version: 66.02
glider: 16
mission: 6
dive: 76
start: 11 24 107 22 20 13
data:
$ID,16
$MISSION,6
$DIVE,76
$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,-2076792.6
$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,15
$R_STBD_OVSHOOT,18
$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
$GPS1,221235,6124.974,-855.099,12,7.7,31,-9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-57.7
$GPS2,221926,6124.953,-855.053,17,1.4,35,-9.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.205,-0.135
$KALMAN_X,13277.1,-1669.7,-1022.5,-1220.1,33291.1
$KALMAN_Y,107369.1,-497.7,-686.6,-130696.3,15543.0
$MHEAD_RNG_PITCHd_Wd,245.8,10171,-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,-62.10,0.000,2,0.000,0.000,65,2407,3262
$GC,84,-1.08,-146.6,4.6,-7.4,3,107,11.75,2.55,-3.20,0.000,4,0.170,0.081,2168,3770,3418
$GC,319,-1.08,-146.6,34.4,-12.6,13,323,0.00,2.50,0.00,0.000,6,0.000,0.050,2168,2405,3418
$GC,640,-1.08,-146.6,66.6,-6.3,29,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2405,3418
$GC,950,-1.08,-146.6,88.8,-7.9,44,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2405,3418
$GC,1259,-1.08,-146.6,116.4,-10.2,59,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2405,3418
$GC,1568,-1.08,-146.6,143.5,-7.5,74,1573,0.00,2.62,0.00,0.000,4,0.000,0.065,2168,983,3418
$GC,1607,-1.08,-146.6,146.2,-6.6,76,1612,0.00,2.58,0.00,0.000,6,0.000,0.052,2168,2402,3418
$GC,1932,-1.08,-146.6,173.7,-9.3,92,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2403,3418
$GC,2243,-1.08,-146.6,201.2,-6.6,107,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2403,3418
$GC,2551,-1.08,-146.6,223.3,-7.5,122,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2403,3418
$GC,2861,-1.08,-146.6,245.5,-5.7,137,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2403,3418
$GC,3170,-1.08,-146.6,266.3,-7.7,152,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2403,3418
$GC,3479,-1.08,-146.6,290.8,-8.4,167,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2403,3418
$GC,3788,-1.08,-146.6,317.3,-8.6,182,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2403,3418
$GC,4097,-1.08,-146.6,346.8,-9.8,197,4101,0.00,2.62,0.00,0.000,4,0.000,0.064,2168,981,3418
$STATE,4117,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4117,begin apogee
$GC,4123,-0.31,0.0,349.1,11.2,198,4243,0.77,0.00,117.05,0.895,6,0.075,0.000,2339,2201,2817
$STATE,4244,end apogee,CONTROL_FINISHED_OK
$STATE,4244,begin climb
$GC,4245,1.08,146.6,349.5,0.0,204,4369,1.42,2.72,114.95,0.874,4,0.074,0.071,2645,3619,2219
$GC,4423,1.08,146.6,341.4,8.2,212,4428,0.00,2.65,0.00,0.000,6,0.000,0.056,2645,2207,2219
$GC,4745,1.08,146.6,311.9,9.9,228,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2207,2219
$GC,5054,1.08,146.6,279.1,11.6,243,5058,0.00,2.67,0.00,0.000,4,0.000,0.073,2645,3620,2219
$GC,5153,1.08,146.6,266.6,13.1,247,5160,0.00,2.65,0.00,0.000,6,0.000,0.058,2645,2202,2219
$GC,5468,1.08,146.6,232.1,10.2,263,5473,0.00,2.65,0.00,0.000,4,0.000,0.073,2645,3616,2219
$GC,5523,1.08,146.6,226.5,10.3,265,5530,0.00,2.65,0.00,0.000,6,0.000,0.060,2645,2200,2218
$GC,5839,1.10,163.7,202.0,7.4,281,5859,0.00,0.00,14.82,0.742,6,0.000,0.000,2645,2200,2148
$GC,6168,1.12,175.4,177.0,7.6,297,6183,0.00,2.65,10.23,0.696,4,0.000,0.065,2645,784,2101
$GC,6221,1.12,175.4,172.4,9.2,298,6228,0.00,2.60,0.00,0.000,6,0.000,0.047,2645,2197,2101
$GC,6537,1.12,175.4,143.1,10.2,314,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2198,2101
$GC,6846,1.12,175.4,103.6,12.9,329,6850,0.00,2.62,0.00,0.000,4,0.000,0.071,2645,3614,2101
$GC,6877,1.12,175.4,100.6,9.2,330,6884,0.00,2.62,0.00,0.000,6,0.000,0.056,2645,2199,2101
$GC,7195,1.23,276.4,88.2,4.3,346,7275,0.15,0.00,77.28,0.718,6,0.044,0.000,2691,2198,1689
$GC,7584,1.23,276.4,36.2,13.6,365,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2198,1688
$STATE,7869,end climb,SURFACE_DEPTH_REACHED
$STATE,7870,begin surface coast
$FINISH,0.9,1.027278
$STATE,7892,end surface coast,CONTROL_FINISHED_OK
$STATE,7892,begin surface
$SM_CCo,7910,17.80,0.528,2,0,1594,300.00
$SM_GC,1.59,0.00,0.00,17.80,0.000,0.000,0.528,71,2404,1594,-10.76,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2109
$TCM_TEMP,16.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,250.1,108.9
$24V_AH,23.7,16.874
$10V_AH,10.2,7.323
$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,25.600,41.975,334.325,17.800,0.000,65.306,110.855,84.012,2.000,0.000,0.000,35.146,695.586,6056.492,440.844,845.935,322.014,33.353,855.288,0.000,811.721,0.000,12.164
$DEVICE_MAMPS,169.507,81.302,895.089,528.463,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,266.678,264.623,335.377,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19104,380
$CFSIZE,260165632,254853120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,251107,003350,6123.798,-857.243,33,1.9,46,-9.2