version: 66.02
glider: 16
mission: 6
dive: 334
start: 1 14 108 13 30 30
data:
$ID,16
$MISSION,6
$DIVE,334
$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,-2084946.6
$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,15
$R_STBD_OVSHOOT,19
$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
$GPS1,132126,6247.173,-558.677,89,1.5,89,-8.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-53.0
$GPS2,132938,6247.132,-558.603,10,1.4,15,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.172,0.139
$KALMAN_X,90661.7,-2058.7,-835.6,76842.8,40983.3
$KALMAN_Y,-6269.9,2153.4,717.3,130990.8,-36534.5
$MHEAD_RNG_PITCHd_Wd,284.6,4961,-18.4,-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,-1.22,-61.1,0.0,0.0,0,81,0.00,0.00,-56.55,0.000,2,0.000,0.000,69,2395,3033
$GC,84,-1.23,-73.4,3.9,-5.2,3,106,11.60,2.65,-1.95,0.000,4,0.170,0.089,2135,3762,3118
$GC,359,-1.23,-73.4,43.9,-11.6,15,363,0.00,2.55,0.00,0.000,6,0.000,0.059,2136,2394,3119
$GC,680,-1.23,-73.4,85.2,-9.2,31,684,0.00,2.65,0.00,0.000,4,0.000,0.082,2136,3769,3119
$GC,819,-1.23,-73.4,100.1,-11.2,37,823,0.00,2.55,0.00,0.000,6,0.000,0.061,2135,2398,3119
$GC,1135,-1.23,-73.4,137.2,-13.8,52,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2398,3119
$GC,1444,-1.23,-73.4,169.7,-9.6,67,1449,0.00,2.62,0.00,0.000,4,0.000,0.082,2135,3765,3119
$GC,1506,-1.23,-73.4,175.7,-10.0,70,1511,0.00,2.55,0.00,0.000,6,0.000,0.063,2135,2400,3119
$GC,1834,-1.23,-73.4,206.3,-9.0,86,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2400,3119
$GC,2142,-1.23,-73.4,236.4,-9.2,101,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2400,3119
$GC,2451,-1.23,-73.4,264.4,-9.3,116,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2400,3119
$GC,2761,-1.23,-73.4,293.6,-9.7,131,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2400,3120
$GC,3070,-1.23,-73.4,320.7,-9.3,146,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2400,3119
$GC,3380,-1.23,-73.4,351.7,-10.0,161,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2400,3119
$GC,3689,-1.23,-73.4,380.5,-9.4,176,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2400,3120
$GC,3997,-1.23,-73.4,407.1,-8.6,191,4002,0.00,2.67,0.00,0.000,4,0.000,0.076,2135,981,3119
$GC,4098,-1.23,-73.4,416.1,-8.7,195,4104,0.00,2.60,0.00,0.000,6,0.000,0.062,2135,2398,3120
$GC,4414,-1.23,-73.4,442.0,-8.4,211,4419,0.00,2.65,0.00,0.000,4,0.000,0.075,2135,983,3120
$GC,4514,-1.23,-73.4,451.8,-10.5,215,4521,0.00,2.60,0.00,0.000,6,0.000,0.061,2135,2404,3120
$STATE,4745,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4745,begin apogee
$GC,4752,-0.31,0.0,477.6,10.8,227,4818,1.05,0.00,62.35,0.988,6,0.123,0.000,2339,2194,2817
$STATE,4818,end apogee,CONTROL_FINISHED_OK
$STATE,4819,begin climb
$GC,4821,1.23,73.4,479.7,0.0,230,4886,1.58,0.00,60.62,0.976,6,0.070,0.000,2677,2192,2516
$GC,5195,1.25,90.6,459.0,4.9,248,5217,0.00,2.80,15.43,0.901,4,0.000,0.081,2676,3615,2446
$GC,5355,1.25,90.6,444.6,8.1,255,5359,0.00,2.70,0.00,0.000,6,0.000,0.070,2676,2203,2445
$GC,5681,1.25,93.2,425.4,5.8,271,5686,0.00,2.72,0.00,0.000,4,0.000,0.077,2676,777,2444
$GC,5815,1.25,93.2,417.3,6.2,277,5819,0.00,2.65,0.00,0.000,6,0.000,0.057,2676,2209,2444
$GC,6135,1.25,93.2,397.6,6.3,293,6139,0.00,2.72,0.00,0.000,4,0.000,0.074,2676,774,2444
$GC,6252,1.25,93.2,389.5,6.6,298,6257,0.00,2.62,0.00,0.000,6,0.000,0.057,2677,2202,2443
$GC,6567,1.25,93.2,368.6,6.5,313,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2202,2443
$GC,6877,1.25,93.2,349.5,6.2,328,6881,0.00,2.70,0.00,0.000,4,0.000,0.085,2676,3612,2443
$GC,7073,1.25,93.2,335.8,6.9,337,7077,0.00,2.67,0.00,0.000,6,0.000,0.073,2676,2199,2441
$GC,7399,1.27,108.0,317.8,5.0,353,7420,0.00,2.75,14.68,0.848,4,0.000,0.075,2676,779,2375
$GC,7453,1.27,108.0,314.5,6.2,355,7458,0.00,2.62,0.00,0.000,6,0.000,0.055,2676,2200,2374
$GC,7770,1.28,116.8,297.2,5.4,370,7784,0.00,2.78,8.30,0.766,4,0.000,0.083,2676,3613,2342
$GC,7887,1.28,116.8,289.1,7.6,375,7892,0.00,2.70,0.00,0.000,6,0.000,0.072,2676,2193,2341
$GC,8208,1.28,116.8,266.7,7.3,391,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2193,2340
$GC,8517,1.28,116.8,243.6,7.2,406,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2193,2340
$GC,8826,1.28,116.8,222.6,6.8,421,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2193,2340
$GC,9136,1.28,116.8,201.3,6.9,436,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2193,2340
$GC,9445,1.28,116.8,180.7,6.7,451,9449,0.00,2.67,0.00,0.000,4,0.000,0.077,2676,3613,2340
$GC,9506,1.28,116.8,176.0,8.3,454,9510,0.00,2.65,0.00,0.000,6,0.000,0.067,2677,2201,2340
$GC,9833,1.28,116.8,146.1,9.8,470,9834,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2200,2340
$GC,10141,1.28,116.8,119.0,8.0,485,10146,0.00,2.67,0.00,0.000,4,0.000,0.077,2676,3613,2341
$GC,10236,1.28,116.8,110.5,8.1,489,10240,0.00,2.65,0.00,0.000,6,0.000,0.067,2676,2199,2341
$GC,10552,1.28,116.8,80.5,9.7,504,10554,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2199,2341
$GC,10861,1.28,116.8,52.7,9.5,519,10862,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2199,2341
$GC,11172,1.28,116.8,26.5,8.2,534,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2199,2341
$STATE,11436,end climb,SURFACE_DEPTH_REACHED
$STATE,11436,begin surface coast
$FINISH,0.9,1.027445
$STATE,11458,end surface coast,CONTROL_FINISHED_OK
$STATE,11458,begin surface
$SM_CCo,11480,107.95,0.647,3,0,1594,300.00
$SM_GC,1.24,0.00,0.00,107.95,0.000,0.000,0.647,74,2400,1594,-10.75,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2076
$TCM_TEMP,16.70
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,400.1,86.8
$24V_AH,23.6,52.704
$10V_AH,10.2,27.376
$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,25.775,69.975,161.375,107.950,0.000,65.252,73.321,182.381,7.000,0.000,0.000,15.415,1034.779,8892.238,384.693,1291.660,501.908,33.371,1001.072,0.000,1262.280,0.000,24.675
$DEVICE_MAMPS,169.507,88.972,987.896,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.309,382.193,378.300,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28499,548
$CFSIZE,260165632,240852992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,3,0
$GPS,140108,164528,6246.808,-556.384,37,3.5,56,-8.0