version: 66.02
glider: 16
mission: 6
dive: 83
start: 11 25 107 14 48 21
data:
$ID,16
$MISSION,6
$DIVE,83
$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,-2076998.5
$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,13
$R_STBD_OVSHOOT,22
$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
$GPS1,143955,6120.135,-906.849,26,1.5,43,-9.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-60.3
$GPS2,144733,6120.054,-906.927,14,1.6,14,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.206,-0.133
$KALMAN_X,10271.4,-128.2,-265.1,-10986.3,17313.4
$KALMAN_Y,107167.8,-1137.5,-905.8,-138680.3,7101.2
$MHEAD_RNG_PITCHd_Wd,246.4,6155,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.08,-146.6,0.0,0.0,0,82,0.00,0.00,-61.80,0.000,2,0.000,0.000,72,2411,3294
$GC,84,-1.08,-146.6,5.0,-8.2,3,107,11.75,2.55,-2.42,0.000,4,0.171,0.081,2167,3763,3418
$GC,358,-1.08,-146.6,45.6,-9.8,15,363,0.00,2.50,0.00,0.000,6,0.000,0.050,2167,2401,3418
$GC,685,-1.08,-146.6,76.0,-9.3,31,689,0.00,2.55,0.00,0.000,4,0.000,0.071,2167,3763,3419
$GC,795,-1.08,-146.6,88.0,-10.5,36,800,0.00,2.50,0.00,0.000,6,0.000,0.051,2167,2400,3419
$GC,1122,-1.08,-146.6,123.2,-11.8,52,1126,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,983,3419
$GC,1176,-1.08,-146.6,129.5,-11.7,54,1183,0.00,2.60,0.00,0.000,6,0.000,0.052,2168,2395,3419
$GC,1491,-1.08,-146.6,162.3,-10.3,70,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2395,3419
$GC,1800,-1.08,-146.6,196.1,-11.5,85,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2395,3419
$GC,2110,-1.08,-146.6,232.1,-11.4,100,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2395,3419
$GC,2419,-1.08,-146.6,268.6,-11.8,115,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2395,3419
$GC,2728,-1.08,-146.6,305.6,-11.1,130,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2395,3419
$GC,3038,-1.08,-146.6,338.6,-10.1,145,3042,0.00,2.62,0.00,0.000,4,0.000,0.066,2166,977,3419
$GC,3080,-1.08,-146.6,342.8,-10.0,147,3085,0.00,2.58,0.00,0.000,6,0.000,0.053,2167,2392,3419
$GC,3407,-1.08,-146.6,375.3,-10.1,163,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2393,3419
$GC,3716,-1.08,-146.6,406.8,-11.0,178,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2393,3419
$STATE,3736,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3736,begin apogee
$GC,3740,-0.31,0.0,408.9,10.6,179,3861,0.85,0.00,117.68,0.933,6,0.101,0.000,2340,2193,2817
$STATE,3862,end apogee,CONTROL_FINISHED_OK
$STATE,3862,begin climb
$GC,3863,1.08,146.6,413.4,0.0,185,3984,1.48,0.00,116.12,0.916,6,0.080,0.000,2647,2193,2219
$GC,4287,1.11,173.0,388.4,7.0,206,4311,0.00,0.00,22.10,0.861,6,0.000,0.000,2647,2193,2111
$GC,4616,1.13,187.5,364.8,7.5,222,4631,0.00,0.00,12.82,0.805,6,0.000,0.000,2647,2193,2052
$GC,4925,1.13,187.5,337.4,8.9,237,4929,0.00,2.67,0.00,0.000,4,0.000,0.071,2647,3614,2051
$GC,4970,1.13,187.5,333.1,9.5,239,4974,0.00,2.58,0.00,0.000,6,0.000,0.055,2647,2205,2051
$GC,5289,1.13,187.5,304.7,9.2,255,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2205,2051
$GC,5598,1.14,194.1,279.3,7.8,270,5612,0.00,2.70,6.60,0.682,4,0.000,0.069,2647,3618,2024
$GC,5650,1.14,194.1,274.9,9.0,272,5656,0.00,2.65,0.00,0.000,6,0.000,0.057,2647,2199,2024
$GC,5971,1.14,194.1,246.1,9.7,288,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2199,2024
$GC,6281,1.15,204.6,215.8,7.6,303,6293,0.00,0.00,9.80,0.736,6,0.000,0.000,2647,2199,1982
$GC,6590,1.16,219.0,190.9,7.5,318,6604,0.00,0.00,12.27,0.742,6,0.000,0.000,2647,2199,1924
$GC,6899,1.16,219.0,166.0,9.7,333,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2199,1924
$GC,7211,1.16,219.0,129.2,11.1,348,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2199,1924
$GC,7519,1.16,219.0,93.6,12.0,363,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2199,1924
$GC,7828,1.19,240.3,64.9,7.2,378,7849,0.00,0.00,18.10,0.683,6,0.000,0.000,2647,2199,1836
$GC,8159,1.29,338.3,44.2,4.4,394,8239,0.20,0.00,74.30,0.694,6,0.041,0.000,2704,2199,1436
$STATE,8525,end climb,SURFACE_DEPTH_REACHED
$STATE,8525,begin surface coast
$FINISH,0.9,1.006720
$STATE,8549,end surface coast,CONTROL_FINISHED_OK
$STATE,8549,begin surface
$SM_CCo,8628,0.00,0.000,0,0,1433,339.50
$SM_GC,1.59,11.45,0.00,0.00,0.035,0.000,0.000,70,2401,1433,-10.69,0.03,339.50
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2100
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,350.6,66.3
$24V_AH,23.7,17.566
$10V_AH,10.2,7.620
$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,25.725,31.850,389.800,0.000,0.000,65.298,63.786,193.442,3.750,0.000,0.000,14.563,751.751,6624.915,472.487,857.871,389.368,33.350,890.995,0.000,840.091,0.000,24.190
$DEVICE_MAMPS,171.041,81.302,933.439,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,288.088,292.493,331.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19112,413
$CFSIZE,260165632,254623744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,251107,171307,6119.122,-909.971,11,1.3,27,-9.2