0.00,0.000,6,0.000,0.051,2168,2400,3417
$GC,4131,-1.08,-146.6,450.4,-8.8,199,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3417
$GC,4439,-1.08,-146.6,475.9,-7.8,214,4443,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,982,3417
$GC,4482,-1.08,-146.6,479.4,-7.9,216,4486,0.00,2.58,0.00,0.000,6,0.000,0.051,2168,2403,3417
$GC,4808,-1.08,-146.6,507.1,-9.0,232,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2402,3417
$GC,5117,-1.08,-146.6,535.1,-8.5,247,5122,0.00,2.60,0.00,0.000,4,0.000,0.060,2168,976,3417
$GC,5161,-1.08,-146.6,539.0,-8.7,249,5165,0.00,2.60,0.00,0.000,6,0.000,0.051,2168,2397,3417
$GC,5487,-1.08,-146.6,568.2,-8.8,265,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2399,3418
$GC,5796,-1.08,-146.6,595.9,-8.9,280,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2399,3418
$GC,6106,-1.08,-146.6,622.3,-8.8,295,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2399,3417
$GC,6415,-1.08,-146.6,649.6,-8.5,310,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2399,3418
$GC,6724,-1.08,-146.6,676.3,-8.6,325,6729,0.00,2.58,0.00,0.000,4,0.000,0.060,2168,984,3417
$GC,6808,-1.08,-146.6,683.6,-9.0,329,6812,0.00,2.58,0.00,0.000,6,0.000,0.051,2168,2409,3417
$GC,7134,-1.08,-146.6,713.7,-9.4,345,7138,0.00,2.60,0.00,0.000,4,0.000,0.061,2168,984,3417
$GC,7165,-1.08,-146.6,716.9,-9.7,346,7172,0.00,2.58,0.00,0.000,6,0.000,0.051,2168,2395,3417
$STATE,7335,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7335,begin apogee
$GC,7339,-0.31,0.0,732.2,8.6,355,7464,0.88,0.00,121.32,1.151,6,0.117,0.000,2340,2190,2817
$STATE,7465,end apogee,CONTROL_FINISHED_OK
$STATE,7465,begin climb
$GC,7466,1.08,146.6,735.2,0.0,361,7592,1.50,0.00,119.25,1.131,6,0.091,0.000,2646,2190,2219
$GC,7908,1.08,146.6,701.2,8.4,383,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2190,2218
$GC,8217,1.09,148.9,676.2,7.9,398,8222,0.00,2.58,0.00,0.000,4,0.000,0.060,2646,793,2217
$GC,8272,1.09,148.9,671.6,8.8,400,8279,0.00,2.58,0.00,0.000,6,0.000,0.046,2646,2197,2217
$GC,8588,1.09,148.9,643.7,8.5,416,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2196,2217
$GC,8897,1.09,148.9,617.7,8.2,431,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2197,2217
$GC,9206,1.09,148.9,592.8,8.4,446,9210,0.00,2.62,0.00,0.000,4,0.000,0.069,2646,3614,2217
$GC,9271,1.09,148.9,586.9,9.2,449,9276,0.00,2.58,0.00,0.000,6,0.000,0.049,2646,2209,2217
$GC,9597,1.09,148.9,559.6,8.4,465,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2209,2217
$GC,9907,1.09,148.9,533.2,8.7,480,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2209,2217
$GC,10216,1.09,148.9,505.3,9.5,495,10220,0.00,2.60,0.00,0.000,4,0.000,0.069,2647,3612,2216
$GC,10270,1.09,148.9,499.4,11.6,497,10275,0.00,2.58,0.00,0.000,6,0.000,0.051,2646,2200,2217
$GC,10592,1.09,148.9,467.3,9.5,513,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2200,2216
$GC,10901,1.09,148.9,440.7,8.2,528,10902,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2200,2216
$GC,11210,1.09,148.9,414.2,8.9,543,11214,0.00,2.62,0.00,0.000,4,0.000,0.069,2646,3613,2217
$GC,11298,1.09,148.9,405.9,9.9,547,11303,0.00,2.58,0.00,0.000,6,0.000,0.051,2646,2204,2216
$GC,11625,1.09,148.9,378.6,8.0,563,11626,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2204,2216
$GC,11934,1.09,153.0,354.1,7.9,578,11943,0.00,0.00,6.28,0.716,6,0.000,0.000,2646,2204,2192
$GC,12244,1.10,158.7,329.6,7.8,593,12252,0.00,0.00,6.18,0.705,6,0.000,0.000,2646,2204,2170
$GC,12553,1.10,165.4,305.3,7.8,608,12562,0.00,0.00,7.12,0.719,6,0.000,0.000,2646,2204,2143
$GC,12862,1.10,165.4,278.8,9.0,623,12866,0.00,2.62,0.00,0.000,4,0.000,0.068,2646,3615,2142
$GC,12929,1.10,165.4,272.2,10.1,626,12934,0.00,2.58,0.00,0.000,6,0.000,0.051,2646,2194,2142
$GC,13254,1.10,165.4,243.8,8.3,642,13258,0.00,2.65,0.00,0.000,4,0.000,0.068,2646,3620,2142
$GC,13297,1.10,165.4,239.7,9.0,644,13302,0.00,2.60,0.00,0.000,6,0.000,0.051,2646,2196,2142
$GC,13624,1.10,165.4,212.4,8.2,660,13625,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2196,2142
$GC,13933,1.10,165.4,187.7,8.2,675,13937,0.00,2.62,0.00,0.000,4,0.000,0.067,2646,3613,2142
$GC,14004,1.10,165.4,181.4,8.9,678,14009,0.00,2.58,0.00,0.000,6,0.000,0.051,2646,2200,2142
$GC,14326,1.12,180.3,157.6,7.5,694,14341,0.00,0.00,13.27,0.716,6,0.000,0.000,2646,2200,2082
$GC,14635,1.12,180.3,131.7,8.7,709,14636,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2200,2081
$GC,14944,1.12,180.3,103.5,9.0,724,14945,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2200,2081
$GC,15254,1.15,211.4,79.9,6.9,739,15280,0.00,0.00,24.73,0.703,6,0.000,0.000,2646,2200,1955
$GC,15584,1.15,211.4,49.5,9.1,755,15585,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2200,1954
$GC,15892,1.15,211.4,18.9,9.5,770,15893,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2200,1954
$STATE,16056,end climb,SURFACE_DEPTH_REACHED
$STATE,16056,begin surface coast
$FINISH,0.7,1.002238
$STATE,16078,end surface coast,CONTROL_FINISHED_OK
$STATE,16078,begin surface
$SM_CCo,16096,51.10,0.627,2,0,1593,300.00
$SM_GC,1.52,0.00,0.00,51.10,0.000,0.000,0.627,71,2407,1593,-10.76,0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2098
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.3,90.5
$24V_AH,23.6,14.249
$10V_AH,10.2,5.964
$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,25.325,83.850,298.150,51.100,0.000,32.628,35.208,105.183,5.500,0.000,0.000,39.092,1376.882,12750.472,484.063,1560.996,267.124,33.357,1231.690,0.000,1510.464,0.000,38.108
$DEVICE_MAMPS,172.575,72.865,1150.500,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,539.324,565.558,460.980,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38039,779
$CFSIZE,260165632,255815680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,211107,113528,6134.438,-857.330,30,2.2,49,-9.2