version: 66.02
glider: 16
mission: 6
dive: 300
start: 1 9 108 19 4 6
data:
$ID,16
$MISSION,6
$DIVE,300
$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,-2083951.4
$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,14
$R_STBD_OVSHOOT,16
$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
$GPS1,185826,6246.714,-603.575,25,1.4,44,-8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-49.6
$GPS2,190314,6246.694,-603.637,18,1.4,29,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.020,0.220
$KALMAN_X,44550.9,-48.3,90.0,115526.6,-6659.1
$KALMAN_Y,40256.4,2756.9,953.8,82781.2,-63964.3
$MHEAD_RNG_PITCHd_Wd,342.4,1533,-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,-97.18,0.000,6,0.000,0.000,69,2406,2934
$GC,128,-1.76,-52.2,3.5,-2.8,5,150,11.07,2.62,-2.50,0.000,4,0.175,0.091,2018,3766,3031
$GC,281,-1.76,-52.2,28.9,-15.2,11,287,0.00,2.53,0.00,0.000,6,0.000,0.060,2018,2401,3032
$GC,597,-1.76,-52.2,75.1,-16.2,27,601,0.00,2.62,0.00,0.000,4,0.000,0.081,2017,3769,3032
$GC,741,-1.76,-52.2,102.1,-18.8,33,748,0.00,2.55,0.00,0.000,6,0.000,0.062,2017,2395,3032
$GC,1059,-1.76,-52.2,149.6,-14.6,49,1064,0.00,2.62,0.00,0.000,4,0.000,0.082,2018,3773,3032
$GC,1165,-1.76,-52.2,166.7,-16.3,53,1171,0.00,2.55,0.00,0.000,6,0.000,0.062,2018,2401,3032
$GC,1480,-1.76,-52.2,209.7,-14.0,69,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2401,3032
$GC,1790,-1.76,-52.2,252.9,-13.4,84,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2401,3032
$GC,2099,-1.76,-52.2,294.2,-13.5,99,2103,0.00,2.70,0.00,0.000,4,0.000,0.079,2018,977,3032
$GC,2147,-1.76,-52.2,301.3,-14.4,101,2152,0.00,2.65,0.00,0.000,6,0.000,0.067,2018,2398,3032
$GC,2464,-1.76,-52.2,343.4,-13.6,116,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2399,3032
$GC,2773,-1.76,-52.2,386.4,-13.6,131,2777,0.00,2.60,0.00,0.000,4,0.000,0.084,2018,3772,3032
$GC,2935,-1.76,-52.2,411.3,-14.6,138,2939,0.00,2.55,0.00,0.000,6,0.000,0.064,2018,2398,3032
$STATE,3144,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3145,begin apogee
$GC,3150,-0.31,0.0,439.1,13.4,148,3199,1.65,0.00,44.65,0.946,6,0.123,0.000,2338,2194,2818
$STATE,3200,end apogee,CONTROL_FINISHED_OK
$STATE,3200,begin climb
$GC,3202,1.76,52.2,441.9,0.0,150,3254,2.10,2.72,43.45,0.937,4,0.074,0.071,2795,778,2603
$GC,3349,1.76,52.2,435.7,6.3,157,3354,0.00,2.62,0.00,0.000,6,0.000,0.051,2795,2210,2603
$GC,3675,1.78,66.9,419.8,4.0,173,3697,0.00,2.78,13.38,0.852,4,0.000,0.084,2794,3611,2543
$GC,3949,1.78,66.9,402.3,7.2,185,3953,0.00,2.67,0.00,0.000,6,0.000,0.071,2794,2201,2542
$GC,4270,1.78,66.9,382.4,6.8,201,4275,0.00,2.72,0.00,0.000,4,0.000,0.085,2794,3619,2542
$GC,4527,1.78,66.9,363.7,7.5,212,4533,0.00,2.70,0.00,0.000,6,0.000,0.071,2795,2197,2541
$GC,4842,1.78,66.9,341.7,7.1,228,4847,0.00,2.72,0.00,0.000,4,0.000,0.085,2795,3617,2541
$GC,5099,1.78,66.9,322.4,7.5,239,5106,0.00,2.67,0.00,0.000,6,0.000,0.071,2795,2200,2540
$GC,5415,1.78,66.9,300.5,7.1,255,5419,0.00,2.70,0.00,0.000,4,0.000,0.084,2795,3618,2541
$GC,5671,1.78,66.9,280.0,7.9,266,5678,0.00,2.67,0.00,0.000,6,0.000,0.071,2795,2199,2541
$GC,5987,1.78,66.9,257.2,7.1,282,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2199,2541
$GC,6297,1.78,66.9,236.4,6.3,297,6301,0.00,2.65,0.00,0.000,4,0.000,0.073,2795,782,2541
$GC,6435,1.78,66.9,227.0,6.6,303,6440,0.00,2.58,0.00,0.000,6,0.000,0.051,2795,2204,2540
$GC,6757,1.78,66.9,206.5,6.4,319,6762,0.00,2.67,0.00,0.000,4,0.000,0.081,2795,3620,2541
$GC,6857,1.78,66.9,199.2,7.5,323,6864,0.00,2.67,0.00,0.000,6,0.000,0.068,2795,2193,2540
$GC,7173,1.78,66.9,175.8,8.4,339,7177,0.00,2.60,0.00,0.000,4,0.000,0.068,2794,781,2540
$GC,7245,1.78,66.9,169.7,7.7,342,7249,0.00,2.58,0.00,0.000,6,0.000,0.050,2795,2205,2540
$GC,7560,1.78,66.9,146.0,7.5,357,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2205,2540
$GC,7869,1.78,66.9,123.9,6.9,372,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2205,2540
$GC,8179,1.78,66.9,103.9,6.1,387,8184,0.00,2.65,0.00,0.000,4,0.000,0.080,2794,3617,2540
$GC,8242,1.78,70.7,100.0,5.5,390,8251,0.00,2.65,4.10,0.509,6,0.000,0.067,2795,2200,2528
$GC,8573,1.78,70.7,78.6,7.0,406,8574,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2200,2528
$GC,8883,1.78,70.7,57.9,6.7,421,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2200,2528
$GC,9192,1.78,70.7,31.6,8.4,436,9196,0.00,2.70,0.00,0.000,4,0.000,0.079,2795,3624,2528
$GC,9276,1.78,70.7,24.4,8.5,440,9281,0.00,2.65,0.00,0.000,6,0.000,0.067,2794,2198,2528
$STATE,9602,end climb,SURFACE_DEPTH_REACHED
$STATE,9602,begin surface coast
$FINISH,0.5,1.027419
$STATE,9622,end surface coast,CONTROL_FINISHED_OK
$STATE,9622,begin surface
$SM_CCo,9644,289.17,0.644,5,0,508,566.15
$SM_GC,1.18,0.00,0.00,289.17,0.000,0.000,0.644,73,2401,508,-10.75,-0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2040
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,375.1,71.2
$24V_AH,23.6,50.062
$10V_AH,10.2,25.310
$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,27.050,80.200,105.575,289.175,0.000,32.612,36.652,107.428,3.250,0.000,0.000,29.882,913.322,7143.187,586.047,1284.981,330.064,33.353,1185.088,0.000,1240.565,0.000,23.125
$DEVICE_MAMPS,174.876,90.506,945.711,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,325.589,319.416,365.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22261,457
$CFSIZE,260165632,242286592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,5,0
$GPS,090108,215125,6247.751,-603.319,26,1.5,43,-8.1