version: 66.02
glider: 16
mission: 6
dive: 68
start: 11 23 107 21 6 35
data:
$ID,16
$MISSION,6
$DIVE,68
$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,-2076528.6
$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,14
$R_STBD_OVSHOOT,19
$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
$GPS1,210028,6136.637,-913.839,32,4.0,51,-9.4
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-58.0
$GPS2,210547,6136.602,-913.719,14,4.2,33,-9.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.209,-0.128
$KALMAN_X,-9202.4,403.3,899.7,749.0,-6634.7
$KALMAN_Y,100845.2,-588.6,-214.7,-102983.1,6872.8
$MHEAD_RNG_PITCHd_Wd,130.9,33075,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-61.78,0.000,2,0.000,0.000,70,2402,3233
$GC,83,-1.08,-146.6,4.6,-7.8,3,106,11.75,2.58,-3.60,0.000,4,0.172,0.086,2167,3765,3415
$GC,354,-1.08,-146.6,39.3,-9.3,15,359,0.00,2.47,0.00,0.000,6,0.000,0.048,2168,2396,3416
$GC,680,-1.08,-146.6,69.9,-9.9,31,684,0.00,2.62,0.00,0.000,4,0.000,0.066,2167,981,3416
$GC,718,-1.08,-146.6,74.0,-10.7,33,723,0.00,2.58,0.00,0.000,6,0.000,0.051,2167,2403,3416
$GC,1044,-1.08,-146.6,109.3,-11.2,49,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2403,3416
$GC,1353,-1.08,-146.6,146.0,-13.1,64,1357,0.00,2.55,0.00,0.000,4,0.000,0.073,2167,3767,3416
$GC,1392,-1.08,-146.6,151.0,-12.8,66,1397,0.00,2.47,0.00,0.000,6,0.000,0.049,2168,2396,3416
$GC,1717,-1.08,-146.6,192.6,-11.6,82,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2395,3416
$GC,2027,-1.08,-146.6,228.9,-11.7,97,2031,0.00,2.60,0.00,0.000,4,0.000,0.065,2168,985,3416
$GC,2081,-1.08,-146.6,236.2,-13.4,99,2088,0.00,2.58,0.00,0.000,6,0.000,0.054,2168,2390,3416
$GC,2399,-1.08,-146.6,276.6,-12.3,115,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2391,3416
$GC,2706,-1.08,-146.6,315.2,-12.6,130,2710,0.00,2.60,0.00,0.000,4,0.000,0.064,2168,985,3416
$GC,2816,-1.08,-146.6,329.2,-12.3,135,2821,0.00,2.60,0.00,0.000,6,0.000,0.053,2168,2395,3416
$GC,3143,-1.08,-146.6,367.7,-11.3,151,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2395,3416
$GC,3453,-1.08,-146.6,401.4,-10.6,166,3457,0.00,2.58,0.00,0.000,4,0.000,0.075,2168,3769,3416
$GC,3514,-1.08,-146.6,408.3,-11.0,169,3518,0.00,2.45,0.00,0.000,6,0.000,0.051,2168,2400,3416
$GC,3845,-1.08,-146.6,440.5,-9.6,185,3850,0.00,2.62,0.00,0.000,4,0.000,0.068,2168,984,3416
$GC,3901,-1.08,-146.6,446.3,-10.7,187,3907,0.00,2.58,0.00,0.000,6,0.000,0.055,2168,2398,3416
$GC,4215,-1.08,-146.6,478.2,-10.0,203,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2398,3416
$GC,4524,-1.08,-146.6,509.3,-10.3,218,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2398,3416
$GC,4834,-1.08,-146.6,541.4,-11.2,233,4838,0.00,2.62,0.00,0.000,4,0.000,0.065,2168,980,3416
$GC,4872,-1.08,-146.6,545.6,-10.9,235,4876,0.00,2.58,0.00,0.000,6,0.000,0.054,2168,2408,3416
$GC,5198,-1.08,-146.6,581.6,-10.6,251,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2408,3416
$GC,5507,-1.08,-146.6,614.2,-10.1,266,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2408,3416
$GC,5817,-1.08,-146.6,645.9,-10.4,281,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2408,3416
$GC,6126,-1.08,-146.6,674.7,-8.9,296,6134,0.00,2.62,0.00,0.000,4,0.000,0.063,2168,982,3416
$GC,6174,-1.08,-146.6,679.0,-9.2,298,6178,0.00,2.58,0.00,0.000,6,0.000,0.054,2168,2402,3416
$GC,6498,-1.08,-146.6,708.9,-9.8,314,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2402,3416
$GC,6808,-1.08,-146.6,735.1,-7.8,329,6812,0.00,2.60,0.00,0.000,4,0.000,0.064,2168,984,3416
$GC,7064,-1.08,-146.6,760.2,-10.2,340,7071,0.00,2.60,0.00,0.000,6,0.000,0.055,2167,2395,3416
$GC,7380,-1.08,-146.6,787.6,-7.3,356,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2395,3417
$STATE,7626,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7626,begin apogee
$GC,7630,-0.31,0.0,803.6,5.7,368,7756,0.88,0.00,122.43,1.223,6,0.120,0.000,2340,2192,2817
$STATE,7756,end apogee,CONTROL_FINISHED_OK
$STATE,7757,begin climb
$GC,7758,1.08,146.6,804.9,0.0,374,7883,1.42,0.00,120.62,1.205,6,0.074,0.000,2641,2192,2219
$GC,8190,1.08,146.6,769.8,9.3,395,8194,0.00,2.80,0.00,0.000,4,0.000,0.091,2641,3615,2217
$GC,8363,1.16,218.5,757.5,5.4,403,8428,0.00,2.70,58.38,1.179,6,0.000,0.076,2642,2207,1926
$GC,8755,1.17,228.6,730.3,7.6,422,8768,0.10,0.00,9.57,1.025,6,0.060,0.000,2671,2207,1884
$GC,9084,1.17,228.6,695.9,11.1,438,9089,0.00,2.70,0.00,0.000,4,0.000,0.077,2671,784,1882
$GC,9161,1.17,228.6,686.4,11.5,441,9168,0.00,2.62,0.00,0.000,6,0.000,0.052,2671,2195,1881
$GC,9476,1.17,228.6,650.4,13.0,457,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2195,1880
$GC,9786,1.17,228.6,613.7,11.3,472,9790,0.00,2.65,0.00,0.000,4,0.000,0.067,2671,781,1880
$GC,9806,1.17,228.6,611.5,10.3,473,9811,0.00,2.60,0.00,0.000,6,0.000,0.048,2671,2200,1879
$GC,10133,1.17,228.6,575.9,11.1,489,10137,0.00,2.62,0.00,0.000,4,0.000,0.070,2671,3613,1879
$GC,10171,1.17,228.6,571.4,12.0,491,10176,0.00,2.62,0.00,0.000,6,0.000,0.060,2671,2196,1879
$GC,10496,1.17,228.6,534.4,11.8,507,10500,0.00,2.65,0.00,0.000,4,0.000,0.071,2671,3613,1880
$GC,10534,1.17,228.6,529.9,12.0,509,10538,0.00,2.62,0.00,0.000,6,0.000,0.061,2671,2194,1880
$GC,10860,1.17,228.6,492.5,11.3,525,10864,0.00,2.65,0.00,0.000,4,0.000,0.070,2671,3611,1880
$GC,10920,1.17,228.6,485.2,12.2,528,10925,0.00,2.60,0.00,0.000,6,0.000,0.059,2671,2199,1880
$GC,11246,1.17,228.6,448.8,10.6,544,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,1881
$GC,11555,1.17,228.6,416.6,10.5,559,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,1883
$GC,11864,1.17,228.6,382.2,11.1,574,11866,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,1882
$GC,12174,1.17,228.6,345.8,11.4,589,12175,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,1882
$GC,12483,1.17,228.6,310.1,11.9,604,12487,0.00,2.62,0.00,0.000,4,0.000,0.067,2671,781,1882
$GC,12514,1.17,228.6,306.2,12.2,605,12521,0.00,2.58,0.00,0.000,6,0.000,0.045,2671,2199,1882
$GC,12830,1.17,228.6,271.3,10.4,621,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,1882
$GC,13139,1.17,228.6,239.2,10.0,636,13140,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,1883
$GC,13449,1.17,228.6,207.4,10.6,651,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,1883
$GC,13758,1.17,228.6,172.8,11.3,666,13759,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,1884
$GC,14067,1.17,228.6,138.3,11.1,681,14068,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,1884
$GC,14377,1.17,228.6,106.3,11.4,696,14378,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2200,1884
$GC,14686,1.17,228.6,68.3,8.8,711,14690,0.00,2.62,0.00,0.000,4,0.000,0.063,2671,776,1885
$GC,14746,1.17,228.6,61.7,12.0,714,14751,0.00,2.55,0.00,0.000,6,0.000,0.045,2671,2201,1885
$GC,15072,1.17,228.6,25.5,12.6,730,15073,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2201,1885
$STATE,15277,end climb,SURFACE_DEPTH_REACHED
$STATE,15277,begin surface coast
$FINISH,0.6,1.015639
$STATE,15299,end surface coast,CONTROL_FINISHED_OK
$STATE,15299,begin surface
$SM_CCo,15317,43.35,0.649,1,0,1594,300.00
$SM_GC,1.24,0.00,0.00,43.35,0.000,0.000,0.649,74,2401,1594,-10.75,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2102
$TCM_TEMP,16.40
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,725.7,87.8
$24V_AH,23.5,16.033
$10V_AH,10.2,6.924
$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,25.625,94.450,311.000,43.350,0.000,32.614,25.471,158.537,10.500,0.000,0.000,33.992,1341.268,11937.966,482.678,1615.408,310.732,33.361,1256.910,0.000,1560.476,0.000,42.970
$DEVICE_MAMPS,171.808,91.273,1222.598,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,524.033,520.940,434.732,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38032,741
$CFSIZE,260165632,255090688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,241107,012356,6134.818,-911.116,42,1.9,42,-9.3