version: 66.02
glider: 16
mission: 6
dive: 85
start: 11 25 107 20 3 4
data:
$ID,16
$MISSION,6
$DIVE,85
$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,-2077046.4
$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,16
$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
$GPS1,195758,6118.888,-910.806,37,6.9,56,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-64.1
$GPS2,200217,6118.909,-910.780,13,3.0,32,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.165,-0.182
$KALMAN_X,13920.6,-1069.3,-280.5,-17069.6,18528.7
$KALMAN_Y,110837.3,-1747.1,277.5,-145093.0,12021.0
$MHEAD_RNG_PITCHd_Wd,231.4,9788,-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,-62.08,0.000,2,0.000,0.000,75,2408,3300
$GC,84,-1.08,-146.6,4.9,-7.4,3,107,11.73,2.58,-2.33,0.000,4,0.171,0.081,2168,3763,3419
$GC,358,-1.08,-146.6,42.8,-11.3,15,363,0.00,2.50,0.00,0.000,6,0.000,0.050,2168,2398,3419
$GC,685,-1.08,-146.6,77.7,-10.3,31,689,0.00,2.58,0.00,0.000,4,0.000,0.072,2168,3768,3419
$GC,738,-1.08,-146.6,83.6,-10.3,33,746,0.00,2.50,0.00,0.000,6,0.000,0.051,2168,2405,3419
$GC,1055,-1.08,-146.6,117.8,-11.6,49,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2405,3420
$GC,1363,-1.08,-146.6,153.4,-10.9,64,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2405,3419
$GC,1673,-1.08,-146.6,186.7,-11.4,79,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2405,3419
$GC,1982,-1.08,-146.6,221.1,-10.9,94,1986,0.00,2.62,0.00,0.000,4,0.000,0.068,2168,988,3419
$GC,2081,-1.08,-146.6,231.8,-10.6,98,2088,0.00,2.58,0.00,0.000,6,0.000,0.053,2168,2390,3419
$GC,2397,-1.08,-146.6,264.1,-10.4,114,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2389,3419
$GC,2706,-1.08,-146.6,295.8,-10.3,129,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2390,3420
$GC,3020,-1.08,-146.6,326.6,-10.0,144,3024,0.00,2.60,0.00,0.000,4,0.000,0.066,2168,987,3420
$GC,3085,-1.08,-146.6,333.7,-10.2,147,3089,0.00,2.60,0.00,0.000,6,0.000,0.054,2168,2397,3419
$GC,3411,-1.08,-146.6,366.2,-9.9,163,3416,0.00,2.60,0.00,0.000,4,0.000,0.066,2168,987,3420
$GC,3450,-1.08,-146.6,370.0,-9.6,165,3454,0.00,2.58,0.00,0.000,6,0.000,0.054,2168,2401,3420
$GC,3776,-1.08,-146.6,400.9,-9.6,181,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3420
$STATE,4042,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4043,begin apogee
$GC,4047,-0.31,0.0,427.5,10.0,194,4168,0.85,0.00,118.15,0.944,6,0.109,0.000,2338,2191,2817
$STATE,4169,end apogee,CONTROL_FINISHED_OK
$STATE,4169,begin climb
$GC,4171,1.08,146.6,430.9,0.0,200,4291,1.48,0.00,116.72,0.926,6,0.075,0.000,2648,2191,2218
$GC,4594,1.09,153.5,402.5,7.7,221,4608,0.00,2.75,6.93,0.723,4,0.000,0.073,2647,3614,2190
$GC,4670,1.09,153.5,395.9,8.9,224,4675,0.00,2.62,0.00,0.000,6,0.000,0.058,2647,2209,2191
$GC,4991,1.09,153.5,368.6,8.1,240,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2209,2190
$GC,5300,1.09,153.5,343.5,8.1,255,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2209,2190
$GC,5609,1.11,166.4,319.7,7.5,270,5623,0.00,0.00,11.77,0.782,6,0.000,0.000,2648,2209,2138
$GC,5919,1.11,166.4,294.6,8.4,285,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2209,2137
$GC,6228,1.11,167.4,269.0,8.0,300,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2209,2137
$GC,6537,1.12,176.2,244.8,7.7,315,6548,0.00,0.00,9.18,0.716,6,0.000,0.000,2647,2209,2098
$GC,6847,1.14,198.7,220.2,7.2,330,6868,0.00,0.00,18.83,0.765,6,0.000,0.000,2648,2209,2006
$GC,7176,1.14,198.7,193.6,8.3,346,7180,0.00,2.65,0.00,0.000,4,0.000,0.067,2647,778,2005
$GC,7224,1.14,198.7,189.1,9.0,348,7229,0.00,2.60,0.00,0.000,6,0.000,0.045,2647,2202,2005
$GC,7545,1.14,198.7,161.3,8.9,364,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2202,2005
$GC,7855,1.14,198.7,134.5,8.5,379,7859,0.00,2.62,0.00,0.000,4,0.000,0.070,2648,3619,2005
$GC,7898,1.15,206.4,131.2,7.7,381,7915,0.00,2.60,7.55,0.633,6,0.000,0.055,2648,2194,1974
$GC,8224,1.15,206.4,105.1,8.8,397,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2194,1974
$GC,8532,1.15,206.4,77.3,8.8,412,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2194,1974
$GC,8842,1.23,284.1,53.9,5.2,427,8904,0.15,0.00,59.85,0.690,6,0.044,0.000,2694,2194,1657
$GC,9212,1.23,284.1,10.6,12.2,445,9217,0.00,2.62,0.00,0.000,4,0.000,0.066,2694,781,1656
$GC,9250,1.23,284.1,5.1,13.6,447,9255,0.00,2.58,0.00,0.000,6,0.000,0.045,2694,2206,1656
$STATE,9286,end climb,SURFACE_DEPTH_REACHED
$STATE,9286,begin surface coast
$FINISH,0.9,1.015095
$STATE,9308,end surface coast,CONTROL_FINISHED_OK
$STATE,9308,begin surface
$SM_CCo,9326,12.55,0.537,1,0,1594,300.00
$SM_GC,1.39,0.00,0.00,12.55,0.000,0.000,0.537,70,2404,1594,-10.76,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2085
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,326.6,109.3
$24V_AH,23.7,17.757
$10V_AH,10.2,7.714
$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,25.775,47.525,348.975,12.550,0.000,32.661,27.387,108.573,2.250,0.000,0.000,33.272,819.912,7128.718,469.914,959.179,235.346,33.355,928.936,0.000,926.883,0.000,17.034
$DEVICE_MAMPS,171.041,81.302,944.177,536.900,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,311.459,324.294,350.871,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22283,450
$CFSIZE,260165632,254545920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,251107,224007,6118.262,-910.413,40,1.9,46,-9.2