version: 66.02
glider: 16
mission: 6
dive: 69
start: 11 24 107 1 29 28
data:
$ID,16
$MISSION,6
$DIVE,69
$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,-2076561.6
$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,14
$R_STBD_OVSHOOT,18
$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
$GPS1,012356,6134.818,-911.116,42,1.9,42,-9.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-56.6
$GPS2,012841,6134.779,-911.075,12,2.5,31,-9.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.181,-0.166
$KALMAN_X,-11319.9,1066.2,-155.1,5603.0,-5916.4
$KALMAN_Y,101458.0,-1086.8,-1120.8,-105552.4,8128.7
$MHEAD_RNG_PITCHd_Wd,141.8,29085,-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,-62.30,0.000,2,0.000,0.000,74,2402,3211
$GC,84,-1.08,-146.6,4.4,-7.0,3,107,11.75,2.58,-4.20,0.000,4,0.172,0.081,2167,3773,3418
$GC,358,-1.08,-146.6,49.6,-10.5,15,363,0.00,2.53,0.00,0.000,6,0.000,0.050,2167,2399,3417
$GC,685,-1.08,-146.6,92.5,-13.5,31,690,0.00,2.58,0.00,0.000,4,0.000,0.073,2167,3766,3418
$GC,897,-1.08,-146.6,116.2,-12.0,40,904,0.00,2.53,0.00,0.000,6,0.000,0.053,2167,2398,3417
$GC,1213,-1.08,-146.6,154.5,-12.2,56,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2398,3418
$GC,1522,-1.08,-146.6,190.1,-11.8,71,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2398,3417
$GC,1833,-1.08,-146.6,227.2,-11.3,86,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2398,3418
$GC,2140,-1.08,-146.6,258.9,-9.9,101,2145,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,984,3417
$GC,2179,-1.08,-146.6,262.8,-9.4,103,2183,0.00,2.58,0.00,0.000,6,0.000,0.055,2167,2404,3417
$GC,2505,-1.08,-146.6,297.3,-11.2,119,2509,0.00,2.55,0.00,0.000,4,0.000,0.074,2167,3769,3417
$GC,2553,-1.08,-146.6,302.7,-11.3,121,2558,0.00,2.53,0.00,0.000,6,0.000,0.053,2167,2398,3417
$GC,2874,-1.08,-146.6,332.8,-8.5,137,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2398,3417
$GC,3183,-1.08,-146.6,358.9,-8.3,152,3187,0.00,2.62,0.00,0.000,4,0.000,0.068,2167,980,3417
$GC,3277,-1.08,-146.6,367.1,-8.5,156,3282,0.00,2.60,0.00,0.000,6,0.000,0.057,2167,2392,3418
$GC,3598,-1.08,-146.6,394.6,-8.1,172,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2392,3418
$GC,3908,-1.08,-146.6,418.6,-7.6,187,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2392,3417
$GC,4217,-1.08,-146.6,441.3,-7.6,202,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2392,3417
$GC,4526,-1.08,-146.6,464.3,-7.1,217,4531,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,986,3417
$GC,4581,-1.08,-146.6,468.5,-7.0,219,4588,0.00,2.60,0.00,0.000,6,0.000,0.055,2166,2393,3418
$GC,4896,-1.08,-146.6,497.2,-10.7,235,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2393,3418
$GC,5205,-1.08,-146.6,534.3,-11.7,250,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2393,3417
$GC,5514,-1.08,-146.6,567.9,-10.9,265,5519,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,985,3418
$GC,5576,-1.08,-146.6,574.7,-11.3,268,5581,0.00,2.58,0.00,0.000,6,0.000,0.055,2167,2398,3418
$GC,5906,-1.08,-146.6,608.2,-9.3,284,5911,0.00,2.55,0.00,0.000,4,0.000,0.074,2167,3768,3418
$GC,6012,-1.08,-146.6,617.5,-8.3,289,6017,0.00,2.47,0.00,0.000,6,0.000,0.055,2167,2401,3418
$GC,6339,-1.08,-146.6,642.5,-7.8,305,6343,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,977,3418
$GC,6381,-1.08,-146.6,646.3,-7.7,307,6386,0.00,2.62,0.00,0.000,6,0.000,0.055,2167,2412,3418
$GC,6708,-1.08,-146.6,667.1,-4.9,323,6712,0.00,2.65,0.00,0.000,4,0.000,0.069,2167,986,3418
$GC,6785,-1.08,-146.6,671.7,-4.9,326,6791,0.00,2.58,0.00,0.000,6,0.000,0.056,2167,2407,3418
$GC,7099,-1.08,-146.6,703.4,-12.8,342,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2407,3417
$GC,7409,-1.08,-146.6,733.2,-5.3,357,7414,0.00,2.65,0.00,0.000,4,0.000,0.067,2167,978,3418
$GC,7494,-1.08,-146.6,739.0,-7.7,361,7498,0.00,2.60,0.00,0.000,6,0.000,0.057,2167,2400,3418
$GC,7818,-1.08,-146.6,777.6,-16.0,377,7823,0.00,2.58,0.00,0.000,4,0.000,0.079,2165,3769,3418
$STATE,7844,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7844,begin apogee
$GC,7851,-0.31,0.0,782.6,19.4,378,7977,0.82,0.00,122.70,1.181,6,0.107,0.000,2335,2202,2817
$STATE,7978,end apogee,CONTROL_FINISHED_OK
$STATE,7978,begin climb
$GC,7979,1.08,146.6,782.2,0.0,384,8109,1.48,2.80,120.28,1.147,4,0.083,0.072,2643,786,2218
$GC,8288,1.08,146.6,746.1,9.2,398,8293,0.00,2.65,0.00,0.000,6,0.000,0.053,2643,2201,2218
$GC,8610,1.17,222.3,719.5,5.3,414,8679,0.00,2.75,61.65,1.115,4,0.000,0.078,2642,3614,1909
$GC,8707,1.17,222.3,712.9,8.8,418,8714,0.00,2.72,0.00,0.000,6,0.000,0.066,2643,2200,1909
$GC,9022,1.17,222.3,681.7,9.0,434,9026,0.00,2.70,0.00,0.000,4,0.000,0.079,2642,3620,1907
$GC,9054,1.17,222.3,678.4,10.0,435,9062,0.00,2.70,0.00,0.000,6,0.000,0.066,2643,2201,1907
$GC,9370,1.21,260.7,653.8,6.6,451,9412,0.12,2.80,31.58,1.070,4,0.051,0.073,2681,782,1753
$GC,9461,1.21,260.7,645.8,8.6,455,9466,0.00,2.62,0.00,0.000,6,0.000,0.049,2680,2196,1753
$GC,9788,1.21,260.7,616.4,11.2,471,9792,0.00,2.65,0.00,0.000,4,0.000,0.067,2681,781,1752
$GC,9864,1.21,260.7,609.0,8.6,474,9871,0.00,2.60,0.00,0.000,6,0.000,0.048,2680,2197,1752
$GC,10180,1.21,260.7,574.7,11.7,490,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2197,1752
$GC,10489,1.21,260.7,535.7,12.5,505,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2198,1752
$GC,10798,1.21,260.7,494.9,13.2,520,10802,0.00,2.65,0.00,0.000,4,0.000,0.066,2681,779,1752
$GC,10852,1.21,260.7,487.5,13.0,522,10860,0.00,2.60,0.00,0.000,6,0.000,0.046,2681,2203,1752
$GC,11168,1.21,260.7,447.6,12.2,538,11169,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2203,1752
$GC,11477,1.21,260.7,410.9,11.8,553,11482,0.00,2.65,0.00,0.000,4,0.000,0.066,2681,775,1751
$GC,11520,1.21,260.7,405.3,12.5,555,11526,0.00,2.60,0.00,0.000,6,0.000,0.045,2681,2201,1752
$GC,11848,1.21,260.7,367.6,10.9,571,11849,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2202,1752
$GC,12157,1.21,260.7,332.8,11.8,586,12161,0.00,2.62,0.00,0.000,4,0.000,0.064,2680,781,1752
$GC,12205,1.21,260.7,326.8,12.3,588,12210,0.00,2.58,0.00,0.000,6,0.000,0.045,2680,2196,1752
$GC,12526,1.21,260.7,288.2,12.1,604,12530,0.00,2.62,0.00,0.000,4,0.000,0.065,2681,781,1752
$GC,12559,1.21,260.7,284.2,11.9,605,12566,0.00,2.55,0.00,0.000,6,0.000,0.046,2679,2205,1753
$GC,12874,1.21,260.7,246.1,12.2,621,12875,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2205,1752
$GC,13183,1.21,260.7,206.4,13.2,636,13187,0.00,2.65,0.00,0.000,4,0.000,0.064,2680,773,1753
$GC,13221,1.21,260.7,201.3,13.0,638,13225,0.00,2.55,0.00,0.000,6,0.000,0.044,2680,2201,1752
$GC,13546,1.21,260.7,159.4,12.5,654,13551,0.00,2.62,0.00,0.000,4,0.000,0.071,2681,3612,1753
$GC,13590,1.21,260.7,154.4,11.7,656,13594,0.00,2.62,0.00,0.000,6,0.000,0.061,2680,2206,1753
$GC,13917,1.21,260.7,118.9,10.6,672,13918,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2206,1753
$GC,14226,1.23,280.2,86.1,7.3,687,14249,0.00,2.75,16.83,0.688,4,0.000,0.067,2680,779,1673
$GC,14281,1.27,318.2,82.6,6.6,689,14317,0.00,2.62,30.25,0.703,6,0.000,0.048,2680,2201,1519
$GC,14645,1.27,318.2,43.6,14.9,707,14646,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2201,1517
$GC,14954,1.27,318.2,3.9,11.9,722,14955,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2202,1518
$STATE,14973,end climb,SURFACE_DEPTH_REACHED
$STATE,14973,begin surface coast
$FINISH,0.6,1.027326
$STATE,14996,end surface coast,CONTROL_FINISHED_OK
$STATE,14996,begin surface
$SM_CCo,15074,0.00,0.000,0,0,1516,318.89
$SM_GC,1.28,11.43,0.00,0.00,0.041,0.000,0.000,74,2402,1516,-10.69,0.08,318.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2079
$TCM_TEMP,16.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,700.3,91.8
$24V_AH,23.5,16.162
$10V_AH,10.2,6.992
$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,25.600,126.375,383.275,0.000,0.000,32.594,31.010,119.992,6.500,0.000,0.000,32.381,1331.196,11560.367,494.201,1691.823,282.908,33.360,1345.422,0.000,1634.012,0.000,41.360
$DEVICE_MAMPS,171.808,80.535,1181.180,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,507.346,514.767,414.574,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37987,724
$CFSIZE,260165632,255033344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,241107,054216,6132.922,-906.118,43,2.1,62,-9.3