version: 66.02
glider: 16
mission: 6
dive: 60
start: 11 22 107 7 8 34
data:
$ID,16
$MISSION,6
$DIVE,60
$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,-2076333.5
$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,17
$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
$GPS1,070255,6141.442,-915.984,38,1.7,38,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-56.5
$GPS2,070747,6141.441,-915.972,16,2.5,35,-9.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.072,0.235
$KALMAN_X,8652.6,-596.6,-9.3,-17118.9,2325.1
$KALMAN_Y,80080.4,490.7,697.4,-75297.3,-1486.6
$MHEAD_RNG_PITCHd_Wd,352.3,6645,-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,-61.95,0.000,2,0.000,0.000,69,2402,3248
$GC,84,-1.08,-146.6,4.6,-6.9,3,107,11.82,2.65,-3.40,0.000,4,0.173,0.074,2168,979,3416
$GC,156,-1.08,-146.6,21.4,-17.0,6,161,0.00,2.60,0.00,0.000,6,0.000,0.048,2168,2392,3417
$GC,484,-1.08,-146.6,67.6,-9.2,22,489,0.00,2.55,0.00,0.000,4,0.000,0.069,2168,3766,3417
$GC,538,-1.08,-146.6,74.2,-14.5,24,546,0.00,2.50,0.00,0.000,6,0.000,0.046,2168,2395,3417
$GC,856,-1.08,-146.6,116.7,-15.0,40,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2395,3417
$GC,1163,-1.08,-146.6,159.6,-11.7,55,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2394,3417
$GC,1472,-1.08,-146.6,197.4,-12.5,70,1476,0.00,2.58,0.00,0.000,4,0.000,0.062,2168,988,3417
$GC,1500,-1.08,-146.6,200.9,-12.1,71,1504,0.00,2.55,0.00,0.000,6,0.000,0.050,2168,2400,3417
$GC,1820,-1.08,-146.6,234.7,-9.5,87,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2400,3417
$GC,2129,-1.08,-146.6,265.2,-9.8,102,2133,0.00,2.60,0.00,0.000,4,0.000,0.062,2170,988,3417
$GC,2161,-1.08,-146.6,268.5,-10.0,103,2168,0.00,2.58,0.00,0.000,6,0.000,0.050,2168,2393,3417
$GC,2477,-1.08,-146.6,302.4,-11.4,119,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2393,3417
$GC,2786,-1.08,-146.6,337.9,-11.1,134,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2393,3417
$GC,3095,-1.08,-146.6,371.8,-10.9,149,3100,0.00,2.60,0.00,0.000,4,0.000,0.061,2168,981,3417
$GC,3121,-1.08,-146.6,374.8,-11.3,150,3127,0.00,2.60,0.00,0.000,6,0.000,0.050,2168,2400,3417
$GC,3442,-1.08,-146.6,408.2,-10.1,166,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2400,3417
$GC,3752,-1.08,-146.6,439.3,-9.8,181,3756,0.00,2.60,0.00,0.000,4,0.000,0.060,2169,980,3417
$GC,3829,-1.08,-146.6,447.3,-10.9,184,3835,0.00,2.55,0.00,0.000,6,0.000,0.049,2168,2401,3418
$GC,4143,-1.08,-146.6,479.3,-9.8,200,4148,0.00,2.60,0.00,0.000,4,0.000,0.061,2169,985,3417
$GC,4175,-1.08,-146.6,482.7,-10.3,201,4182,0.00,2.55,0.00,0.000,6,0.000,0.050,2169,2395,3417
$GC,4491,-1.08,-146.6,513.4,-9.9,217,4495,0.00,2.60,0.00,0.000,4,0.000,0.061,2168,980,3418
$GC,4529,-1.08,-146.6,517.3,-10.1,219,4533,0.00,2.55,0.00,0.000,6,0.000,0.050,2169,2405,3417
$GC,4856,-1.08,-146.6,551.4,-9.4,235,4860,0.00,2.60,0.00,0.000,4,0.000,0.061,2168,985,3417
$GC,4899,-1.08,-146.6,554.7,-7.6,237,4903,0.00,2.55,0.00,0.000,6,0.000,0.049,2168,2393,3417
$GC,5225,-1.08,-146.6,586.6,-10.0,253,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2394,3417
$GC,5535,-1.08,-146.6,617.6,-9.2,268,5539,0.00,2.58,0.00,0.000,4,0.000,0.060,2168,983,3417
$GC,5577,-1.08,-146.6,621.7,-8.6,270,5582,0.00,2.58,0.00,0.000,6,0.000,0.050,2168,2392,3417
$GC,5904,-1.08,-146.6,652.5,-10.3,286,5908,0.00,2.55,0.00,0.000,4,0.000,0.057,2168,985,3417
$GC,5947,-1.08,-146.6,657.7,-12.1,288,5952,0.00,2.58,0.00,0.000,6,0.000,0.049,2168,2395,3417
$GC,6274,-1.08,-146.6,685.8,-6.1,304,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2395,3417
$GC,6583,-1.08,-146.6,712.3,-11.2,319,6587,0.00,2.55,0.00,0.000,4,0.000,0.056,2169,985,3417
$GC,6834,-1.08,-146.6,735.4,-8.2,330,6839,0.00,2.60,0.00,0.000,6,0.000,0.052,2169,2400,3417
$GC,7155,-1.08,-146.6,775.2,-13.1,346,7159,0.00,2.62,0.00,0.000,4,0.000,0.067,2168,985,3418
$GC,7181,-1.08,-146.6,779.8,-18.3,347,7185,0.00,2.60,0.00,0.000,6,0.000,0.061,2170,2393,3418
$GC,7502,-1.08,-146.6,787.3,-8.1,363,7506,0.00,2.62,0.00,0.000,4,0.000,0.087,2169,3766,3419
$GC,7578,-1.08,-146.6,800.4,-8.3,366,7585,0.00,2.55,0.00,0.000,6,0.000,0.064,2168,2405,3418
$STATE,7707,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7707,begin apogee
$GC,7711,-0.31,0.0,811.1,6.7,373,7837,0.88,0.00,122.93,1.246,6,0.131,0.000,2337,2195,2817
$STATE,7838,end apogee,CONTROL_FINISHED_OK
$STATE,7838,begin climb
$GC,7840,1.08,146.6,817.5,0.0,379,7970,1.48,2.85,120.53,1.220,4,0.084,0.088,2642,3611,2220
$GC,8042,1.08,146.6,799.8,15.6,388,8049,0.00,2.72,0.00,0.000,6,0.000,0.072,2642,2204,2219
$GC,8358,1.08,146.6,776.0,15.7,404,8362,0.00,2.75,0.00,0.000,4,0.000,0.089,2642,3612,2217
$GC,8487,1.42,452.8,771.4,-3.1,410,8741,0.35,2.70,245.75,1.213,6,0.049,0.074,2725,2201,969
$GC,9056,1.42,452.8,673.5,24.9,438,9060,0.00,2.72,0.00,0.000,4,0.000,0.081,2725,3613,967
$GC,9296,1.42,452.8,629.7,16.5,449,9300,0.00,2.62,0.00,0.000,6,0.000,0.063,2725,2200,966
$GC,9627,1.42,452.8,586.2,13.7,465,9631,0.00,2.67,0.00,0.000,4,0.000,0.074,2725,786,966
$GC,9756,1.42,452.8,565.2,17.2,471,9760,0.00,2.60,0.00,0.000,6,0.000,0.050,2725,2206,967
$GC,10081,1.42,452.8,507.3,17.8,487,10085,0.00,2.67,0.00,0.000,4,0.000,0.068,2726,784,967
$GC,10157,1.42,452.8,493.5,16.9,490,10164,0.00,2.60,0.00,0.000,6,0.000,0.048,2725,2201,968
$GC,10473,1.42,452.8,438.1,17.2,506,10477,0.00,2.65,0.00,0.000,4,0.000,0.068,2725,783,968
$GC,10549,1.42,452.8,424.7,17.0,509,10556,0.00,2.60,0.00,0.000,6,0.000,0.047,2725,2203,968
$GC,10864,1.42,452.8,369.6,17.6,525,10869,0.00,2.65,0.00,0.000,4,0.000,0.067,2725,781,969
$GC,10941,1.42,452.8,356.0,17.5,528,10948,0.00,2.58,0.00,0.000,6,0.000,0.045,2726,2195,969
$GC,11256,1.42,452.8,300.1,18.2,544,11260,0.00,2.62,0.00,0.000,4,0.000,0.066,2725,783,970
$GC,11328,1.42,452.8,287.0,17.1,547,11332,0.00,2.58,0.00,0.000,6,0.000,0.044,2725,2200,970
$GC,11654,1.42,452.8,229.0,16.7,563,11658,0.00,2.62,0.00,0.000,4,0.000,0.064,2725,783,971
$GC,11731,1.42,452.8,215.0,17.5,566,11738,0.00,2.55,0.00,0.000,6,0.000,0.042,2725,2193,971
$GC,12047,1.42,452.8,158.6,16.7,582,12051,0.00,2.62,0.00,0.000,4,0.000,0.063,2725,776,971
$GC,12107,1.42,452.8,150.3,13.3,585,12111,0.00,2.55,0.00,0.000,6,0.000,0.042,2725,2202,971
$GC,12433,1.42,452.8,97.3,16.3,601,12438,0.00,2.62,0.00,0.000,4,0.000,0.060,2725,776,971
$GC,12504,1.42,452.8,83.9,18.0,604,12509,0.00,2.58,0.00,0.000,6,0.000,0.043,2725,2196,972
$GC,12827,1.42,452.8,23.1,17.8,620,12832,0.00,2.62,0.00,0.000,4,0.000,0.062,2725,774,973
$GC,12926,1.42,452.8,3.8,20.5,624,12933,0.00,2.58,0.00,0.000,6,0.000,0.044,2725,2194,973
$STATE,12952,end climb,SURFACE_DEPTH_REACHED
$STATE,12952,begin surface coast
$FINISH,0.8,1.028309
$STATE,12975,end surface coast,CONTROL_FINISHED_OK
$STATE,12975,begin surface
$SM_CCo,13053,0.00,0.000,0,0,972,452.82
$SM_GC,1.48,11.50,0.00,0.00,0.036,0.000,0.000,67,2403,972,-10.70,0.08,452.82
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2118
$TCM_TEMP,17.40
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,725.0,94.3
$24V_AH,23.5,14.952
$10V_AH,10.1,6.328
$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,26.025,136.350,489.200,0.000,0.000,37.231,31.920,117.731,11.250,0.000,0.000,36.693,1182.291,9711.016,570.580,1602.052,279.750,33.359,1409.676,0.000,1535.530,0.000,42.980
$DEVICE_MAMPS,173.342,88.972,1245.608,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.659,444.455,344.057,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31694,627
$CFSIZE,260165632,255549440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,221107,104707,6143.976,-917.224,29,2.0,29,-9.5