version: 66.02
glider: 16
mission: 6
dive: 89
start: 11 26 107 6 40 54
data:
$ID,16
$MISSION,6
$DIVE,89
$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,-2077119.5
$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,18
$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
$GPS1,063237,6118.747,-913.235,41,1.8,41,-9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-60.4
$GPS2,064007,6118.814,-913.302,15,1.7,31,-9.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.043,0.242
$KALMAN_X,10439.9,-1219.1,-53.6,-15884.2,7704.1
$KALMAN_Y,104525.1,-1388.5,212.5,-139246.6,-2903.4
$MHEAD_RNG_PITCHd_Wd,359.1,48518,-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,19,-1.08,-146.6,0.0,0.0,0,82,0.00,0.00,-61.88,0.000,2,0.000,0.000,72,2405,3285
$GC,85,-1.08,-146.6,4.8,-7.6,3,107,11.82,2.67,-2.65,0.000,4,0.173,0.081,2169,984,3419
$GC,358,-1.08,-146.6,42.0,-9.8,15,363,0.00,2.62,0.00,0.000,6,0.000,0.056,2170,2393,3420
$GC,686,-1.08,-146.6,72.9,-9.5,31,690,0.00,2.62,0.00,0.000,4,0.000,0.067,2170,982,3419
$GC,762,-1.08,-146.6,81.1,-10.4,34,769,0.00,2.62,0.00,0.000,6,0.000,0.056,2170,2393,3420
$GC,1078,-1.08,-146.6,116.9,-10.7,50,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2393,3420
$GC,1387,-1.08,-146.6,145.8,-9.7,65,1391,0.00,2.62,0.00,0.000,4,0.000,0.066,2170,980,3421
$GC,1418,-1.08,-146.6,149.0,-9.2,66,1426,0.00,2.62,0.00,0.000,6,0.000,0.057,2170,2402,3420
$GC,1734,-1.08,-146.6,183.1,-12.2,82,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2402,3420
$GC,2043,-1.08,-146.6,222.6,-13.2,97,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2402,3420
$GC,2352,-1.08,-146.6,263.4,-13.0,112,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2402,3420
$GC,2662,-1.08,-146.6,301.2,-11.3,127,2667,0.00,2.58,0.00,0.000,4,0.000,0.080,2170,3767,3420
$GC,2694,-1.08,-146.6,305.4,-12.3,128,2701,0.00,2.53,0.00,0.000,6,0.000,0.055,2170,2399,3420
$GC,3010,-1.08,-146.6,338.6,-9.9,144,3014,0.00,2.65,0.00,0.000,4,0.000,0.072,2169,978,3420
$GC,3075,-1.08,-146.6,345.0,-9.4,147,3079,0.00,2.62,0.00,0.000,6,0.000,0.058,2170,2399,3420
$GC,3404,-1.08,-146.6,375.9,-9.3,163,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2398,3420
$GC,3711,-1.08,-146.6,406.3,-9.7,178,3715,0.00,2.60,0.00,0.000,4,0.000,0.082,2170,3769,3419
$GC,3753,-1.08,-146.6,410.8,-9.9,180,3758,0.00,2.53,0.00,0.000,6,0.000,0.056,2172,2402,3420
$GC,4081,-1.08,-146.6,442.1,-9.6,196,4085,0.00,2.65,0.00,0.000,4,0.000,0.074,2170,982,3420
$GC,4129,-1.08,-146.6,447.1,-9.7,198,4134,0.00,2.62,0.00,0.000,6,0.000,0.059,2170,2393,3420
$STATE,4284,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4284,begin apogee
$GC,4289,-0.31,0.0,463.2,10.4,206,4411,0.85,0.00,119.05,0.963,6,0.113,0.000,2339,2191,2817
$STATE,4412,end apogee,CONTROL_FINISHED_OK
$STATE,4412,begin climb
$GC,4414,1.08,146.6,467.6,0.0,212,4536,1.48,0.00,116.62,0.944,6,0.091,0.000,2643,2191,2218
$GC,4844,1.08,146.6,436.5,9.0,233,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2191,2218
$GC,5153,1.08,146.6,410.3,8.1,248,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2190,2218
$GC,5462,1.08,146.6,386.0,8.0,263,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2190,2217
$GC,5772,1.08,146.6,360.6,8.1,278,5776,0.00,2.70,0.00,0.000,4,0.000,0.080,2643,3616,2217
$GC,5837,1.08,146.6,354.8,8.7,281,5842,0.00,2.65,0.00,0.000,6,0.000,0.064,2643,2212,2217
$GC,6164,1.09,155.9,329.1,7.7,297,6178,0.00,2.72,8.75,0.755,4,0.000,0.070,2643,776,2180
$GC,6222,1.09,155.9,324.4,8.3,299,6229,0.00,2.62,0.00,0.000,6,0.000,0.051,2643,2193,2180
$GC,6538,1.15,205.1,302.3,6.2,315,6579,0.00,0.00,39.25,0.844,6,0.000,0.000,2643,2193,1980
$GC,6887,1.16,217.6,277.3,7.5,332,6907,0.00,2.70,11.12,0.753,4,0.000,0.068,2643,774,1929
$GC,7024,1.16,217.6,266.4,8.2,338,7028,0.00,2.62,0.00,0.000,6,0.000,0.050,2643,2199,1929
$GC,7351,1.18,234.1,241.9,7.4,354,7373,0.10,2.70,14.65,0.759,4,0.054,0.067,2677,777,1861
$GC,7405,1.18,234.1,237.0,9.1,356,7410,0.00,2.62,0.00,0.000,6,0.000,0.050,2677,2198,1861
$GC,7726,1.18,234.1,209.3,8.8,372,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2198,1861
$GC,8036,1.18,234.1,180.6,9.6,387,8040,0.00,2.65,0.00,0.000,4,0.000,0.067,2677,774,1861
$GC,8096,1.18,234.1,173.6,12.0,390,8100,0.00,2.58,0.00,0.000,6,0.000,0.049,2677,2201,1861
$GC,8424,1.18,234.1,132.2,12.8,406,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2201,1860
$GC,8732,1.18,234.1,95.3,11.2,421,8733,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2201,1860
$GC,9041,1.18,234.1,62.8,10.6,436,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2201,1861
$GC,9350,1.18,234.1,30.6,11.3,451,9355,0.00,2.62,0.00,0.000,4,0.000,0.064,2677,780,1860
$GC,9399,1.18,234.1,24.9,10.9,453,9404,0.00,2.58,0.00,0.000,6,0.000,0.048,2677,2194,1860
$STATE,9595,end climb,SURFACE_DEPTH_REACHED
$STATE,9595,begin surface coast
$FINISH,0.8,1.027215
$STATE,9617,end surface coast,CONTROL_FINISHED_OK
$STATE,9617,begin surface
$SM_CCo,9636,40.40,0.613,2,0,1594,300.00
$SM_GC,1.49,0.00,0.00,40.40,0.000,0.000,0.613,68,2403,1594,-10.77,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2106
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,400.4,72.7
$24V_AH,23.7,18.157
$10V_AH,10.2,7.907
$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,25.650,69.125,309.450,40.400,0.000,65.218,58.765,174.085,4.000,0.000,0.000,30.986,855.977,7393.794,457.048,1064.937,374.051,33.355,984.467,0.000,1024.713,0.000,24.759
$DEVICE_MAMPS,173.342,82.069,962.585,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,322.162,331.087,340.545,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22291,464
$CFSIZE,260165632,254398464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$GPS,261107,092352,6121.267,-912.035,38,2.6,57,-9.3