version: 66.02
glider: 16
mission: 6
dive: 80
start: 11 25 107 7 42 54
data:
$ID,16
$MISSION,6
$DIVE,80
$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,-2076918.2
$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,15
$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
$GPS1,073746,6122.777,-906.794,27,1.6,35,-9.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-59.5
$GPS2,074207,6122.789,-906.747,13,1.7,29,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.085,-0.230
$KALMAN_X,8333.8,-1638.9,-232.4,-7408.4,16011.7
$KALMAN_Y,113160.8,-955.8,-429.6,-140299.2,22298.0
$MHEAD_RNG_PITCHd_Wd,209.4,7912,-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,-61.97,0.000,2,0.000,0.000,73,2407,3031
$GC,84,-1.08,-146.6,3.3,-4.6,3,114,11.70,2.58,-9.73,0.000,4,0.170,0.086,2168,3769,3416
$GC,365,-1.08,-146.6,39.5,-11.6,15,373,0.00,2.50,0.00,0.000,6,0.000,0.049,2169,2401,3416
$GC,681,-1.08,-146.6,73.2,-10.3,31,685,0.00,2.58,0.00,0.000,4,0.000,0.074,2168,3766,3416
$GC,855,-1.08,-146.6,94.9,-13.2,39,860,0.00,2.47,0.00,0.000,6,0.000,0.049,2168,2397,3416
$GC,1181,-1.08,-146.6,132.5,-12.0,55,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2397,3416
$GC,1490,-1.08,-146.6,169.4,-12.1,70,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2396,3416
$GC,1799,-1.08,-146.6,208.1,-12.3,85,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2396,3416
$GC,2108,-1.08,-146.6,247.5,-13.2,100,2113,0.00,2.60,0.00,0.000,4,0.000,0.067,2168,987,3416
$GC,2153,-1.08,-146.6,252.3,-10.3,102,2158,0.00,2.58,0.00,0.000,6,0.000,0.053,2168,2401,3416
$GC,2472,-1.08,-146.6,290.5,-12.0,118,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3416
$GC,2781,-1.08,-146.6,327.7,-12.4,133,2786,0.00,2.62,0.00,0.000,4,0.000,0.064,2168,982,3416
$GC,2843,-1.08,-146.6,335.1,-12.0,136,2847,0.00,2.58,0.00,0.000,6,0.000,0.054,2168,2403,3416
$GC,3168,-1.08,-146.6,373.3,-12.0,152,3172,0.00,2.62,0.00,0.000,4,0.000,0.066,2168,986,3416
$GC,3216,-1.08,-146.6,378.9,-10.8,154,3221,0.00,2.60,0.00,0.000,6,0.000,0.055,2168,2395,3416
$GC,3537,-1.08,-146.6,412.3,-10.1,170,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2395,3416
$STATE,3618,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3619,begin apogee
$GC,3623,-0.31,0.0,420.4,9.9,174,3744,0.85,0.00,117.30,0.946,6,0.105,0.000,2340,2197,2817
$STATE,3744,end apogee,CONTROL_FINISHED_OK
$STATE,3744,begin climb
$GC,3746,1.08,146.6,424.3,0.0,180,3870,1.42,2.67,115.43,0.930,4,0.076,0.064,2643,789,2218
$GC,3908,1.08,147.0,417.0,8.0,187,3915,0.00,2.60,0.00,0.000,6,0.000,0.048,2643,2197,2218
$GC,4224,1.10,161.6,392.9,7.5,203,4245,0.00,2.75,13.35,0.825,4,0.000,0.074,2643,3610,2157
$GC,4306,1.12,179.2,386.4,7.4,206,4326,0.00,2.60,15.27,0.833,6,0.000,0.058,2643,2207,2086
$GC,4642,1.14,197.1,360.9,7.3,223,4662,0.00,0.00,15.40,0.828,6,0.000,0.000,2643,2207,2012
$GC,4971,1.16,219.2,336.4,7.2,239,4992,0.00,0.00,18.40,0.835,6,0.000,0.000,2643,2207,1923
$GC,5300,1.20,256.0,314.4,6.7,255,5333,0.12,0.00,30.12,0.851,6,0.048,0.000,2684,2207,1772
$GC,5630,1.20,256.0,285.0,9.1,271,5634,0.00,2.65,0.00,0.000,4,0.000,0.067,2684,782,1771
$GC,5678,1.20,256.0,280.1,10.0,273,5682,0.00,2.60,0.00,0.000,6,0.000,0.048,2684,2201,1772
$GC,5999,1.20,256.0,247.7,9.7,289,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2201,1772
$GC,6308,1.20,256.0,219.1,9.2,304,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2202,1772
$GC,6617,1.20,256.0,190.1,8.3,319,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2202,1771
$GC,6927,1.20,256.0,159.9,9.8,334,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2201,1772
$GC,7236,1.20,256.0,128.5,8.8,349,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2202,1771
$GC,7545,1.20,256.0,99.1,11.5,364,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2201,1771
$GC,7855,1.20,256.0,63.7,11.8,379,7859,0.00,2.62,0.00,0.000,4,0.000,0.062,2684,778,1772
$GC,7898,1.20,256.0,58.7,11.9,381,7902,0.00,2.58,0.00,0.000,6,0.000,0.044,2684,2201,1772
$GC,8224,1.20,256.0,24.3,10.2,397,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2201,1771
$STATE,8429,end climb,SURFACE_DEPTH_REACHED
$STATE,8430,begin surface coast
$FINISH,0.6,1.005836
$STATE,8451,end surface coast,CONTROL_FINISHED_OK
$STATE,8451,begin surface
$SM_CCo,8470,29.25,0.603,2,0,1594,300.00
$SM_GC,1.58,0.00,0.00,29.25,0.000,0.000,0.603,75,2402,1594,-10.74,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2091
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,325.2,103.8
$24V_AH,23.7,17.263
$10V_AH,10.2,7.492
$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,25.525,47.525,325.275,29.250,0.000,32.585,29.217,112.537,2.500,0.000,0.000,29.351,754.997,6402.929,444.930,938.680,238.952,33.353,910.558,0.000,905.375,0.000,17.023
$DEVICE_MAMPS,170.274,85.904,946.478,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,281.173,288.799,321.619,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19089,408
$CFSIZE,260165632,254722048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,251107,100616,6121.957,-905.670,40,4.6,59,-9.2