version: 66.02
glider: 16
mission: 6
dive: 258
start: 1 5 108 8 19 49
data:
$ID,16
$MISSION,6
$DIVE,258
$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,1
$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,-2081973.9
$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,17
$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
$GPS1,075131,6244.207,-614.845,42,1.5,42,-8.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-41.3
$GPS2,081859,6244.526,-614.898,21,1.7,21,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.211,-0.066
$KALMAN_X,47451.7,-1662.2,-8.9,104493.3,45024.3
$KALMAN_Y,58670.1,-344.3,-69.8,64593.7,16574.5
$MHEAD_RNG_PITCHd_Wd,260.8,10384,-11.0,-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,-0.85,-146.6,0.0,0.0,0,144,0.00,0.00,-116.75,0.000,6,0.000,0.000,70,2406,3415
$GC,147,-0.85,-146.6,6.6,-6.2,6,169,12.10,2.75,0.00,0.000,4,0.179,0.074,2219,987,3418
$GC,349,-0.85,-146.6,33.0,-6.1,15,353,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2397,3418
$GC,676,-0.85,-146.6,49.3,-7.0,31,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2397,3418
$GC,984,-0.85,-146.6,89.6,-17.4,46,988,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,981,3419
$GC,1033,-0.85,-146.6,96.7,-10.1,48,1037,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2400,3418
$GC,1355,-0.85,-146.6,127.7,-8.5,64,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3419
$GC,1663,-0.85,-146.6,154.4,-8.0,79,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3418
$GC,1972,-0.85,-146.6,177.2,-8.3,94,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3418
$GC,2282,-0.85,-146.6,202.7,-8.4,109,2287,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,977,3418
$GC,2348,-0.85,-146.6,208.5,-8.5,112,2352,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2403,3418
$GC,2674,-0.85,-146.6,235.8,-6.4,128,2679,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,981,3418
$GC,2730,-0.85,-146.6,239.2,-6.1,130,2736,0.00,2.60,0.00,0.000,6,0.000,0.060,2219,2400,3418
$GC,3045,-0.85,-146.6,266.8,-11.9,146,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,3355,-0.85,-146.6,299.5,-10.9,161,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3418
$GC,3664,-0.85,-146.6,320.0,-7.3,176,3669,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,976,3418
$STATE,3724,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3724,begin apogee
$GC,3731,-0.31,0.0,324.8,7.3,179,3852,0.60,0.00,117.03,0.903,6,0.104,0.000,2340,2207,2817
$STATE,3852,end apogee,CONTROL_FINISHED_OK
$STATE,3852,begin climb
$GC,3855,0.85,146.6,328.7,0.0,185,3975,1.20,0.00,115.75,0.876,6,0.073,0.000,2592,2207,2219
$GC,4276,0.85,154.0,307.1,5.8,206,4286,0.00,0.00,7.62,0.709,6,0.000,0.000,2592,2207,2188
$GC,4585,0.85,154.0,287.1,6.4,221,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2207,2187
$GC,4895,0.85,154.0,267.3,6.5,236,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2207,2187
$GC,5204,0.90,200.2,249.8,4.7,251,5244,0.00,0.00,36.90,0.821,6,0.000,0.000,2592,2207,2000
$GC,5553,0.94,236.0,237.5,5.0,268,5586,0.10,0.00,29.12,0.808,6,0.066,0.000,2618,2206,1854
$GC,5883,1.07,348.7,219.6,2.9,284,5979,0.10,2.78,86.53,0.815,4,0.060,0.068,2653,787,1393
$GC,6023,1.07,348.7,206.6,11.3,290,6030,0.00,2.62,0.00,0.000,6,0.000,0.051,2653,2193,1392
$GC,6339,1.07,348.7,174.0,11.7,306,6344,0.00,2.67,0.00,0.000,4,0.000,0.071,2653,781,1391
$GC,6378,1.07,348.7,169.2,12.1,308,6383,0.00,2.60,0.00,0.000,6,0.000,0.051,2653,2202,1391
$GC,6706,1.07,348.7,134.5,11.5,324,6711,0.00,2.67,0.00,0.000,4,0.000,0.071,2653,786,1391
$GC,6756,1.07,348.7,129.1,11.3,326,6760,0.00,2.58,0.00,0.000,6,0.000,0.051,2653,2201,1391
$GC,7073,1.07,348.7,92.7,11.7,341,7077,0.00,2.65,0.00,0.000,4,0.000,0.068,2653,786,1391
$GC,7136,1.07,348.7,86.2,9.6,344,7140,0.00,2.60,0.00,0.000,6,0.000,0.052,2653,2204,1390
$GC,7462,1.07,348.7,51.0,11.0,360,7467,0.00,2.67,0.00,0.000,4,0.000,0.067,2653,779,1392
$GC,7524,1.07,348.7,42.9,14.7,363,7529,0.00,2.60,0.00,0.000,6,0.000,0.050,2653,2208,1391
$GC,7851,1.07,348.7,3.5,10.1,379,7855,0.00,2.60,0.00,0.000,4,0.000,0.054,2653,781,1390
$STATE,7875,end climb,SURFACE_DEPTH_REACHED
$STATE,7875,begin surface coast
$FINISH,0.6,1.027419
$STATE,7899,end surface coast,CONTROL_FINISHED_OK
$STATE,7899,begin surface
$SM_CCo,7923,120.00,0.673,1,0,508,566.15
$SM_GC,1.04,0.00,0.00,120.00,0.000,0.000,0.673,74,2399,508,-10.75,-0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2038
$TCM_TEMP,19.10
$XPDR_PINGS,61
$ALTIM_BOTTOM_PING,225.8,108.5
$24V_AH,23.7,45.281
$10V_AH,10.2,23.115
$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,25.475,58.250,392.950,120.000,0.000,163.011,183.559,930.435,16.500,0.000,0.000,21.707,705.004,6060.534,653.506,856.768,1431.591,33.359,1091.491,0.000,837.266,0.000,10.538
$DEVICE_MAMPS,178.711,73.632,902.759,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,281.845,258.689,325.047,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19079,381
$CFSIZE,260165632,243691520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,050108,103528,6244.650,-616.150,36,2.5,55,-8.2