version: 66.02
glider: 16
mission: 6
dive: 251
start: 1 4 108 13 56 15
data:
$ID,16
$MISSION,6
$DIVE,251
$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,-2081750.9
$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,14
$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
$GPS1,134943,6241.623,-600.496,28,1.9,32,-8.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-50.1
$GPS2,135523,6241.673,-600.578,12,2.1,31,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.220,-0.026
$KALMAN_X,44335.4,-1890.6,-467.3,120907.3,45255.8
$KALMAN_Y,57433.4,-918.3,-137.4,61194.1,16326.1
$MHEAD_RNG_PITCHd_Wd,271.4,11166,-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,-101.68,0.000,2,0.000,0.000,71,2403,3173
$GC,127,-0.85,-146.6,6.0,-4.9,5,151,12.12,2.70,-4.38,0.000,4,0.172,0.084,2220,983,3415
$GC,358,-0.85,-146.6,32.3,-2.4,15,363,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2402,3416
$GC,679,-0.85,-146.6,51.6,-5.0,31,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3416
$GC,988,-0.85,-146.6,74.5,-9.0,46,993,0.00,2.65,0.00,0.000,4,0.000,0.066,2221,980,3416
$GC,1051,-0.85,-146.6,78.0,-6.0,49,1056,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2404,3416
$GC,1378,-0.85,-146.6,98.9,-5.5,65,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3416
$GC,1687,-0.85,-146.6,116.7,-3.2,80,1692,0.00,2.67,0.00,0.000,4,0.000,0.067,2220,973,3416
$GC,1760,-0.85,-146.6,119.7,-5.3,83,1764,0.00,2.65,0.00,0.000,6,0.000,0.060,2220,2403,3416
$GC,2076,-0.85,-146.6,141.4,-8.9,98,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3416
$GC,2384,-0.85,-146.6,167.0,-7.0,113,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3416
$GC,2693,-0.85,-146.6,190.5,-8.2,128,2698,0.00,2.65,0.00,0.000,4,0.000,0.069,2220,980,3416
$GC,2777,-0.85,-146.6,197.3,-7.6,132,2782,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2404,3416
$GC,3104,-0.85,-146.6,221.2,-8.3,148,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3416
$GC,3413,-0.85,-146.6,247.0,-8.0,163,3417,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,976,3416
$GC,3461,-0.85,-146.6,251.3,-8.8,165,3466,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2401,3416
$GC,3784,-0.85,-146.6,279.5,-8.2,181,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3416
$STATE,4028,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4028,begin apogee
$GC,4034,-0.31,0.0,297.4,7.6,193,4154,0.60,0.00,116.75,0.858,6,0.110,0.000,2340,2198,2817
$STATE,4154,end apogee,CONTROL_FINISHED_OK
$STATE,4154,begin climb
$GC,4156,0.85,146.6,301.8,0.0,199,4277,1.27,0.00,116.00,0.848,6,0.100,0.000,2592,2197,2219
$GC,4580,0.85,146.6,280.7,6.0,220,4584,0.00,2.65,0.00,0.000,4,0.000,0.071,2592,783,2218
$GC,4657,0.86,161.9,276.0,5.6,223,4677,0.00,2.62,13.27,0.759,6,0.000,0.053,2592,2208,2155
$GC,4994,0.90,199.7,259.7,5.0,240,5027,0.00,0.00,30.90,0.807,6,0.000,0.000,2592,2208,2002
$GC,5322,0.90,199.7,237.3,7.7,256,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2208,2001
$GC,5632,0.94,237.4,221.7,5.0,271,5665,0.12,0.00,30.23,0.790,6,0.066,0.000,2623,2208,1849
$GC,5960,0.94,237.4,194.6,9.2,287,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2207,1849
$GC,6269,1.10,381.3,179.2,2.1,302,6386,0.12,2.72,109.80,0.779,4,0.054,0.067,2664,785,1261
$GC,6454,1.10,381.3,170.2,10.5,310,6458,0.00,2.62,0.00,0.000,6,0.000,0.052,2664,2206,1260
$GC,6780,1.10,381.3,139.4,9.5,326,6784,0.00,2.70,0.00,0.000,4,0.000,0.070,2664,777,1260
$GC,6834,1.10,381.3,133.8,10.2,328,6841,0.00,2.62,0.00,0.000,6,0.000,0.051,2664,2194,1259
$GC,7151,1.10,381.3,95.7,11.6,344,7155,0.00,2.70,0.00,0.000,4,0.000,0.075,2664,780,1260
$GC,7212,1.10,381.3,87.0,15.6,347,7216,0.00,2.60,0.00,0.000,6,0.000,0.051,2664,2200,1259
$GC,7538,1.10,381.3,36.9,14.9,363,7542,0.00,2.67,0.00,0.000,4,0.000,0.071,2664,786,1259
$GC,7615,1.10,381.3,26.1,10.0,366,7622,0.00,2.58,0.00,0.000,6,0.000,0.052,2664,2199,1259
$STATE,7825,end climb,SURFACE_DEPTH_REACHED
$STATE,7825,begin surface coast
$FINISH,0.6,1.025679
$STATE,7847,end surface coast,CONTROL_FINISHED_OK
$STATE,7847,begin surface
$SM_CCo,7868,106.97,0.656,2,0,509,566.15
$SM_GC,1.08,0.00,0.00,106.97,0.000,0.000,0.656,71,2400,509,-10.76,0.00,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2048
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,226.6,80.2
$24V_AH,23.7,44.106
$10V_AH,10.2,22.719
$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,26.125,53.750,416.950,106.975,0.000,32.602,41.596,155.335,1.500,0.000,0.000,32.321,705.397,5743.963,639.200,899.910,349.151,33.370,1090.336,0.000,866.545,0.000,10.460
$DEVICE_MAMPS,171.808,83.603,857.506,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,274.337,259.379,350.819,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19139,378
$CFSIZE,260165632,243982336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
$GPS,040108,161052,6242.319,-603.019,36,3.0,55,-8.0