version: 66.02
glider: 16
mission: 6
dive: 107
start: 11 29 107 23 20 55
data:
$ID,16
$MISSION,6
$DIVE,107
$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,550
$T_MISSION,580
$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,-2077525.5
$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,23
$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
$GPS1,231407,6146.162,-954.169,63,1.6,69,-9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-50.9
$GPS2,232003,6146.220,-954.314,16,1.8,16,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.118,0.187
$KALMAN_X,-49812.4,1706.6,114.9,5093.7,-25672.1
$KALMAN_Y,103045.5,-26.7,1124.8,-89294.1,318.3
$MHEAD_RNG_PITCHd_Wd,337.5,68508,-11.0,-6.000
$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,-0.85,-146.6,0.0,0.0,0,82,0.00,0.00,-61.85,0.000,2,0.000,0.000,77,2412,2871
$GC,85,-0.85,-146.6,3.0,-4.1,3,120,11.82,2.58,-15.32,0.000,4,0.163,0.082,2220,3764,3417
$GC,344,-0.85,-146.6,20.2,-6.6,14,351,0.00,2.50,0.00,0.000,6,0.000,0.050,2220,2404,3417
$GC,660,-0.85,-146.6,37.0,-5.7,30,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3417
$GC,969,-0.85,-146.6,54.3,-3.4,45,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3417
$GC,1278,-0.85,-146.6,76.9,-12.2,60,1283,0.00,2.65,0.00,0.000,4,0.000,0.068,2220,979,3417
$GC,1322,-0.85,-146.6,79.6,-5.1,62,1326,0.00,2.55,0.00,0.000,6,0.000,0.051,2220,2395,3417
$GC,1648,-0.85,-146.6,99.3,-7.3,78,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2395,3417
$GC,1958,-0.85,-146.6,127.1,-8.4,93,1962,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,984,3417
$GC,2006,-0.85,-146.6,132.9,-12.8,95,2010,0.00,2.60,0.00,0.000,6,0.000,0.053,2220,2393,3417
$GC,2327,-0.85,-146.6,180.5,-12.7,111,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2393,3417
$GC,2636,-0.85,-146.6,217.2,-11.8,126,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2393,3417
$GC,2947,-0.85,-146.6,251.6,-11.0,141,2951,0.00,2.60,0.00,0.000,4,0.000,0.066,2220,982,3417
$GC,3040,-0.85,-146.6,260.3,-9.4,145,3045,0.00,2.60,0.00,0.000,6,0.000,0.053,2220,2396,3417
$GC,3362,-0.85,-146.6,280.1,-3.4,161,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2396,3417
$GC,3671,-0.85,-146.6,276.9,4.2,176,3676,0.00,2.62,0.00,0.000,4,0.000,0.069,2220,984,3417
$GC,3715,-0.85,-146.6,275.7,1.7,178,3719,0.00,2.58,0.00,0.000,6,0.000,0.053,2220,2400,3417
$GC,4041,-0.85,-146.6,263.6,6.2,194,4046,0.00,2.62,0.00,0.000,4,0.000,0.065,2220,981,3417
$GC,4096,-0.85,-146.6,259.6,7.0,196,4103,0.00,2.55,0.00,0.000,6,0.000,0.053,2220,2399,3417
$GC,4411,-0.85,-146.6,247.3,0.7,212,4416,0.00,2.62,0.00,0.000,4,0.000,0.065,2220,980,3417
$GC,4489,-0.85,-146.6,247.1,0.1,215,4496,0.00,2.60,0.00,0.000,6,0.000,0.051,2220,2397,3417
$STATE,4534,end dive,NO_VERTICAL_VELOCITY
$STATE,4534,begin apogee
$GC,4539,-0.31,0.0,247.1,0.0,218,4658,0.60,0.00,115.72,0.815,6,0.108,0.000,2339,2195,2817
$STATE,4658,end apogee,CONTROL_FINISHED_OK
$STATE,4658,begin climb
$GC,4660,0.85,146.6,241.5,0.0,224,4783,1.17,2.67,113.43,0.793,4,0.077,0.063,2588,784,2218
$GC,4810,0.85,146.6,229.0,9.2,231,4814,0.00,2.60,0.00,0.000,6,0.000,0.044,2589,2193,2217
$GC,5137,0.85,146.6,208.7,7.1,247,5141,0.00,2.62,0.00,0.000,4,0.000,0.062,2588,784,2217
$GC,5190,0.85,146.6,205.4,6.0,249,5197,0.00,2.58,0.00,0.000,6,0.000,0.044,2588,2195,2217
$GC,5506,1.12,396.6,192.2,-0.8,265,5703,0.25,2.67,189.23,0.767,4,0.044,0.064,2663,787,1200
$GC,5741,1.12,396.6,175.7,8.8,276,5746,0.00,2.60,0.00,0.000,6,0.000,0.044,2663,2197,1199
$GC,6064,1.12,396.6,132.9,14.6,292,6069,0.00,2.65,0.00,0.000,4,0.000,0.064,2663,780,1199
$GC,6127,1.12,396.6,123.5,14.3,295,6132,0.00,2.58,0.00,0.000,6,0.000,0.044,2663,2203,1199
$GC,6453,1.12,396.6,80.3,11.0,311,6457,0.00,2.65,0.00,0.000,4,0.000,0.065,2663,786,1199
$GC,6529,1.12,396.6,71.3,12.9,314,6537,0.00,2.58,0.00,0.000,6,0.000,0.043,2663,2201,1199
$GC,6845,1.12,396.6,29.1,14.7,330,6849,0.00,2.60,0.00,0.000,4,0.000,0.056,2663,782,1199
$GC,6928,1.12,396.6,16.4,13.1,334,6933,0.00,2.55,0.00,0.000,6,0.000,0.041,2663,2206,1199
$STATE,7067,end climb,SURFACE_DEPTH_REACHED
$STATE,7067,begin surface coast
$FINISH,0.5,1.002050
$STATE,7089,end surface coast,CONTROL_FINISHED_OK
$STATE,7089,begin surface
$SM_CCo,7168,0.00,0.000,0,0,1198,397.14
$SM_GC,1.42,11.45,0.00,0.00,0.045,0.000,0.000,74,2405,1198,-10.69,0.14,397.14
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2073
$TCM_TEMP,17.40
$XPDR_PINGS,2
$24V_AH,23.8,20.733
$10V_AH,10.2,9.310
$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,25.300,68.400,418.375,0.000,0.000,32.586,28.291,196.725,2.000,0.000,0.000,16.751,663.479,5150.787,479.769,892.476,333.896,33.347,959.628,0.000,871.378,0.000,10.679
$DEVICE_MAMPS,163.371,82.069,815.321,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,237.354,238.553,331.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15923,342
$CFSIZE,260165632,253358080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,301107,012150,6148.387,-956.386,38,1.1,56,-9.8