version: 66.02
glider: 16
mission: 6
dive: 115
start: 12 1 107 13 55 25
data:
$ID,16
$MISSION,6
$DIVE,115
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,-2077753.6
$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,17
$R_STBD_OVSHOOT,22
$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
$GPS1,134227,6209.155,-1029.110,40,2.1,59,-10.3
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-53.1
$GPS2,135433,6209.200,-1029.182,15,1.5,15,-10.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.206,-0.081
$KALMAN_X,-36023.4,242.8,-2338.4,-35374.1,-2937.9
$KALMAN_Y,116508.7,432.5,-1186.4,-58352.9,9256.9
$MHEAD_RNG_PITCHd_Wd,258.9,22374,-11.0,-6.000
$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,-0.85,-146.6,0.0,0.0,0,102,0.00,0.00,-81.85,0.000,2,0.000,0.000,71,2407,3268
$GC,105,-0.85,-146.6,4.1,-4.2,4,127,12.00,2.65,-3.05,0.000,4,0.168,0.074,2221,985,3416
$GC,379,-0.85,-146.6,27.5,-5.7,16,383,0.00,2.58,0.00,0.000,6,0.000,0.053,2221,2395,3416
$GC,705,-0.85,-146.6,53.0,-6.5,32,710,0.00,2.62,0.00,0.000,4,0.000,0.063,2221,980,3415
$GC,744,-0.85,-146.6,56.1,-8.3,34,749,0.00,2.58,0.00,0.000,6,0.000,0.051,2221,2409,3415
$GC,1070,-0.85,-146.6,77.7,-7.6,50,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2409,3415
$GC,1379,-0.85,-146.6,105.3,-11.1,65,1384,0.00,2.65,0.00,0.000,4,0.000,0.064,2221,980,3415
$GC,1444,-0.85,-146.6,112.8,-11.7,68,1449,0.00,2.60,0.00,0.000,6,0.000,0.052,2221,2401,3415
$GC,1772,-0.85,-146.6,147.9,-10.6,84,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3415
$GC,2085,-0.85,-146.6,176.3,-8.7,99,2089,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,985,3415
$GC,2133,-0.85,-146.6,181.4,-9.3,101,2137,0.00,2.58,0.00,0.000,6,0.000,0.053,2221,2393,3415
$STATE,2143,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2143,begin apogee
$GC,2148,-0.31,0.0,182.4,9.3,102,2266,0.57,0.00,114.75,0.777,6,0.102,0.000,2338,2199,2817
$STATE,2267,end apogee,CONTROL_FINISHED_OK
$STATE,2267,begin climb
$GC,2269,0.85,146.6,187.1,0.0,108,2387,1.23,0.00,113.50,0.767,6,0.076,0.000,2592,2199,2219
$GC,2695,0.87,170.2,171.2,5.4,129,2719,0.00,2.67,19.40,0.719,4,0.000,0.063,2592,785,2122
$GC,2780,0.95,238.7,167.8,4.1,133,2839,0.12,2.58,53.08,0.746,6,0.063,0.045,2623,2199,1843
$GC,3146,0.95,238.7,138.0,8.9,151,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2199,1842
$GC,3455,0.95,238.7,116.5,8.2,166,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2199,1842
$GC,3765,0.95,238.7,85.5,10.5,181,3769,0.00,2.62,0.00,0.000,4,0.000,0.063,2623,786,1842
$GC,3796,0.95,238.7,81.9,10.9,182,3803,0.00,2.58,0.00,0.000,6,0.000,0.043,2623,2200,1842
$GC,4114,0.95,238.7,52.8,8.4,198,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2200,1842
$GC,4422,1.20,467.9,38.7,-0.3,213,4597,0.20,0.00,172.30,0.674,6,0.044,0.000,2683,2200,909
$STATE,4768,end climb,SURFACE_DEPTH_REACHED
$STATE,4768,begin surface coast
$FINISH,0.5,1.003126
$STATE,4788,end surface coast,CONTROL_FINISHED_OK
$STATE,4789,begin surface
$SM_CCo,4868,0.00,0.000,0,0,907,468.52
$SM_GC,0.90,11.38,0.00,0.00,0.034,0.000,0.000,63,2405,907,-10.70,0.14,468.52
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2041
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,176.3,15.7
$24V_AH,23.8,21.841
$10V_AH,10.2,9.925
$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,25.500,32.075,473.025,0.000,0.000,97.822,178.199,223.818,1.000,0.000,0.000,15.686,448.060,3446.469,547.093,576.525,576.467,33.358,848.754,0.000,569.404,0.000,7.039
$DEVICE_MAMPS,167.973,74.399,776.971,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,162.367,159.722,314.702,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9682,231
$CFSIZE,260165632,252923904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,011207,151735,6209.716,-1030.398,11,2.4,31,-10.3