version: 66.02
glider: 16
mission: 6
dive: 84
start: 11 25 107 17 18 9
data:
$ID,16
$MISSION,6
$DIVE,84
$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,-2077012.5
$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,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
$GPS1,171307,6119.122,-909.971,11,1.3,27,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-59.7
$GPS2,171721,6119.122,-910.020,13,1.5,13,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.179,-0.168
$KALMAN_X,11061.9,-366.8,-317.9,-14205.8,16231.3
$KALMAN_Y,107487.9,-1969.6,424.2,-141268.2,6318.0
$MHEAD_RNG_PITCHd_Wd,236.1,9050,-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,-61.75,0.000,2,0.000,0.000,69,2401,3088
$GC,84,-1.08,-146.6,3.5,-4.8,3,109,11.88,2.58,-7.78,0.000,4,0.174,0.081,2170,3767,3416
$GC,361,-1.08,-146.6,42.6,-10.8,15,365,0.00,2.50,0.00,0.000,6,0.000,0.048,2170,2404,3416
$GC,682,-1.08,-146.6,82.5,-13.8,31,686,0.00,2.55,0.00,0.000,4,0.000,0.071,2170,3766,3416
$GC,753,-1.08,-146.6,91.2,-11.6,34,758,0.00,2.50,0.00,0.000,6,0.000,0.049,2170,2400,3416
$GC,1075,-1.08,-146.6,126.8,-10.8,50,1079,0.00,2.62,0.00,0.000,4,0.000,0.067,2170,985,3416
$GC,1123,-1.08,-146.6,131.6,-8.2,52,1128,0.00,2.60,0.00,0.000,6,0.000,0.052,2170,2397,3416
$GC,1444,-1.08,-146.6,161.2,-8.8,68,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2397,3416
$GC,1754,-1.08,-146.6,188.1,-10.5,83,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2397,3416
$GC,2063,-1.08,-146.6,223.2,-8.6,98,2067,0.00,2.62,0.00,0.000,4,0.000,0.064,2170,980,3416
$GC,2101,-1.08,-146.6,226.5,-8.9,100,2105,0.00,2.58,0.00,0.000,6,0.000,0.054,2170,2406,3416
$GC,2426,-1.08,-146.6,254.7,-8.2,116,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2406,3416
$GC,2735,-1.08,-146.6,281.2,-9.7,131,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2406,3416
$GC,3045,-1.08,-146.6,307.3,-8.0,146,3049,0.00,2.62,0.00,0.000,4,0.000,0.065,2170,985,3416
$GC,3132,-1.08,-146.6,315.0,-8.8,150,3137,0.00,2.60,0.00,0.000,6,0.000,0.053,2170,2399,3416
$GC,3459,-1.08,-146.6,342.7,-8.0,166,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3416
$GC,3769,-1.08,-146.6,371.6,-9.3,181,3773,0.00,2.60,0.00,0.000,4,0.000,0.065,2170,986,3416
$GC,3852,-1.08,-146.6,379.7,-9.5,185,3856,0.00,2.55,0.00,0.000,6,0.000,0.054,2170,2401,3416
$GC,4177,-1.08,-146.6,410.6,-9.8,201,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2401,3416
$STATE,4361,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4361,begin apogee
$GC,4366,-0.31,0.0,429.0,9.8,210,4487,0.88,0.00,117.62,0.950,6,0.131,0.000,2338,2192,2817
$STATE,4487,end apogee,CONTROL_FINISHED_OK
$STATE,4488,begin climb
$GC,4489,1.08,146.6,433.1,0.0,216,4613,1.45,2.78,115.95,0.933,4,0.071,0.073,2645,3614,2218
$GC,4663,1.08,146.6,424.1,8.8,224,4670,0.00,2.62,0.00,0.000,6,0.000,0.058,2645,2203,2218
$GC,4978,1.09,153.3,398.8,7.8,240,4986,0.00,0.00,6.80,0.724,6,0.000,0.000,2644,2203,2192
$GC,5287,1.09,153.3,372.6,8.8,255,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,2191
$GC,5596,1.09,153.3,345.2,8.7,270,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,2191
$GC,5905,1.09,153.3,319.0,8.5,285,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,2191
$GC,6215,1.09,153.3,294.3,8.0,300,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2202,2191
$GC,6524,1.09,153.3,266.4,9.0,315,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2202,2190
$GC,6833,1.09,153.3,234.2,10.4,330,6838,0.00,2.62,0.00,0.000,4,0.000,0.067,2645,779,2191
$GC,6876,1.09,153.3,229.4,11.2,332,6881,0.00,2.58,0.00,0.000,6,0.000,0.046,2645,2197,2190
$GC,7203,1.09,153.3,194.8,10.9,348,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2197,2191
$GC,7512,1.09,153.3,163.6,9.3,363,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2197,2191
$GC,7822,1.12,182.1,141.1,7.0,378,7848,0.00,0.00,23.33,0.738,6,0.000,0.000,2645,2197,2074
$GC,8153,1.12,182.1,113.4,9.1,394,8157,0.00,2.62,0.00,0.000,4,0.000,0.071,2645,3613,2072
$GC,8207,1.12,182.1,108.5,9.4,396,8215,0.00,2.62,0.00,0.000,6,0.000,0.054,2645,2194,2073
$GC,8523,1.13,184.3,84.5,7.9,412,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2194,2073
$GC,8832,1.20,250.8,61.7,5.6,427,8887,0.12,0.00,52.35,0.719,6,0.046,0.000,2685,2194,1794
$GC,9204,1.20,250.8,23.4,10.3,445,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2194,1792
$STATE,9408,end climb,SURFACE_DEPTH_REACHED
$STATE,9408,begin surface coast
$FINISH,0.9,1.026203
$STATE,9431,end surface coast,CONTROL_FINISHED_OK
$STATE,9431,begin surface
$SM_CCo,9449,33.80,0.573,3,0,1593,300.00
$SM_GC,1.82,0.00,0.00,33.80,0.000,0.000,0.573,75,2407,1593,-10.74,0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2101
$TCM_TEMP,16.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,325.6,112.8
$24V_AH,23.7,17.661
$10V_AH,10.2,7.667
$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,25.850,47.550,316.050,33.800,0.000,32.706,37.621,113.388,3.000,0.000,0.000,13.369,830.203,7257.444,448.047,975.069,253.284,33.355,932.338,0.000,961.055,0.000,17.044
$DEVICE_MAMPS,174.109,81.302,949.546,572.949,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,320.683,326.058,359.459,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22229,456
$CFSIZE,260165632,254578688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,3,0
$GPS,251107,195758,6118.888,-910.806,37,6.9,56,-9.2