version: 66.02
glider: 16
mission: 6
dive: 92
start: 11 26 107 15 17 29
data:
$ID,16
$MISSION,6
$DIVE,92
$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,-2077198.4
$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,11
$R_STBD_OVSHOOT,15
$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
$GPS1,151231,6123.357,-911.077,41,1.9,41,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-58.3
$GPS2,151641,6123.360,-911.083,12,9.6,31,-9.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.050,0.240
$KALMAN_X,13029.9,62.4,-477.1,-17384.3,8664.9
$KALMAN_Y,92698.3,1399.6,413.6,-122003.1,-18693.2
$MHEAD_RNG_PITCHd_Wd,357.6,40224,-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,-62.12,0.000,2,0.000,0.000,75,2406,3194
$GC,85,-1.08,-146.6,3.8,-5.8,3,107,11.73,2.72,-5.10,0.000,4,0.172,0.082,2168,980,3418
$GC,359,-1.08,-146.6,37.5,-10.7,15,363,0.00,2.62,0.00,0.000,6,0.000,0.056,2168,2404,3418
$GC,686,-1.08,-146.6,69.9,-10.4,31,690,0.00,2.67,0.00,0.000,4,0.000,0.067,2168,972,3417
$GC,785,-1.08,-146.6,81.8,-12.0,35,792,0.00,2.62,0.00,0.000,6,0.000,0.057,2168,2393,3418
$GC,1102,-1.08,-146.6,115.0,-10.2,51,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2394,3417
$GC,1410,-1.08,-146.6,146.9,-10.0,66,1414,0.00,2.65,0.00,0.000,4,0.000,0.069,2168,975,3417
$GC,1442,-1.08,-146.6,150.0,-9.8,67,1449,0.00,2.60,0.00,0.000,6,0.000,0.058,2168,2403,3417
$GC,1757,-1.08,-146.6,181.9,-10.3,83,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2403,3417
$GC,2066,-1.08,-146.6,214.8,-10.5,98,2070,0.00,2.65,0.00,0.000,4,0.000,0.069,2168,980,3417
$GC,2114,-1.08,-146.6,220.2,-10.7,100,2119,0.00,2.62,0.00,0.000,6,0.000,0.058,2168,2392,3417
$GC,2436,-1.08,-146.6,254.4,-11.6,116,2440,0.00,2.60,0.00,0.000,4,0.000,0.081,2168,3767,3417
$GC,2461,-1.08,-146.6,257.8,-12.7,117,2466,0.00,2.53,0.00,0.000,6,0.000,0.056,2168,2401,3417
$GC,2782,-1.08,-146.6,295.3,-10.9,133,2787,0.00,2.65,0.00,0.000,4,0.000,0.075,2168,976,3417
$GC,2814,-1.08,-146.6,298.8,-10.5,134,2821,0.00,2.62,0.00,0.000,6,0.000,0.059,2168,2397,3417
$GC,3129,-1.08,-146.6,329.6,-9.4,150,3134,0.00,2.60,0.00,0.000,4,0.000,0.083,2168,3772,3417
$GC,3168,-1.08,-146.6,333.5,-10.0,152,3172,0.00,2.53,0.00,0.000,6,0.000,0.059,2168,2396,3417
$GC,3494,-1.08,-146.6,365.1,-10.1,168,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2396,3417
$GC,3803,-1.08,-146.6,397.6,-10.6,183,3807,0.00,2.65,0.00,0.000,4,0.000,0.076,2168,980,3417
$GC,3834,-1.08,-146.6,400.9,-10.6,184,3841,0.00,2.60,0.00,0.000,6,0.000,0.059,2168,2392,3417
$GC,4149,-1.08,-146.6,433.4,-10.2,200,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2392,3417
$GC,4458,-1.08,-146.6,466.0,-10.8,215,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2392,3417
$GC,4768,-1.08,-146.6,498.9,-10.7,230,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2392,3417
$STATE,4788,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4788,begin apogee
$GC,4792,-0.31,0.0,500.8,10.3,231,4914,0.85,0.00,118.47,0.996,6,0.107,0.000,2338,2190,2817
$STATE,4915,end apogee,CONTROL_FINISHED_OK
$STATE,4915,begin climb
$GC,4916,1.08,146.6,505.1,0.0,237,5038,1.48,0.00,117.10,0.984,6,0.090,0.000,2644,2190,2218
$GC,5347,1.09,152.9,477.8,7.8,258,5361,0.00,2.78,6.72,0.753,4,0.000,0.080,2644,3619,2192
$GC,5445,1.09,152.9,469.5,8.9,262,5450,0.00,2.70,0.00,0.000,6,0.000,0.065,2644,2204,2192
$GC,5766,1.12,175.4,448.4,7.2,278,5787,0.00,0.00,18.85,0.890,6,0.000,0.000,2644,2204,2102
$GC,6096,1.12,182.9,422.7,7.7,294,6105,0.00,0.00,7.72,0.772,6,0.000,0.000,2644,2204,2071
$GC,6405,1.14,200.3,400.2,7.4,309,6425,0.00,0.00,15.30,0.853,6,0.000,0.000,2644,2204,1999
$GC,6734,1.14,200.3,372.3,8.6,325,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2204,1999
$GC,7043,1.14,200.3,344.7,9.1,340,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,1998
$GC,7352,1.14,200.3,317.2,8.9,355,7357,0.00,2.67,0.00,0.000,4,0.000,0.081,2644,3615,1999
$GC,7401,1.14,200.3,312.3,10.0,357,7406,0.00,2.67,0.00,0.000,6,0.000,0.067,2644,2202,1998
$GC,7722,1.14,200.3,283.8,9.0,373,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2203,1998
$GC,8031,1.14,200.3,257.7,8.3,388,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2203,1999
$GC,8341,1.14,200.3,232.5,8.0,403,8345,0.00,2.67,0.00,0.000,4,0.000,0.080,2644,3614,1998
$GC,8402,1.14,200.3,227.1,9.4,406,8406,0.00,2.65,0.00,0.000,6,0.000,0.064,2643,2194,1998
$GC,8727,1.14,200.3,200.5,8.8,422,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2194,1998
$GC,9036,1.14,200.3,172.0,9.4,437,9040,0.00,2.70,0.00,0.000,4,0.000,0.078,2643,3620,1998
$GC,9084,1.14,200.3,167.0,10.1,439,9089,0.00,2.65,0.00,0.000,6,0.000,0.062,2644,2207,1998
$GC,9406,1.14,200.3,138.3,8.6,455,9410,0.00,2.67,0.00,0.000,4,0.000,0.072,2644,771,1997
$GC,9454,1.14,200.3,133.7,9.1,457,9458,0.00,2.60,0.00,0.000,6,0.000,0.049,2644,2194,1998
$GC,9775,1.14,200.3,105.2,8.9,473,9780,0.00,2.67,0.00,0.000,4,0.000,0.078,2644,3619,1998
$GC,9814,1.14,200.3,101.6,9.5,475,9819,0.00,2.62,0.00,0.000,6,0.000,0.064,2644,2198,1998
$GC,10140,1.14,200.3,74.1,8.1,491,10144,0.00,2.65,0.00,0.000,4,0.000,0.071,2644,772,1998
$GC,10189,1.15,202.6,70.1,7.9,493,10193,0.00,2.58,0.00,0.000,6,0.000,0.050,2644,2201,1998
$GC,10510,1.15,202.6,44.5,9.0,509,10511,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2201,1998
$GC,10819,1.15,202.6,17.0,8.5,524,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2201,1998
$STATE,10982,end climb,SURFACE_DEPTH_REACHED
$STATE,10983,begin surface coast
$FINISH,0.8,1.013366
$STATE,11004,end surface coast,CONTROL_FINISHED_OK
$STATE,11005,begin surface
$SM_CCo,11023,58.67,0.631,2,0,1594,300.00
$SM_GC,1.74,0.00,0.00,58.67,0.000,0.000,0.631,74,2411,1594,-10.74,0.28,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2097
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,400.6,108.4
$24V_AH,23.7,18.461
$10V_AH,10.2,8.061
$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,25.350,80.025,284.175,58.675,0.000,32.649,32.630,92.701,3.250,0.000,0.000,32.059,976.167,8494.168,479.330,1158.224,244.150,33.352,1040.979,0.000,1121.923,0.000,21.907
$DEVICE_MAMPS,171.808,82.836,996.333,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.148,383.294,392.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25352,533
$CFSIZE,260165632,254279680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,2,0
$GPS,261107,182332,6124.649,-912.505,38,2.0,38,-9.3