version: 66.02
glider: 16
mission: 6
dive: 315
start: 1 11 108 20 56 34
data:
$ID,16
$MISSION,6
$DIVE,315
$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,300
$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,-2084418.6
$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,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
$GPS1,203957,6248.456,-601.321,37,2.3,56,-8.0
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-59.7
$GPS2,205544,6248.499,-601.260,17,1.9,29,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.088,0.203
$KALMAN_X,58928.6,-1189.3,-209.4,104722.7,13723.2
$KALMAN_Y,17269.5,2384.5,1595.0,108843.4,-39964.2
$MHEAD_RNG_PITCHd_Wd,241.8,3319,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.74,-28.8,0.0,0.0,0,79,0.00,0.00,-54.20,0.000,6,0.000,0.000,66,2410,2936
$GC,82,-1.76,-49.3,2.3,-3.2,2,104,11.05,2.62,-2.28,0.000,4,0.173,0.087,2019,3770,3020
$GC,356,-1.76,-49.3,49.3,-15.2,14,361,0.00,2.58,0.00,0.000,6,0.000,0.061,2020,2395,3020
$GC,678,-1.76,-49.3,97.6,-16.9,30,683,0.00,2.62,0.00,0.000,4,0.000,0.078,2018,3769,3020
$GC,884,-1.76,-49.3,132.0,-15.6,39,888,0.00,2.55,0.00,0.000,6,0.000,0.062,2020,2399,3020
$GC,1207,-1.76,-49.3,177.9,-14.4,55,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2398,3020
$GC,1516,-1.76,-49.3,225.9,-16.3,70,1520,0.00,2.62,0.00,0.000,4,0.000,0.081,2020,3769,3020
$GC,1604,-1.76,-49.3,241.8,-17.0,74,1608,0.00,2.58,0.00,0.000,6,0.000,0.064,2020,2395,3020
$GC,1926,-1.76,-49.3,289.9,-14.0,90,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2395,3021
$GC,2234,-1.76,-49.3,331.2,-13.0,105,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2394,3020
$GC,2544,-1.76,-49.3,371.3,-12.4,120,2549,0.00,2.65,0.00,0.000,4,0.000,0.082,2020,3772,3020
$GC,2803,-1.76,-49.3,406.3,-13.1,131,2809,0.00,2.58,0.00,0.000,6,0.000,0.065,2020,2394,3020
$GC,3119,-1.76,-49.3,440.9,-10.7,147,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2394,3021
$GC,3427,-1.76,-49.3,474.3,-10.9,162,3432,0.00,2.65,0.00,0.000,4,0.000,0.084,2019,3769,3021
$GC,3557,-1.76,-49.3,488.8,-11.3,168,3561,0.00,2.58,0.00,0.000,6,0.000,0.064,2020,2392,3021
$STATE,3674,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3674,begin apogee
$GC,3681,-0.31,0.0,502.6,11.5,174,3728,1.67,0.00,43.03,0.988,6,0.133,0.000,2338,2199,2817
$STATE,3728,end apogee,CONTROL_FINISHED_OK
$STATE,3729,begin climb
$GC,3731,1.76,49.3,505.0,0.0,176,3778,2.10,0.00,41.97,0.980,6,0.068,0.000,2793,2199,2616
$GC,4087,1.76,50.4,487.7,5.8,194,4091,0.00,2.72,0.00,0.000,4,0.000,0.084,2793,3613,2614
$GC,4344,1.77,60.6,473.0,4.6,205,4360,0.00,2.70,10.65,0.877,6,0.000,0.071,2794,2192,2570
$GC,4676,1.78,69.2,456.5,4.8,222,4690,0.00,2.80,8.50,0.845,4,0.000,0.081,2793,3612,2534
$GC,4944,1.78,69.2,440.4,6.1,234,4949,0.00,2.70,0.00,0.000,6,0.000,0.071,2793,2201,2533
$GC,5270,1.78,69.2,422.0,6.1,250,5275,0.00,2.72,0.00,0.000,4,0.000,0.081,2794,3618,2532
$GC,5281,1.78,69.8,421.3,5.9,250,5287,0.00,2.70,0.00,0.000,6,0.000,0.071,2793,2196,2532
$GC,5596,1.78,69.8,399.2,7.2,266,5601,0.00,2.70,0.00,0.000,4,0.000,0.077,2793,779,2532
$GC,5854,1.78,69.8,380.5,6.3,277,5860,0.00,2.60,0.00,0.000,6,0.000,0.052,2793,2200,2531
$GC,6170,1.78,71.9,362.7,5.7,293,6174,0.00,2.67,0.00,0.000,4,0.000,0.072,2793,776,2531
$GC,6428,1.79,72.7,347.1,5.9,304,6437,0.00,2.60,4.07,0.621,6,0.000,0.052,2793,2202,2520
$GC,6765,1.79,72.7,326.7,6.5,321,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2202,2519
$GC,7074,1.79,72.7,305.3,7.3,336,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2202,2519
$GC,7383,1.79,72.7,281.8,7.9,351,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2202,2519
$GC,7693,1.79,72.7,258.7,7.9,366,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2202,2519
$GC,8003,1.79,72.7,233.7,7.7,381,8007,0.00,2.65,0.00,0.000,4,0.000,0.077,2793,3616,2518
$GC,8237,1.79,72.7,214.1,8.5,391,8243,0.00,2.67,0.00,0.000,6,0.000,0.069,2793,2192,2518
$GC,8553,1.79,72.7,188.1,7.7,407,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2192,2518
$GC,8862,1.79,72.7,164.0,7.6,422,8866,0.00,2.67,0.00,0.000,4,0.000,0.075,2793,3615,2519
$GC,9085,1.79,72.7,144.2,9.3,432,9089,0.00,2.67,0.00,0.000,6,0.000,0.069,2793,2194,2519
$GC,9406,1.79,72.7,118.1,8.1,448,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2194,2519
$GC,9715,1.79,72.7,95.9,7.8,463,9719,0.00,2.70,0.00,0.000,4,0.000,0.075,2793,3622,2519
$GC,9901,1.79,72.7,79.5,9.4,471,9905,0.00,2.67,0.00,0.000,6,0.000,0.068,2793,2197,2519
$GC,10216,1.79,72.7,53.6,8.0,486,10221,0.00,2.67,0.00,0.000,4,0.000,0.075,2793,3616,2520
$GC,10417,1.79,72.7,37.3,7.9,495,10422,0.00,2.65,0.00,0.000,6,0.000,0.067,2794,2200,2520
$GC,10739,1.79,72.7,15.3,6.6,511,10743,0.00,2.67,0.00,0.000,4,0.000,0.076,2793,3616,2521
$GC,10878,1.79,72.7,4.1,8.3,517,10883,0.00,2.65,0.00,0.000,6,0.000,0.070,2793,2199,2520
$STATE,10923,end climb,SURFACE_DEPTH_REACHED
$STATE,10924,begin surface coast
$FINISH,0.7,1.027426
$STATE,10945,end surface coast,CONTROL_FINISHED_OK
$STATE,10946,begin surface
$SM_CCo,10967,139.18,0.662,1,0,1594,300.00
$SM_GC,1.51,0.00,0.00,139.18,0.000,0.000,0.662,73,2407,1594,-10.75,0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2057
$TCM_TEMP,16.90
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,400.4,111.0
$24V_AH,23.6,51.205
$10V_AH,10.2,26.224
$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,27.000,80.425,108.225,139.175,0.000,130.500,138.423,359.951,8.250,0.000,0.000,28.963,1050.592,8287.671,378.972,1518.774,829.354,33.362,1069.175,0.000,1470.680,0.000,21.915
$DEVICE_MAMPS,172.575,86.671,987.896,661.921,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,374.533,365.188,364.540,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25434,520
$CFSIZE,260165632,241659904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,120108,000302,6248.466,-600.250,39,1.4,39,-8.0