version: 66.02
glider: 16
mission: 6
dive: 292
start: 1 8 108 19 45 45
data:
$ID,16
$MISSION,6
$DIVE,292
$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,-2083716.5
$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,15
$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
$GPS1,193308,6247.192,-603.158,34,1.9,34,-8.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-56.9
$GPS2,194453,6247.196,-603.013,14,3.9,33,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.045,0.217
$KALMAN_X,43624.2,0.7,9.5,117018.5,-11643.4
$KALMAN_Y,55143.5,1914.4,445.9,70201.4,-49128.5
$MHEAD_RNG_PITCHd_Wd,298.7,1276,-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,-97.38,0.000,6,0.000,0.000,68,2405,2936
$GC,128,-1.76,-53.0,3.4,-2.6,5,150,11.02,2.75,-2.55,0.000,4,0.173,0.086,2018,981,3035
$GC,234,-1.76,-53.0,23.5,-19.1,9,240,0.00,2.62,0.00,0.000,6,0.000,0.064,2018,2400,3036
$GC,550,-1.76,-53.0,78.3,-17.0,25,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2400,3036
$GC,859,-1.76,-53.0,126.2,-16.2,40,863,0.00,2.62,0.00,0.000,4,0.000,0.081,2018,3776,3036
$GC,908,-1.76,-53.0,134.5,-17.0,42,912,0.00,2.55,0.00,0.000,6,0.000,0.061,2018,2400,3036
$GC,1229,-1.76,-53.0,181.3,-14.6,58,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2400,3036
$GC,1539,-1.76,-53.0,225.5,-13.5,73,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2400,3036
$GC,1847,-1.76,-53.0,268.4,-13.6,88,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2400,3036
$GC,2157,-1.76,-53.0,311.9,-14.3,103,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2400,3036
$GC,2466,-1.76,-53.0,357.5,-15.3,118,2470,0.00,2.65,0.00,0.000,4,0.000,0.084,2018,3776,3036
$GC,2528,-1.76,-53.0,367.1,-15.0,121,2532,0.00,2.55,0.00,0.000,6,0.000,0.062,2018,2401,3036
$GC,2854,-1.76,-53.0,410.5,-12.7,137,2859,0.00,2.62,0.00,0.000,4,0.000,0.084,2018,3767,3036
$STATE,3094,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3094,begin apogee
$GC,3103,-0.31,0.0,445.1,15.1,148,3157,1.67,0.00,45.22,0.960,6,0.127,0.000,2340,2204,2817
$STATE,3158,end apogee,CONTROL_FINISHED_OK
$STATE,3158,begin climb
$GC,3160,1.76,53.0,448.2,0.0,151,3212,2.08,2.75,43.85,0.951,4,0.067,0.072,2794,781,2599
$GC,3341,1.77,55.8,438.3,5.6,159,3352,0.00,2.62,4.05,0.606,6,0.000,0.054,2794,2203,2589
$GC,3661,1.77,55.8,419.6,6.4,175,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2203,2588
$GC,3970,1.77,55.8,398.8,7.1,190,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2203,2588
$GC,4280,1.77,55.8,378.6,6.0,205,4285,0.00,2.70,0.00,0.000,4,0.000,0.085,2794,3616,2588
$GC,4410,1.77,55.8,370.5,6.4,211,4414,0.00,2.70,0.00,0.000,6,0.000,0.071,2794,2191,2588
$GC,4736,1.77,62.0,352.7,5.1,227,4749,0.00,2.80,6.47,0.732,4,0.000,0.084,2795,3615,2563
$GC,5004,1.77,62.0,334.6,7.0,239,5008,0.00,2.67,0.00,0.000,6,0.000,0.071,2794,2202,2563
$GC,5330,1.77,62.0,315.0,6.2,255,5334,0.00,2.72,0.00,0.000,4,0.000,0.084,2794,3618,2563
$GC,5586,1.77,62.0,297.3,6.6,266,5593,0.00,2.67,0.00,0.000,6,0.000,0.070,2794,2199,2562
$GC,5903,1.77,62.0,277.7,6.3,282,5907,0.00,2.70,0.00,0.000,4,0.000,0.084,2794,3618,2562
$GC,6131,1.77,62.0,262.9,6.8,292,6136,0.00,2.67,0.00,0.000,6,0.000,0.069,2794,2191,2562
$GC,6447,1.78,66.0,245.2,5.5,307,6457,0.00,2.72,4.68,0.610,4,0.000,0.081,2794,3617,2548
$GC,6541,1.78,66.0,239.3,6.0,311,6545,0.00,2.67,0.00,0.000,6,0.000,0.068,2794,2197,2548
$GC,6857,1.78,66.0,219.1,6.3,326,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2197,2548
$GC,7167,1.78,66.0,199.3,6.6,341,7171,0.00,2.70,0.00,0.000,4,0.000,0.081,2794,3618,2548
$GC,7367,1.78,66.0,184.8,7.5,350,7371,0.00,2.65,0.00,0.000,6,0.000,0.067,2794,2201,2548
$GC,7695,1.78,66.0,162.8,6.7,366,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2200,2548
$GC,8004,1.78,66.0,142.9,6.6,381,8008,0.00,2.70,0.00,0.000,4,0.000,0.081,2794,3622,2548
$GC,8261,1.78,66.0,120.9,8.5,392,8268,0.00,2.65,0.00,0.000,6,0.000,0.067,2794,2201,2548
$GC,8576,1.78,66.0,98.9,6.7,408,8581,0.00,2.70,0.00,0.000,4,0.000,0.081,2795,3622,2548
$GC,8812,1.78,67.7,83.5,5.8,418,8818,0.00,2.65,0.00,0.000,6,0.000,0.067,2794,2194,2548
$GC,9128,1.79,76.4,70.6,4.8,434,9139,0.00,0.00,10.00,0.655,6,0.000,0.000,2795,2194,2505
$GC,9438,1.79,76.4,47.8,8.0,449,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2194,2504
$GC,9747,1.79,76.4,20.9,8.3,464,9748,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2194,2504
$STATE,9991,end climb,SURFACE_DEPTH_REACHED
$STATE,9991,begin surface coast
$FINISH,0.5,1.027428
$STATE,10013,end surface coast,CONTROL_FINISHED_OK
$STATE,10013,begin surface
$SM_CCo,10034,285.88,0.660,2,0,509,566.15
$SM_GC,1.08,0.00,0.00,285.88,0.000,0.000,0.660,71,2399,509,-10.75,0.00,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2035
$TCM_TEMP,16.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,351.2,103.6
$24V_AH,23.6,49.269
$10V_AH,10.2,24.861
$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,27.075,70.225,114.275,285.875,0.000,97.822,109.477,248.369,4.250,0.000,0.000,34.031,939.036,7594.414,571.491,1320.609,622.100,33.358,1180.131,0.000,1274.323,0.000,20.728
$DEVICE_MAMPS,173.342,85.904,960.284,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,341.067,336.063,369.705,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22205,477
$CFSIZE,260165632,242585600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$GPS,080108,223928,6247.447,-601.406,35,2.8,54,-8.0