version: 66.02
glider: 16
mission: 6
dive: 74
start: 11 24 107 17 36 4
data:
$ID,16
$MISSION,6
$DIVE,74
$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,-2076708.2
$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,14
$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
$GPS1,172814,6125.991,-855.018,28,1.8,34,-9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-56.0
$GPS2,173517,6125.933,-854.959,12,3.7,31,-9.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.203,-0.138
$KALMAN_X,7541.9,-856.2,-718.7,3452.6,21697.0
$KALMAN_Y,103573.7,-654.6,121.7,-125756.5,6863.6
$MHEAD_RNG_PITCHd_Wd,244.8,11865,-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,-62.25,0.000,2,0.000,0.000,70,2404,3228
$GC,84,-1.08,-146.6,3.4,-3.7,3,107,11.70,2.55,-4.38,0.000,4,0.169,0.079,2169,3768,3416
$GC,280,-1.08,-146.6,41.9,-19.8,11,287,0.00,2.53,0.00,0.000,6,0.000,0.050,2169,2398,3418
$GC,596,-1.08,-146.6,76.9,-10.1,27,600,0.00,2.58,0.00,0.000,4,0.000,0.071,2169,3767,3418
$GC,694,-1.08,-146.6,86.9,-10.9,31,702,0.00,2.53,0.00,0.000,6,0.000,0.053,2169,2401,3417
$GC,1010,-1.08,-146.6,110.5,-6.0,47,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3417
$GC,1320,-1.08,-146.6,138.9,-8.3,62,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3417
$GC,1628,-1.08,-146.6,172.6,-9.3,77,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3417
$GC,1937,-1.08,-146.6,204.9,-10.0,92,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3417
$GC,2247,-1.08,-146.6,233.5,-9.2,107,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3417
$GC,2556,-1.08,-146.6,257.6,-8.3,122,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3417
$GC,2865,-1.08,-146.6,283.9,-8.5,137,2870,0.00,2.62,0.00,0.000,4,0.000,0.068,2169,983,3418
$GC,2942,-1.08,-146.6,290.4,-8.1,140,2949,0.00,2.58,0.00,0.000,6,0.000,0.054,2169,2393,3417
$GC,3258,-1.08,-146.6,316.0,-7.8,156,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2393,3417
$GC,3567,-1.08,-146.6,343.0,-9.0,171,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2393,3417
$GC,3877,-1.08,-146.6,371.0,-9.2,186,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2394,3418
$STATE,3916,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3916,begin apogee
$GC,3920,-0.31,0.0,375.0,9.6,188,4041,0.85,0.00,117.38,0.909,6,0.106,0.000,2341,2188,2817
$STATE,4042,end apogee,CONTROL_FINISHED_OK
$STATE,4042,begin climb
$GC,4043,1.08,146.6,378.8,0.0,194,4164,1.42,0.00,116.32,0.887,6,0.067,0.000,2644,2188,2219
$GC,4467,1.08,146.6,347.6,8.8,215,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2188,2218
$GC,4776,1.08,146.6,318.6,9.1,230,4781,0.00,2.70,0.00,0.000,4,0.000,0.073,2644,3625,2218
$GC,4838,1.08,146.6,312.6,9.5,233,4842,0.00,2.62,0.00,0.000,6,0.000,0.058,2644,2202,2218
$GC,5163,1.08,146.6,282.0,8.6,249,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2202,2217
$GC,5472,1.08,146.6,251.7,10.1,264,5476,0.00,2.62,0.00,0.000,4,0.000,0.064,2644,782,2217
$GC,5514,1.08,146.6,246.7,12.0,266,5519,0.00,2.60,0.00,0.000,6,0.000,0.046,2644,2204,2217
$GC,5841,1.08,146.6,212.4,9.6,282,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,2217
$GC,6150,1.08,146.6,183.2,9.1,297,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,2217
$GC,6460,1.08,146.6,153.6,11.3,312,6464,0.00,2.60,0.00,0.000,4,0.000,0.071,2644,3613,2217
$GC,6521,1.08,146.6,144.9,14.2,315,6525,0.00,2.60,0.00,0.000,6,0.000,0.057,2644,2196,2217
$GC,6846,1.08,146.6,109.3,11.2,331,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2196,2217
$GC,7156,1.08,146.6,81.0,8.5,346,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2196,2217
$GC,7465,1.08,146.6,60.4,9.6,361,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2196,2217
$GC,7774,1.10,163.5,30.5,7.4,376,7795,0.00,0.00,14.40,0.640,6,0.000,0.000,2644,2196,2149
$GC,8105,1.11,174.4,8.6,7.6,392,8118,0.00,0.00,9.55,0.598,6,0.000,0.000,2644,2196,2105
$STATE,8186,end climb,SURFACE_DEPTH_REACHED
$STATE,8186,begin surface coast
$FINISH,0.7,1.013837
$STATE,8208,end surface coast,CONTROL_FINISHED_OK
$STATE,8208,begin surface
$SM_CCo,8226,71.53,0.634,2,0,1594,300.00
$SM_GC,1.44,0.00,0.00,71.53,0.000,0.000,0.634,72,2401,1594,-10.75,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2066
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,301.0,83.9
$24V_AH,23.7,16.689
$10V_AH,10.2,7.237
$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,25.400,31.875,257.650,71.525,0.000,65.173,58.696,138.150,3.000,0.000,0.000,32.199,721.643,6406.412,444.322,835.327,333.970,33.355,834.015,0.000,806.311,0.000,18.302
$DEVICE_MAMPS,168.740,79.001,908.895,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,275.178,283.340,341.856,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19120,397
$CFSIZE,260165632,254918656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,241107,195543,6125.696,-854.978,34,1.9,38,-9.1