version: 66.02
glider: 16
mission: 6
dive: 245
start: 1 3 108 18 40 55
data:
$ID,16
$MISSION,6
$DIVE,245
$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,566.1524
$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,-2081577.8
$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,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
$GPS1,183507,6247.038,-557.929,38,1.5,38,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-47.4
$GPS2,184003,6247.066,-557.821,16,1.5,16,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.164,-0.149
$KALMAN_X,30588.5,-496.8,-331.4,135507.2,26608.9
$KALMAN_Y,55821.0,390.0,-136.4,71493.2,16935.9
$MHEAD_RNG_PITCHd_Wd,235.6,14440,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-101.75,0.000,2,0.000,0.000,68,2404,3192
$GC,128,-0.85,-146.6,3.9,-2.9,5,151,12.23,2.67,-4.78,0.000,4,0.175,0.077,2220,979,3415
$GC,268,-0.85,-146.6,27.5,-13.3,11,273,0.00,2.60,0.00,0.000,6,0.000,0.055,2221,2399,3416
$GC,590,-0.85,-146.6,53.0,-5.9,27,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3416
$GC,898,-0.85,-146.6,86.9,-12.6,42,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3416
$GC,1208,-0.85,-146.6,117.6,-10.3,57,1212,0.00,2.65,0.00,0.000,4,0.000,0.067,2221,979,3416
$GC,1270,-0.85,-146.6,125.6,-11.2,60,1274,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2405,3416
$GC,1595,-0.85,-146.6,153.6,-7.6,76,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3416
$GC,1905,-0.85,-146.6,178.1,-8.3,91,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3416
$GC,2214,-0.85,-146.6,202.1,-7.8,106,2219,0.00,2.67,0.00,0.000,4,0.000,0.070,2221,979,3416
$GC,2280,-0.85,-146.6,207.3,-7.9,109,2285,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2406,3416
$GC,2608,-0.85,-146.6,233.6,-8.3,125,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3416
$GC,2916,-0.85,-146.6,258.4,-7.8,140,2921,0.00,2.70,0.00,0.000,4,0.000,0.071,2221,971,3416
$GC,2994,-0.85,-146.6,265.1,-8.3,143,3000,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2403,3416
$GC,3310,-0.85,-146.6,289.2,-7.4,159,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3416
$GC,3618,-0.85,-146.6,313.0,-8.0,174,3623,0.00,2.67,0.00,0.000,4,0.000,0.070,2221,978,3416
$GC,3680,-0.85,-146.6,317.9,-7.8,177,3684,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2403,3416
$GC,4006,-0.85,-146.6,345.0,-8.5,193,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3416
$GC,4314,-0.85,-146.6,372.3,-9.2,208,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3416
$GC,4624,-0.85,-146.6,398.3,-7.6,223,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3416
$GC,4934,-0.85,-146.6,422.3,-7.7,238,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3416
$GC,5243,-0.85,-146.6,441.1,-5.1,253,5247,0.00,2.67,0.00,0.000,4,0.000,0.070,2221,979,3416
$GC,5327,-0.85,-146.6,445.9,-6.0,257,5331,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2405,3416
$STATE,5485,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5485,begin apogee
$GC,5491,-0.31,0.0,457.4,7.2,265,5614,0.60,0.00,119.35,0.981,6,0.115,0.000,2338,2193,2817
$STATE,5615,end apogee,CONTROL_FINISHED_OK
$STATE,5615,begin climb
$GC,5617,0.85,146.6,460.8,0.0,271,5739,1.17,0.00,116.93,0.975,6,0.071,0.000,2589,2193,2219
$GC,6048,0.91,208.2,443.5,4.3,292,6102,0.00,2.80,49.00,0.966,4,0.000,0.078,2589,3617,1968
$GC,6158,0.91,208.2,437.4,6.2,297,6162,0.00,2.67,0.00,0.000,6,0.000,0.063,2589,2200,1968
$GC,6485,0.91,208.2,417.5,6.5,313,6489,0.00,2.70,0.00,0.000,4,0.000,0.076,2589,788,1966
$GC,6524,0.91,208.2,414.9,6.9,315,6528,0.00,2.60,0.00,0.000,6,0.000,0.056,2589,2200,1965
$GC,6850,0.91,208.2,393.0,7.1,331,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,1964
$GC,7160,0.91,208.2,372.6,6.3,346,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,1964
$GC,7468,0.91,208.2,353.8,6.0,361,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2200,1963
$GC,7778,0.91,208.2,335.3,6.2,376,7782,0.00,2.67,0.00,0.000,4,0.000,0.070,2589,784,1962
$GC,7821,0.91,208.2,332.2,6.6,378,7825,0.00,2.60,0.00,0.000,6,0.000,0.052,2589,2204,1962
$GC,8148,0.91,208.2,310.2,6.8,394,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,1962
$GC,8457,0.93,221.3,291.6,5.6,409,8471,0.10,0.00,11.18,0.814,6,0.067,0.000,2618,2202,1913
$GC,8769,0.93,221.3,271.2,6.4,424,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2204,1913
$GC,9075,0.93,221.3,250.2,6.9,439,9080,0.00,2.67,0.00,0.000,4,0.000,0.068,2618,781,1912
$GC,9119,0.93,221.3,247.1,6.5,441,9123,0.00,2.60,0.00,0.000,6,0.000,0.051,2618,2207,1914
$GC,9446,0.93,221.3,225.5,6.8,457,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2208,1913
$GC,9755,0.93,221.3,203.4,7.2,472,9756,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2208,1913
$GC,10064,0.93,221.3,181.5,7.1,487,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2207,1914
$GC,10374,0.95,241.0,160.9,5.5,502,10394,0.00,0.00,17.02,0.762,6,0.000,0.000,2618,2207,1834
$GC,10705,0.95,241.0,137.2,8.1,518,10709,0.00,2.67,0.00,0.000,4,0.000,0.069,2618,786,1833
$GC,10767,0.95,241.0,131.4,9.1,521,10772,0.00,2.58,0.00,0.000,6,0.000,0.049,2618,2202,1833
$GC,11094,0.95,241.0,105.2,8.1,537,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2202,1833
$GC,11404,1.05,334.0,90.0,3.5,552,11485,0.00,2.72,71.00,0.745,4,0.000,0.067,2618,792,1454
$GC,11523,1.05,334.0,85.6,7.0,557,11530,0.00,2.60,0.00,0.000,6,0.000,0.050,2618,2193,1453
$GC,11840,1.05,334.0,59.9,7.7,573,11841,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2193,1453
$GC,12149,1.05,334.0,39.0,9.4,588,12153,0.00,2.65,0.00,0.000,4,0.000,0.068,2618,785,1453
$GC,12234,1.05,334.0,30.4,9.1,592,12238,0.00,2.58,0.00,0.000,6,0.000,0.051,2618,2200,1452
$GC,12560,1.05,334.0,5.2,9.3,608,12564,0.00,2.67,0.00,0.000,4,0.000,0.072,2618,786,1453
$STATE,12601,end climb,SURFACE_DEPTH_REACHED
$STATE,12601,begin surface coast
$FINISH,1.5,1.027411
$STATE,12608,end surface coast,CONTROL_FINISHED_OK
$STATE,12608,begin surface
$SM_CCo,12631,140.45,0.652,2,0,508,566.15
$SM_GC,1.49,0.00,0.00,140.45,0.000,0.000,0.652,64,2408,508,-10.79,0.20,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2041
$TCM_TEMP,19.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,401.6,65.7
$24V_AH,23.6,43.296
$10V_AH,10.2,22.386
$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,25.375,75.000,384.475,140.450,0.000,32.604,32.801,130.568,4.250,0.000,0.000,16.349,1095.524,9697.825,645.833,1296.275,351.713,33.376,1295.448,0.000,1269.955,0.000,21.786
$DEVICE_MAMPS,174.876,78.234,980.993,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.830,417.805,448.857,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31711,610
$CFSIZE,260165632,244170752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,2,0
$GPS,030108,221508,6245.612,-555.067,36,1.5,36,-8.0