version: 66.02
glider: 16
mission: 6
dive: 77
start: 11 25 107 0 38 44
data:
$ID,16
$MISSION,6
$DIVE,77
$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,-2076837.1
$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,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
$GPS1,003350,6123.798,-857.243,33,1.9,46,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-55.9
$GPS2,003756,6123.765,-857.265,38,1.9,43,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.214,-0.120
$KALMAN_X,12565.3,-1438.2,-1235.5,-2466.1,30493.7
$KALMAN_Y,106133.7,-95.0,-549.0,-132197.8,11565.3
$MHEAD_RNG_PITCHd_Wd,249.8,7383,-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,-62.45,0.000,2,0.000,0.000,70,2404,3307
$GC,84,-1.08,-146.6,4.4,-6.0,3,107,11.77,2.60,-2.30,0.000,4,0.172,0.081,2168,3769,3418
$GC,347,-1.08,-146.6,44.5,-9.2,14,354,0.00,2.53,0.00,0.000,6,0.000,0.050,2168,2395,3418
$GC,663,-1.08,-146.6,79.7,-13.4,30,667,0.00,2.62,0.00,0.000,4,0.000,0.067,2168,983,3418
$GC,701,-1.08,-146.6,86.2,-16.2,32,706,0.00,2.60,0.00,0.000,6,0.000,0.054,2168,2400,3419
$GC,1027,-1.08,-146.6,131.1,-14.0,48,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2400,3417
$GC,1336,-1.08,-146.6,168.4,-9.3,63,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2400,3418
$GC,1645,-1.08,-146.6,196.9,-9.1,78,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2400,3418
$GC,1955,-1.08,-146.6,224.5,-9.4,93,1959,0.00,2.62,0.00,0.000,4,0.000,0.064,2168,981,3419
$GC,2008,-1.08,-146.6,229.5,-9.4,95,2016,0.00,2.60,0.00,0.000,6,0.000,0.054,2168,2400,3419
$GC,2324,-1.08,-146.6,258.8,-9.7,111,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2400,3419
$GC,2634,-1.08,-146.6,286.8,-9.3,126,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2400,3418
$GC,2943,-1.08,-146.6,316.7,-9.8,141,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2400,3419
$GC,3252,-1.08,-146.6,346.2,-10.4,156,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3419
$STATE,3333,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3333,begin apogee
$GC,3338,-0.31,0.0,354.9,10.6,160,3458,0.85,0.00,117.07,0.897,6,0.111,0.000,2338,2191,2817
$STATE,3459,end apogee,CONTROL_FINISHED_OK
$STATE,3459,begin climb
$GC,3460,1.08,146.6,358.8,0.0,166,3584,1.42,2.75,115.12,0.881,4,0.075,0.071,2642,3615,2219
$GC,3633,1.08,146.6,349.6,10.0,174,3638,0.00,2.65,0.00,0.000,6,0.000,0.058,2642,2208,2219
$GC,3959,1.08,146.6,323.7,8.4,190,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2208,2219
$GC,4269,1.08,146.6,297.3,8.6,205,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2207,2218
$GC,4579,1.14,195.6,273.9,6.2,220,4623,0.00,2.72,38.67,0.823,4,0.000,0.071,2642,3610,2019
$GC,4668,1.14,195.6,266.1,10.3,224,4673,0.00,2.65,0.00,0.000,6,0.000,0.059,2642,2204,2019
$GC,4995,1.14,201.1,239.8,7.8,240,5002,0.00,0.00,5.90,0.637,6,0.000,0.000,2642,2204,1997
$GC,5304,1.17,226.3,218.1,7.1,255,5328,0.10,0.00,20.92,0.770,6,0.052,0.000,2676,2204,1893
$GC,5634,1.17,226.3,194.0,8.5,271,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2205,1893
$GC,5943,1.17,226.3,168.2,9.1,286,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2205,1893
$GC,6252,1.17,226.3,138.6,8.1,301,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2204,1891
$GC,6561,1.17,226.3,99.6,13.8,316,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2204,1892
$GC,6871,1.17,226.3,68.8,8.2,331,6875,0.00,2.62,0.00,0.000,4,0.000,0.064,2676,779,1892
$GC,6919,1.17,226.3,63.3,12.4,333,6923,0.00,2.60,0.00,0.000,6,0.000,0.046,2676,2205,1892
$GC,7240,1.17,226.3,21.4,12.6,349,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2205,1892
$STATE,7404,end climb,SURFACE_DEPTH_REACHED
$STATE,7404,begin surface coast
$FINISH,0.9,1.027122
$STATE,7426,end surface coast,CONTROL_FINISHED_OK
$STATE,7426,begin surface
$SM_CCo,7444,43.58,0.646,1,0,1593,300.00
$SM_GC,1.29,0.00,0.00,43.58,0.000,0.000,0.646,76,2403,1593,-10.74,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2100
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,275.4,89.2
$24V_AH,23.7,16.963
$10V_AH,10.2,7.362
$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,25.500,32.325,297.700,43.575,0.000,32.648,26.729,87.092,2.500,0.000,0.000,43.912,654.809,5679.908,412.452,798.147,205.816,33.378,804.001,0.000,754.926,0.000,16.697
$DEVICE_MAMPS,171.808,81.302,897.390,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,250.307,253.159,285.497,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15932,358
$CFSIZE,260165632,254828544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,251107,024438,6122.970,-901.255,28,2.0,28,-9.2