version: 66.02
glider: 16
mission: 6
dive: 293
start: 1 8 108 22 48 48
data:
$ID,16
$MISSION,6
$DIVE,293
$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,-2083751
$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
$GPS1,223928,6247.447,-601.406,35,2.8,54,-8.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-54.6
$GPS2,224758,6247.428,-601.153,14,2.4,33,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.013,0.221
$KALMAN_X,45345.2,537.7,-693.0,117099.0,-5474.3
$KALMAN_Y,54378.0,2248.4,-731.1,72236.7,-43023.6
$MHEAD_RNG_PITCHd_Wd,278.5,2768,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.74,-28.8,0.0,0.0,0,126,0.00,0.00,-96.55,0.000,6,0.000,0.000,70,2400,2934
$GC,129,-1.76,-52.4,3.6,-2.7,5,145,11.02,0.00,-2.47,0.000,6,0.174,0.000,2017,2400,3032
$GC,456,-1.76,-52.4,65.5,-15.9,20,460,0.00,2.70,0.00,0.000,4,0.000,0.073,2017,974,3034
$GC,495,-1.76,-52.4,72.3,-17.2,22,500,0.00,2.67,0.00,0.000,6,0.000,0.066,2017,2404,3034
$GC,821,-1.76,-52.4,117.7,-13.5,38,825,0.00,2.60,0.00,0.000,4,0.000,0.081,2017,3767,3034
$GC,893,-1.76,-52.4,128.1,-14.9,41,897,0.00,2.53,0.00,0.000,6,0.000,0.060,2017,2401,3034
$GC,1208,-1.76,-52.4,172.1,-14.0,56,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2401,3034
$GC,1518,-1.76,-52.4,214.4,-14.1,71,1522,0.00,2.62,0.00,0.000,4,0.000,0.081,2017,3770,3034
$GC,1567,-1.76,-52.4,222.1,-16.2,73,1572,0.00,2.55,0.00,0.000,6,0.000,0.061,2017,2394,3034
$GC,1882,-1.76,-52.4,266.4,-13.7,88,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2393,3034
$GC,2191,-1.76,-52.4,307.3,-12.7,103,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2393,3034
$GC,2501,-1.76,-52.4,347.5,-13.2,118,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2393,3034
$GC,2810,-1.76,-52.4,387.1,-12.4,133,2814,0.00,2.65,0.00,0.000,4,0.000,0.078,2016,980,3034
$GC,2927,-1.76,-52.4,402.3,-12.6,138,2931,0.00,2.65,0.00,0.000,6,0.000,0.067,2017,2398,3034
$GC,3242,-1.76,-52.4,442.2,-12.7,153,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2398,3034
$STATE,3425,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3425,begin apogee
$GC,3431,-0.31,0.0,462.5,11.0,162,3480,1.67,0.00,45.05,0.970,6,0.127,0.000,2340,2190,2817
$STATE,3481,end apogee,CONTROL_FINISHED_OK
$STATE,3481,begin climb
$GC,3484,1.76,52.4,464.1,0.0,164,3535,2.12,2.70,43.53,0.964,4,0.081,0.070,2794,785,2602
$GC,3557,1.76,52.5,460.9,6.0,167,3564,0.00,2.65,0.00,0.000,6,0.000,0.055,2794,2207,2602
$GC,3873,1.76,52.5,437.7,7.0,183,3877,0.00,2.72,0.00,0.000,4,0.000,0.086,2794,3621,2601
$GC,4130,1.78,66.9,423.7,4.0,194,4149,0.00,2.67,13.00,0.877,6,0.000,0.070,2794,2204,2543
$GC,4466,1.78,66.9,404.4,7.0,211,4470,0.00,2.75,0.00,0.000,4,0.000,0.086,2794,3623,2542
$GC,4723,1.78,67.3,387.4,5.9,222,4729,0.00,2.70,0.00,0.000,6,0.000,0.071,2794,2199,2541
$GC,5041,1.78,67.3,366.9,6.6,238,5045,0.00,2.75,0.00,0.000,4,0.000,0.087,2794,3621,2540
$GC,5298,1.78,67.3,347.3,7.7,249,5304,0.00,2.70,0.00,0.000,6,0.000,0.072,2794,2191,2539
$GC,5614,1.78,69.1,327.0,5.8,265,5618,0.00,2.65,0.00,0.000,4,0.000,0.077,2794,783,2539
$GC,5871,1.78,70.9,312.2,5.8,276,5881,0.00,2.60,3.92,0.588,6,0.000,0.056,2794,2202,2528
$GC,6209,1.79,77.4,295.1,5.1,293,6223,0.00,2.72,7.07,0.742,4,0.000,0.069,2794,783,2501
$GC,6477,1.79,77.4,277.6,6.9,305,6482,0.00,2.60,0.00,0.000,6,0.000,0.054,2794,2205,2500
$GC,6804,1.79,77.4,254.9,7.4,321,6808,0.00,2.67,0.00,0.000,4,0.000,0.068,2794,774,2500
$GC,6898,1.79,77.4,247.8,7.4,325,6902,0.00,2.60,0.00,0.000,6,0.000,0.051,2794,2202,2500
$GC,7220,1.79,77.4,225.4,6.9,341,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2203,2500
$GC,7529,1.79,77.4,205.7,6.5,356,7533,0.00,2.67,0.00,0.000,4,0.000,0.080,2794,3619,2500
$GC,7669,1.79,77.4,193.6,9.9,362,7673,0.00,2.65,0.00,0.000,6,0.000,0.068,2794,2200,2500
$GC,7984,1.79,77.4,164.8,9.6,377,7989,0.00,2.67,0.00,0.000,4,0.000,0.078,2794,3615,2501
$GC,8028,1.79,77.4,160.7,9.1,379,8032,0.00,2.65,0.00,0.000,6,0.000,0.067,2794,2196,2501
$GC,8356,1.80,83.1,140.5,5.2,395,8369,0.00,2.75,6.45,0.640,4,0.000,0.078,2794,3615,2477
$GC,8467,1.80,83.1,134.2,6.4,400,8471,0.00,2.65,0.00,0.000,6,0.000,0.067,2794,2200,2476
$GC,8794,1.80,89.2,116.9,5.2,416,8808,0.00,2.75,6.47,0.626,4,0.000,0.079,2794,3618,2453
$GC,8885,1.80,89.2,110.9,8.0,420,8889,0.00,2.67,0.00,0.000,6,0.000,0.068,2794,2194,2452
$GC,9213,1.81,98.8,92.4,4.7,436,9224,0.00,0.00,9.45,0.660,6,0.000,0.000,2794,2194,2413
$GC,9521,1.81,98.8,72.4,8.8,451,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2194,2413
$GC,9830,1.81,98.8,40.5,10.5,466,9835,0.00,2.70,0.00,0.000,4,0.000,0.079,2794,3616,2413
$GC,9929,1.81,98.8,29.3,10.2,470,9936,0.00,2.65,0.00,0.000,6,0.000,0.067,2795,2199,2413
$GC,10245,1.81,98.8,2.4,9.2,486,10249,0.00,2.12,0.00,0.000,3,0.000,0.081,2794,3318,2413
$STATE,10250,end climb,SURFACE_DEPTH_REACHED
$STATE,10250,begin surface coast
$FINISH,0.6,1.013890
$STATE,10288,end surface coast,CONTROL_FINISHED_OK
$STATE,10288,begin surface
$SM_CCo,10311,274.23,0.653,4,0,508,566.15
$SM_GC,1.12,0.00,0.00,274.23,0.000,0.000,0.653,68,2391,508,-10.77,-0.25,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2038
$TCM_TEMP,16.80
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,376.9,94.3
$24V_AH,23.6,49.372
$10V_AH,10.2,24.920
$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,27.100,89.575,134.950,274.225,0.000,65.226,69.155,192.055,5.000,0.000,0.000,33.853,978.517,7718.085,588.691,1347.280,491.144,33.360,1224.362,0.000,1297.472,0.000,20.236
$DEVICE_MAMPS,174.109,86.671,970.255,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.835,343.355,374.857,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25438,488
$CFSIZE,260165632,242548736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,4,0
$GPS,090108,014658,6246.646,-559.966,28,3.3,47,-8.0