version: 66.02
glider: 16
mission: 6
dive: 87
start: 11 26 107 1 23 3
data:
$ID,16
$MISSION,6
$DIVE,87
$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,-2077072.8
$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,20
$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
$GPS1,011807,6116.561,-909.326,30,1.4,30,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-63.8
$GPS2,012215,6116.539,-909.359,10,1.6,10,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.125,0.211
$KALMAN_X,14734.2,-1516.4,-1239.0,-15195.1,19344.3
$KALMAN_Y,112060.4,962.2,-230.0,-152881.4,11301.9
$MHEAD_RNG_PITCHd_Wd,338.7,52941,-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,-61.50,0.000,2,0.000,0.000,69,2408,3279
$GC,84,-1.08,-146.6,4.7,-7.3,3,107,11.85,2.58,-2.83,0.000,4,0.175,0.085,2167,3766,3419
$GC,111,-1.08,-146.6,13.3,-29.1,4,116,0.00,2.53,0.00,0.000,6,0.000,0.054,2167,2402,3418
$GC,438,-1.08,-146.6,49.6,-9.8,20,442,0.00,2.58,0.00,0.000,4,0.000,0.077,2166,3763,3418
$GC,694,-1.08,-146.6,79.1,-14.7,31,701,0.00,2.53,0.00,0.000,6,0.000,0.057,2167,2402,3419
$GC,1010,-1.08,-146.6,112.9,-10.1,47,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2402,3418
$GC,1319,-1.08,-146.6,146.1,-11.3,62,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2402,3418
$GC,1628,-1.08,-146.6,181.2,-11.1,77,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2401,3418
$GC,1937,-1.08,-146.6,214.7,-11.6,92,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2401,3419
$GC,2249,-1.08,-146.6,251.2,-11.8,107,2253,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,984,3418
$GC,2302,-1.08,-146.6,257.7,-11.5,109,2310,0.00,2.60,0.00,0.000,6,0.000,0.056,2167,2387,3418
$GC,2618,-1.08,-146.6,291.8,-10.8,125,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2387,3419
$GC,2928,-1.08,-146.6,325.2,-10.8,140,2932,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,981,3419
$GC,2959,-1.08,-146.6,328.8,-11.0,141,2966,0.00,2.60,0.00,0.000,6,0.000,0.058,2166,2395,3419
$GC,3275,-1.08,-146.6,359.4,-9.4,157,3279,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,982,3417
$GC,3313,-1.08,-146.6,363.3,-10.0,159,3317,0.00,2.58,0.00,0.000,6,0.000,0.058,2166,2407,3419
$GC,3644,-1.08,-146.6,398.3,-10.3,175,3648,0.00,2.55,0.00,0.000,4,0.000,0.078,2167,3768,3419
$GC,3683,-1.08,-146.6,402.3,-10.8,177,3687,0.00,2.50,0.00,0.000,6,0.000,0.058,2166,2396,3419
$STATE,3691,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3691,begin apogee
$GC,3695,-0.31,0.0,403.5,10.8,177,3821,0.82,0.00,118.15,0.922,6,0.105,0.000,2336,2199,2817
$STATE,3822,end apogee,CONTROL_FINISHED_OK
$STATE,3822,begin climb
$GC,3823,1.08,146.6,408.6,0.0,184,3949,1.50,2.70,115.88,0.908,4,0.084,0.068,2646,786,2218
$GC,4015,1.10,160.2,396.5,7.5,193,4035,0.00,2.60,12.23,0.794,6,0.000,0.048,2646,2193,2163
$GC,4356,1.10,160.2,369.3,8.8,210,4360,0.00,2.70,0.00,0.000,4,0.000,0.077,2646,3619,2162
$GC,4449,1.10,160.2,361.5,8.2,214,4454,0.00,2.67,0.00,0.000,6,0.000,0.061,2646,2200,2162
$GC,4770,1.10,160.2,336.0,8.2,230,4774,0.00,2.65,0.00,0.000,4,0.000,0.070,2646,782,2161
$GC,4808,1.10,160.2,332.8,8.6,232,4812,0.00,2.58,0.00,0.000,6,0.000,0.049,2646,2201,2161
$GC,5134,1.10,161.4,307.4,8.0,248,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2201,2162
$GC,5443,1.10,161.4,282.5,8.2,263,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2201,2161
$GC,5752,1.10,161.4,256.7,8.3,278,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2201,2161
$GC,6061,1.10,161.4,230.3,8.6,293,6066,0.00,2.62,0.00,0.000,4,0.000,0.064,2646,781,2161
$GC,6139,1.10,161.4,223.1,10.0,296,6145,0.00,2.60,0.00,0.000,6,0.000,0.047,2646,2205,2161
$GC,6454,1.10,161.4,195.0,8.5,312,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2205,2161
$GC,6763,1.10,161.4,170.0,8.6,327,6768,0.00,2.62,0.00,0.000,4,0.000,0.073,2646,3614,2161
$GC,6818,1.10,161.4,164.7,9.7,329,6825,0.00,2.62,0.00,0.000,6,0.000,0.057,2646,2199,2161
$GC,7135,1.10,161.5,138.2,8.0,345,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2199,2161
$GC,7443,1.10,161.5,111.7,8.5,360,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2198,2161
$GC,7753,1.13,189.9,85.8,7.0,375,7782,0.00,2.72,23.58,0.693,4,0.000,0.071,2646,3613,2042
$GC,7826,1.17,221.3,80.6,6.9,378,7860,0.00,2.62,25.20,0.685,6,0.000,0.056,2646,2205,1913
$GC,8170,1.18,233.3,54.8,7.6,395,8185,0.00,2.65,10.68,0.624,4,0.000,0.064,2646,782,1865
$GC,8230,1.18,233.3,50.2,8.5,397,8235,0.00,2.58,0.00,0.000,6,0.000,0.047,2644,2203,1865
$GC,8556,1.18,233.3,23.6,8.7,413,8561,0.00,2.62,0.00,0.000,4,0.000,0.072,2646,3612,1865
$GC,8595,1.18,233.3,20.0,9.8,415,8600,0.00,2.60,0.00,0.000,6,0.000,0.059,2646,2197,1865
$STATE,8795,end climb,SURFACE_DEPTH_REACHED
$STATE,8795,begin surface coast
$FINISH,0.9,1.027262
$STATE,8819,end surface coast,CONTROL_FINISHED_OK
$STATE,8819,begin surface
$SM_CCo,8838,41.55,0.610,2,0,1593,300.00
$SM_GC,1.66,0.00,0.00,41.55,0.000,0.000,0.610,75,2399,1593,-10.74,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2078
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,351.6,61.9
$24V_AH,23.7,17.956
$10V_AH,10.2,7.810
$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,25.425,73.825,305.700,41.550,0.000,32.586,26.073,122.747,3.000,0.000,0.000,10.444,802.629,6648.100,453.417,992.887,251.265,33.351,963.229,0.000,974.010,0.000,18.527
$DEVICE_MAMPS,174.876,85.137,921.934,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,294.900,299.810,356.015,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22184,426
$CFSIZE,260165632,254476288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,261107,035232,6117.002,-911.682,46,1.5,46,-9.2