version: 66.02
glider: 16
mission: 6
dive: 70
start: 11 24 107 5 51 7
data:
$ID,16
$MISSION,6
$DIVE,70
$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,-2076597.1
$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,12
$R_STBD_OVSHOOT,19
$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
$GPS1,054216,6132.922,-906.118,43,2.1,62,-9.3
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-53.1
$GPS2,055020,6132.905,-905.811,34,2.0,34,-9.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.104,-0.222
$KALMAN_X,-12038.3,1089.9,1229.7,9533.7,-8445.0
$KALMAN_Y,100726.5,-1259.5,-269.6,-108970.0,5141.2
$MHEAD_RNG_PITCHd_Wd,164.3,24451,-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,-62.17,0.000,2,0.000,0.000,72,2403,3113
$GC,84,-1.08,-146.6,4.1,-6.5,3,110,11.65,2.60,-6.38,0.000,4,0.168,0.084,2169,3765,3416
$GC,361,-1.08,-146.6,50.1,-11.7,15,366,0.00,2.53,0.00,0.000,6,0.000,0.054,2169,2400,3416
$GC,683,-1.08,-146.6,87.5,-11.0,31,687,0.00,2.58,0.00,0.000,4,0.000,0.075,2169,3765,3416
$GC,826,-1.08,-146.6,104.7,-12.7,37,834,0.00,2.50,0.00,0.000,6,0.000,0.051,2169,2402,3416
$GC,1144,-1.08,-146.6,138.9,-11.3,53,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2402,3417
$GC,1453,-1.08,-146.6,176.3,-12.4,68,1457,0.00,2.58,0.00,0.000,4,0.000,0.075,2169,3765,3416
$GC,1501,-1.08,-146.6,182.3,-11.1,70,1506,0.00,2.53,0.00,0.000,6,0.000,0.054,2169,2398,3416
$GC,1823,-1.08,-146.6,218.0,-11.6,86,1827,0.00,2.62,0.00,0.000,4,0.000,0.071,2169,986,3416
$GC,1889,-1.08,-146.6,225.5,-10.9,89,1893,0.00,2.60,0.00,0.000,6,0.000,0.056,2169,2404,3416
$GC,2214,-1.08,-146.6,265.7,-13.3,105,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2404,3416
$GC,2524,-1.08,-146.6,303.7,-11.6,120,2528,0.00,2.65,0.00,0.000,4,0.000,0.068,2169,984,3416
$GC,2572,-1.08,-146.6,309.0,-10.4,122,2577,0.00,2.62,0.00,0.000,6,0.000,0.056,2169,2400,3416
$GC,2893,-1.08,-146.6,342.7,-10.1,138,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3416
$GC,3203,-1.08,-146.6,373.5,-8.7,153,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3416
$GC,3514,-1.08,-146.6,401.6,-9.0,168,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3416
$GC,3821,-1.08,-146.6,430.1,-9.3,183,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3416
$GC,4130,-1.08,-146.6,460.7,-10.6,198,4135,0.00,2.62,0.00,0.000,4,0.000,0.067,2169,985,3416
$GC,4224,-1.08,-146.6,469.7,-8.8,202,4229,0.00,2.60,0.00,0.000,6,0.000,0.055,2169,2396,3415
$GC,4545,-1.08,-146.6,504.6,-11.6,218,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2396,3416
$GC,4854,-1.08,-146.6,542.6,-13.1,233,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2396,3416
$GC,5164,-1.08,-146.6,585.2,-14.3,248,5168,0.00,2.62,0.00,0.000,4,0.000,0.067,2169,982,3416
$GC,5212,-1.08,-146.6,592.2,-13.9,250,5217,0.00,2.62,0.00,0.000,6,0.000,0.056,2169,2401,3416
$GC,5534,-1.08,-146.6,630.0,-10.1,266,5538,0.00,2.62,0.00,0.000,4,0.000,0.068,2169,986,3416
$GC,5571,-1.08,-146.6,633.4,-9.3,268,5576,0.00,2.58,0.00,0.000,6,0.000,0.057,2169,2407,3417
$STATE,5752,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5752,begin apogee
$GC,5756,-0.31,0.0,652.7,11.6,277,5880,0.85,0.00,120.75,1.095,6,0.104,0.000,2340,2198,2817
$STATE,5881,end apogee,CONTROL_FINISHED_OK
$STATE,5881,begin climb
$GC,5882,1.08,146.6,655.8,0.0,283,6006,1.48,0.00,119.60,1.077,6,0.081,0.000,2646,2198,2219
$GC,6302,1.08,146.6,620.2,9.3,304,6307,0.00,2.70,0.00,0.000,4,0.000,0.075,2646,3614,2218
$GC,6386,1.08,146.6,611.6,10.9,308,6390,0.00,2.62,0.00,0.000,6,0.000,0.060,2646,2204,2218
$GC,6710,1.08,146.6,579.4,9.4,324,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2204,2218
$GC,7020,1.08,146.6,552.4,8.8,339,7024,0.00,2.65,0.00,0.000,4,0.000,0.068,2646,785,2217
$GC,7040,1.08,146.6,550.5,9.2,340,7045,0.00,2.60,0.00,0.000,6,0.000,0.049,2646,2196,2218
$GC,7367,1.08,146.6,524.0,8.3,356,7371,0.00,2.65,0.00,0.000,4,0.000,0.074,2646,3613,2217
$GC,7383,1.09,155.0,522.9,7.7,357,7397,0.00,2.58,8.12,0.846,6,0.000,0.056,2646,2199,2184
$GC,7713,1.14,199.2,501.3,6.4,373,7753,0.00,0.00,36.35,0.974,6,0.000,0.000,2646,2199,2003
$GC,8062,1.25,296.9,481.4,4.5,390,8144,0.15,0.00,77.70,0.974,6,0.045,0.000,2692,2199,1607
$GC,8451,1.25,296.9,449.2,8.5,409,8456,0.00,2.65,0.00,0.000,4,0.000,0.068,2691,785,1606
$GC,8540,1.25,296.9,440.5,9.3,413,8544,0.00,2.60,0.00,0.000,6,0.000,0.048,2691,2196,1606
$GC,8866,1.25,296.9,409.0,9.2,429,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2196,1606
$GC,9176,1.25,296.9,377.1,10.1,444,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2196,1606
$GC,9485,1.25,296.9,341.6,12.2,459,9489,0.00,2.65,0.00,0.000,4,0.000,0.067,2691,776,1606
$GC,9516,1.25,296.9,337.4,12.5,460,9524,0.00,2.60,0.00,0.000,6,0.000,0.046,2691,2198,1606
$GC,9832,1.25,296.9,295.1,14.0,476,9833,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2198,1606
$GC,10141,1.25,296.9,250.1,14.7,491,10146,0.00,2.62,0.00,0.000,4,0.000,0.064,2691,783,1606
$GC,10167,1.25,296.9,246.0,15.1,492,10172,0.00,2.60,0.00,0.000,6,0.000,0.048,2691,2203,1606
$GC,10489,1.25,296.9,198.3,14.9,508,10493,0.00,2.65,0.00,0.000,4,0.000,0.065,2691,775,1606
$GC,10527,1.25,296.9,192.5,14.6,510,10531,0.00,2.58,0.00,0.000,6,0.000,0.047,2691,2204,1606
$GC,10852,1.25,296.9,146.9,13.7,526,10853,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2204,1605
$GC,11161,1.25,296.9,99.2,15.7,541,11163,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2203,1605
$GC,11471,1.25,296.9,49.3,15.7,556,11472,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2204,1606
$GC,11780,1.25,296.9,16.9,12.3,571,11784,0.00,2.62,0.00,0.000,4,0.000,0.064,2691,783,1606
$GC,11805,1.25,296.9,13.6,11.9,572,11810,0.00,2.58,0.00,0.000,6,0.000,0.047,2691,2200,1606
$STATE,11899,end climb,SURFACE_DEPTH_REACHED
$STATE,11899,begin surface coast
$FINISH,0.6,1.027280
$STATE,11921,end surface coast,CONTROL_FINISHED_OK
$STATE,11921,begin surface
$SM_CCo,11939,3.83,0.455,0,0,1593,300.00
$SM_GC,2.42,0.00,0.00,3.83,0.000,0.000,0.455,75,2400,1593,-10.74,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2113
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,550.5,111.6
$24V_AH,23.6,16.287
$10V_AH,10.2,7.050
$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,25.550,84.175,362.525,3.825,0.000,65.257,61.985,186.919,5.250,0.000,0.000,34.924,1055.942,9231.172,497.191,1244.023,402.003,33.359,1099.753,0.000,1196.907,0.000,31.658
$DEVICE_MAMPS,167.973,83.603,1095.276,454.831,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.160,411.171,350.910,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28565,578
$CFSIZE,260165632,255025152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,241107,091137,6131.693,-858.451,43,1.3,54,-9.2