version: 66.02
glider: 16
mission: 6
dive: 294
start: 1 9 108 1 52 39
data:
$ID,16
$MISSION,6
$DIVE,294
$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,-2083782.5
$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,14
$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
$GPS1,014658,6246.646,-559.966,28,3.3,47,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-59.9
$GPS2,015147,6246.618,-559.944,11,3.6,30,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.006,0.221
$KALMAN_X,45900.7,863.0,-197.0,116794.7,-5435.3
$KALMAN_Y,48320.2,2414.6,569.0,75336.7,-55343.0
$MHEAD_RNG_PITCHd_Wd,299.9,4086,-22.8,-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,-1.47,-40.6,0.0,0.0,0,125,0.00,0.00,-98.50,0.000,6,0.000,0.000,67,2390,2982
$GC,128,-1.51,-74.2,3.8,-2.7,5,150,11.50,2.65,-3.47,0.000,4,0.178,0.093,2081,3767,3121
$GC,403,-1.51,-74.2,49.5,-16.3,17,407,0.00,2.55,0.00,0.000,6,0.000,0.061,2081,2393,3121
$GC,723,-1.51,-74.2,94.8,-13.1,33,728,0.00,2.65,0.00,0.000,4,0.000,0.082,2081,3772,3122
$GC,853,-1.51,-74.2,112.5,-12.9,39,857,0.00,2.55,0.00,0.000,6,0.000,0.061,2079,2400,3122
$GC,1181,-1.51,-74.2,150.6,-11.0,55,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2399,3122
$GC,1489,-1.51,-74.2,187.0,-12.1,70,1493,0.00,2.62,0.00,0.000,4,0.000,0.084,2081,3768,3122
$GC,1537,-1.51,-74.2,193.8,-14.2,72,1542,0.00,2.53,0.00,0.000,6,0.000,0.061,2080,2400,3122
$GC,1859,-1.51,-74.2,232.9,-12.0,88,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2400,3122
$GC,2167,-1.51,-74.2,271.2,-12.5,103,2172,0.00,2.62,0.00,0.000,4,0.000,0.084,2081,3768,3122
$GC,2211,-1.51,-74.2,277.2,-13.4,105,2215,0.00,2.53,0.00,0.000,6,0.000,0.063,2081,2400,3122
$GC,2539,-1.51,-74.2,319.4,-13.0,121,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2400,3122
$GC,2847,-1.51,-74.2,361.1,-13.3,136,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2400,3122
$GC,3157,-1.51,-74.2,399.8,-12.0,151,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2400,3122
$GC,3466,-1.51,-74.2,436.5,-10.7,166,3470,0.00,2.62,0.00,0.000,4,0.000,0.086,2081,3773,3123
$STATE,3509,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3509,begin apogee
$GC,3518,-0.31,0.0,442.1,13.1,168,3584,1.30,0.00,62.28,0.963,6,0.119,0.000,2338,2197,2817
$STATE,3584,end apogee,CONTROL_FINISHED_OK
$STATE,3585,begin climb
$GC,3587,1.51,74.2,445.1,0.0,171,3657,1.90,2.75,60.55,0.953,4,0.078,0.074,2737,789,2513
$GC,3752,1.51,74.2,435.9,7.3,178,3759,0.00,2.60,0.00,0.000,6,0.000,0.057,2737,2198,2512
$GC,4069,1.51,74.6,415.2,6.0,194,4073,0.00,2.72,0.00,0.000,4,0.000,0.087,2737,3618,2512
$GC,4325,1.51,74.6,397.1,6.9,205,4332,0.00,2.70,0.00,0.000,6,0.000,0.073,2737,2196,2512
$GC,4642,1.51,74.6,376.1,6.5,221,4647,0.00,2.75,0.00,0.000,4,0.000,0.087,2737,3619,2511
$GC,4889,1.51,74.6,358.5,7.3,232,4893,0.00,2.70,0.00,0.000,6,0.000,0.073,2737,2192,2510
$GC,5210,1.51,74.6,337.6,7.0,248,5214,0.00,2.75,0.00,0.000,4,0.000,0.086,2737,3616,2509
$GC,5416,1.51,74.6,321.7,8.5,257,5420,0.00,2.67,0.00,0.000,6,0.000,0.071,2737,2199,2508
$GC,5732,1.51,74.6,299.0,7.0,272,5736,0.00,2.65,0.00,0.000,4,0.000,0.077,2737,782,2508
$GC,5865,1.51,74.6,289.6,6.5,278,5869,0.00,2.60,0.00,0.000,6,0.000,0.054,2737,2202,2508
$GC,6192,1.51,74.8,269.8,6.0,294,6196,0.00,2.70,0.00,0.000,4,0.000,0.084,2737,3621,2508
$GC,6344,1.51,74.8,260.2,6.5,301,6348,0.00,2.67,0.00,0.000,6,0.000,0.068,2736,2194,2508
$GC,6670,1.51,77.3,241.3,5.7,317,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2194,2508
$GC,6979,1.51,77.3,223.1,6.1,332,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2194,2509
$GC,7288,1.51,77.3,203.1,7.0,347,7292,0.00,2.70,0.00,0.000,4,0.000,0.080,2737,3618,2508
$GC,7467,1.51,77.3,189.7,7.9,355,7472,0.00,2.65,0.00,0.000,6,0.000,0.067,2737,2196,2508
$GC,7789,1.51,77.3,167.2,7.1,371,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2196,2508
$GC,8098,1.51,77.3,145.0,7.4,386,8102,0.00,2.70,0.00,0.000,4,0.000,0.079,2737,3623,2508
$GC,8215,1.51,77.3,135.9,8.5,391,8219,0.00,2.65,0.00,0.000,6,0.000,0.067,2737,2193,2508
$GC,8530,1.51,77.3,111.4,7.4,406,8534,0.00,2.70,0.00,0.000,4,0.000,0.080,2737,3618,2508
$GC,8691,1.51,77.3,98.0,8.8,413,8695,0.00,2.65,0.00,0.000,6,0.000,0.066,2737,2196,2508
$GC,9008,1.51,77.3,75.4,7.0,428,9012,0.00,2.70,0.00,0.000,4,0.000,0.079,2737,3623,2509
$GC,9092,1.51,77.3,68.9,9.0,432,9096,0.00,2.65,0.00,0.000,6,0.000,0.066,2737,2200,2509
$GC,9420,1.52,84.9,51.0,5.3,448,9435,0.00,2.72,9.43,0.642,4,0.000,0.080,2737,3625,2470
$GC,9526,1.52,84.9,43.2,8.0,452,9531,0.00,2.67,0.00,0.000,6,0.000,0.067,2736,2200,2469
$GC,9854,1.52,85.8,26.2,5.9,468,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2199,2470
$GC,10162,1.52,85.8,4.6,6.3,483,10166,0.00,2.70,0.00,0.000,4,0.000,0.081,2737,3620,2470
$STATE,10199,end climb,SURFACE_DEPTH_REACHED
$STATE,10199,begin surface coast
$FINISH,0.7,1.027424
$STATE,10223,end surface coast,CONTROL_FINISHED_OK
$STATE,10223,begin surface
$SM_CCo,10246,281.30,0.650,5,0,508,566.15
$SM_GC,1.10,0.00,0.00,281.30,0.000,0.000,0.650,69,2394,508,-10.76,-0.17,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2025
$TCM_TEMP,15.60
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,350.2,101.7
$24V_AH,23.6,49.469
$10V_AH,10.2,24.978
$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,26.825,90.425,132.250,281.300,0.000,32.645,32.995,109.280,3.500,0.000,0.000,30.817,974.145,7577.911,594.834,1370.241,334.369,33.359,1238.648,0.000,1326.523,0.000,18.638
$DEVICE_MAMPS,177.944,92.807,962.585,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.568,341.555,385.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25340,486
$CFSIZE,260165632,242503680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,5,0
$GPS,090108,044938,6246.598,-601.124,29,1.6,29,-8.0