version: 66.02
glider: 16
mission: 6
dive: 81
start: 11 25 107 10 11 22
data:
$ID,16
$MISSION,6
$DIVE,81
$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,-2076952.1
$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,13
$R_STBD_OVSHOOT,20
$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
$GPS1,100616,6121.957,-905.670,40,4.6,59,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-59.9
$GPS2,101035,6121.934,-905.583,13,6.2,32,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.098,-0.225
$KALMAN_X,9396.5,-1214.0,-249.2,-7858.6,17303.2
$KALMAN_Y,115131.6,-674.8,-865.0,-143680.3,25014.2
$MHEAD_RNG_PITCHd_Wd,212.6,6117,-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,-62.08,0.000,2,0.000,0.000,74,2403,3282
$GC,84,-1.08,-146.6,4.5,-7.4,3,107,11.77,2.55,-2.72,0.000,4,0.173,0.085,2169,3765,3418
$GC,358,-1.08,-146.6,38.9,-12.3,15,363,0.00,2.50,0.00,0.000,6,0.000,0.048,2169,2393,3419
$GC,685,-1.08,-146.6,70.2,-10.9,31,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2393,3418
$GC,994,-1.08,-146.6,108.9,-13.4,46,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2393,3419
$GC,1304,-1.08,-146.6,145.0,-12.1,61,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2393,3419
$GC,1613,-1.08,-146.6,183.2,-12.3,76,1617,0.00,2.58,0.00,0.000,4,0.000,0.073,2169,3765,3419
$GC,1661,-1.08,-146.6,189.5,-12.7,78,1666,0.00,2.47,0.00,0.000,6,0.000,0.050,2170,2406,3418
$GC,1982,-1.08,-146.6,229.0,-11.6,94,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2407,3419
$GC,2291,-1.08,-146.6,262.4,-9.9,109,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2407,3419
$GC,2601,-1.08,-146.6,291.4,-9.6,124,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2407,3419
$GC,2910,-1.08,-146.6,320.1,-9.1,139,2914,0.00,2.62,0.00,0.000,4,0.000,0.066,2170,981,3419
$GC,2981,-1.08,-146.6,326.7,-8.7,142,2986,0.00,2.58,0.00,0.000,6,0.000,0.054,2170,2393,3419
$GC,3302,-1.08,-146.6,358.4,-10.3,158,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2393,3419
$GC,3612,-1.08,-146.6,390.5,-10.6,173,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2393,3419
$STATE,3714,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3714,begin apogee
$GC,3718,-0.31,0.0,400.9,10.3,178,3839,0.85,0.00,117.38,0.940,6,0.103,0.000,2342,2198,2817
$STATE,3839,end apogee,CONTROL_FINISHED_OK
$STATE,3839,begin climb
$GC,3841,1.08,146.6,405.0,0.0,184,3961,1.48,0.00,115.88,0.920,6,0.084,0.000,2647,2196,2218
$GC,4265,1.09,156.6,377.3,7.6,205,4276,0.00,0.00,9.32,0.766,6,0.000,0.000,2647,2197,2178
$GC,4574,1.10,162.0,353.3,7.8,220,4587,0.00,2.70,6.22,0.692,4,0.000,0.072,2647,3620,2156
$GC,4626,1.10,162.0,349.1,8.4,222,4631,0.00,2.65,0.00,0.000,6,0.000,0.056,2647,2205,2155
$GC,4947,1.10,165.3,324.5,7.9,238,4956,0.00,2.65,4.25,0.580,4,0.000,0.073,2647,3614,2142
$GC,5000,1.10,165.3,319.9,8.6,240,5004,0.00,2.65,0.00,0.000,6,0.000,0.058,2647,2200,2142
$GC,5322,1.15,207.1,297.6,6.5,256,5361,0.00,0.00,33.60,0.850,6,0.000,0.000,2647,2200,1971
$GC,5670,1.23,278.7,277.5,5.4,273,5733,0.12,2.70,55.70,0.841,4,0.046,0.066,2688,776,1681
$GC,5760,1.23,278.7,270.3,9.0,277,5764,0.00,2.62,0.00,0.000,6,0.000,0.048,2688,2193,1680
$GC,6086,1.23,278.7,238.9,10.3,293,6091,0.00,2.65,0.00,0.000,4,0.000,0.072,2688,3615,1680
$GC,6131,1.23,278.7,233.7,11.7,295,6135,0.00,2.62,0.00,0.000,6,0.000,0.061,2688,2197,1680
$GC,6451,1.23,278.7,196.0,12.3,311,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2197,1679
$GC,6760,1.23,278.7,158.1,10.8,326,6764,0.00,2.62,0.00,0.000,4,0.000,0.066,2687,775,1680
$GC,6798,1.23,278.7,154.3,9.0,328,6802,0.00,2.58,0.00,0.000,6,0.000,0.048,2687,2203,1680
$GC,7125,1.23,278.7,117.9,10.5,344,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2202,1680
$GC,7433,1.23,278.7,79.6,12.5,359,7437,0.00,2.65,0.00,0.000,4,0.000,0.065,2688,778,1680
$GC,7471,1.23,278.7,74.9,12.4,361,7475,0.00,2.58,0.00,0.000,6,0.000,0.048,2688,2207,1680
$GC,7796,1.23,278.7,31.4,14.3,377,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2207,1679
$STATE,8042,end climb,SURFACE_DEPTH_REACHED
$STATE,8042,begin surface coast
$FINISH,0.8,1.016216
$STATE,8064,end surface coast,CONTROL_FINISHED_OK
$STATE,8064,begin surface
$SM_CCo,8082,17.23,0.532,2,0,1593,300.00
$SM_GC,1.97,0.00,0.00,17.23,0.000,0.000,0.532,71,2403,1593,-10.76,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2098
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,301.2,108.3
$24V_AH,23.7,17.361
$10V_AH,10.2,7.535
$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,25.625,47.700,342.350,17.225,0.000,32.584,26.178,111.363,2.500,0.000,0.000,33.212,724.945,6105.018,456.697,861.486,231.462,33.356,879.534,0.000,826.884,0.000,18.243
$DEVICE_MAMPS,172.575,85.137,939.575,532.298,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,271.132,275.951,302.703,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19114,390
$CFSIZE,260165632,254693376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,251107,122738,6120.055,-905.410,33,1.6,33,-9.2