version: 66.02
glider: 16
mission: 6
dive: 333
start: 1 14 108 10 27 32
data:
$ID,16
$MISSION,6
$DIVE,333
$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,-2084930.6
$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,14
$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
$GPS1,102125,6246.687,-600.355,41,1.8,41,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-53.6
$GPS2,102639,6246.650,-600.401,15,2.0,15,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.156,0.157
$KALMAN_X,87250.0,-2093.3,-631.1,78513.7,33616.5
$KALMAN_Y,-5976.6,1947.2,820.2,129903.2,-35853.2
$MHEAD_RNG_PITCHd_Wd,301.2,3706,-25.3,-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,-1.62,-33.5,0.0,0.0,0,80,0.00,0.00,-54.85,0.000,6,0.000,0.000,66,2398,2955
$GC,83,-1.63,-42.9,2.4,-4.9,2,105,11.18,2.67,-1.00,0.000,4,0.171,0.087,2048,3773,2993
$GC,341,-1.63,-42.9,48.9,-20.7,13,345,0.00,2.55,0.00,0.000,6,0.000,0.060,2048,2401,2994
$GC,658,-1.63,-42.9,90.9,-12.1,28,662,0.00,2.65,0.00,0.000,4,0.000,0.080,2048,3776,2993
$GC,802,-1.63,-42.9,110.0,-13.4,34,809,0.00,2.55,0.00,0.000,6,0.000,0.061,2048,2400,2994
$GC,1119,-1.63,-42.9,147.9,-11.4,50,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2399,2994
$GC,1427,-1.63,-42.9,182.7,-11.4,65,1431,0.00,2.62,0.00,0.000,4,0.000,0.081,2048,3769,2994
$GC,1598,-1.63,-42.9,204.9,-13.0,72,1604,0.00,2.55,0.00,0.000,6,0.000,0.061,2048,2395,2993
$GC,1913,-1.63,-42.9,241.6,-11.1,88,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2395,2994
$GC,2223,-1.63,-42.9,276.8,-11.4,103,2227,0.00,2.65,0.00,0.000,4,0.000,0.084,2048,3771,2994
$GC,2296,-1.63,-42.9,286.0,-12.8,106,2300,0.00,2.55,0.00,0.000,6,0.000,0.063,2048,2401,2994
$GC,2611,-1.63,-42.9,322.4,-11.3,121,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2401,2994
$GC,2921,-1.63,-42.9,355.0,-10.6,136,2925,0.00,2.65,0.00,0.000,4,0.000,0.085,2048,3776,2994
$GC,3010,-1.63,-42.9,366.0,-12.3,140,3014,0.00,2.58,0.00,0.000,6,0.000,0.064,2048,2393,2994
$GC,3331,-1.63,-42.9,403.0,-11.2,156,3335,0.00,2.67,0.00,0.000,4,0.000,0.084,2048,3776,2995
$GC,3425,-1.63,-42.9,415.3,-13.0,160,3430,0.00,2.58,0.00,0.000,6,0.000,0.063,2048,2392,2995
$STATE,3718,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3718,begin apogee
$GC,3724,-0.31,0.0,450.2,11.8,174,3765,1.50,0.00,37.05,0.959,6,0.123,0.000,2339,2200,2817
$STATE,3765,end apogee,CONTROL_FINISHED_OK
$STATE,3765,begin climb
$GC,3768,1.63,42.9,452.1,0.0,176,3813,2.00,2.80,36.30,0.942,4,0.079,0.074,2767,784,2642
$GC,4010,1.65,64.7,445.0,3.4,187,4035,0.00,2.62,19.12,0.904,6,0.000,0.055,2767,2206,2553
$GC,4363,1.65,64.7,422.7,7.3,204,4368,0.00,2.70,0.00,0.000,4,0.000,0.084,2767,3609,2551
$GC,4620,1.65,64.7,402.4,7.6,215,4627,0.00,2.67,0.00,0.000,6,0.000,0.071,2768,2202,2551
$GC,4937,1.65,64.7,383.4,6.3,231,4941,0.00,2.70,0.00,0.000,4,0.000,0.085,2767,3609,2550
$GC,5036,1.65,64.7,377.1,6.2,235,5043,0.00,2.67,0.00,0.000,6,0.000,0.071,2767,2198,2550
$GC,5352,1.66,77.4,362.2,4.5,251,5373,0.00,2.72,11.50,0.831,4,0.000,0.076,2767,784,2500
$GC,5474,1.66,77.4,355.1,6.3,256,5479,0.00,2.60,0.00,0.000,6,0.000,0.055,2767,2205,2500
$GC,5790,1.67,78.7,336.8,5.8,271,5794,0.00,2.70,0.00,0.000,4,0.000,0.084,2767,3610,2499
$GC,6046,1.67,78.7,319.1,7.4,282,6053,0.00,2.67,0.00,0.000,6,0.000,0.071,2767,2201,2499
$GC,6362,1.67,78.7,297.1,7.5,298,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2202,2498
$GC,6672,1.67,78.7,271.5,9.3,313,6676,0.00,2.70,0.00,0.000,4,0.000,0.081,2767,3616,2498
$GC,6923,1.67,78.7,245.0,9.7,324,6927,0.00,2.67,0.00,0.000,6,0.000,0.070,2767,2192,2498
$GC,7245,1.67,78.7,218.2,7.6,340,7249,0.00,2.70,0.00,0.000,4,0.000,0.078,2768,3612,2498
$GC,7412,1.67,78.7,204.2,8.9,347,7418,0.00,2.65,0.00,0.000,6,0.000,0.067,2767,2199,2498
$GC,7727,1.67,78.7,182.1,6.6,363,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2199,2498
$GC,8037,1.67,78.7,162.4,6.3,378,8041,0.00,2.67,0.00,0.000,4,0.000,0.077,2768,3613,2498
$GC,8148,1.67,78.7,153.9,6.9,383,8152,0.00,2.65,0.00,0.000,6,0.000,0.067,2768,2196,2498
$GC,8476,1.67,78.7,132.9,6.9,399,8480,0.00,2.67,0.00,0.000,4,0.000,0.077,2767,3612,2498
$GC,8651,1.67,78.7,119.1,7.9,407,8656,0.00,2.65,0.00,0.000,6,0.000,0.067,2768,2198,2498
$GC,8978,1.67,78.7,89.9,10.2,423,8982,0.00,2.67,0.00,0.000,4,0.000,0.077,2767,3613,2498
$GC,9033,1.67,78.7,83.4,11.8,425,9040,0.00,2.65,0.00,0.000,6,0.000,0.067,2768,2191,2498
$GC,9349,1.67,78.7,57.6,7.7,441,9353,0.00,2.70,0.00,0.000,4,0.000,0.078,2768,3613,2499
$GC,9388,1.67,78.7,54.6,7.5,443,9392,0.00,2.65,0.00,0.000,6,0.000,0.067,2768,2194,2499
$GC,9715,1.67,78.7,30.1,8.6,459,9719,0.00,2.70,0.00,0.000,4,0.000,0.079,2767,3614,2499
$GC,9741,1.67,78.7,27.8,7.9,460,9746,0.00,2.65,0.00,0.000,6,0.000,0.068,2767,2200,2499
$GC,10059,1.67,78.7,3.8,7.6,475,10063,0.00,2.70,0.00,0.000,4,0.000,0.080,2767,3616,2499
$STATE,10100,end climb,SURFACE_DEPTH_REACHED
$STATE,10100,begin surface coast
$FINISH,0.8,1.027442
$STATE,10124,end surface coast,CONTROL_FINISHED_OK
$STATE,10124,begin surface
$SM_CCo,10149,134.15,0.640,5,0,1593,300.00
$SM_GC,1.39,0.00,0.00,134.15,0.000,0.000,0.640,72,2395,1593,-10.76,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2055
$TCM_TEMP,19.30
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,376.5,81.5
$24V_AH,23.6,52.623
$10V_AH,10.2,27.317
$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,27.050,100.950,103.975,134.150,0.000,32.588,50.572,127.518,4.000,0.000,0.000,15.858,978.249,7473.127,397.905,1393.791,389.982,33.393,1061.092,0.000,1361.448,0.000,20.205
$DEVICE_MAMPS,171.041,87.438,958.750,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,342.447,337.102,361.101,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25361,478
$CFSIZE,260165632,240893952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,5,0
$GPS,140108,132126,6247.173,-558.677,89,1.5,89,-8.0