version: 66.02
glider: 16
mission: 6
dive: 88
start: 11 26 107 3 57 16
data:
$ID,16
$MISSION,6
$DIVE,88
$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,-2077087.9
$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,16
$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
$GPS1,035232,6117.002,-911.682,46,1.5,46,-9.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-62.8
$GPS2,035627,6116.999,-911.740,14,1.5,14,-9.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.071,0.235
$KALMAN_X,12118.9,-1296.9,-406.3,-15743.7,12564.2
$KALMAN_Y,106735.5,151.8,-630.1,-145487.4,748.1
$MHEAD_RNG_PITCHd_Wd,352.3,51936,-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,-61.97,0.000,2,0.000,0.000,75,2399,3299
$GC,84,-1.08,-146.6,5.1,-8.4,3,106,11.80,2.67,-2.33,0.000,4,0.173,0.082,2169,973,3418
$GC,111,-1.08,-146.6,14.1,-30.0,4,115,0.00,2.62,0.00,0.000,6,0.000,0.053,2169,2397,3419
$GC,438,-1.08,-146.6,52.6,-12.6,20,442,0.00,2.65,0.00,0.000,4,0.000,0.067,2169,978,3420
$GC,693,-1.08,-146.6,79.2,-9.5,31,701,0.00,2.62,0.00,0.000,6,0.000,0.054,2167,2395,3420
$GC,1010,-1.08,-146.6,115.0,-10.2,47,1014,0.00,2.62,0.00,0.000,4,0.000,0.065,2169,979,3420
$GC,1115,-1.08,-146.6,127.4,-12.0,52,1120,0.00,2.60,0.00,0.000,6,0.000,0.054,2169,2400,3420
$GC,1441,-1.08,-146.6,165.3,-10.1,68,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3419
$GC,1751,-1.08,-146.6,191.2,-7.8,83,1755,0.00,2.62,0.00,0.000,4,0.000,0.065,2169,982,3420
$GC,1784,-1.08,-146.6,193.8,-7.6,84,1790,0.00,2.60,0.00,0.000,6,0.000,0.055,2169,2407,3420
$GC,2098,-1.08,-146.6,220.8,-8.2,100,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2407,3420
$GC,2408,-1.08,-146.6,248.8,-9.5,115,2412,0.00,2.62,0.00,0.000,4,0.000,0.065,2169,983,3420
$GC,2468,-1.08,-146.6,254.9,-10.0,118,2472,0.00,2.58,0.00,0.000,6,0.000,0.055,2169,2400,3420
$GC,2794,-1.08,-146.6,291.9,-11.5,134,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3420
$GC,3103,-1.08,-146.6,328.5,-11.8,149,3107,0.00,2.62,0.00,0.000,4,0.000,0.066,2169,983,3420
$GC,3130,-1.08,-146.6,331.8,-12.7,150,3134,0.00,2.60,0.00,0.000,6,0.000,0.056,2169,2407,3420
$GC,3444,-1.08,-146.6,368.3,-11.4,165,3449,0.00,2.65,0.00,0.000,4,0.000,0.067,2169,979,3420
$GC,3483,-1.08,-146.6,372.8,-11.2,167,3487,0.00,2.58,0.00,0.000,6,0.000,0.057,2169,2400,3420
$GC,3808,-1.08,-146.6,409.2,-10.9,183,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2400,3420
$STATE,4075,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4075,begin apogee
$GC,4080,-0.31,0.0,439.3,11.7,196,4202,0.85,0.00,118.62,0.943,6,0.115,0.000,2337,2194,2817
$STATE,4202,end apogee,CONTROL_FINISHED_OK
$STATE,4203,begin climb
$GC,4204,1.08,146.6,444.9,0.0,202,4325,1.52,0.00,116.72,0.936,6,0.096,0.000,2645,2194,2219
$GC,4626,1.11,168.3,417.7,7.2,223,4650,0.00,2.78,18.12,0.850,4,0.000,0.077,2645,3613,2131
$GC,4717,1.12,177.2,410.2,7.7,227,4734,0.00,2.62,8.73,0.766,6,0.000,0.059,2645,2204,2094
$GC,5042,1.12,180.6,385.4,7.9,243,5049,0.00,0.00,4.80,0.631,6,0.000,0.000,2645,2204,2080
$GC,5352,1.13,185.9,360.7,7.8,258,5360,0.00,0.00,5.72,0.676,6,0.000,0.000,2645,2204,2058
$GC,5683,1.13,189.7,334.4,7.9,274,5689,0.00,0.00,4.75,0.619,6,0.000,0.000,2645,2203,2043
$GC,5992,1.14,199.1,310.1,7.7,289,6003,0.00,0.00,9.12,0.748,6,0.000,0.000,2645,2204,2005
$GC,6301,1.17,221.7,287.7,7.2,304,6322,0.00,0.00,18.88,0.807,6,0.000,0.000,2645,2204,1912
$GC,6630,1.19,244.6,263.8,7.2,320,6655,0.12,2.72,19.30,0.792,4,0.046,0.075,2686,3617,1819
$GC,6682,1.19,244.6,258.7,10.5,322,6687,0.00,2.67,0.00,0.000,6,0.000,0.061,2687,2201,1819
$GC,7003,1.19,244.6,229.1,9.6,338,7008,0.00,2.67,0.00,0.000,4,0.000,0.071,2687,776,1818
$GC,7058,1.19,244.6,222.9,11.2,340,7065,0.00,2.60,0.00,0.000,6,0.000,0.048,2687,2193,1818
$GC,7374,1.19,244.6,190.5,9.8,356,7378,0.00,2.67,0.00,0.000,4,0.000,0.076,2687,3616,1818
$GC,7416,1.19,244.6,185.6,11.3,358,7421,0.00,2.65,0.00,0.000,6,0.000,0.062,2687,2201,1817
$GC,7743,1.19,244.6,150.0,10.4,374,7747,0.00,2.65,0.00,0.000,4,0.000,0.069,2687,775,1818
$GC,7819,1.19,244.6,142.4,11.3,377,7826,0.00,2.60,0.00,0.000,6,0.000,0.048,2687,2198,1818
$GC,8135,1.19,244.6,112.3,8.9,393,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2198,1817
$GC,8444,1.19,244.6,78.6,10.5,408,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2198,1817
$GC,8754,1.19,244.6,48.3,10.6,423,8758,0.00,2.65,0.00,0.000,4,0.000,0.067,2686,772,1818
$GC,8802,1.19,244.6,42.4,12.6,425,8806,0.00,2.60,0.00,0.000,6,0.000,0.048,2687,2201,1817
$GC,9123,1.19,244.6,7.7,10.7,441,9127,0.00,2.62,0.00,0.000,4,0.000,0.073,2687,3611,1817
$GC,9166,1.19,244.6,2.3,12.5,443,9170,0.00,2.60,0.00,0.000,6,0.000,0.057,2687,2204,1818
$STATE,9175,end climb,SURFACE_DEPTH_REACHED
$STATE,9175,begin surface coast
$FINISH,0.8,1.027423
$STATE,9183,end surface coast,CONTROL_FINISHED_OK
$STATE,9183,begin surface
$SM_CCo,9202,34.75,0.605,2,0,1594,300.00
$SM_GC,1.54,0.00,0.00,34.75,0.000,0.000,0.605,72,2405,1594,-10.75,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2088
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,427.2,20.5
$24V_AH,23.7,18.053
$10V_AH,10.2,7.857
$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,25.775,74.550,324.775,34.750,0.000,32.644,31.187,99.095,3.750,0.000,0.000,14.481,834.325,6941.986,488.197,994.153,235.171,33.351,979.936,0.000,967.836,0.000,29.144
$DEVICE_MAMPS,172.575,82.069,942.643,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,307.173,314.567,333.320,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22280,444
$CFSIZE,260165632,254439424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,2,0
$GPS,261107,063237,6118.747,-913.235,41,1.8,41,-9.3