version: 66.02
glider: 16
mission: 6
dive: 57
start: 11 21 107 16 37 21
data:
$ID,16
$MISSION,6
$DIVE,57
$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,-2076247.8
$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,23
$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
$GPS1,162855,6136.658,-900.266,25,2.0,43,-9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-57.8
$GPS2,163633,6136.651,-900.341,12,2.0,12,-9.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.240,0.052
$KALMAN_X,9743.7,-1159.0,-457.8,-3431.9,7335.2
$KALMAN_Y,79825.4,14.0,681.6,-83404.2,-2963.0
$MHEAD_RNG_PITCHd_Wd,291.5,20105,-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,-62.25,0.000,2,0.000,0.000,72,2402,3250
$GC,84,-1.08,-146.6,4.7,-7.4,3,107,11.93,2.55,-3.35,0.000,4,0.178,0.079,2168,3764,3417
$GC,268,-1.08,-146.6,32.0,-13.1,11,273,0.00,2.47,0.00,0.000,6,0.000,0.046,2169,2405,3417
$GC,595,-1.08,-146.6,75.9,-13.0,27,600,0.00,2.53,0.00,0.000,4,0.000,0.068,2169,3762,3417
$GC,734,-1.08,-146.6,95.2,-12.4,33,739,0.00,2.47,0.00,0.000,6,0.000,0.046,2169,2401,3417
$GC,1055,-1.08,-146.6,133.1,-12.1,49,1060,0.00,2.60,0.00,0.000,4,0.000,0.063,2169,988,3417
$GC,1098,-1.08,-146.6,138.7,-13.0,51,1103,0.00,2.58,0.00,0.000,6,0.000,0.050,2169,2392,3417
$GC,1425,-1.08,-146.6,179.6,-12.4,67,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2392,3417
$GC,1734,-1.08,-146.6,218.1,-12.3,82,1738,0.00,2.60,0.00,0.000,4,0.000,0.061,2169,982,3417
$GC,1773,-1.08,-146.6,222.7,-11.7,84,1777,0.00,2.55,0.00,0.000,6,0.000,0.051,2167,2401,3417
$GC,2098,-1.08,-146.6,260.1,-11.5,100,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3417
$GC,2408,-1.08,-146.6,295.3,-11.1,115,2412,0.00,2.60,0.00,0.000,4,0.000,0.060,2169,985,3417
$GC,2479,-1.08,-146.6,303.0,-10.9,118,2483,0.00,2.58,0.00,0.000,6,0.000,0.050,2169,2392,3417
$GC,2799,-1.08,-146.6,338.2,-10.5,134,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2392,3417
$GC,3109,-1.08,-146.6,369.4,-9.6,149,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2392,3417
$GC,3418,-1.08,-146.6,397.6,-9.0,164,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2392,3417
$GC,3728,-1.08,-146.6,426.5,-9.8,179,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2392,3417
$GC,4037,-1.08,-146.6,456.3,-9.6,194,4041,0.00,2.58,0.00,0.000,4,0.000,0.059,2169,982,3418
$GC,4075,-1.08,-146.6,460.0,-9.5,196,4080,0.00,2.55,0.00,0.000,6,0.000,0.049,2169,2397,3418
$GC,4400,-1.08,-146.6,491.3,-9.5,212,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2397,3417
$GC,4710,-1.08,-146.6,519.7,-9.3,227,4714,0.00,2.58,0.00,0.000,4,0.000,0.059,2169,986,3418
$GC,4786,-1.08,-146.6,527.1,-9.1,230,4794,0.00,2.58,0.00,0.000,6,0.000,0.049,2169,2395,3418
$GC,5102,-1.08,-146.6,557.2,-10.0,246,5107,0.00,2.58,0.00,0.000,4,0.000,0.061,2168,986,3417
$GC,5141,-1.08,-146.6,561.2,-10.1,248,5145,0.00,2.55,0.00,0.000,6,0.000,0.050,2168,2401,3417
$GC,5466,-1.08,-146.6,592.0,-9.3,264,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3417
$GC,5775,-1.08,-146.6,621.1,-9.3,279,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3418
$GC,6085,-1.08,-146.6,650.1,-9.6,294,6090,0.00,2.58,0.00,0.000,4,0.000,0.060,2168,986,3418
$GC,6134,-1.08,-146.6,654.7,-9.1,296,6139,0.00,2.58,0.00,0.000,6,0.000,0.050,2169,2396,3417
$GC,6455,-1.08,-146.6,684.6,-9.0,312,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2395,3417
$GC,6764,-1.08,-146.6,713.0,-9.3,327,6769,0.00,2.58,0.00,0.000,4,0.000,0.059,2169,984,3417
$GC,6807,-1.08,-146.6,717.3,-9.6,329,6812,0.00,2.58,0.00,0.000,6,0.000,0.051,2168,2395,3417
$GC,7134,-1.08,-146.6,747.4,-8.7,345,7138,0.00,2.58,0.00,0.000,4,0.000,0.060,2169,985,3417
$GC,7177,-1.08,-146.6,751.1,-8.8,347,7182,0.00,2.58,0.00,0.000,6,0.000,0.051,2169,2395,3417
$GC,7503,-1.08,-146.6,779.2,-9.2,363,7508,0.00,2.60,0.00,0.000,4,0.000,0.062,2169,979,3417
$GC,7597,-1.08,-146.6,788.1,-10.0,367,7602,0.00,2.60,0.00,0.000,6,0.000,0.054,2169,2400,3417
$GC,7919,-1.08,-146.6,811.2,-7.2,383,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3418
$GC,8228,-1.08,-146.6,830.1,-1.5,398,8232,0.00,2.60,0.00,0.000,4,0.000,0.088,2169,3765,3418
$STATE,8355,end dive,NO_VERTICAL_VELOCITY
$STATE,8355,begin apogee
$GC,8362,-0.31,0.0,830.1,0.0,404,8488,0.82,0.00,123.10,1.251,6,0.092,0.000,2342,2202,2817
$STATE,8489,end apogee,CONTROL_FINISHED_OK
$STATE,8489,begin climb
$GC,8490,1.08,146.6,830.0,0.0,410,8621,1.42,2.83,120.78,1.222,4,0.076,0.089,2643,3613,2217
$GC,8873,1.08,146.6,796.1,9.5,427,8880,0.00,2.70,0.00,0.000,6,0.000,0.071,2643,2194,2217
$GC,9188,1.08,146.6,769.9,10.9,443,9193,0.00,2.78,0.00,0.000,4,0.000,0.091,2644,3611,2215
$GC,9220,1.08,146.6,766.6,9.8,444,9227,0.00,2.72,0.00,0.000,6,0.000,0.073,2644,2200,2214
$GC,9536,1.09,153.8,743.2,7.7,460,9549,0.00,2.72,6.25,0.942,4,0.000,0.077,2643,784,2189
$GC,9802,1.10,159.9,720.9,7.8,472,9814,0.00,2.60,6.32,0.942,6,0.000,0.054,2644,2201,2164
$GC,10128,1.10,163.6,695.6,7.9,488,10135,0.00,0.00,4.75,0.825,6,0.000,0.000,2644,2201,2150
$GC,10437,1.12,175.3,672.6,7.6,503,10450,0.00,0.00,11.10,1.033,6,0.000,0.000,2644,2201,2102
$GC,10746,1.12,175.3,647.8,8.2,518,10750,0.00,2.65,0.00,0.000,4,0.000,0.072,2644,3614,2102
$GC,10835,1.12,175.3,639.6,9.4,522,10840,0.00,2.60,0.00,0.000,6,0.000,0.054,2644,2189,2102
$GC,11167,1.12,175.3,610.4,8.8,538,11168,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2189,2102
$GC,11476,1.12,175.3,583.4,8.7,553,11480,0.00,2.67,0.00,0.000,4,0.000,0.071,2643,3615,2102
$GC,11575,1.12,175.3,574.4,9.2,557,11583,0.00,2.60,0.00,0.000,6,0.000,0.052,2644,2201,2102
$GC,11891,1.12,175.3,548.4,8.1,573,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,2103
$GC,12200,1.12,175.3,523.5,8.0,588,12201,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2201,2103
$GC,12509,1.12,175.3,497.0,9.0,603,12511,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2201,2104
$GC,12819,1.12,175.3,469.7,8.6,618,12820,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2201,2104
$GC,13128,1.12,175.3,442.8,8.4,633,13129,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2201,2105
$GC,13437,1.12,175.3,414.7,9.1,648,13438,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2201,2105
$GC,13747,1.12,175.3,386.7,9.1,663,13748,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2201,2105
$GC,14056,1.12,175.3,359.7,8.6,678,14057,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2201,2105
$GC,14365,1.12,175.3,333.1,8.9,693,14369,0.00,2.60,0.00,0.000,4,0.000,0.067,2644,3616,2105
$GC,14442,1.12,175.3,325.4,9.3,696,14447,0.00,2.58,0.00,0.000,6,0.000,0.051,2643,2201,2105
$GC,14763,1.12,175.3,298.0,8.5,712,14764,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2201,2106
$GC,15072,1.12,175.3,270.7,8.9,727,15077,0.00,2.62,0.00,0.000,4,0.000,0.067,2643,3622,2106
$GC,15121,1.12,175.3,265.9,9.3,729,15126,0.00,2.58,0.00,0.000,6,0.000,0.050,2644,2204,2107
$GC,15442,1.12,175.3,237.1,8.7,745,15443,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2204,2107
$GC,15751,1.12,175.3,208.4,9.4,760,15753,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,2108
$GC,16061,1.12,175.3,179.6,9.4,775,16065,0.00,2.60,0.00,0.000,4,0.000,0.067,2643,3614,2108
$GC,16116,1.12,175.3,174.3,9.8,777,16122,0.00,2.55,0.00,0.000,6,0.000,0.050,2644,2199,2108
$GC,16431,1.12,175.3,147.3,8.1,793,16432,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2198,2109
$GC,16740,1.15,209.3,125.3,6.8,808,16771,0.00,0.00,28.80,0.732,6,0.000,0.000,2643,2199,1963
$GC,17071,1.15,209.3,98.5,9.7,824,17072,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2199,1962
$GC,17379,1.18,235.3,72.7,7.1,839,17403,0.10,0.00,21.50,0.685,6,0.053,0.000,2677,2199,1857
$GC,17709,1.18,235.3,33.9,11.6,855,17714,0.00,2.62,0.00,0.000,4,0.000,0.065,2678,3615,1856
$GC,17763,1.18,235.3,27.4,12.3,857,17771,0.00,2.60,0.00,0.000,6,0.000,0.049,2677,2197,1856
$STATE,17975,end climb,SURFACE_DEPTH_REACHED
$STATE,17975,begin surface coast
$FINISH,0.8,1.013265
$STATE,17997,end surface coast,CONTROL_FINISHED_OK
$STATE,17997,begin surface
$SM_CCo,18015,39.08,0.609,2,0,1593,300.00
$SM_GC,1.32,0.00,0.00,39.08,0.000,0.000,0.609,72,2405,1593,-10.75,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2082
$TCM_TEMP,17.30
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,750.1,100.5
$24V_AH,23.5,14.501
$10V_AH,10.2,6.117
$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,25.750,115.125,322.600,39.075,0.000,65.250,68.591,181.422,13.500,0.000,0.000,12.909,1575.646,14123.354,508.991,1896.511,422.189,33.358,1425.970,0.000,1855.213,0.000,44.621
$DEVICE_MAMPS,177.944,90.506,1250.977,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,609.276,620.924,481.684,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44269,869
$CFSIZE,260165632,255696896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,211107,213955,6136.880,-905.148,40,1.3,57,-9.3