version: 66.02
glider: 16
mission: 6
dive: 75
start: 11 24 107 20 0 54
data:
$ID,16
$MISSION,6
$DIVE,75
$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,-2076756.9
$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,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
$GPS1,195543,6125.696,-854.978,34,1.9,38,-9.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-59.2
$GPS2,200006,6125.680,-854.929,32,1.8,48,-9.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.200,-0.142
$KALMAN_X,11570.9,-1573.1,-1042.3,502.2,30095.6
$KALMAN_Y,106801.8,-871.1,-416.9,-128695.8,14100.6
$MHEAD_RNG_PITCHd_Wd,243.7,11443,-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,-62.42,0.000,2,0.000,0.000,72,2401,3260
$GC,84,-1.08,-146.6,4.1,-6.1,3,107,11.62,2.55,-3.42,0.000,4,0.167,0.079,2167,3769,3416
$GC,274,-1.08,-146.6,22.3,-4.0,11,279,0.00,2.53,0.00,0.000,6,0.000,0.050,2167,2398,3417
$GC,596,-1.08,-146.6,54.6,-7.4,27,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2398,3417
$GC,904,-1.08,-146.6,88.6,-15.3,42,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2398,3417
$GC,1214,-1.08,-146.6,130.9,-11.6,57,1218,0.00,2.58,0.00,0.000,4,0.000,0.073,2167,3768,3417
$GC,1245,-1.08,-146.6,134.9,-12.1,58,1253,0.00,2.50,0.00,0.000,6,0.000,0.052,2167,2405,3417
$GC,1561,-1.08,-146.6,171.5,-12.9,74,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2405,3417
$GC,1870,-1.08,-146.6,213.8,-10.4,89,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2405,3417
$GC,2179,-1.08,-146.6,243.7,-10.1,104,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2406,3417
$GC,2488,-1.08,-146.6,271.4,-9.5,119,2493,0.00,2.65,0.00,0.000,4,0.000,0.068,2167,978,3416
$GC,2551,-1.08,-146.6,276.2,-6.8,122,2555,0.00,2.60,0.00,0.000,6,0.000,0.054,2167,2403,3417
$GC,2875,-1.08,-146.6,302.3,-8.0,138,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2403,3417
$GC,3185,-1.08,-146.6,329.3,-9.6,153,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2403,3417
$GC,3494,-1.08,-146.6,359.3,-9.9,168,3498,0.00,2.62,0.00,0.000,4,0.000,0.065,2167,979,3417
$GC,3582,-1.08,-146.6,367.9,-9.7,172,3587,0.00,2.60,0.00,0.000,6,0.000,0.054,2167,2400,3417
$STATE,3619,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3619,begin apogee
$GC,3623,-0.31,0.0,371.3,9.3,174,3744,0.88,0.00,117.20,0.903,6,0.111,0.000,2341,2191,2817
$STATE,3745,end apogee,CONTROL_FINISHED_OK
$STATE,3745,begin climb
$GC,3746,1.08,146.6,374.9,0.0,180,3870,1.45,2.65,115.38,0.889,4,0.088,0.062,2642,790,2218
$GC,3898,1.09,149.7,366.9,7.9,187,3907,0.00,2.60,4.45,0.582,6,0.000,0.047,2642,2207,2205
$GC,4223,1.09,149.7,337.1,9.5,203,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2207,2204
$GC,4532,1.09,149.7,310.2,8.0,218,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2207,2204
$GC,4842,1.11,173.1,287.1,7.1,233,4863,0.00,0.00,19.20,0.803,6,0.000,0.000,2642,2207,2112
$GC,5171,1.11,173.1,255.0,10.1,249,5175,0.00,2.62,0.00,0.000,4,0.000,0.071,2643,3618,2111
$GC,5225,1.11,173.1,248.9,11.4,251,5232,0.00,2.62,0.00,0.000,6,0.000,0.055,2643,2204,2111
$GC,5540,1.14,201.8,222.6,7.0,267,5569,0.00,2.72,23.30,0.775,4,0.000,0.064,2642,785,1994
$GC,5592,1.14,201.8,217.1,10.5,269,5597,0.00,2.60,0.00,0.000,6,0.000,0.046,2643,2195,1993
$GC,5913,1.14,201.8,184.5,12.6,285,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2195,1993
$GC,6222,1.14,201.8,158.3,8.7,300,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2195,1993
$GC,6532,1.14,201.8,122.5,11.4,315,6533,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2195,1993
$GC,6841,1.14,201.8,82.1,14.2,330,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2195,1993
$GC,7150,1.14,201.8,56.8,9.9,345,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2195,1993
$GC,7460,1.22,267.9,38.8,5.6,360,7517,0.15,2.67,50.75,0.686,4,0.047,0.062,2692,783,1723
$GC,7585,1.22,267.9,22.3,15.1,365,7589,0.00,2.58,0.00,0.000,6,0.000,0.044,2693,2207,1722
$STATE,7764,end climb,SURFACE_DEPTH_REACHED
$STATE,7764,begin surface coast
$FINISH,0.7,1.013318
$STATE,7786,end surface coast,CONTROL_FINISHED_OK
$STATE,7786,begin surface
$SM_CCo,7805,21.70,0.556,2,0,1593,300.00
$SM_GC,1.48,0.00,0.00,21.70,0.000,0.000,0.556,67,2406,1593,-10.78,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2099
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.1,105.2
$24V_AH,23.7,16.780
$10V_AH,10.2,7.279
$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,25.550,42.450,330.275,21.700,0.000,32.587,29.419,96.894,1.750,0.000,0.000,48.060,692.003,5915.340,421.793,861.276,220.973,33.353,849.208,0.000,814.949,0.000,13.780
$DEVICE_MAMPS,167.206,79.001,902.759,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,260.057,263.808,316.281,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19150,375
$CFSIZE,260165632,254885888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,241107,221235,6124.974,-855.099,12,7.7,31,-9.1