version: 66.02
glider: 16
mission: 6
dive: 296
start: 1 9 108 7 37 59
data:
$ID,16
$MISSION,6
$DIVE,296
$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,-2083836.4
$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
$GPS1,072837,6247.078,-602.506,36,1.3,40,-8.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-47.2
$GPS2,073707,6247.054,-602.614,18,1.9,34,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.019,0.221
$KALMAN_X,44798.9,-231.6,161.7,116290.0,-6762.9
$KALMAN_Y,46040.0,2721.0,692.5,77967.1,-60552.6
$MHEAD_RNG_PITCHd_Wd,303.0,1690,-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,-98.15,0.000,6,0.000,0.000,72,2409,2934
$GC,128,-1.77,-54.6,3.1,-2.4,5,150,10.88,2.62,-3.15,0.000,4,0.168,0.092,2018,3767,3042
$GC,402,-1.77,-54.6,55.7,-18.3,17,407,0.00,2.55,0.00,0.000,6,0.000,0.060,2018,2394,3042
$GC,724,-1.77,-54.6,113.5,-15.9,33,728,0.00,2.65,0.00,0.000,4,0.000,0.082,2018,3776,3042
$GC,980,-1.77,-54.6,159.2,-16.9,44,987,0.00,2.55,0.00,0.000,6,0.000,0.061,2018,2400,3042
$GC,1297,-1.77,-54.6,201.9,-14.2,60,1301,0.00,2.62,0.00,0.000,4,0.000,0.084,2018,3769,3042
$GC,1330,-1.77,-54.6,207.4,-16.6,61,1336,0.00,2.55,0.00,0.000,6,0.000,0.062,2018,2395,3043
$GC,1646,-1.77,-54.6,253.2,-14.6,77,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2395,3042
$GC,1955,-1.77,-54.6,298.7,-14.6,92,1959,0.00,2.65,0.00,0.000,4,0.000,0.084,2018,3775,3042
$GC,2026,-1.77,-54.6,310.5,-15.8,95,2031,0.00,2.55,0.00,0.000,6,0.000,0.064,2018,2395,3042
$GC,2341,-1.77,-54.6,357.3,-14.4,110,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2395,3043
$GC,2651,-1.77,-54.6,402.3,-14.2,125,2655,0.00,2.62,0.00,0.000,4,0.000,0.084,2018,3769,3043
$GC,2907,-1.77,-54.6,442.9,-16.5,136,2914,0.00,2.55,0.00,0.000,6,0.000,0.063,2019,2395,3043
$STATE,2932,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2932,begin apogee
$GC,2938,-0.31,0.0,446.9,15.8,138,2989,1.65,0.00,46.40,0.954,6,0.123,0.000,2338,2191,2818
$STATE,2989,end apogee,CONTROL_FINISHED_OK
$STATE,2989,begin climb
$GC,2992,1.77,54.6,449.6,0.0,140,3047,2.10,2.78,45.28,0.946,4,0.067,0.070,2796,778,2594
$GC,3092,1.77,57.0,446.0,5.7,144,3102,0.00,2.62,3.88,0.587,6,0.000,0.054,2796,2201,2583
$GC,3430,1.79,72.4,429.9,3.9,161,3451,0.00,2.78,14.07,0.870,4,0.000,0.083,2796,3624,2521
$GC,3703,1.79,72.4,412.2,7.4,173,3708,0.00,2.70,0.00,0.000,6,0.000,0.070,2796,2200,2520
$GC,4025,1.79,72.4,390.7,6.7,189,4029,0.00,2.72,0.00,0.000,4,0.000,0.084,2796,3618,2519
$GC,4281,1.79,72.4,371.0,8.3,200,4288,0.00,2.67,0.00,0.000,6,0.000,0.071,2796,2199,2519
$GC,4598,1.79,72.4,348.9,6.8,216,4602,0.00,2.72,0.00,0.000,4,0.000,0.085,2796,3618,2518
$GC,4843,1.79,72.4,330.3,7.5,227,4847,0.00,2.67,0.00,0.000,6,0.000,0.070,2796,2199,2519
$GC,5171,1.79,72.4,308.0,6.7,243,5175,0.00,2.72,0.00,0.000,4,0.000,0.083,2796,3623,2518
$GC,5337,1.79,72.4,295.2,7.6,250,5344,0.00,2.67,0.00,0.000,6,0.000,0.070,2796,2197,2517
$GC,5654,1.79,72.4,272.9,6.8,266,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2197,2518
$GC,5963,1.79,72.4,253.0,6.1,281,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2197,2517
$GC,6272,1.79,72.4,234.0,6.6,296,6276,0.00,2.70,0.00,0.000,4,0.000,0.080,2796,3623,2517
$GC,6424,1.79,75.6,226.2,5.6,303,6428,0.00,2.67,0.00,0.000,6,0.000,0.070,2795,2199,2517
$GC,6749,1.79,75.6,206.5,7.3,319,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2199,2517
$GC,7059,1.80,82.6,185.9,5.0,334,7073,0.00,2.70,9.10,0.707,4,0.000,0.079,2796,3616,2480
$GC,7192,1.80,82.6,174.8,8.9,340,7197,0.00,2.65,0.00,0.000,6,0.000,0.067,2796,2202,2480
$GC,7519,1.80,82.6,148.9,7.1,356,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2202,2480
$GC,7828,1.80,82.6,122.8,8.5,371,7833,0.00,2.67,0.00,0.000,4,0.000,0.078,2796,3616,2481
$GC,7968,1.80,82.6,110.1,10.3,377,7972,0.00,2.65,0.00,0.000,6,0.000,0.067,2796,2198,2480
$GC,8285,1.80,82.6,78.9,9.6,392,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2197,2480
$GC,8594,1.80,82.6,49.4,7.8,407,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2197,2480
$GC,8903,1.80,88.8,33.5,5.1,422,8917,0.00,2.72,6.72,0.594,4,0.000,0.077,2796,3625,2454
$GC,9052,1.80,88.8,18.2,11.7,428,9059,0.00,2.67,0.00,0.000,6,0.000,0.069,2796,2199,2454
$STATE,9345,end climb,SURFACE_DEPTH_REACHED
$STATE,9345,begin surface coast
$FINISH,0.5,1.027431
$STATE,9369,end surface coast,CONTROL_FINISHED_OK
$STATE,9369,begin surface
$SM_CCo,9391,276.10,0.647,5,0,508,566.15
$SM_GC,0.97,0.00,0.00,276.10,0.000,0.000,0.647,72,2405,508,-10.75,0.17,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2042
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,351.4,105.2
$24V_AH,23.6,49.669
$10V_AH,10.2,25.086
$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,27.375,75.250,125.450,276.100,0.000,65.206,163.289,106.473,2.750,0.000,0.000,35.877,901.621,6937.219,584.458,1309.428,481.369,33.361,1197.849,0.000,1260.487,0.000,18.652
$DEVICE_MAMPS,167.973,92.040,954.148,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,317.333,311.882,333.634,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22264,444
$CFSIZE,260165632,242438144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,5,0
$GPS,090108,102058,6247.604,-602.075,29,2.2,48,-8.0