version: 66.02
glider: 16
mission: 6
dive: 56
start: 11 21 107 11 41 10
data:
$ID,16
$MISSION,6
$DIVE,56
$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,-2076234.2
$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,19
$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
$GPS1,113528,6134.438,-857.330,30,2.2,49,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-65.6
$GPS2,114023,6134.404,-857.278,37,2.1,56,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.187,0.159
$KALMAN_X,8890.6,-919.6,-843.7,268.0,9850.7
$KALMAN_Y,79844.3,472.7,-269.0,-87076.7,-2157.7
$MHEAD_RNG_PITCHd_Wd,319.7,25028,-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,-62.55,0.000,2,0.000,0.000,71,2407,3265
$GC,84,-1.08,-146.6,4.6,-7.4,3,107,11.88,2.62,-3.10,0.000,4,0.176,0.073,2167,988,3417
$GC,152,-1.08,-146.6,18.2,-10.4,6,156,0.00,2.58,0.00,0.000,6,0.000,0.051,2167,2396,3418
$GC,477,-1.08,-146.6,53.5,-10.4,22,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2396,3418
$GC,786,-1.08,-146.6,84.5,-10.3,37,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2396,3418
$GC,1095,-1.08,-146.6,121.7,-12.7,52,1100,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,983,3419
$GC,1150,-1.08,-146.6,128.9,-12.9,54,1157,0.00,2.60,0.00,0.000,6,0.000,0.051,2167,2398,3418
$GC,1465,-1.08,-146.6,169.8,-12.5,70,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2398,3418
$GC,1774,-1.08,-146.6,206.8,-11.8,85,1779,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,984,3418
$GC,1813,-1.08,-146.6,211.8,-12.8,87,1817,0.00,2.58,0.00,0.000,6,0.000,0.052,2167,2401,3418
$GC,2139,-1.08,-146.6,253.3,-12.3,103,2143,0.00,2.55,0.00,0.000,4,0.000,0.072,2167,3768,3418
$GC,2182,-1.08,-146.6,258.7,-11.9,105,2187,0.00,2.47,0.00,0.000,6,0.000,0.048,2167,2404,3418
$GC,2509,-1.08,-146.6,297.6,-12.4,121,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3419
$GC,2818,-1.08,-146.6,334.6,-11.4,136,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3418
$GC,3128,-1.08,-146.6,370.1,-11.2,151,3132,0.00,2.60,0.00,0.000,4,0.000,0.063,2167,985,3419
$GC,3210,-1.08,-146.6,379.3,-11.3,155,3215,0.00,2.58,0.00,0.000,6,0.000,0.052,2167,2404,3419
$GC,3537,-1.08,-146.6,413.8,-10.6,171,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3418
$GC,3846,-1.08,-146.6,446.6,-10.5,186,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3419
$GC,4155,-1.08,-146.6,478.0,-10.3,201,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3419
$GC,4464,-1.08,-146.6,509.9,-10.6,216,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3418
$GC,4774,-1.08,-146.6,541.9,-10.1,231,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3419
$GC,5083,-1.08,-146.6,574.9,-11.5,246,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2404,3418
$GC,5392,-1.08,-146.6,608.5,-10.9,261,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3419
$GC,5702,-1.08,-146.6,640.8,-10.6,276,5706,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,981,3419
$GC,5784,-1.08,-146.6,649.5,-10.7,280,5789,0.00,2.58,0.00,0.000,6,0.000,0.051,2167,2405,3418
$GC,6111,-1.08,-146.6,682.9,-10.2,296,6115,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,985,3419
$GC,6171,-1.08,-146.6,689.1,-11.1,299,6175,0.00,2.58,0.00,0.000,6,0.000,0.051,2167,2407,3418
$GC,6496,-1.08,-146.6,721.5,-9.9,315,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2406,3418
$GC,6810,-1.08,-146.6,751.3,-9.2,330,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2407,3418
$GC,7115,-1.08,-146.6,782.8,-9.5,345,7119,0.00,2.53,0.00,0.000,4,0.000,0.075,2167,3765,3418
$GC,7187,-1.08,-146.6,788.6,-7.6,348,7191,0.00,2.47,0.00,0.000,6,0.000,0.049,2167,2401,3418
$GC,7508,-1.08,-146.6,812.2,-8.2,364,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2401,3419
$GC,7817,-1.08,-146.6,838.7,-9.2,379,7821,0.00,2.65,0.00,0.000,4,0.000,0.075,2167,982,3419
$STATE,7825,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7825,begin apogee
$GC,7830,-0.31,0.0,839.7,10.3,379,7958,0.82,0.00,123.38,1.245,6,0.112,0.000,2335,2198,2817
$STATE,7958,end apogee,CONTROL_FINISHED_OK
$STATE,7958,begin climb
$GC,7960,1.08,146.6,847.2,0.0,386,8091,1.50,2.90,120.68,1.223,4,0.091,0.092,2643,3613,2219
$GC,8241,1.08,146.6,829.6,9.9,399,8246,0.00,2.72,0.00,0.000,6,0.000,0.075,2643,2208,2218
$GC,8568,1.08,146.6,800.9,8.7,415,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2209,2217
$GC,8878,1.15,211.6,776.9,5.6,430,8932,0.00,0.00,52.85,1.210,6,0.000,0.000,2643,2208,1954
$GC,9226,1.15,211.6,744.4,11.4,447,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2207,1951
$GC,9535,1.15,211.6,718.3,11.4,462,9536,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2208,1948
$GC,9845,1.15,211.6,686.9,9.4,477,9849,0.00,2.65,0.00,0.000,4,0.000,0.075,2643,3613,1947
$GC,9905,1.15,211.6,680.8,9.8,479,9912,0.00,2.62,0.00,0.000,6,0.000,0.056,2643,2203,1947
$GC,10220,1.15,211.6,652.3,8.7,495,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2204,1947
$GC,10529,1.15,211.6,625.4,8.5,510,10534,0.00,2.65,0.00,0.000,4,0.000,0.067,2643,778,1947
$GC,10578,1.15,211.6,620.8,9.4,512,10583,0.00,2.60,0.00,0.000,6,0.000,0.046,2643,2202,1947
$GC,10899,1.15,211.6,589.5,10.0,528,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,1948
$GC,11209,1.15,211.6,556.8,10.7,543,11210,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,1948
$GC,11518,1.15,211.6,524.0,10.1,558,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,1948
$GC,11827,1.15,211.6,494.7,9.3,573,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,1949
$GC,12136,1.15,211.6,465.6,9.6,588,12141,0.00,2.62,0.00,0.000,4,0.000,0.069,2643,3617,1949
$GC,12179,1.15,211.6,461.0,10.3,590,12184,0.00,2.62,0.00,0.000,6,0.000,0.054,2643,2196,1950
$GC,12507,1.15,211.6,428.8,10.0,606,12508,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2196,1950
$GC,12816,1.15,211.6,397.8,10.2,621,12817,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2196,1950
$GC,13125,1.15,211.6,366.8,10.1,636,13130,0.00,2.62,0.00,0.000,4,0.000,0.067,2643,3611,1951
$GC,13168,1.15,211.6,362.4,10.4,638,13173,0.00,2.60,0.00,0.000,6,0.000,0.053,2643,2197,1951
$GC,13495,1.15,211.6,330.6,9.7,654,13496,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2197,1952
$GC,13804,1.15,211.6,300.2,9.5,669,13805,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2197,1952
$GC,14114,1.15,211.6,271.3,9.0,684,14115,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2197,1953
$GC,14423,1.15,211.6,243.9,9.0,699,14427,0.00,2.60,0.00,0.000,4,0.000,0.064,2643,782,1953
$GC,14465,1.15,211.6,239.7,9.6,701,14470,0.00,2.55,0.00,0.000,6,0.000,0.043,2643,2195,1953
$GC,14792,1.15,211.6,210.6,8.7,717,14793,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2195,1953
$GC,15101,1.15,211.6,182.8,9.2,732,15103,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2195,1953
$GC,15411,1.15,211.6,154.8,9.0,747,15412,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2195,1953
$GC,15720,1.15,211.6,124.5,9.8,762,15722,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2195,1953
$GC,16030,1.15,211.6,97.6,9.3,777,16031,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2195,1953
$GC,16339,1.15,211.6,68.5,9.7,792,16340,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2195,1954
$GC,16648,1.15,211.6,39.1,10.7,807,16653,0.00,2.60,0.00,0.000,4,0.000,0.067,2643,3609,1954
$GC,16710,1.15,211.6,33.3,8.0,810,16714,0.00,2.55,0.00,0.000,6,0.000,0.049,2643,2192,1954
$GC,17035,1.17,228.1,7.9,7.4,826,17057,0.10,0.00,14.38,0.630,6,0.054,0.000,2677,2192,1887
$STATE,17095,end climb,SURFACE_DEPTH_REACHED
$STATE,17095,begin surface coast
$FINISH,0.6,1.027456
$STATE,17118,end surface coast,CONTROL_FINISHED_OK
$STATE,17118,begin surface
$SM_CCo,17137,41.65,0.617,2,0,1593,300.00
$SM_GC,1.49,0.00,0.00,41.65,0.000,0.000,0.617,73,2402,1593,-10.75,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2103
$TCM_TEMP,17.40
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,751.3,97.7
$24V_AH,23.5,14.372
$10V_AH,10.2,6.038
$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,25.625,83.350,311.275,41.650,0.000,32.699,38.232,103.960,11.750,0.000,0.000,57.350,1456.826,13601.513,474.618,1685.022,270.136,33.363,1268.217,0.000,1604.288,0.000,50.277
$DEVICE_MAMPS,176.410,92.040,1244.841,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,582.017,593.781,481.656,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41165,830
$CFSIZE,260165632,255758336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,211107,162855,6136.658,-900.266,25,2.0,43,-9.3