version: 66.02
glider: 16
mission: 6
dive: 257
start: 1 5 108 5 39 31
data:
$ID,16
$MISSION,6
$DIVE,257
$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,-2081951.5
$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,17
$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
$GPS1,051527,6243.550,-613.273,36,2.2,55,-8.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-45.5
$GPS2,053841,6243.796,-613.719,12,2.5,31,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.217,-0.042
$KALMAN_X,46206.8,-1968.2,-45.1,107125.2,44985.5
$KALMAN_Y,57211.3,-453.7,66.9,64672.5,13778.9
$MHEAD_RNG_PITCHd_Wd,267.3,10369,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.85,-146.6,0.0,0.0,0,126,0.00,0.00,-102.07,0.000,2,0.000,0.000,74,2408,3032
$GC,128,-0.85,-146.6,4.1,-3.8,5,154,12.02,2.62,-8.25,0.000,4,0.170,0.092,2222,3769,3417
$GC,160,-0.85,-146.6,12.5,-24.5,6,166,0.00,2.53,0.00,0.000,6,0.000,0.054,2222,2393,3417
$GC,475,-0.85,-146.6,46.6,-11.9,22,479,0.00,2.65,0.00,0.000,4,0.000,0.070,2222,980,3418
$GC,732,-0.85,-146.6,75.4,-7.4,33,739,0.00,2.60,0.00,0.000,6,0.000,0.061,2223,2397,3418
$GC,1048,-0.85,-146.6,105.3,-12.2,49,1052,0.00,2.65,0.00,0.000,4,0.000,0.070,2223,985,3418
$GC,1119,-0.85,-146.6,112.8,-9.1,52,1123,0.00,2.60,0.00,0.000,6,0.000,0.059,2222,2400,3418
$GC,1441,-0.85,-146.6,148.2,-8.8,68,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3418
$GC,1751,-0.85,-146.6,176.4,-8.3,83,1756,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,979,3418
$GC,1814,-0.85,-146.6,181.3,-8.7,86,1818,0.00,2.62,0.00,0.000,6,0.000,0.062,2222,2401,3418
$GC,2139,-0.85,-146.6,205.9,-8.2,102,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3418
$GC,2448,-0.85,-146.6,227.0,-6.8,117,2453,0.00,2.67,0.00,0.000,4,0.000,0.072,2223,981,3418
$GC,2503,-0.85,-146.6,231.1,-7.7,119,2510,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2405,3418
$GC,2819,-0.85,-146.6,254.1,-7.7,135,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2405,3418
$GC,3128,-0.85,-146.6,279.2,-8.3,150,3132,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,981,3418
$GC,3211,-0.85,-146.6,286.2,-8.4,154,3216,0.00,2.62,0.00,0.000,6,0.000,0.062,2223,2404,3418
$STATE,3453,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3454,begin apogee
$GC,3460,-0.31,0.0,305.6,7.8,166,3580,0.57,0.00,116.93,0.889,6,0.103,0.000,2338,2201,2817
$STATE,3580,end apogee,CONTROL_FINISHED_OK
$STATE,3580,begin climb
$GC,3582,0.85,146.6,309.7,0.0,172,3705,1.25,2.75,114.90,0.874,4,0.094,0.071,2590,781,2219
$GC,3744,0.87,171.1,305.2,5.3,180,3771,0.00,2.62,20.62,0.803,6,0.000,0.053,2590,2201,2119
$GC,4086,0.90,199.7,287.3,5.2,197,4112,0.00,0.00,23.55,0.815,6,0.000,0.000,2590,2201,2002
$GC,4415,0.97,263.1,272.1,4.3,213,4469,0.15,0.00,50.22,0.838,6,0.066,0.000,2630,2201,1744
$GC,4765,0.97,263.1,248.4,7.3,230,4769,0.00,2.67,0.00,0.000,4,0.000,0.071,2630,786,1742
$GC,4804,0.97,263.1,245.5,7.2,232,4808,0.00,2.60,0.00,0.000,6,0.000,0.053,2630,2201,1741
$GC,5130,0.97,263.1,227.6,7.1,248,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2201,1741
$GC,5439,0.97,263.1,209.9,6.1,263,5443,0.00,2.67,0.00,0.000,4,0.000,0.069,2628,779,1741
$GC,5493,0.97,263.1,206.8,6.0,265,5500,0.00,2.62,0.00,0.000,6,0.000,0.053,2630,2200,1740
$GC,5810,0.97,263.1,186.8,9.3,281,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2199,1740
$GC,6118,0.97,263.1,154.5,11.5,296,6123,0.00,2.65,0.00,0.000,4,0.000,0.070,2630,786,1741
$GC,6173,0.97,263.1,147.5,11.7,298,6180,0.00,2.62,0.00,0.000,6,0.000,0.053,2630,2203,1740
$GC,6489,0.97,263.1,114.5,8.9,314,6493,0.00,2.67,0.00,0.000,4,0.000,0.070,2630,781,1740
$GC,6529,0.97,263.1,112.0,6.6,316,6533,0.00,2.60,0.00,0.000,6,0.000,0.053,2630,2201,1740
$GC,6854,0.97,263.1,79.6,11.9,332,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2202,1740
$GC,7164,0.97,263.1,38.0,10.6,347,7168,0.00,2.65,0.00,0.000,4,0.000,0.069,2630,786,1740
$GC,7235,0.97,263.1,30.7,11.0,350,7240,0.00,2.58,0.00,0.000,6,0.000,0.052,2630,2202,1740
$GC,7553,1.03,312.4,10.5,4.7,365,7597,0.00,2.72,38.10,0.682,4,0.000,0.068,2630,795,1543
$GC,7603,1.03,312.4,4.5,11.3,367,7608,0.00,2.60,0.00,0.000,6,0.000,0.052,2630,2201,1542
$STATE,7649,end climb,SURFACE_DEPTH_REACHED
$STATE,7649,begin surface coast
$FINISH,1.3,1.027423
$STATE,7671,end surface coast,CONTROL_FINISHED_OK
$STATE,7671,begin surface
$SM_CCo,7692,139.23,0.660,2,0,509,566.15
$SM_GC,1.15,0.00,0.00,139.23,0.000,0.000,0.660,73,2403,509,-10.75,0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2050
$TCM_TEMP,16.80
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,251.0,63.9
$24V_AH,23.7,45.091
$10V_AH,10.2,23.055
$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,25.775,69.350,364.325,139.225,0.000,163.094,376.001,486.168,5.000,0.000,0.000,32.114,701.010,5852.407,645.238,881.957,1166.121,33.366,1095.249,0.000,847.395,0.000,12.040
$DEVICE_MAMPS,170.274,92.040,888.953,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,270.927,251.483,323.288,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19118,370
$CFSIZE,260165632,243732480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,8,2,0
$GPS,050108,075131,6244.207,-614.845,42,1.5,42,-8.1