version: 66.02
glider: 16
mission: 6
dive: 90
start: 11 26 107 9 28 39
data:
$ID,16
$MISSION,6
$DIVE,90
$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,-2077134.4
$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,17
$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
$GPS1,092352,6121.267,-912.035,38,2.6,57,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-60.9
$GPS2,092750,6121.309,-912.015,9,1.1,14,-9.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.060,0.238
$KALMAN_X,11602.9,-839.3,-129.1,-16233.4,9370.0
$KALMAN_Y,103504.3,-1871.9,548.4,-133470.8,-3343.2
$MHEAD_RNG_PITCHd_Wd,355.0,43954,-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,-62.08,0.000,2,0.000,0.000,68,2404,3277
$GC,84,-1.08,-146.6,4.6,-7.1,3,107,11.85,2.67,-2.80,0.000,4,0.174,0.080,2167,976,3418
$GC,358,-1.08,-146.6,48.8,-15.0,15,363,0.00,2.65,0.00,0.000,6,0.000,0.055,2167,2400,3419
$GC,685,-1.08,-146.6,87.0,-13.6,31,689,0.00,2.65,0.00,0.000,4,0.000,0.066,2169,975,3419
$GC,778,-1.08,-146.6,98.3,-10.2,35,783,0.00,2.62,0.00,0.000,6,0.000,0.054,2167,2400,3419
$GC,1101,-1.08,-146.6,132.7,-11.2,51,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3419
$GC,1409,-1.08,-146.6,166.0,-10.5,66,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3419
$GC,1718,-1.08,-146.6,199.5,-10.4,81,1726,0.00,2.62,0.00,0.000,4,0.000,0.065,2167,980,3419
$GC,1752,-1.08,-146.6,203.2,-10.4,82,1757,0.00,2.62,0.00,0.000,6,0.000,0.055,2167,2400,3419
$GC,2074,-1.08,-146.6,236.2,-10.4,98,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3419
$GC,2383,-1.08,-146.6,269.0,-11.1,113,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2401,3419
$GC,2692,-1.08,-146.6,302.6,-10.4,128,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2402,3419
$GC,3001,-1.08,-146.6,333.2,-9.5,143,3006,0.00,2.62,0.00,0.000,4,0.000,0.066,2167,980,3419
$GC,3063,-1.08,-146.6,339.0,-9.4,146,3067,0.00,2.58,0.00,0.000,6,0.000,0.057,2167,2400,3419
$GC,3388,-1.08,-146.6,368.4,-8.9,162,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2400,3419
$GC,3697,-1.08,-146.6,397.1,-9.6,177,3701,0.00,2.58,0.00,0.000,4,0.000,0.081,2167,3768,3419
$GC,3739,-1.08,-146.6,401.5,-10.1,179,3744,0.00,2.50,0.00,0.000,6,0.000,0.054,2167,2405,3419
$GC,4066,-1.08,-146.6,433.2,-9.9,195,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2405,3419
$GC,4375,-1.08,-146.6,463.8,-10.0,210,4379,0.00,2.65,0.00,0.000,4,0.000,0.071,2167,974,3419
$STATE,4422,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4422,begin apogee
$GC,4428,-0.31,0.0,468.9,9.5,212,4550,0.82,0.00,118.80,0.969,6,0.108,0.000,2336,2200,2817
$STATE,4551,end apogee,CONTROL_FINISHED_OK
$STATE,4551,begin climb
$GC,4553,1.08,146.6,472.9,0.0,218,4681,1.48,2.78,117.00,0.954,4,0.080,0.077,2645,3609,2219
$GC,4696,1.08,146.6,467.1,8.2,225,4703,0.00,2.67,0.00,0.000,6,0.000,0.061,2645,2202,2219
$GC,5012,1.09,150.0,442.6,7.9,241,5022,0.00,2.70,4.45,0.623,4,0.000,0.071,2645,780,2205
$GC,5101,1.09,150.7,435.2,8.0,245,5105,0.00,2.60,0.00,0.000,6,0.000,0.051,2645,2202,2205
$GC,5426,1.09,150.7,408.5,8.3,261,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2201,2204
$GC,5736,1.09,150.7,381.7,9.0,276,5740,0.00,2.67,0.00,0.000,4,0.000,0.079,2645,3616,2204
$GC,5819,1.09,150.7,373.7,9.2,280,5823,0.00,2.62,0.00,0.000,6,0.000,0.062,2645,2199,2204
$GC,6150,1.09,150.7,345.4,8.5,296,6155,0.00,2.70,0.00,0.000,4,0.000,0.078,2645,3622,2204
$GC,6199,1.09,150.7,340.9,8.8,298,6204,0.00,2.67,0.00,0.000,6,0.000,0.064,2645,2202,2204
$GC,6520,1.12,179.0,317.3,7.0,314,6550,0.00,2.72,23.83,0.838,4,0.000,0.070,2645,782,2086
$GC,6595,1.13,184.9,311.8,7.8,317,6607,0.00,2.62,6.18,0.673,6,0.000,0.050,2645,2198,2063
$GC,6915,1.17,224.3,290.2,6.6,333,6956,0.00,2.75,31.70,0.831,4,0.000,0.067,2646,781,1901
$GC,6994,1.17,224.3,284.4,8.3,336,7001,0.00,2.62,0.00,0.000,6,0.000,0.050,2645,2198,1901
$GC,7310,1.19,240.6,261.4,7.4,352,7330,0.10,0.00,14.35,0.768,6,0.053,0.000,2680,2198,1836
$GC,7638,1.19,240.6,229.0,10.2,368,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2198,1834
$GC,7948,1.19,240.6,197.7,9.8,383,7952,0.00,2.65,0.00,0.000,4,0.000,0.066,2680,775,1835
$GC,7990,1.19,240.6,193.2,10.6,385,7995,0.00,2.60,0.00,0.000,6,0.000,0.048,2680,2195,1835
$GC,8317,1.19,240.6,159.2,9.8,401,8322,0.00,2.65,0.00,0.000,4,0.000,0.074,2680,3614,1835
$GC,8343,1.19,240.6,155.9,12.2,402,8348,0.00,2.65,0.00,0.000,6,0.000,0.062,2680,2200,1835
$GC,8665,1.19,240.6,123.7,11.0,418,8670,0.00,2.62,0.00,0.000,4,0.000,0.068,2681,781,1835
$GC,8708,1.19,240.6,118.1,13.1,420,8713,0.00,2.60,0.00,0.000,6,0.000,0.048,2680,2202,1834
$GC,9035,1.19,240.6,79.4,11.3,436,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2202,1835
$GC,9345,1.19,240.6,50.8,10.1,451,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2202,1835
$GC,9654,1.19,240.6,13.4,10.9,466,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2203,1835
$STATE,9756,end climb,SURFACE_DEPTH_REACHED
$STATE,9756,begin surface coast
$FINISH,0.8,1.003044
$STATE,9778,end surface coast,CONTROL_FINISHED_OK
$STATE,9778,begin surface
$SM_CCo,9796,35.42,0.627,1,0,1594,300.00
$SM_GC,1.52,0.00,0.00,35.42,0.000,0.000,0.627,71,2401,1594,-10.76,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2094
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,400.5,78.4
$24V_AH,23.7,18.255
$10V_AH,10.2,7.956
$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,25.725,79.325,316.300,35.425,0.000,32.624,25.807,107.123,3.500,0.000,0.000,14.276,876.436,7433.101,471.795,1065.286,239.638,33.356,1005.680,0.000,1039.119,0.000,25.474
$DEVICE_MAMPS,174.109,80.535,969.488,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,329.635,331.004,335.380,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22319,472
$CFSIZE,260165632,254365696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,261107,121337,6122.847,-910.394,28,1.7,28,-9.3