version: 66.02
glider: 16
mission: 6
dive: 79
start: 11 25 107 5 14 34
data:
$ID,16
$MISSION,6
$DIVE,79
$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,-2076888.2
$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,20
$R_STBD_OVSHOOT,20
$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
$GPS1,050956,6122.847,-905.444,41,1.7,41,-9.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-57.6
$GPS2,051345,6122.857,-905.488,13,1.8,13,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.128,-0.209
$KALMAN_X,8263.6,-1500.9,-453.7,-6135.5,17420.8
$KALMAN_Y,108985.2,-858.3,-141.9,-136389.2,15324.8
$MHEAD_RNG_PITCHd_Wd,220.7,7195,-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,-62.10,0.000,2,0.000,0.000,76,2398,3279
$GC,84,-1.08,-146.6,4.6,-7.3,3,107,11.70,2.58,-2.70,0.000,4,0.171,0.082,2167,3769,3418
$GC,358,-1.08,-146.6,42.9,-9.9,15,363,0.00,2.50,0.00,0.000,6,0.000,0.048,2167,2403,3419
$GC,685,-1.08,-146.6,81.5,-14.6,31,689,0.00,2.55,0.00,0.000,4,0.000,0.070,2167,3766,3419
$GC,750,-1.08,-146.6,89.5,-11.1,34,755,0.00,2.50,0.00,0.000,6,0.000,0.050,2167,2401,3419
$GC,1077,-1.08,-146.6,126.1,-11.8,50,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2401,3419
$GC,1386,-1.08,-146.6,163.9,-15.7,65,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2401,3419
$GC,1695,-1.08,-146.6,204.1,-12.2,80,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2401,3419
$GC,2005,-1.08,-146.6,237.6,-10.7,95,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2401,3420
$GC,2314,-1.08,-146.6,271.4,-10.8,110,2318,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,986,3419
$GC,2384,-1.08,-146.6,279.6,-11.4,113,2389,0.00,2.60,0.00,0.000,6,0.000,0.053,2167,2395,3419
$GC,2706,-1.08,-146.6,314.9,-10.8,129,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2395,3419
$GC,3015,-1.08,-146.6,348.1,-11.1,144,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2395,3419
$GC,3324,-1.08,-146.6,382.0,-11.0,159,3328,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,986,3419
$GC,3395,-1.08,-146.6,390.3,-10.9,162,3400,0.00,2.58,0.00,0.000,6,0.000,0.053,2167,2400,3419
$STATE,3653,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3654,begin apogee
$GC,3658,-0.31,0.0,417.4,9.9,175,3779,0.85,0.00,117.85,0.939,6,0.102,0.000,2340,2191,2817
$STATE,3780,end apogee,CONTROL_FINISHED_OK
$STATE,3780,begin climb
$GC,3781,1.08,146.6,421.8,0.0,181,3903,1.48,0.00,116.10,0.924,6,0.086,0.000,2644,2191,2219
$GC,4207,1.11,167.0,398.6,7.3,202,4231,0.00,2.70,17.30,0.848,4,0.000,0.062,2644,789,2135
$GC,4259,1.11,167.0,394.2,8.3,204,4264,0.00,2.60,0.00,0.000,6,0.000,0.047,2644,2195,2134
$GC,4580,1.11,173.7,369.1,7.8,220,4589,0.00,0.00,7.15,0.726,6,0.000,0.000,2644,2195,2107
$GC,4889,1.12,182.1,345.1,7.7,235,4900,0.00,0.00,8.23,0.749,6,0.000,0.000,2644,2195,2074
$GC,5199,1.12,182.1,318.9,9.1,250,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2195,2073
$GC,5508,1.12,182.1,290.5,9.2,265,5512,0.00,2.65,0.00,0.000,4,0.000,0.072,2644,3614,2073
$GC,5539,1.12,182.1,287.4,9.1,266,5546,0.00,2.62,0.00,0.000,6,0.000,0.057,2644,2204,2073
$GC,5855,1.12,182.1,258.9,8.9,282,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,2073
$GC,6164,1.12,182.1,231.8,8.7,297,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,2073
$GC,6473,1.14,197.6,206.6,7.4,312,6495,0.00,2.70,13.12,0.740,4,0.000,0.064,2644,783,2010
$GC,6522,1.17,229.5,203.4,6.8,314,6553,0.00,2.58,25.95,0.775,6,0.000,0.045,2644,2205,1881
$GC,6862,1.26,307.5,182.9,5.2,330,6925,0.17,0.00,60.62,0.781,6,0.043,0.000,2696,2205,1563
$GC,7232,1.31,350.0,154.8,6.5,348,7267,0.00,0.00,33.65,0.744,6,0.000,0.000,2695,2205,1389
$GC,7561,1.31,350.0,122.0,9.9,364,7566,0.00,2.65,0.00,0.000,4,0.000,0.062,2696,778,1389
$GC,7632,1.31,350.0,113.4,13.2,367,7637,0.00,2.60,0.00,0.000,6,0.000,0.046,2696,2199,1389
$GC,7954,1.31,350.0,66.5,14.7,383,7958,0.00,2.62,0.00,0.000,4,0.000,0.063,2696,783,1389
$GC,8002,1.31,350.0,59.2,14.6,385,8007,0.00,2.58,0.00,0.000,6,0.000,0.046,2696,2196,1389
$GC,8323,1.31,350.0,14.0,15.1,401,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2196,1389
$STATE,8425,end climb,SURFACE_DEPTH_REACHED
$STATE,8426,begin surface coast
$FINISH,0.9,1.027666
$STATE,8447,end surface coast,CONTROL_FINISHED_OK
$STATE,8447,begin surface
$SM_CCo,8526,0.00,0.000,0,0,1386,350.78
$SM_GC,1.71,11.50,0.00,0.00,0.042,0.000,0.000,74,2406,1386,-10.69,0.17,350.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2114
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,326.1,100.5
$24V_AH,23.7,17.165
$10V_AH,10.2,7.448
$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,25.700,47.575,399.975,0.000,0.000,32.585,22.711,105.216,2.750,0.000,0.000,13.056,748.778,6431.225,479.672,880.224,226.247,33.345,924.740,0.000,866.914,0.000,17.016
$DEVICE_MAMPS,171.041,82.069,938.808,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,284.252,287.752,300.996,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19122,407
$CFSIZE,260165632,254754816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,251107,073746,6122.777,-906.794,27,1.6,35,-9.2