version: 66.02
glider: 16
mission: 6
dive: 72
start: 11 24 107 12 26 50
data:
$ID,16
$MISSION,6
$DIVE,72
$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,-2076662.8
$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,15
$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
$GPS1,121808,6129.072,-853.157,38,1.3,38,-9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-48.4
$GPS2,122603,6128.911,-852.944,33,1.4,33,-9.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.206,-0.134
$KALMAN_X,-1269.8,1127.8,-156.9,11445.3,6301.5
$KALMAN_Y,102874.6,246.3,-757.5,-119544.6,6540.0
$MHEAD_RNG_PITCHd_Wd,246.1,17654,-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,19,-1.08,-146.6,0.0,0.0,0,83,0.00,0.00,-62.10,0.000,2,0.000,0.000,75,2410,3221
$GC,85,-1.08,-146.6,3.8,-5.8,3,108,11.82,2.53,-4.43,0.000,4,0.174,0.080,2169,3763,3415
$GC,207,-1.08,-146.6,19.6,-9.1,8,212,0.00,2.50,0.00,0.000,6,0.000,0.050,2169,2405,3416
$GC,530,-1.08,-146.6,56.9,-12.0,24,535,0.00,2.55,0.00,0.000,4,0.000,0.071,2170,3762,3416
$GC,579,-1.08,-146.6,62.5,-11.2,26,584,0.00,2.50,0.00,0.000,6,0.000,0.050,2169,2398,3417
$GC,901,-1.08,-146.6,92.3,-7.6,42,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2398,3416
$GC,1210,-1.08,-146.6,119.4,-8.7,57,1214,0.00,2.55,0.00,0.000,4,0.000,0.073,2169,3762,3416
$GC,1275,-1.08,-146.6,126.6,-11.3,60,1279,0.00,2.50,0.00,0.000,6,0.000,0.052,2169,2401,3416
$GC,1602,-1.08,-146.6,157.0,-8.7,76,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2402,3417
$GC,1911,-1.08,-146.6,187.2,-9.0,91,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3416
$GC,2221,-1.08,-146.6,213.0,-8.4,106,2225,0.00,2.55,0.00,0.000,4,0.000,0.073,2169,3762,3416
$GC,2297,-1.08,-146.6,220.8,-11.1,109,2304,0.00,2.47,0.00,0.000,6,0.000,0.050,2169,2402,3416
$GC,2612,-1.08,-146.6,252.3,-10.5,125,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2402,3416
$GC,2921,-1.08,-146.6,282.4,-10.0,140,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3416
$GC,3231,-1.08,-146.6,314.2,-10.4,155,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2401,3416
$GC,3540,-1.08,-146.6,345.7,-9.8,170,3544,0.00,2.62,0.00,0.000,4,0.000,0.066,2169,979,3416
$GC,3589,-1.08,-146.6,350.6,-9.8,172,3594,0.00,2.58,0.00,0.000,6,0.000,0.054,2169,2388,3416
$GC,3910,-1.08,-146.6,379.7,-8.5,188,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2388,3416
$GC,4219,-1.08,-146.6,413.4,-10.2,203,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2388,3416
$STATE,4383,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4384,begin apogee
$GC,4388,-0.31,0.0,431.9,11.2,211,4509,0.85,0.00,117.78,0.946,6,0.107,0.000,2341,2191,2817
$STATE,4510,end apogee,CONTROL_FINISHED_OK
$STATE,4510,begin climb
$GC,4511,1.08,146.6,436.2,0.0,217,4632,1.48,0.00,116.65,0.932,6,0.084,0.000,2645,2193,2219
$GC,4934,1.08,146.6,409.7,10.4,238,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2193,2218
$GC,5243,1.08,146.6,380.7,10.0,253,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2192,2218
$GC,5553,1.08,146.6,353.6,8.7,268,5557,0.00,2.67,0.00,0.000,4,0.000,0.072,2645,3616,2217
$GC,5614,1.08,146.6,347.9,9.9,271,5618,0.00,2.60,0.00,0.000,6,0.000,0.058,2645,2204,2218
$GC,5938,1.08,146.6,318.1,8.8,287,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2205,2218
$GC,6248,1.08,146.6,289.1,9.3,302,6252,0.00,2.62,0.00,0.000,4,0.000,0.064,2645,782,2217
$GC,6363,1.08,146.6,278.0,9.4,307,6368,0.00,2.60,0.00,0.000,6,0.000,0.047,2645,2204,2217
$GC,6684,1.08,146.6,248.7,9.4,323,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2204,2217
$GC,6994,1.08,146.6,218.3,10.7,338,6998,0.00,2.62,0.00,0.000,4,0.000,0.070,2645,3619,2217
$GC,7070,1.08,146.6,208.8,12.6,341,7077,0.00,2.62,0.00,0.000,6,0.000,0.058,2645,2203,2217
$GC,7385,1.08,146.6,170.4,12.3,357,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,2217
$GC,7695,1.08,146.6,130.9,13.1,372,7700,0.00,2.65,0.00,0.000,4,0.000,0.071,2645,3622,2217
$GC,7779,1.08,146.6,118.3,15.7,376,7784,0.00,2.58,0.00,0.000,6,0.000,0.054,2645,2199,2217
$GC,8105,1.08,146.6,73.1,15.1,392,8109,0.00,2.65,0.00,0.000,4,0.000,0.071,2645,3618,2217
$GC,8170,1.08,146.6,65.0,10.7,395,8175,0.00,2.62,0.00,0.000,6,0.000,0.055,2645,2196,2217
$GC,8497,1.38,415.3,57.7,-1.8,411,8701,0.25,0.00,200.52,0.690,6,0.041,0.000,2718,2195,1123
$STATE,8864,end climb,SURFACE_DEPTH_REACHED
$STATE,8864,begin surface coast
$FINISH,0.8,1.027260
$STATE,8886,end surface coast,CONTROL_FINISHED_OK
$STATE,8886,begin surface
$SM_CCo,8965,0.00,0.000,0,0,1122,415.78
$SM_GC,1.23,11.68,0.00,0.00,0.041,0.000,0.000,72,2406,1122,-10.68,0.17,415.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2058
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,376.3,64.4
$24V_AH,23.7,16.506
$10V_AH,10.2,7.149
$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,26.075,52.350,434.950,0.000,0.000,65.183,53.560,197.941,3.500,0.000,0.000,33.357,781.043,6812.603,507.668,954.744,391.017,33.367,982.914,0.000,919.838,0.000,20.162
$DEVICE_MAMPS,174.109,79.768,946.478,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,300.291,309.073,336.791,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22258,430
$CFSIZE,260165632,254971904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,241107,145725,6127.116,-854.128,39,2.0,39,-9.1