version: 66.02
glider: 16
mission: 6
dive: 71
start: 11 24 107 9 16 55
data:
$ID,16
$MISSION,6
$DIVE,71
$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,-2076628.8
$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
$GPS1,091137,6131.693,-858.451,43,1.3,54,-9.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-54.2
$GPS2,091608,6131.659,-858.216,14,1.3,31,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.046,-0.241
$KALMAN_X,-6370.9,1144.9,840.8,10853.0,-1073.6
$KALMAN_Y,102760.7,-411.6,-183.0,-114274.5,6827.3
$MHEAD_RNG_PITCHd_Wd,178.4,21650,-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,-62.10,0.000,2,0.000,0.000,75,2401,3218
$GC,84,-1.08,-146.6,4.1,-6.5,3,107,11.75,2.55,-4.32,0.000,4,0.173,0.082,2168,3767,3416
$GC,358,-1.08,-146.6,38.8,-12.6,15,363,0.00,2.50,0.00,0.000,6,0.000,0.050,2168,2404,3417
$GC,685,-1.08,-146.6,72.3,-12.4,31,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2404,3417
$GC,995,-1.08,-146.6,115.3,-13.2,46,999,0.00,2.58,0.00,0.000,4,0.000,0.075,2168,3769,3417
$GC,1033,-1.08,-146.6,120.4,-12.7,48,1038,0.00,2.47,0.00,0.000,6,0.000,0.053,2168,2399,3417
$GC,1359,-1.08,-146.6,156.2,-10.9,64,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2399,3417
$GC,1668,-1.08,-146.6,195.4,-11.8,79,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2399,3417
$GC,1977,-1.08,-146.6,231.7,-11.3,94,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2399,3417
$GC,2287,-1.08,-146.6,266.2,-11.2,109,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2399,3417
$GC,2597,-1.08,-146.6,300.2,-10.8,124,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2398,3417
$GC,2905,-1.08,-146.6,333.2,-10.7,139,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2398,3417
$GC,3214,-1.08,-146.6,368.2,-11.1,154,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2398,3417
$GC,3524,-1.08,-146.6,399.2,-9.3,169,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2398,3417
$GC,3833,-1.08,-146.6,424.4,-7.9,184,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2398,3417
$GC,4142,-1.08,-146.6,448.3,-8.3,199,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2398,3417
$GC,4452,-1.08,-146.6,479.0,-10.5,214,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2398,3417
$GC,4761,-1.08,-146.6,508.9,-9.3,229,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2398,3417
$STATE,4904,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4904,begin apogee
$GC,4909,-0.31,0.0,523.0,9.0,236,5031,0.82,0.00,118.97,1.012,6,0.096,0.000,2340,2195,2817
$STATE,5032,end apogee,CONTROL_FINISHED_OK
$STATE,5032,begin climb
$GC,5033,1.08,146.6,522.8,0.0,242,5159,1.42,2.70,117.07,0.989,4,0.069,0.064,2644,797,2218
$GC,5192,1.08,146.6,515.4,10.7,249,5199,0.00,2.60,0.00,0.000,6,0.000,0.047,2644,2201,2218
$GC,5507,1.08,146.6,487.1,9.0,265,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2201,2218
$GC,5817,1.11,170.8,461.2,7.1,280,5842,0.00,2.70,20.48,0.902,4,0.000,0.070,2644,3613,2119
$GC,5880,1.11,170.8,456.5,8.0,283,5885,0.00,2.62,0.00,0.000,6,0.000,0.058,2645,2213,2119
$GC,6207,1.11,170.8,425.0,9.8,299,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2214,2118
$GC,6516,1.11,170.8,394.5,9.5,314,6520,0.00,2.65,0.00,0.000,4,0.000,0.073,2644,3614,2118
$GC,6577,1.11,170.8,388.4,10.1,317,6581,0.00,2.62,0.00,0.000,6,0.000,0.060,2644,2200,2118
$GC,6903,1.11,170.8,359.3,8.5,333,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2200,2118
$GC,7212,1.13,186.7,334.8,7.4,348,7228,0.00,0.00,13.77,0.815,6,0.000,0.000,2644,2200,2055
$GC,7522,1.13,187.8,310.5,8.0,363,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2200,2055
$GC,7831,1.16,217.4,288.6,6.9,378,7858,0.00,0.00,25.12,0.825,6,0.000,0.000,2644,2200,1930
$GC,8160,1.16,217.4,261.7,9.0,394,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2200,1929
$GC,8469,1.16,217.4,231.5,10.8,409,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2200,1929
$GC,8779,1.16,217.4,198.2,10.8,424,8783,0.00,2.62,0.00,0.000,4,0.000,0.065,2644,779,1929
$GC,8817,1.16,217.4,194.2,10.6,426,8822,0.00,2.58,0.00,0.000,6,0.000,0.046,2644,2204,1929
$GC,9143,1.16,217.4,162.4,9.7,442,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2204,1929
$GC,9453,1.16,217.4,127.3,11.5,457,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2204,1928
$GC,9762,1.16,217.4,96.9,10.5,472,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2204,1929
$GC,10071,1.16,217.4,65.4,8.2,487,10072,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,1929
$GC,10381,1.19,242.0,42.9,7.1,502,10403,0.10,0.00,20.23,0.667,6,0.051,0.000,2680,2204,1829
$STATE,10710,end climb,SURFACE_DEPTH_REACHED
$STATE,10711,begin surface coast
$FINISH,0.6,1.010113
$STATE,10731,end surface coast,CONTROL_FINISHED_OK
$STATE,10732,begin surface
$SM_CCo,10750,37.30,0.584,3,0,1594,300.00
$SM_GC,1.42,0.00,0.00,37.30,0.000,0.000,0.584,76,2409,1594,-10.74,0.28,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2093
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,425.9,106.9
$24V_AH,23.6,16.388
$10V_AH,10.2,7.101
$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,25.650,31.950,315.650,37.300,0.000,32.613,28.327,112.020,3.750,0.000,0.000,31.049,914.585,8442.083,429.697,1045.443,248.537,33.355,935.418,0.000,1009.672,0.000,23.526
$DEVICE_MAMPS,172.575,82.069,1011.673,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.543,372.384,361.208,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25483,519
$CFSIZE,260165632,254992384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,241107,121808,6129.072,-853.157,38,1.3,38,-9.1