version: 66.02
glider: 16
mission: 6
dive: 330
start: 1 14 108 0 21 51
data:
$ID,16
$MISSION,6
$DIVE,330
$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,-2084849.1
$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,15
$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
$GPS1,000828,6247.276,-558.535,33,3.4,52,-8.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-59.6
$GPS2,002101,6247.208,-558.423,39,1.7,44,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.170,0.142
$KALMAN_X,84865.5,-2693.6,-667.5,83278.6,33083.3
$KALMAN_Y,-2015.1,2221.5,841.6,126675.0,-31622.9
$MHEAD_RNG_PITCHd_Wd,282.8,5098,-17.8,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.18,-64.8,0.0,0.0,0,82,0.00,0.00,-56.83,0.000,2,0.000,0.000,71,2393,2999
$GC,85,-1.22,-101.5,3.3,-3.7,3,108,11.73,2.67,-6.20,0.000,4,0.175,0.087,2136,3768,3232
$GC,321,-1.22,-101.5,35.2,-11.1,13,325,0.00,2.55,0.00,0.000,6,0.000,0.058,2137,2393,3232
$GC,637,-1.22,-101.5,70.9,-11.0,28,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2393,3232
$GC,946,-1.22,-101.5,103.7,-10.5,43,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2394,3232
$GC,1255,-1.22,-101.5,132.3,-10.6,58,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2393,3233
$GC,1565,-1.22,-101.5,165.6,-10.8,73,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2393,3233
$GC,1874,-1.22,-101.5,200.4,-11.6,88,1879,0.00,2.65,0.00,0.000,4,0.000,0.081,2137,3772,3233
$GC,1952,-1.22,-101.5,210.4,-12.3,91,1958,0.00,2.55,0.00,0.000,6,0.000,0.059,2137,2393,3233
$GC,2268,-1.22,-101.5,244.4,-11.6,107,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2393,3233
$GC,2578,-1.22,-101.5,275.7,-9.8,122,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2393,3233
$GC,2886,-1.22,-101.5,304.2,-9.0,137,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2393,3233
$GC,3195,-1.22,-101.5,333.5,-9.8,152,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2394,3233
$GC,3504,-1.22,-101.5,363.3,-9.4,167,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2393,3233
$GC,3813,-1.22,-101.5,391.5,-9.0,182,3818,0.00,2.65,0.00,0.000,4,0.000,0.084,2137,3768,3233
$GC,3948,-1.22,-101.5,405.8,-10.6,188,3952,0.00,2.55,0.00,0.000,6,0.000,0.062,2137,2397,3233
$GC,4268,-1.22,-101.5,434.5,-8.5,204,4272,0.00,2.70,0.00,0.000,4,0.000,0.078,2137,977,3233
$GC,4391,-1.22,-101.5,445.4,-9.0,209,4397,0.00,2.65,0.00,0.000,6,0.000,0.063,2137,2404,3233
$STATE,4683,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4683,begin apogee
$GC,4689,-0.31,0.0,472.6,9.6,224,4778,1.05,0.00,85.05,0.982,6,0.134,0.000,2336,2194,2817
$STATE,4778,end apogee,CONTROL_FINISHED_OK
$STATE,4778,begin climb
$GC,4781,1.22,101.5,475.0,0.0,228,4872,1.58,2.80,83.03,0.973,4,0.069,0.073,2673,760,2403
$GC,5000,1.22,101.5,459.1,9.0,238,5005,0.00,2.67,0.00,0.000,6,0.000,0.054,2673,2200,2402
$GC,5322,1.22,101.5,434.6,7.2,254,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2200,2401
$GC,5632,1.22,101.5,413.4,6.6,269,5636,0.00,2.67,0.00,0.000,4,0.000,0.073,2673,785,2400
$GC,5784,1.22,102.7,403.3,5.9,276,5788,0.00,2.62,0.00,0.000,6,0.000,0.058,2673,2201,2400
$GC,6110,1.22,102.7,382.4,6.2,292,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2201,2399
$GC,6419,1.22,102.7,363.4,6.0,307,6423,0.00,2.72,0.00,0.000,4,0.000,0.085,2673,3618,2398
$GC,6496,1.22,102.7,358.3,6.4,310,6503,0.00,2.70,0.00,0.000,6,0.000,0.071,2673,2197,2398
$GC,6813,1.23,106.4,340.3,5.8,326,6823,0.00,2.75,4.85,0.670,4,0.000,0.084,2672,3613,2383
$GC,6946,1.23,106.4,330.8,7.2,332,6950,0.00,2.67,0.00,0.000,6,0.000,0.070,2673,2202,2383
$GC,7268,1.23,106.4,310.4,6.7,348,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,2382
$GC,7576,1.23,106.4,287.7,7.5,363,7581,0.00,2.70,0.00,0.000,4,0.000,0.084,2673,3614,2382
$GC,7631,1.23,106.4,283.2,8.0,365,7638,0.00,2.67,0.00,0.000,6,0.000,0.068,2673,2193,2382
$GC,7947,1.23,106.4,259.1,7.9,381,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2194,2382
$GC,8257,1.23,106.4,234.2,8.3,396,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2194,2382
$GC,8566,1.23,106.4,208.5,8.0,411,8567,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2194,2382
$GC,8875,1.23,106.4,184.7,7.9,426,8880,0.00,2.72,0.00,0.000,4,0.000,0.079,2673,3622,2382
$GC,8960,1.23,106.4,177.5,8.6,430,8964,0.00,2.67,0.00,0.000,6,0.000,0.067,2673,2203,2382
$GC,9286,1.23,106.4,150.8,8.7,446,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,2382
$GC,9595,1.24,119.1,130.7,5.2,461,9609,0.00,0.00,11.55,0.705,6,0.000,0.000,2673,2202,2331
$GC,9906,1.24,119.1,105.7,6.9,476,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,2331
$GC,10213,1.25,126.1,86.3,5.6,491,10222,0.00,0.00,7.25,0.623,6,0.000,0.000,2671,2202,2301
$GC,10524,1.25,126.1,69.0,6.2,506,10525,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,2301
$GC,10831,1.25,126.1,47.6,9.0,521,10833,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,2301
$GC,11141,1.25,126.1,23.2,6.6,536,11145,0.00,2.70,0.00,0.000,4,0.000,0.077,2673,3622,2303
$GC,11271,1.32,194.5,15.6,1.8,542,11335,0.12,2.67,53.78,0.673,6,0.051,0.067,2710,2198,2022
$STATE,11414,end climb,SURFACE_DEPTH_REACHED
$STATE,11414,begin surface coast
$FINISH,0.7,1.027442
$STATE,11437,end surface coast,CONTROL_FINISHED_OK
$STATE,11437,begin surface
$SM_CCo,11459,63.03,0.627,2,0,1593,300.00
$SM_GC,1.58,0.00,0.00,63.03,0.000,0.000,0.627,72,2401,1593,-10.75,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2086
$TCM_TEMP,16.90
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,376.5,104.8
$24V_AH,23.5,52.380
$10V_AH,10.2,27.143
$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,26.550,59.550,245.500,63.025,0.000,97.894,185.236,200.593,8.250,0.000,0.000,44.904,1015.514,8924.779,402.122,1283.550,666.353,33.360,1008.405,0.000,1228.882,0.000,20.276
$DEVICE_MAMPS,174.876,86.671,981.760,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.577,385.940,421.299,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28497,550
$CFSIZE,260165632,241016832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,140108,033528,6246.724,-557.485,27,2.3,46,-8.0