version: 66.02
glider: 16
mission: 6
dive: 73
start: 11 24 107 15 2 4
data:
$ID,16
$MISSION,6
$DIVE,73
$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,-2076675.4
$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
$GPS1,145725,6127.116,-854.128,39,2.0,39,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-48.3
$GPS2,150115,6127.049,-854.074,12,1.9,12,-9.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.182,-0.164
$KALMAN_X,3434.7,148.5,-29.2,6625.2,14408.8
$KALMAN_Y,101804.2,-150.5,-265.7,-122019.9,4645.8
$MHEAD_RNG_PITCHd_Wd,237.0,14076,-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,-146.6,0.0,0.0,0,102,0.00,0.00,-82.35,0.000,2,0.000,0.000,70,2406,3243
$GC,104,-1.08,-146.6,4.2,-4.6,4,127,11.68,2.58,-3.65,0.000,4,0.167,0.083,2169,3773,3416
$GC,300,-1.08,-146.6,27.8,-15.1,12,307,0.00,2.53,0.00,0.000,6,0.000,0.052,2169,2405,3418
$GC,616,-1.08,-146.6,60.5,-7.7,28,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2406,3417
$GC,925,-1.08,-146.6,100.4,-10.4,43,929,0.00,2.58,0.00,0.000,4,0.000,0.074,2169,3769,3417
$GC,990,-1.08,-146.6,109.6,-14.5,46,995,0.00,2.53,0.00,0.000,6,0.000,0.053,2169,2401,3417
$GC,1319,-1.08,-146.6,144.2,-8.5,62,1323,0.00,2.58,0.00,0.000,4,0.000,0.074,2169,3766,3417
$GC,1412,-1.08,-146.6,151.9,-8.1,66,1417,0.00,2.53,0.00,0.000,6,0.000,0.052,2169,2397,3417
$GC,1733,-1.08,-146.6,180.2,-9.6,82,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2396,3416
$GC,2042,-1.08,-146.6,209.6,-9.5,97,2046,0.00,2.58,0.00,0.000,4,0.000,0.074,2169,3766,3417
$GC,2113,-1.08,-146.6,217.1,-10.9,100,2117,0.00,2.50,0.00,0.000,6,0.000,0.052,2169,2405,3417
$GC,2434,-1.08,-146.6,245.3,-8.2,116,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2405,3417
$GC,2744,-1.08,-146.6,271.1,-8.0,131,2748,0.00,2.62,0.00,0.000,4,0.000,0.068,2169,986,3417
$GC,2804,-1.08,-146.6,276.1,-8.2,134,2808,0.00,2.58,0.00,0.000,6,0.000,0.054,2169,2400,3417
$GC,3130,-1.08,-146.6,305.9,-9.1,150,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3417
$GC,3439,-1.08,-146.6,338.2,-10.9,165,3443,0.00,2.62,0.00,0.000,4,0.000,0.067,2169,984,3417
$GC,3494,-1.08,-146.6,344.2,-11.1,167,3500,0.00,2.58,0.00,0.000,6,0.000,0.055,2169,2398,3417
$GC,3808,-1.08,-146.6,377.0,-9.6,183,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2398,3416
$STATE,3993,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3993,begin apogee
$GC,3997,-0.31,0.0,396.6,10.4,192,4118,0.88,0.00,117.55,0.925,6,0.123,0.000,2339,2192,2817
$STATE,4118,end apogee,CONTROL_FINISHED_OK
$STATE,4119,begin climb
$GC,4120,1.08,146.6,401.3,0.0,198,4241,1.45,0.00,116.38,0.905,6,0.068,0.000,2648,2192,2218
$GC,4544,1.13,187.1,374.6,6.5,219,4579,0.00,0.00,32.75,0.860,6,0.000,0.000,2648,2192,2054
$GC,4873,1.13,187.1,348.4,8.4,235,4877,0.00,2.70,0.00,0.000,4,0.000,0.074,2648,3619,2054
$GC,4939,1.13,187.1,341.6,10.1,238,4944,0.00,2.65,0.00,0.000,6,0.000,0.061,2647,2212,2053
$GC,5266,1.13,188.1,314.3,8.0,254,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2213,2053
$GC,5575,1.13,188.1,289.5,8.1,269,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2212,2052
$GC,5884,1.15,208.4,266.8,7.3,284,5909,0.00,2.72,17.85,0.785,4,0.000,0.064,2648,792,1966
$GC,5942,1.17,224.6,262.5,7.4,286,5962,0.00,2.60,13.93,0.757,6,0.000,0.048,2647,2201,1901
$GC,6277,1.17,224.6,235.4,8.7,303,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2201,1900
$GC,6587,1.17,224.6,208.0,9.2,318,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2201,1900
$GC,6896,1.17,224.6,179.0,10.2,333,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2201,1900
$GC,7205,1.17,224.6,152.6,8.3,348,7210,0.00,2.62,0.00,0.000,4,0.000,0.065,2648,784,1900
$GC,7254,1.17,224.6,148.2,8.4,350,7259,0.00,2.58,0.00,0.000,6,0.000,0.047,2647,2196,1900
$GC,7577,1.17,224.6,118.1,8.8,366,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2197,1900
$GC,7885,1.17,224.6,86.8,10.0,381,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2197,1900
$GC,8195,1.17,224.6,47.9,12.0,396,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2196,1900
$GC,8504,1.21,263.2,16.1,6.6,411,8537,0.12,0.00,30.80,0.658,6,0.048,0.000,2688,2196,1743
$STATE,8625,end climb,SURFACE_DEPTH_REACHED
$STATE,8625,begin surface coast
$FINISH,0.7,1.015256
$STATE,8649,end surface coast,CONTROL_FINISHED_OK
$STATE,8649,begin surface
$SM_CCo,8667,25.52,0.578,2,0,1593,300.00
$SM_GC,1.61,0.00,0.00,25.52,0.000,0.000,0.578,71,2403,1593,-10.75,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2089
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,300.2,105.5
$24V_AH,23.7,16.600
$10V_AH,10.2,7.193
$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,25.600,47.400,329.250,25.525,0.000,32.641,27.702,98.154,2.500,0.000,0.000,12.058,770.041,6582.207,483.780,883.348,225.958,33.368,919.143,0.000,874.095,0.000,15.405
$DEVICE_MAMPS,167.206,82.836,925.002,577.551,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,289.753,299.435,326.798,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19193,418
$CFSIZE,260165632,254947328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,241107,172814,6125.991,-855.018,28,1.8,34,-9.1