version: 66.02
glider: 16
mission: 6
dive: 82
start: 11 25 107 12 32 31
data:
$ID,16
$MISSION,6
$DIVE,82
$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,-2076983.2
$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,14
$R_STBD_OVSHOOT,16
$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
$GPS1,122738,6120.055,-905.410,33,1.6,33,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-62.5
$GPS2,123144,6120.013,-905.399,13,1.5,30,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.178,0.168
$KALMAN_X,9496.7,-487.2,-408.3,-8361.0,16898.4
$KALMAN_Y,114206.9,-657.4,-921.4,-146262.7,22273.5
$MHEAD_RNG_PITCHd_Wd,322.5,47035,-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,-146.6,0.0,0.0,0,82,0.00,0.00,-61.08,0.000,2,0.000,0.000,70,2404,3243
$GC,84,-1.08,-146.6,4.7,-7.3,3,107,11.82,2.60,-3.45,0.000,4,0.173,0.087,2170,3775,3418
$GC,133,-1.08,-146.6,19.4,-20.3,5,138,0.00,2.55,0.00,0.000,6,0.000,0.054,2171,2401,3419
$GC,461,-1.08,-146.6,64.4,-11.0,21,465,0.00,2.60,0.00,0.000,4,0.000,0.079,2171,3767,3419
$GC,503,-1.08,-146.6,69.4,-12.7,23,508,0.00,2.53,0.00,0.000,6,0.000,0.055,2171,2405,3419
$GC,830,-1.08,-146.6,106.1,-9.7,39,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2405,3419
$GC,1140,-1.08,-146.6,144.6,-13.5,54,1144,0.00,2.65,0.00,0.000,4,0.000,0.070,2171,982,3419
$GC,1180,-1.08,-146.6,150.3,-14.5,56,1185,0.00,2.62,0.00,0.000,6,0.000,0.060,2170,2403,3419
$GC,1505,-1.08,-146.6,189.0,-9.3,72,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2403,3418
$GC,1817,-1.08,-146.6,225.4,-10.7,87,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2403,3419
$GC,2124,-1.08,-146.6,257.1,-9.8,102,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2403,3419
$GC,2433,-1.08,-146.6,291.1,-10.9,117,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2403,3419
$GC,2742,-1.08,-146.6,326.1,-10.8,132,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2404,3419
$GC,3052,-1.08,-146.6,359.0,-10.9,147,3056,0.00,2.65,0.00,0.000,4,0.000,0.070,2171,976,3419
$GC,3096,-1.08,-146.6,363.6,-10.2,149,3100,0.00,2.60,0.00,0.000,6,0.000,0.058,2171,2400,3419
$STATE,3352,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3352,begin apogee
$GC,3356,-0.31,0.0,390.0,10.5,162,3477,0.85,0.00,117.38,0.930,6,0.108,0.000,2341,2195,2817
$STATE,3478,end apogee,CONTROL_FINISHED_OK
$STATE,3478,begin climb
$GC,3479,1.08,146.6,394.4,0.0,168,3601,1.40,0.00,115.43,0.913,6,0.071,0.000,2642,2195,2219
$GC,3910,1.11,173.3,367.1,7.0,189,3939,0.00,2.80,22.12,0.854,4,0.000,0.076,2642,3614,2109
$GC,3996,1.11,173.3,360.0,9.1,193,4001,0.00,2.65,0.00,0.000,6,0.000,0.062,2642,2202,2109
$GC,4322,1.11,173.3,331.4,9.1,209,4326,0.00,2.65,0.00,0.000,4,0.000,0.068,2642,782,2108
$GC,4387,1.11,173.3,325.2,9.7,212,4392,0.00,2.60,0.00,0.000,6,0.000,0.049,2642,2196,2108
$GC,4714,1.11,173.3,297.3,8.7,228,4718,0.00,2.67,0.00,0.000,4,0.000,0.074,2642,3617,2108
$GC,4767,1.11,173.3,292.1,9.8,230,4775,0.00,2.65,0.00,0.000,6,0.000,0.060,2642,2204,2108
$GC,5084,1.11,173.3,264.7,8.4,246,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2204,2108
$GC,5393,1.13,189.8,240.8,7.4,261,5413,0.00,0.00,13.90,0.769,6,0.000,0.000,2642,2204,2043
$GC,5722,1.21,259.1,217.7,5.5,277,5784,0.15,2.67,54.05,0.804,4,0.044,0.068,2693,3612,1759
$GC,5806,1.21,259.1,208.8,12.4,281,5811,0.00,2.65,0.00,0.000,6,0.000,0.061,2692,2200,1759
$GC,6132,1.21,259.1,172.3,12.0,297,6136,0.00,2.65,0.00,0.000,4,0.000,0.069,2692,782,1758
$GC,6186,1.21,259.1,165.4,12.5,299,6193,0.00,2.58,0.00,0.000,6,0.000,0.046,2692,2194,1758
$GC,6502,1.21,259.1,124.4,14.0,315,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2193,1758
$GC,6811,1.21,259.1,78.7,15.1,330,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2193,1758
$GC,7120,1.21,259.1,44.3,9.7,345,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2193,1758
$GC,7429,1.21,259.1,9.5,11.8,360,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2194,1758
$STATE,7490,end climb,SURFACE_DEPTH_REACHED
$STATE,7490,begin surface coast
$FINISH,0.8,1.020193
$STATE,7512,end surface coast,CONTROL_FINISHED_OK
$STATE,7512,begin surface
$SM_CCo,7530,27.20,0.588,2,0,1594,300.00
$SM_GC,2.05,0.00,0.00,27.20,0.000,0.000,0.588,72,2410,1594,-10.75,0.28,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2083
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,300.4,99.5
$24V_AH,23.7,17.456
$10V_AH,10.2,7.574
$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,25.600,48.150,322.875,27.200,0.000,32.624,24.157,103.193,2.500,0.000,0.000,30.456,671.044,5705.455,433.856,793.896,220.928,33.358,844.108,0.000,765.466,0.000,15.380
$DEVICE_MAMPS,173.342,86.671,929.604,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,253.988,255.852,282.061,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15965,364
$CFSIZE,260165632,254664704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,251107,143955,6120.135,-906.849,26,1.5,43,-9.2