version: 66.02
glider: 16
mission: 6
dive: 47
start: 11 19 107 21 45 4
data:
$ID,16
$MISSION,6
$DIVE,47
$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,-2076010.2
$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,12
$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
$GPS1,214008,6128.405,-822.837,41,1.3,41,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-65.9
$GPS2,214415,6128.377,-822.854,11,1.3,11,-8.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,default
$TGT_LATLONG,62.000,-6.800
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.016,-0.245
$KALMAN_X,-10485.6,464.9,426.3,47195.0,-12074.3
$KALMAN_Y,81032.5,192.3,-640.5,-98752.8,10919.6
$MHEAD_RNG_PITCHd_Wd,185.1,6778568,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-1.08,-146.6,0.0,0.0,0,82,0.00,0.00,-61.92,0.000,2,0.000,0.000,71,2402,3231
$GC,84,-1.08,-146.6,4.4,-6.6,3,107,11.77,2.65,-3.90,0.000,4,0.173,0.076,2168,982,3415
$GC,242,-1.08,-146.6,27.7,-10.5,10,247,0.00,2.58,0.00,0.000,6,0.000,0.051,2169,2400,3416
$GC,568,-1.08,-146.6,63.3,-10.8,26,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2400,3417
$GC,877,-1.08,-146.6,96.9,-11.1,41,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3416
$GC,1187,-1.08,-146.6,131.5,-11.5,56,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3416
$GC,1496,-1.08,-146.6,167.2,-11.4,71,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3416
$GC,1806,-1.08,-146.6,201.4,-10.9,86,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3416
$GC,2114,-1.08,-146.6,235.7,-11.0,101,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3416
$GC,2424,-1.08,-146.6,267.9,-10.4,116,2428,0.00,2.62,0.00,0.000,4,0.000,0.061,2169,976,3416
$GC,2461,-1.08,-146.6,271.8,-10.1,118,2466,0.00,2.58,0.00,0.000,6,0.000,0.051,2169,2401,3416
$GC,2787,-1.08,-146.6,303.1,-8.9,134,2792,0.00,2.55,0.00,0.000,4,0.000,0.074,2169,3766,3416
$GC,2836,-1.08,-146.6,307.4,-8.5,136,2841,0.00,2.50,0.00,0.000,6,0.000,0.048,2169,2396,3416
$GC,3157,-1.08,-146.6,337.5,-10.0,152,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2396,3416
$GC,3466,-1.08,-146.6,367.8,-9.9,167,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2396,3416
$GC,3776,-1.08,-146.6,399.0,-10.0,182,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2396,3416
$GC,4085,-1.08,-146.6,431.8,-10.6,197,4089,0.00,2.60,0.00,0.000,4,0.000,0.065,2168,984,3416
$GC,4128,-1.08,-146.6,436.5,-10.6,199,4133,0.00,2.60,0.00,0.000,6,0.000,0.051,2169,2398,3417
$GC,4455,-1.08,-146.6,469.9,-9.6,215,4459,0.00,2.58,0.00,0.000,4,0.000,0.074,2169,3773,3417
$GC,4497,-1.08,-146.6,474.2,-9.4,217,4502,0.00,2.50,0.00,0.000,6,0.000,0.048,2169,2399,3417
$GC,4824,-1.08,-146.6,507.4,-10.5,233,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2399,3417
$GC,5133,-1.08,-146.6,536.9,-9.1,248,5138,0.00,2.62,0.00,0.000,4,0.000,0.067,2169,980,3417
$GC,5199,-1.08,-146.6,543.5,-10.2,251,5204,0.00,2.58,0.00,0.000,6,0.000,0.051,2169,2392,3417
$GC,5526,-1.08,-146.6,586.1,-12.1,267,5530,0.00,2.58,0.00,0.000,4,0.000,0.074,2168,3769,3418
$GC,5621,-1.08,-146.6,596.8,-10.9,271,5625,0.00,2.47,0.00,0.000,6,0.000,0.050,2168,2395,3418
$GC,5940,-1.08,-146.6,629.2,-10.2,287,5944,0.00,2.60,0.00,0.000,4,0.000,0.076,2169,3773,3418
$GC,6174,-1.08,-146.6,654.2,-11.2,297,6181,0.00,2.53,0.00,0.000,6,0.000,0.053,2168,2400,3418
$GC,6490,-1.08,-146.6,683.5,-8.5,313,6494,0.00,2.62,0.00,0.000,4,0.000,0.082,2168,3772,3419
$GC,6577,-1.08,-146.6,691.8,-10.4,317,6582,0.00,2.53,0.00,0.000,6,0.000,0.057,2169,2407,3418
$GC,6904,-1.08,-146.6,722.7,-11.8,333,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2407,3419
$GC,7213,-1.08,-146.6,754.6,-9.0,348,7217,0.00,2.65,0.00,0.000,4,0.000,0.091,2169,3770,3417
$GC,7268,-1.08,-146.6,761.9,-15.0,350,7272,0.00,2.58,0.00,0.000,6,0.000,0.064,2168,2401,3417
$GC,7590,-1.08,-146.6,798.7,-6.6,366,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3416
$STATE,7814,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7815,begin apogee
$GC,7819,-0.31,0.0,829.6,15.7,377,7944,0.88,0.00,122.47,1.292,6,0.129,0.000,2337,2202,2818
$STATE,7945,end apogee,CONTROL_FINISHED_OK
$STATE,7945,begin climb
$GC,7947,1.08,146.6,827.8,0.0,383,8078,1.48,2.85,120.97,1.262,4,0.081,0.080,2643,787,2219
$GC,8144,1.40,441.1,836.5,-2.7,392,8390,0.28,2.67,237.80,1.253,6,0.044,0.061,2720,2190,1018
$GC,8704,1.40,441.1,754.1,20.9,420,8709,0.00,2.72,0.00,0.000,4,0.000,0.081,2722,786,1016
$GC,8871,1.40,441.1,725.0,18.5,427,8879,0.00,2.67,0.00,0.000,6,0.000,0.061,2721,2193,1017
$GC,9186,1.40,441.1,673.1,15.1,443,9191,0.00,2.72,0.00,0.000,4,0.000,0.080,2722,779,1015
$GC,9212,1.40,441.1,668.3,18.9,444,9217,0.00,2.67,0.00,0.000,6,0.000,0.059,2721,2193,1015
$GC,9533,1.40,441.1,610.6,18.9,460,9538,0.00,2.70,0.00,0.000,4,0.000,0.076,2721,785,1012
$GC,9582,1.40,441.1,601.5,18.7,462,9586,0.00,2.65,0.00,0.000,6,0.000,0.054,2721,2201,1012
$GC,9903,1.40,441.1,542.4,19.0,478,9907,0.00,2.67,0.00,0.000,4,0.000,0.071,2722,784,1011
$GC,9947,1.40,441.1,534.0,18.5,480,9951,0.00,2.58,0.00,0.000,6,0.000,0.049,2721,2204,1011
$GC,10279,1.40,441.1,474.6,17.1,496,10283,0.00,2.67,0.00,0.000,4,0.000,0.068,2721,782,1011
$GC,10377,1.40,441.1,457.4,16.8,500,10385,0.00,2.60,0.00,0.000,6,0.000,0.047,2721,2198,1012
$GC,10693,1.40,441.1,399.9,19.1,516,10698,0.00,2.65,0.00,0.000,4,0.000,0.067,2721,778,1013
$GC,10776,1.40,441.1,384.0,19.7,520,10781,0.00,2.58,0.00,0.000,6,0.000,0.046,2722,2202,1013
$GC,11102,1.40,441.1,320.8,18.9,536,11107,0.00,2.65,0.00,0.000,4,0.000,0.066,2722,783,1014
$GC,11190,1.40,441.1,304.0,19.3,540,11195,0.00,2.58,0.00,0.000,6,0.000,0.045,2721,2195,1014
$GC,11517,1.40,441.1,242.4,19.5,556,11522,0.00,2.62,0.00,0.000,4,0.000,0.065,2722,784,1016
$GC,11593,1.40,441.1,227.3,19.8,559,11600,0.00,2.58,0.00,0.000,6,0.000,0.044,2722,2195,1017
$GC,11909,1.40,441.1,163.5,20.7,575,11913,0.00,2.62,0.00,0.000,4,0.000,0.064,2721,782,1018
$GC,12003,1.40,441.1,144.8,20.0,579,12008,0.00,2.58,0.00,0.000,6,0.000,0.044,2721,2198,1018
$GC,12324,1.40,441.1,85.3,19.2,595,12329,0.00,2.62,0.00,0.000,4,0.000,0.064,2721,782,1019
$GC,12418,1.40,441.1,68.2,18.0,599,12422,0.00,2.58,0.00,0.000,6,0.000,0.044,2722,2201,1018
$GC,12741,1.40,441.1,11.4,17.8,615,12745,0.00,2.62,0.00,0.000,4,0.000,0.064,2722,782,1020
$STATE,12787,end climb,SURFACE_DEPTH_REACHED
$STATE,12787,begin surface coast
$FINISH,1.1,1.027258
$STATE,12794,end surface coast,CONTROL_FINISHED_OK
$STATE,12794,begin surface
$SM_CCo,12875,0.00,0.000,0,0,1019,441.05
$SM_GC,1.76,11.50,0.00,0.00,0.037,0.000,0.000,72,2398,1019,-10.68,-0.11,441.05
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2122
$TCM_TEMP,19.50
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,725.4,111.7
$24V_AH,23.4,13.342
$10V_AH,10.1,5.436
$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,25.900,115.725,481.250,0.000,0.000,32.624,27.547,111.835,16.750,0.000,0.000,11.192,1159.891,9652.391,540.331,1522.487,250.550,33.359,1336.038,0.000,1480.625,0.000,43.025
$DEVICE_MAMPS,172.575,90.506,1292.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.041,429.462,352.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31666,617
$CFSIZE,260165632,256217088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,201107,012037,6127.770,-826.396,27,1.1,27,-8.9