version: 66.02
glider: 16
mission: 6
dive: 94
start: 11 26 107 21 56 15
data:
$ID,16
$MISSION,6
$DIVE,94
$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,-2077225.9
$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,13
$R_STBD_OVSHOOT,14
$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
$GPS1,214127,6126.823,-914.204,40,3.0,59,-9.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-59.4
$GPS2,215527,6126.843,-914.063,11,1.6,11,-9.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.045,0.241
$KALMAN_X,15206.1,-1031.0,221.4,-21804.2,8194.3
$KALMAN_Y,93365.0,1684.8,1329.4,-117486.2,-14199.9
$MHEAD_RNG_PITCHd_Wd,358.6,33637,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.08,-146.6,0.0,0.0,0,84,0.00,0.00,-62.53,0.000,2,0.000,0.000,72,2407,3275
$GC,86,-1.08,-146.6,4.7,-7.3,3,109,11.90,2.70,-2.85,0.000,4,0.176,0.082,2170,974,3418
$GC,360,-1.08,-146.6,41.5,-10.3,15,365,0.00,2.62,0.00,0.000,6,0.000,0.055,2170,2394,3419
$GC,687,-1.08,-146.6,76.4,-10.7,31,692,0.00,2.65,0.00,0.000,4,0.000,0.070,2170,981,3419
$GC,731,-1.08,-146.6,81.2,-11.0,33,735,0.00,2.60,0.00,0.000,6,0.000,0.055,2170,2408,3419
$GC,1057,-1.08,-146.6,115.4,-10.7,49,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2408,3419
$GC,1367,-1.08,-146.6,147.3,-10.5,64,1371,0.00,2.67,0.00,0.000,4,0.000,0.071,2170,980,3418
$GC,1393,-1.08,-146.6,150.3,-10.9,65,1398,0.00,2.58,0.00,0.000,6,0.000,0.057,2170,2401,3419
$GC,1708,-1.08,-146.6,184.4,-10.7,80,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2402,3419
$GC,2017,-1.08,-146.6,216.9,-9.9,95,2021,0.00,2.65,0.00,0.000,4,0.000,0.070,2170,979,3419
$GC,2043,-1.08,-146.6,219.6,-10.5,96,2048,0.00,2.62,0.00,0.000,6,0.000,0.058,2170,2402,3419
$GC,2365,-1.08,-146.6,252.8,-10.4,112,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2402,3419
$GC,2674,-1.08,-146.6,282.9,-9.7,127,2678,0.00,2.67,0.00,0.000,4,0.000,0.071,2170,974,3419
$GC,2712,-1.08,-146.6,286.5,-10.2,129,2716,0.00,2.62,0.00,0.000,6,0.000,0.058,2170,2402,3419
$GC,3037,-1.08,-146.6,316.3,-10.2,145,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2403,3418
$GC,3346,-1.08,-146.6,348.6,-9.7,160,3350,0.00,2.60,0.00,0.000,4,0.000,0.081,2170,3773,3419
$GC,3391,-1.08,-146.6,353.1,-10.9,162,3395,0.00,2.53,0.00,0.000,6,0.000,0.059,2170,2395,3419
$GC,3710,-1.08,-146.6,385.2,-10.1,178,3715,0.00,2.65,0.00,0.000,4,0.000,0.075,2170,982,3419
$GC,3753,-1.08,-146.6,389.7,-10.1,180,3757,0.00,2.60,0.00,0.000,6,0.000,0.058,2170,2392,3419
$GC,4080,-1.08,-146.6,421.7,-10.0,196,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2392,3419
$GC,4389,-1.08,-146.6,453.9,-10.6,211,4393,0.00,2.65,0.00,0.000,4,0.000,0.073,2170,975,3419
$GC,4449,-1.08,-146.6,460.1,-9.9,214,4454,0.00,2.60,0.00,0.000,6,0.000,0.058,2170,2401,3419
$GC,4775,-1.08,-146.6,496.2,-11.4,230,4780,0.00,2.65,0.00,0.000,4,0.000,0.071,2170,979,3419
$GC,4824,-1.08,-146.6,502.0,-11.6,232,4829,0.00,2.60,0.00,0.000,6,0.000,0.058,2170,2395,3419
$GC,5145,-1.08,-146.6,538.8,-11.2,248,5150,0.00,2.60,0.00,0.000,4,0.000,0.082,2170,3770,3419
$GC,5188,-1.08,-146.6,544.0,-11.7,250,5193,0.00,2.55,0.00,0.000,6,0.000,0.059,2171,2397,3419
$GC,5515,-1.08,-146.6,574.5,-8.5,266,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2398,3419
$STATE,5679,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5679,begin apogee
$GC,5683,-0.31,0.0,589.2,9.2,274,5807,0.85,0.00,120.20,1.049,6,0.114,0.000,2339,2201,2817
$STATE,5807,end apogee,CONTROL_FINISHED_OK
$STATE,5807,begin climb
$GC,5809,1.08,146.6,592.5,0.0,280,5935,1.48,2.80,117.90,1.034,4,0.092,0.080,2641,3614,2218
$GC,5990,1.08,146.6,582.2,9.4,288,5997,0.00,2.70,0.00,0.000,6,0.000,0.063,2642,2203,2218
$GC,6306,1.11,167.8,556.8,7.2,304,6330,0.00,2.78,18.15,0.941,4,0.000,0.073,2642,782,2133
$GC,6382,1.13,192.6,551.6,7.1,307,6408,0.00,2.60,20.98,0.950,6,0.000,0.051,2641,2200,2032
$GC,6717,1.14,197.5,527.4,7.8,323,6728,0.00,2.72,5.70,0.747,4,0.000,0.080,2642,3620,2010
$GC,6811,1.14,197.5,519.0,8.9,327,6815,0.00,2.70,0.00,0.000,6,0.000,0.066,2642,2203,2010
$GC,7131,1.14,197.5,491.8,8.8,343,7136,0.00,2.67,0.00,0.000,4,0.000,0.072,2641,780,2010
$GC,7193,1.14,197.5,486.1,9.4,346,7197,0.00,2.60,0.00,0.000,6,0.000,0.050,2641,2201,2010
$GC,7517,1.14,197.5,455.4,9.7,362,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,2010
$GC,7827,1.14,197.5,423.4,11.0,377,7831,0.00,2.67,0.00,0.000,4,0.000,0.068,2641,773,2009
$GC,7875,1.14,197.5,417.7,11.9,379,7880,0.00,2.62,0.00,0.000,6,0.000,0.051,2642,2197,2009
$GC,8196,1.14,197.5,381.3,11.4,395,8200,0.00,2.70,0.00,0.000,4,0.000,0.082,2641,3622,2009
$GC,8245,1.14,197.5,375.3,12.6,397,8250,0.00,2.67,0.00,0.000,6,0.000,0.066,2642,2206,2009
$GC,8566,1.14,197.5,336.1,12.7,413,8567,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2206,2009
$GC,8875,1.14,197.5,296.5,12.7,428,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2205,2009
$GC,9184,1.14,197.5,264.3,9.4,443,9189,0.00,2.67,0.00,0.000,4,0.000,0.081,2642,3616,2009
$GC,9233,1.14,197.5,259.1,11.0,445,9237,0.00,2.65,0.00,0.000,6,0.000,0.064,2641,2208,2009
$GC,9554,1.14,197.5,228.7,8.5,461,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2208,2009
$GC,9864,1.18,231.0,205.4,6.8,476,9893,0.10,0.00,27.08,0.778,6,0.052,0.000,2676,2207,1875
$GC,10193,1.18,231.0,176.4,9.2,492,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2207,1874
$GC,10502,1.18,231.0,147.6,9.8,507,10503,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2208,1874
$GC,10812,1.18,231.0,114.9,11.1,522,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2208,1874
$GC,11121,1.18,231.0,81.8,10.3,537,11122,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2207,1874
$GC,11430,1.18,231.0,47.9,10.5,552,11435,0.00,2.65,0.00,0.000,4,0.000,0.071,2676,779,1874
$GC,11469,1.18,231.0,43.5,10.7,554,11474,0.00,2.58,0.00,0.000,6,0.000,0.048,2676,2202,1874
$GC,11795,1.18,231.0,8.1,11.6,570,11796,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2202,1874
$STATE,11856,end climb,SURFACE_DEPTH_REACHED
$STATE,11856,begin surface coast
$FINISH,0.8,1.027247
$STATE,11877,end surface coast,CONTROL_FINISHED_OK
$STATE,11878,begin surface
$SM_CCo,11896,41.12,0.616,2,0,1594,300.00
$SM_GC,1.63,0.00,0.00,41.12,0.000,0.000,0.616,73,2409,1594,-10.75,0.25,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2099
$TCM_TEMP,17.40
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,500.0,98.7
$24V_AH,23.6,18.693
$10V_AH,10.2,8.177
$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,25.850,96.000,310.000,41.125,0.000,130.544,113.625,327.951,6.750,0.000,0.000,11.046,1061.861,9325.404,458.783,1269.428,681.573,33.368,1098.438,0.000,1245.319,0.000,28.374
$DEVICE_MAMPS,175.643,82.069,1049.256,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.821,407.359,381.828,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28512,574
$CFSIZE,260165632,254189568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,2,0
$GPS,271107,011637,6128.441,-913.104,41,1.9,41,-9.3