version: 66.02
glider: 16
mission: 6
dive: 78
start: 11 25 107 2 49 49
data:
$ID,16
$MISSION,6
$DIVE,78
$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,-2076874.6
$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,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
$GPS1,024438,6122.970,-901.255,28,2.0,28,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-60.5
$GPS2,024901,6122.940,-901.335,17,4.2,36,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.201,-0.140
$KALMAN_X,10220.3,-1363.6,-920.7,-4094.8,24962.2
$KALMAN_Y,106239.9,-390.5,-203.5,-133890.6,11177.5
$MHEAD_RNG_PITCHd_Wd,244.3,5573,-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,-62.70,0.000,2,0.000,0.000,75,2404,3264
$GC,84,-1.08,-146.6,4.4,-6.8,3,107,11.68,2.55,-3.28,0.000,4,0.169,0.078,2170,3772,3418
$GC,358,-1.08,-146.6,40.9,-10.5,15,363,0.00,2.53,0.00,0.000,6,0.000,0.050,2171,2396,3419
$GC,685,-1.08,-146.6,69.4,-9.3,31,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2396,3418
$GC,994,-1.08,-146.6,106.8,-10.6,46,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2395,3418
$GC,1304,-1.08,-146.6,133.9,-8.5,61,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2396,3418
$GC,1613,-1.08,-146.6,162.3,-8.5,76,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2395,3418
$GC,1922,-1.08,-146.6,194.5,-9.8,91,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2395,3418
$GC,2232,-1.08,-146.6,220.0,-8.1,106,2236,0.00,2.60,0.00,0.000,4,0.000,0.065,2170,985,3419
$GC,2292,-1.08,-146.6,225.7,-8.8,109,2296,0.00,2.58,0.00,0.000,6,0.000,0.053,2171,2400,3419
$GC,2617,-1.08,-146.6,258.9,-10.4,125,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2400,3419
$GC,2927,-1.08,-146.6,287.1,-8.9,140,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3419
$GC,3236,-1.08,-146.6,316.7,-8.9,155,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3419
$GC,3545,-1.08,-146.6,344.8,-9.4,170,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3419
$GC,3855,-1.08,-146.6,376.0,-11.3,185,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2400,3419
$STATE,3998,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3998,begin apogee
$GC,4002,-0.31,0.0,389.6,10.1,192,4123,0.85,0.00,117.45,0.920,6,0.112,0.000,2340,2191,2817
$STATE,4124,end apogee,CONTROL_FINISHED_OK
$STATE,4124,begin climb
$GC,4125,1.08,146.6,393.3,0.0,198,4246,1.45,0.00,116.07,0.903,6,0.073,0.000,2646,2192,2219
$GC,4549,1.15,211.6,366.5,5.6,219,4606,0.00,2.67,51.25,0.878,4,0.000,0.063,2646,784,1953
$GC,4638,1.15,211.6,359.1,10.4,222,4643,0.00,2.62,0.00,0.000,6,0.000,0.047,2646,2201,1952
$GC,4959,1.17,229.3,331.4,7.4,238,4980,0.00,0.00,15.30,0.817,6,0.000,0.000,2646,2200,1881
$GC,5289,1.18,232.1,305.7,7.9,254,5294,0.00,0.00,4.10,0.561,6,0.000,0.000,2646,2201,1870
$GC,5598,1.18,232.1,279.3,8.7,269,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2201,1869
$GC,5907,1.18,232.1,249.6,9.6,284,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2201,1868
$GC,6216,1.21,265.8,222.4,6.8,299,6246,0.12,0.00,27.38,0.789,6,0.047,0.000,2687,2201,1733
$GC,6545,1.21,265.8,192.1,9.8,315,6550,0.00,2.62,0.00,0.000,4,0.000,0.061,2687,786,1731
$GC,6607,1.21,265.8,185.1,12.5,318,6611,0.00,2.55,0.00,0.000,6,0.000,0.046,2687,2201,1731
$GC,6932,1.21,265.8,151.2,9.9,334,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2202,1731
$GC,7241,1.21,265.8,118.4,12.1,349,7246,0.00,2.62,0.00,0.000,4,0.000,0.063,2687,784,1731
$GC,7280,1.21,265.8,113.2,13.2,351,7285,0.00,2.55,0.00,0.000,6,0.000,0.044,2687,2204,1731
$GC,7606,1.21,265.8,69.3,16.1,367,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2204,1730
$GC,7915,1.21,265.8,39.6,9.9,382,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2205,1731
$GC,8225,1.21,265.8,5.3,13.6,397,8229,0.00,2.62,0.00,0.000,4,0.000,0.064,2687,784,1731
$GC,8233,1.21,265.8,4.2,12.3,397,8241,0.00,2.55,0.00,0.000,6,0.000,0.044,2687,2195,1731
$STATE,8261,end climb,SURFACE_DEPTH_REACHED
$STATE,8261,begin surface coast
$FINISH,0.7,1.002557
$STATE,8281,end surface coast,CONTROL_FINISHED_OK
$STATE,8281,begin surface
$SM_CCo,8300,23.00,0.573,2,0,1594,300.00
$SM_GC,1.68,0.00,0.00,23.00,0.000,0.000,0.573,77,2398,1594,-10.73,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2092
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,301.4,96.9
$24V_AH,23.7,17.058
$10V_AH,10.2,7.405
$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,25.550,31.825,331.550,23.000,0.000,32.584,29.770,106.552,2.000,0.000,0.000,36.845,723.328,6365.497,454.101,834.638,231.131,33.349,847.824,0.000,799.049,0.000,15.967
$DEVICE_MAMPS,168.740,78.234,920.400,572.949,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,278.867,283.022,323.328,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19122,400
$CFSIZE,260165632,254795776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,251107,050956,6122.847,-905.444,41,1.7,41,-9.2