version: 66.02
glider: 16
mission: 6
dive: 288
start: 1 8 108 8 5 25
data:
$ID,16
$MISSION,6
$DIVE,288
$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,0
$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,-2083602.4
$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,15
$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
$GPS1,075932,6247.458,-604.094,41,1.2,41,-8.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-51.0
$GPS2,080432,6247.472,-604.042,11,1.3,16,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.070,0.210
$KALMAN_X,39084.2,615.7,1548.6,118493.9,-20683.3
$KALMAN_Y,51911.4,4804.9,1316.2,70162.0,-61404.2
$MHEAD_RNG_PITCHd_Wd,267.6,327,-27.3,-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,22,-1.74,-28.8,0.0,0.0,0,125,0.00,0.00,-96.95,0.000,6,0.000,0.000,73,2401,2934
$GC,127,-1.76,-53.0,3.7,-2.7,5,150,10.93,2.75,-2.60,0.000,4,0.170,0.083,2017,977,3034
$GC,295,-1.76,-53.0,32.3,-18.9,12,300,0.00,2.65,0.00,0.000,6,0.000,0.064,2017,2400,3034
$GC,611,-1.76,-53.0,82.6,-14.4,27,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2400,3034
$GC,922,-1.76,-53.0,128.6,-14.9,42,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2400,3035
$GC,1229,-1.76,-53.0,174.9,-14.8,57,1234,0.00,2.62,0.00,0.000,4,0.000,0.081,2017,3770,3035
$GC,1290,-1.76,-53.0,184.7,-16.4,59,1296,0.00,2.55,0.00,0.000,6,0.000,0.062,2017,2398,3035
$GC,1605,-1.76,-53.0,230.9,-14.4,75,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2398,3035
$GC,1916,-1.76,-53.0,276.8,-14.7,90,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2398,3035
$GC,2223,-1.76,-53.0,319.4,-13.0,105,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2398,3034
$GC,2533,-1.76,-53.0,359.9,-13.0,120,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2398,3035
$GC,2842,-1.76,-53.0,397.2,-11.5,135,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2398,3035
$GC,3151,-1.76,-53.0,439.7,-14.3,150,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2398,3036
$STATE,3190,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3191,begin apogee
$GC,3196,-0.31,0.0,445.5,14.6,152,3245,1.67,0.00,44.80,1.000,6,0.132,0.000,2336,2194,2817
$STATE,3246,end apogee,CONTROL_FINISHED_OK
$STATE,3246,begin climb
$GC,3248,1.76,53.0,447.5,0.0,154,3296,2.10,0.00,43.62,0.980,6,0.068,0.000,2793,2195,2601
$GC,3604,1.77,61.4,430.0,4.8,172,3614,0.00,0.00,8.50,0.822,6,0.000,0.000,2793,2195,2566
$GC,3912,1.77,61.4,411.1,6.3,187,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2195,2565
$GC,4222,1.77,61.4,392.4,6.3,202,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2194,2565
$GC,4531,1.78,63.1,373.3,5.8,217,4535,0.00,2.67,0.00,0.000,4,0.000,0.074,2793,784,2564
$GC,4790,1.80,84.5,360.5,3.0,228,4816,0.00,2.60,19.67,0.894,6,0.000,0.056,2793,2200,2472
$GC,5125,1.80,84.5,342.0,6.7,245,5129,0.00,2.67,0.00,0.000,4,0.000,0.072,2793,781,2471
$GC,5322,1.80,84.5,326.3,8.6,254,5327,0.00,2.62,0.00,0.000,6,0.000,0.054,2793,2205,2470
$GC,5649,1.80,84.5,299.4,8.6,270,5653,0.00,2.72,0.00,0.000,4,0.000,0.084,2793,3622,2470
$GC,5905,1.80,84.5,276.2,9.4,281,5912,0.00,2.70,0.00,0.000,6,0.000,0.070,2793,2200,2469
$GC,6221,1.80,84.5,249.7,8.3,297,6225,0.00,2.72,0.00,0.000,4,0.000,0.081,2793,3621,2469
$GC,6388,1.80,84.5,234.3,9.2,304,6394,0.00,2.70,0.00,0.000,6,0.000,0.070,2793,2195,2469
$GC,6703,1.80,84.5,207.8,8.4,320,6707,0.00,2.72,0.00,0.000,4,0.000,0.081,2793,3619,2470
$GC,6802,1.80,84.5,199.1,8.2,324,6809,0.00,2.67,0.00,0.000,6,0.000,0.067,2793,2202,2469
$GC,7118,1.80,84.5,175.8,7.3,340,7123,0.00,2.70,0.00,0.000,4,0.000,0.081,2793,3621,2469
$GC,7259,1.80,84.5,164.7,8.1,346,7263,0.00,2.67,0.00,0.000,6,0.000,0.067,2793,2199,2469
$GC,7574,1.80,84.5,140.7,7.1,361,7579,0.00,2.72,0.00,0.000,4,0.000,0.080,2793,3623,2469
$GC,7646,1.80,84.5,134.6,8.7,364,7650,0.00,2.67,0.00,0.000,6,0.000,0.067,2793,2199,2469
$GC,7961,1.80,84.5,113.1,7.8,379,7966,0.00,2.72,0.00,0.000,4,0.000,0.081,2793,3625,2469
$GC,8107,1.80,84.5,100.7,8.3,385,8113,0.00,2.67,0.00,0.000,6,0.000,0.067,2793,2199,2469
$GC,8424,1.80,84.5,77.1,8.3,401,8428,0.00,2.72,0.00,0.000,4,0.000,0.080,2793,3625,2470
$GC,8512,1.80,84.5,69.4,8.1,405,8516,0.00,2.67,0.00,0.000,6,0.000,0.067,2793,2200,2469
$GC,8834,1.80,84.5,47.3,8.5,421,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2199,2470
$GC,9142,1.80,84.5,22.1,7.7,436,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2199,2470
$STATE,9367,end climb,SURFACE_DEPTH_REACHED
$STATE,9367,begin surface coast
$FINISH,0.6,1.007667
$STATE,9389,end surface coast,CONTROL_FINISHED_OK
$STATE,9389,begin surface
$SM_CCo,9412,282.92,0.671,0,0,508,566.15
$SM_GC,1.19,0.00,0.00,282.92,0.000,0.000,0.671,70,2406,508,-10.76,0.17,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2041
$TCM_TEMP,16.90
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,351.8,103.0
$24V_AH,23.6,48.874
$10V_AH,10.2,24.631
$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,27.050,59.775,116.600,282.925,0.000,32.586,35.518,134.763,4.750,0.000,0.000,16.166,869.453,7112.284,561.474,1121.710,341.188,33.361,1087.452,0.000,1097.225,0.000,21.486
$DEVICE_MAMPS,170.274,84.370,1000.168,671.125,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,319.395,315.989,349.066,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22236,448
$CFSIZE,260165632,242753536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,080108,104827,6247.252,-603.556,31,4.1,50,-8.1