version: 66.02
glider: 16
mission: 6
dive: 91
start: 11 26 107 12 22 22
data:
$ID,16
$MISSION,6
$DIVE,91
$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,-2077165.8
$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,12
$R_STBD_OVSHOOT,15
$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
$GPS1,121337,6122.847,-910.394,28,1.7,28,-9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-58.7
$GPS2,122135,6122.839,-910.399,10,2.2,29,-9.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.067,0.236
$KALMAN_X,12894.6,-118.1,-82.4,-16868.4,9499.3
$KALMAN_Y,99873.7,-409.4,-292.1,-127624.8,-6473.3
$MHEAD_RNG_PITCHd_Wd,353.4,41240,-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,17,begin dive
$GC,18,-1.08,-146.6,0.0,0.0,0,82,0.00,0.00,-61.90,0.000,2,0.000,0.000,70,2402,3284
$GC,84,-1.08,-146.6,4.5,-7.0,3,107,11.82,2.67,-2.75,0.000,4,0.173,0.081,2169,974,3418
$GC,358,-1.08,-146.6,43.1,-12.6,15,363,0.00,2.65,0.00,0.000,6,0.000,0.055,2169,2399,3419
$GC,685,-1.08,-146.6,76.1,-10.0,31,689,0.00,2.65,0.00,0.000,4,0.000,0.067,2168,976,3419
$GC,784,-1.08,-146.6,86.7,-11.3,35,791,0.00,2.65,0.00,0.000,6,0.000,0.056,2169,2400,3419
$GC,1101,-1.08,-146.6,119.0,-9.9,51,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3419
$GC,1410,-1.08,-146.6,150.4,-12.6,66,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3419
$GC,1718,-1.08,-146.6,185.1,-10.8,81,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3419
$GC,2027,-1.08,-146.6,212.9,-9.3,96,2032,0.00,2.65,0.00,0.000,4,0.000,0.068,2169,976,3419
$GC,2053,-1.08,-146.6,215.5,-9.5,97,2058,0.00,2.65,0.00,0.000,6,0.000,0.058,2169,2400,3419
$GC,2375,-1.08,-146.6,243.8,-9.4,113,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3419
$GC,2684,-1.08,-146.6,271.3,-8.7,128,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3419
$GC,2993,-1.08,-146.6,298.7,-9.1,143,2997,0.00,2.65,0.00,0.000,4,0.000,0.069,2169,976,3419
$GC,3019,-1.08,-146.6,301.3,-9.7,144,3024,0.00,2.62,0.00,0.000,6,0.000,0.058,2168,2399,3419
$GC,3340,-1.08,-146.6,332.9,-9.9,160,3345,0.00,2.65,0.00,0.000,4,0.000,0.070,2169,979,3419
$GC,3367,-1.08,-146.6,335.7,-10.6,161,3372,0.00,2.62,0.00,0.000,6,0.000,0.058,2169,2393,3419
$GC,3688,-1.08,-146.6,367.6,-10.6,177,3692,0.00,2.60,0.00,0.000,4,0.000,0.081,2169,3769,3419
$GC,3714,-1.08,-146.6,370.8,-11.7,178,3718,0.00,2.53,0.00,0.000,6,0.000,0.058,2169,2405,3419
$GC,4035,-1.08,-146.6,405.6,-11.0,194,4039,0.00,2.67,0.00,0.000,4,0.000,0.075,2169,980,3419
$GC,4073,-1.08,-146.6,410.2,-11.9,196,4078,0.00,2.60,0.00,0.000,6,0.000,0.060,2169,2404,3419
$GC,4398,-1.08,-146.6,445.3,-11.3,212,4402,0.00,2.67,0.00,0.000,4,0.000,0.076,2169,982,3419
$GC,4436,-1.08,-146.6,450.6,-13.7,214,4440,0.00,2.60,0.00,0.000,6,0.000,0.059,2169,2403,3419
$STATE,4601,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4601,begin apogee
$GC,4606,-0.31,0.0,471.3,12.5,222,4728,0.85,0.00,118.78,0.978,6,0.116,0.000,2337,2196,2817
$STATE,4728,end apogee,CONTROL_FINISHED_OK
$STATE,4728,begin climb
$GC,4730,1.08,146.6,477.1,0.0,228,4852,1.52,0.00,117.15,0.959,6,0.091,0.000,2647,2196,2219
$GC,5152,1.08,146.6,445.1,8.1,249,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2196,2218
$GC,5462,1.10,157.6,422.6,7.6,264,5473,0.00,0.00,10.07,0.811,6,0.000,0.000,2647,2196,2174
$GC,5771,1.13,190.8,401.0,6.8,279,5805,0.00,2.78,27.23,0.887,4,0.000,0.080,2647,3607,2039
$GC,5843,1.13,190.8,394.9,8.7,282,5848,0.00,2.67,0.00,0.000,6,0.000,0.064,2647,2204,2038
$GC,6165,1.13,190.8,366.9,9.2,298,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2205,2038
$GC,6474,1.13,190.8,337.4,9.7,313,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2204,2037
$GC,6783,1.13,190.8,306.9,10.3,328,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2205,2038
$GC,7092,1.13,190.8,278.0,9.0,343,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2204,2037
$GC,7401,1.13,190.8,251.4,8.7,358,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2204,2037
$GC,7711,1.13,190.8,225.9,8.5,373,7715,0.00,2.65,0.00,0.000,4,0.000,0.071,2647,780,2037
$GC,7749,1.13,190.8,222.4,9.6,375,7753,0.00,2.58,0.00,0.000,6,0.000,0.049,2647,2199,2037
$GC,8075,1.13,190.8,194.1,8.1,391,8080,0.00,2.67,0.00,0.000,4,0.000,0.077,2647,3622,2037
$GC,8124,1.13,190.8,189.7,9.9,393,8129,0.00,2.65,0.00,0.000,6,0.000,0.061,2647,2205,2037
$GC,8445,1.13,190.8,161.1,8.9,409,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2205,2037
$GC,8756,1.13,190.8,132.9,9.3,424,8757,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2205,2037
$GC,9064,1.13,190.8,103.7,10.9,439,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2205,2037
$GC,9374,1.27,317.1,82.6,3.4,454,9478,0.17,2.75,95.28,0.719,4,0.043,0.072,2702,778,1524
$GC,9516,1.27,317.1,66.7,12.3,460,9523,0.00,2.62,0.00,0.000,6,0.000,0.048,2703,2198,1524
$GC,9832,1.27,317.1,29.1,13.0,476,9833,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2198,1523
$STATE,10036,end climb,SURFACE_DEPTH_REACHED
$STATE,10036,begin surface coast
$FINISH,0.9,1.017609
$STATE,10059,end surface coast,CONTROL_FINISHED_OK
$STATE,10059,begin surface
$SM_CCo,10137,0.00,0.000,0,0,1520,318.15
$SM_GC,1.55,11.60,0.00,0.00,0.044,0.000,0.000,76,2405,1520,-10.68,0.14,318.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2097
$TCM_TEMP,16.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,376.5,104.7
$24V_AH,23.7,18.364
$10V_AH,10.2,8.007
$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,25.975,64.300,368.500,0.000,0.000,65.288,158.211,99.726,3.000,0.000,0.000,30.794,881.501,7831.915,454.107,1053.429,400.941,33.354,977.453,0.000,1017.862,0.000,20.273
$DEVICE_MAMPS,173.342,81.302,977.925,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,338.785,342.132,355.715,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22236,487
$CFSIZE,260165632,254328832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,261107,151231,6123.357,-911.077,41,1.9,41,-9.3