version: 66.02
glider: 16
mission: 6
dive: 297
start: 1 9 108 10 27 6
data:
$ID,16
$MISSION,6
$DIVE,297
$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,-2083869.2
$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
$GPS1,102058,6247.604,-602.075,29,2.2,48,-8.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-48.3
$GPS2,102614,6247.584,-602.075,15,1.9,32,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.017,0.221
$KALMAN_X,44915.6,165.5,305.3,116101.0,-6345.5
$KALMAN_Y,46459.2,2777.7,512.1,78660.1,-55671.2
$MHEAD_RNG_PITCHd_Wd,270.3,2005,-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,-96.35,0.000,6,0.000,0.000,71,2408,2936
$GC,128,-1.76,-47.5,3.9,-3.4,5,150,10.98,2.62,-1.92,0.000,4,0.171,0.089,2017,3769,3013
$GC,403,-1.76,-47.5,52.5,-14.6,17,407,0.00,2.55,0.00,0.000,6,0.000,0.063,2018,2400,3014
$GC,723,-1.76,-47.5,95.5,-13.1,33,728,0.00,2.62,0.00,0.000,4,0.000,0.083,2016,3769,3014
$GC,958,-1.76,-47.5,129.1,-16.0,43,965,0.00,2.55,0.00,0.000,6,0.000,0.062,2018,2399,3014
$GC,1276,-1.76,-47.5,177.5,-16.0,59,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2399,3014
$GC,1584,-1.76,-47.5,226.2,-15.8,74,1588,0.00,2.62,0.00,0.000,4,0.000,0.083,2018,3770,3014
$GC,1678,-1.76,-47.5,243.9,-18.5,78,1682,0.00,2.55,0.00,0.000,6,0.000,0.063,2018,2396,3014
$GC,1993,-1.76,-47.5,291.7,-14.6,93,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2396,3014
$GC,2303,-1.76,-47.5,336.8,-14.6,108,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2396,3013
$GC,2612,-1.76,-47.5,386.4,-17.0,123,2616,0.00,2.62,0.00,0.000,4,0.000,0.084,2018,3769,3014
$GC,2660,-1.76,-47.5,394.5,-16.3,125,2664,0.00,2.55,0.00,0.000,6,0.000,0.063,2018,2395,3014
$GC,2983,-1.76,-47.5,442.0,-13.7,141,2987,0.00,2.65,0.00,0.000,4,0.000,0.077,2018,980,3014
$GC,3066,-1.76,-47.5,452.6,-12.2,145,3071,0.00,2.62,0.00,0.000,6,0.000,0.064,2018,2398,3014
$STATE,3226,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3226,begin apogee
$GC,3232,-0.31,0.0,470.0,10.4,153,3277,1.67,0.00,41.03,0.966,6,0.133,0.000,2336,2197,2817
$STATE,3277,end apogee,CONTROL_FINISHED_OK
$STATE,3277,begin climb
$GC,3280,1.76,47.5,471.5,0.0,155,3330,2.08,2.78,39.83,0.961,4,0.068,0.069,2789,782,2623
$GC,3391,1.76,47.5,465.2,8.1,160,3396,0.00,2.62,0.00,0.000,6,0.000,0.052,2789,2203,2622
$GC,3713,1.76,53.7,444.9,5.1,176,3726,0.00,2.72,6.50,0.765,4,0.000,0.084,2790,3621,2597
$GC,3981,1.76,53.7,430.0,6.0,188,3985,0.00,2.70,0.00,0.000,6,0.000,0.070,2788,2194,2597
$GC,4307,1.77,62.1,411.4,4.8,204,4321,0.00,2.72,8.40,0.816,4,0.000,0.074,2789,792,2563
$GC,4577,1.77,63.0,395.5,5.9,216,4581,0.00,2.60,0.00,0.000,6,0.000,0.057,2789,2200,2562
$GC,4903,1.78,68.3,376.5,5.3,232,4916,0.00,2.72,6.47,0.752,4,0.000,0.071,2789,784,2538
$GC,5142,1.78,68.3,362.1,6.2,242,5148,0.00,2.60,0.00,0.000,6,0.000,0.056,2789,2200,2537
$GC,5457,1.79,76.9,346.5,4.8,258,5471,0.00,2.78,8.27,0.792,4,0.000,0.086,2789,3614,2503
$GC,5550,1.79,76.9,340.6,7.0,262,5555,0.00,2.67,0.00,0.000,6,0.000,0.071,2789,2202,2503
$GC,5872,1.79,76.9,320.8,6.2,278,5876,0.00,2.72,0.00,0.000,4,0.000,0.084,2789,3623,2502
$GC,6016,1.79,76.9,310.0,7.8,284,6022,0.00,2.70,0.00,0.000,6,0.000,0.071,2789,2194,2502
$GC,6332,1.79,76.9,286.7,7.1,300,6336,0.00,2.72,0.00,0.000,4,0.000,0.083,2789,3619,2502
$GC,6538,1.79,76.9,269.2,11.9,309,6543,0.00,2.67,0.00,0.000,6,0.000,0.069,2789,2197,2502
$GC,6854,1.79,76.9,242.1,7.4,324,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2196,2502
$GC,7164,1.79,76.9,221.7,6.7,339,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2196,2502
$GC,7475,1.79,76.9,199.1,7.4,354,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2196,2501
$GC,7781,1.79,76.9,176.2,7.2,369,7786,0.00,2.70,0.00,0.000,4,0.000,0.079,2789,3623,2501
$GC,7926,1.79,76.9,164.7,8.0,375,7933,0.00,2.65,0.00,0.000,6,0.000,0.067,2791,2199,2502
$GC,8242,1.79,76.9,138.4,8.7,391,8246,0.00,2.70,0.00,0.000,4,0.000,0.079,2789,3625,2502
$GC,8404,1.79,76.9,124.4,8.7,398,8408,0.00,2.65,0.00,0.000,6,0.000,0.067,2789,2200,2501
$GC,8720,1.79,76.9,97.5,9.1,413,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2200,2502
$GC,9028,1.81,90.9,74.6,4.1,428,9048,0.00,0.00,12.62,0.680,6,0.000,0.000,2789,2200,2445
$GC,9359,1.81,90.9,52.4,9.8,444,9363,0.00,2.70,0.00,0.000,4,0.000,0.078,2789,3625,2445
$GC,9492,1.82,108.6,43.3,3.5,450,9512,0.00,2.67,15.25,0.670,6,0.000,0.067,2789,2195,2373
$GC,9834,1.82,108.6,17.9,6.3,467,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2194,2373
$STATE,10018,end climb,SURFACE_DEPTH_REACHED
$STATE,10018,begin surface coast
$FINISH,0.5,1.027410
$STATE,10041,end surface coast,CONTROL_FINISHED_OK
$STATE,10041,begin surface
$SM_CCo,10062,261.98,0.652,3,0,508,566.15
$SM_GC,1.08,0.00,0.00,261.98,0.000,0.000,0.652,74,2405,508,-10.74,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2030
$TCM_TEMP,16.90
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,427.8,50.4
$24V_AH,23.6,49.763
$10V_AH,10.2,25.143
$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,27.000,80.575,138.375,261.975,0.000,32.583,35.558,133.344,5.000,0.000,0.000,32.262,964.735,7403.970,571.773,1367.372,359.466,33.361,1216.716,0.000,1318.843,0.000,26.291
$DEVICE_MAMPS,171.041,88.972,965.653,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,345.416,334.889,359.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25430,477
$CFSIZE,260165632,242393088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,3,0
$GPS,090108,132038,6246.993,-600.958,34,2.0,35,-8.0