version: 66.02
glider: 16
mission: 6
dive: 59
start: 11 22 107 2 34 34
data:
$ID,16
$MISSION,6
$DIVE,59
$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,-2076296.1
$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,17
$R_STBD_OVSHOOT,22
$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
$GPS1,022608,6138.392,-911.201,33,1.7,33,-9.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-58.5
$GPS2,023345,6138.324,-911.213,13,1.6,13,-9.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,0.130
$KALMAN_X,9185.6,-840.1,-871.0,-12335.8,4990.0
$KALMAN_Y,77970.4,140.0,187.0,-78063.5,-2662.0
$MHEAD_RNG_PITCHd_Wd,311.5,12802,-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,-146.6,0.0,0.0,0,63,0.00,0.00,-42.80,0.000,2,0.000,0.000,69,2405,2732
$GC,65,-1.08,-146.6,3.1,-6.6,2,107,11.60,2.58,-20.38,0.000,4,0.164,0.080,2167,3763,3416
$GC,207,-1.08,-146.6,23.0,-12.8,8,212,0.00,2.45,0.00,0.000,6,0.000,0.041,2167,2404,3416
$GC,530,-1.08,-146.6,61.6,-10.4,24,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3416
$GC,838,-1.08,-146.6,95.6,-10.8,39,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3416
$GC,1147,-1.08,-146.6,123.1,-8.7,54,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3416
$GC,1456,-1.08,-146.6,159.2,-11.7,69,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3416
$GC,1765,-1.08,-146.6,193.5,-12.1,84,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2404,3416
$GC,2075,-1.08,-146.6,229.2,-11.1,99,2079,0.00,2.60,0.00,0.000,4,0.000,0.062,2168,989,3416
$GC,2102,-1.08,-146.6,232.3,-11.4,100,2107,0.00,2.53,0.00,0.000,6,0.000,0.048,2168,2395,3416
$GC,2416,-1.08,-146.6,264.4,-10.0,115,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2395,3416
$GC,2726,-1.08,-146.6,295.5,-10.1,130,2730,0.00,2.60,0.00,0.000,4,0.000,0.061,2168,981,3416
$GC,2764,-1.08,-146.6,299.2,-9.8,132,2768,0.00,2.55,0.00,0.000,6,0.000,0.049,2168,2400,3417
$GC,3089,-1.08,-146.6,331.0,-10.0,148,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2400,3417
$GC,3398,-1.08,-146.6,362.3,-10.2,163,3402,0.00,2.60,0.00,0.000,4,0.000,0.061,2168,983,3417
$GC,3430,-1.08,-146.6,365.7,-10.4,164,3437,0.00,2.60,0.00,0.000,6,0.000,0.049,2168,2401,3417
$GC,3745,-1.08,-146.6,397.7,-10.3,180,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3417
$GC,4055,-1.08,-146.6,429.4,-10.2,195,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2401,3417
$GC,4364,-1.08,-146.6,460.8,-9.9,210,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3417
$GC,4673,-1.08,-146.6,491.7,-10.0,225,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3417
$GC,4982,-1.08,-146.6,523.0,-10.4,240,4987,0.00,2.60,0.00,0.000,4,0.000,0.060,2168,982,3417
$GC,5027,-1.08,-146.6,527.6,-10.4,242,5031,0.00,2.55,0.00,0.000,6,0.000,0.049,2167,2400,3417
$GC,5347,-1.08,-146.6,559.3,-9.5,258,5351,0.00,2.55,0.00,0.000,4,0.000,0.071,2167,3772,3417
$GC,5409,-1.08,-146.6,565.9,-10.9,261,5413,0.00,2.45,0.00,0.000,6,0.000,0.046,2167,2400,3417
$GC,5733,-1.08,-146.6,597.4,-9.7,277,5738,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,990,3417
$GC,5805,-1.08,-146.6,604.2,-9.5,280,5809,0.00,2.58,0.00,0.000,6,0.000,0.050,2167,2399,3417
$GC,6126,-1.08,-146.6,639.4,-10.8,296,6131,0.00,2.58,0.00,0.000,4,0.000,0.061,2168,989,3417
$GC,6237,-1.08,-146.6,651.1,-11.2,301,6242,0.00,2.58,0.00,0.000,6,0.000,0.050,2167,2401,3417
$GC,6564,-1.08,-146.6,687.6,-11.8,317,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3417
$GC,6873,-1.08,-146.6,713.1,-6.4,332,6877,0.00,2.58,0.00,0.000,4,0.000,0.060,2167,989,3417
$GC,6921,-1.08,-146.6,719.1,-13.6,334,6926,0.00,2.58,0.00,0.000,6,0.000,0.051,2167,2400,3417
$GC,7242,-1.08,-146.6,749.0,-9.4,350,7246,0.00,2.55,0.00,0.000,4,0.000,0.074,2168,3765,3417
$GC,7274,-1.08,-146.6,752.8,-12.1,351,7281,0.00,2.47,0.00,0.000,6,0.000,0.049,2168,2404,3418
$GC,7590,-1.08,-146.6,778.6,-8.9,367,7594,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,983,3417
$GC,7705,-1.08,-146.6,789.0,-12.0,372,7710,0.00,2.60,0.00,0.000,6,0.000,0.055,2168,2390,3417
$GC,8026,-1.08,-146.6,818.2,-8.1,388,8031,0.00,2.62,0.00,0.000,4,0.000,0.070,2167,985,3418
$GC,8088,-1.08,-146.6,823.2,-10.2,391,8093,0.00,2.60,0.00,0.000,6,0.000,0.063,2168,2398,3418
$STATE,8247,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8247,begin apogee
$GC,8251,-0.31,0.0,847.1,16.9,399,8378,0.85,0.00,123.45,1.261,6,0.108,0.000,2338,2194,2817
$STATE,8378,end apogee,CONTROL_FINISHED_OK
$STATE,8378,begin climb
$GC,8380,1.08,146.6,859.5,0.0,405,8511,1.45,2.85,121.00,1.237,4,0.081,0.087,2641,3616,2219
$GC,8763,1.08,146.6,818.3,13.4,422,8771,0.00,2.67,0.00,0.000,6,0.000,0.066,2641,2199,2218
$GC,9079,1.19,244.9,803.7,4.4,438,9165,0.12,2.83,79.78,1.225,4,0.058,0.087,2673,3619,1818
$GC,9214,1.19,244.9,785.5,13.9,444,9221,0.00,2.75,0.00,0.000,6,0.000,0.072,2674,2204,1817
$GC,9530,1.19,244.9,750.0,10.4,460,9534,0.00,2.75,0.00,0.000,4,0.000,0.082,2674,781,1814
$GC,9658,1.19,244.9,735.8,12.5,466,9662,0.00,2.65,0.00,0.000,6,0.000,0.056,2674,2208,1813
$GC,9983,1.19,244.9,699.1,9.0,482,9987,0.00,2.67,0.00,0.000,4,0.000,0.077,2674,3622,1811
$GC,10021,1.19,244.9,695.5,9.8,484,10025,0.00,2.65,0.00,0.000,6,0.000,0.059,2674,2189,1811
$GC,10351,1.19,244.9,658.3,12.4,500,10356,0.00,2.62,0.00,0.000,4,0.000,0.069,2674,788,1810
$GC,10445,1.19,244.9,646.7,12.0,504,10450,0.00,2.60,0.00,0.000,6,0.000,0.048,2674,2203,1809
$GC,10766,1.19,244.9,608.8,12.1,520,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2203,1809
$GC,11075,1.19,244.9,573.7,11.1,535,11080,0.00,2.65,0.00,0.000,4,0.000,0.063,2674,781,1810
$GC,11130,1.19,244.9,567.2,11.1,537,11137,0.00,2.58,0.00,0.000,6,0.000,0.044,2674,2196,1810
$GC,11445,1.19,244.9,533.0,10.6,553,11449,0.00,2.60,0.00,0.000,4,0.000,0.061,2674,785,1810
$GC,11483,1.19,244.9,528.9,10.4,554,11490,0.00,2.58,0.00,0.000,6,0.000,0.044,2674,2198,1810
$GC,11798,1.19,244.9,493.7,11.6,570,11800,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2198,1811
$GC,12108,1.19,244.9,456.5,12.1,585,12112,0.00,2.60,0.00,0.000,4,0.000,0.067,2674,3613,1812
$GC,12152,1.19,244.9,450.7,12.3,587,12156,0.00,2.58,0.00,0.000,6,0.000,0.052,2674,2199,1812
$GC,12478,1.19,244.9,411.9,11.9,603,12479,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2199,1813
$GC,12787,1.19,244.9,375.5,12.1,618,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2199,1813
$GC,13096,1.19,244.9,336.1,12.8,633,13097,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2199,1813
$GC,13405,1.19,244.9,296.1,12.6,648,13410,0.00,2.62,0.00,0.000,4,0.000,0.065,2674,3617,1813
$GC,13448,1.19,244.9,290.1,13.5,650,13453,0.00,2.60,0.00,0.000,6,0.000,0.052,2674,2202,1813
$GC,13776,1.19,244.9,251.6,11.1,666,13780,0.00,2.62,0.00,0.000,4,0.000,0.065,2674,779,1814
$GC,13824,1.19,244.9,246.0,11.3,668,13829,0.00,2.55,0.00,0.000,6,0.000,0.042,2674,2196,1814
$GC,14145,1.19,244.9,210.7,10.8,684,14146,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2196,1815
$GC,14454,1.19,244.9,178.2,10.3,699,14458,0.00,2.60,0.00,0.000,4,0.000,0.066,2674,3616,1815
$GC,14491,1.19,244.9,174.0,10.8,700,14499,0.00,2.58,0.00,0.000,6,0.000,0.051,2674,2207,1815
$GC,14808,1.19,244.9,140.1,11.2,716,14809,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,1815
$GC,15117,1.19,244.9,106.9,11.9,731,15118,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,1816
$GC,15426,1.19,244.9,71.2,14.4,746,15430,0.00,2.60,0.00,0.000,4,0.000,0.061,2674,785,1816
$GC,15469,1.19,244.9,64.7,14.1,748,15473,0.00,2.55,0.00,0.000,6,0.000,0.043,2674,2199,1816
$GC,15795,1.19,244.9,21.0,12.0,764,15800,0.00,2.60,0.00,0.000,4,0.000,0.066,2674,3613,1817
$GC,15834,1.19,244.9,15.0,15.6,766,15838,0.00,2.55,0.00,0.000,6,0.000,0.052,2673,2199,1817
$STATE,15952,end climb,SURFACE_DEPTH_REACHED
$STATE,15952,begin surface coast
$FINISH,0.8,1.002885
$STATE,15974,end surface coast,CONTROL_FINISHED_OK
$STATE,15974,begin surface
$SM_CCo,15992,32.47,0.637,1,0,1594,300.00
$SM_GC,1.90,0.00,0.00,32.47,0.000,0.000,0.637,70,2402,1594,-10.76,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2096
$TCM_TEMP,17.60
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,775.4,78.2
$24V_AH,23.5,14.772
$10V_AH,10.2,6.265
$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,25.175,130.825,324.225,32.475,0.000,65.282,116.589,132.038,12.000,0.000,0.000,13.910,1417.840,12452.577,484.409,1722.011,413.847,33.352,1350.795,0.000,1680.900,0.000,46.183
$DEVICE_MAMPS,164.138,87.438,1260.948,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,539.294,553.083,440.350,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37978,773
$CFSIZE,260165632,255586304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,221107,070255,6141.442,-915.984,38,1.7,38,-9.4