version: 66.02
glider: 16
mission: 6
dive: 280
start: 1 7 108 7 10 50
data:
$ID,16
$MISSION,6
$DIVE,280
$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,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,-2082468.5
$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,17
$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
$GPS1,070531,6247.101,-602.888,33,1.9,49,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-54.7
$GPS2,070957,6247.108,-602.799,10,1.7,10,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.120,-0.186
$KALMAN_X,56715.8,-2229.9,1074.8,105364.7,50166.2
$KALMAN_Y,91766.0,-3115.0,3167.8,35896.3,80244.7
$MHEAD_RNG_PITCHd_Wd,302.1,1505,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.74,-28.8,0.0,0.0,0,125,0.00,0.00,-96.22,0.000,6,0.000,0.000,70,2404,2935
$GC,127,-1.76,-51.3,3.7,-2.9,5,150,11.07,2.72,-2.35,0.000,4,0.176,0.080,2019,979,3029
$GC,200,-1.76,-51.3,17.2,-17.0,8,204,0.00,2.62,0.00,0.000,6,0.000,0.059,2019,2397,3030
$GC,529,-1.76,-51.3,68.8,-16.7,24,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2397,3030
$GC,836,-1.76,-51.3,118.9,-15.1,39,840,0.00,2.62,0.00,0.000,4,0.000,0.078,2019,3773,3030
$GC,890,-1.76,-51.3,127.0,-14.2,41,897,0.00,2.55,0.00,0.000,6,0.000,0.053,2019,2403,3030
$GC,1206,-1.76,-51.3,167.7,-12.2,57,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2403,3030
$GC,1515,-1.76,-51.3,206.5,-12.3,72,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2402,3030
$GC,1824,-1.76,-51.3,245.7,-13.0,87,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2402,3030
$GC,2134,-1.76,-51.3,286.9,-13.3,102,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2402,3030
$GC,2443,-1.76,-51.3,329.6,-14.2,117,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2402,3030
$GC,2752,-1.76,-51.3,373.0,-13.4,132,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2402,3030
$GC,3062,-1.76,-51.3,412.9,-13.0,147,3066,0.00,2.67,0.00,0.000,4,0.000,0.075,2019,982,3030
$GC,3184,-1.76,-51.3,429.9,-13.7,152,3190,0.00,2.62,0.00,0.000,6,0.000,0.063,2019,2403,3030
$STATE,3332,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3333,begin apogee
$GC,3339,-0.31,0.0,450.0,13.0,160,3387,1.67,0.00,43.90,0.964,6,0.131,0.000,2339,2192,2817
$STATE,3387,end apogee,CONTROL_FINISHED_OK
$STATE,3388,begin climb
$GC,3390,1.76,51.3,452.0,0.0,162,3440,2.08,2.70,42.50,0.956,4,0.069,0.066,2794,788,2607
$GC,3469,1.76,51.7,448.5,5.9,166,3474,0.00,2.62,0.00,0.000,6,0.000,0.051,2794,2205,2606
$GC,3797,1.77,62.0,431.5,4.6,182,3812,0.00,2.75,9.98,0.836,4,0.000,0.081,2794,3616,2564
$GC,3953,1.77,62.0,421.6,7.1,188,3957,0.00,2.67,0.00,0.000,6,0.000,0.066,2794,2199,2564
$GC,4273,1.77,63.0,402.5,5.9,204,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2199,2563
$GC,4582,1.78,65.9,384.8,5.6,219,4592,0.00,2.70,4.78,0.667,4,0.000,0.072,2794,781,2548
$GC,4665,1.78,65.9,380.1,6.3,223,4670,0.00,2.62,0.00,0.000,6,0.000,0.054,2794,2204,2548
$GC,4991,1.78,67.4,361.2,5.8,239,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2204,2548
$GC,5300,1.78,67.4,342.0,6.2,254,5304,0.00,2.65,0.00,0.000,4,0.000,0.065,2794,784,2548
$GC,5528,1.78,67.4,325.5,7.3,264,5532,0.00,2.60,0.00,0.000,6,0.000,0.054,2794,2202,2547
$GC,5849,1.78,67.4,303.4,6.7,280,5853,0.00,2.65,0.00,0.000,4,0.000,0.067,2794,783,2547
$GC,5960,1.78,67.4,295.7,6.6,285,5964,0.00,2.60,0.00,0.000,6,0.000,0.053,2794,2204,2547
$GC,6287,1.78,67.4,274.0,7.1,301,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2204,2547
$GC,6596,1.78,67.4,252.4,6.8,316,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2205,2547
$GC,6905,1.78,67.4,232.7,6.1,331,6910,0.00,2.67,0.00,0.000,4,0.000,0.079,2794,3620,2547
$GC,7125,1.78,67.4,217.9,6.7,341,7129,0.00,2.65,0.00,0.000,6,0.000,0.064,2794,2197,2547
$GC,7450,1.78,67.4,197.1,6.4,357,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2197,2547
$GC,7760,1.78,67.4,177.8,6.2,372,7765,0.00,2.67,0.00,0.000,4,0.000,0.077,2794,3616,2547
$GC,7917,1.78,67.4,167.9,6.3,379,7921,0.00,2.62,0.00,0.000,6,0.000,0.064,2794,2200,2547
$GC,8238,1.79,72.7,150.0,5.3,395,8252,0.00,2.75,6.93,0.655,4,0.000,0.077,2794,3621,2519
$GC,8387,1.79,72.7,138.4,8.2,401,8394,0.00,2.65,0.00,0.000,6,0.000,0.064,2794,2200,2519
$GC,8704,1.79,72.7,113.9,7.8,417,8709,0.00,2.70,0.00,0.000,4,0.000,0.077,2794,3625,2519
$GC,8901,1.79,72.7,95.8,9.0,426,8906,0.00,2.67,0.00,0.000,6,0.000,0.065,2794,2192,2519
$GC,9227,1.79,72.7,68.8,8.2,442,9228,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2192,2519
$GC,9537,1.79,72.7,43.2,8.7,457,9541,0.00,2.72,0.00,0.000,4,0.000,0.080,2794,3622,2519
$GC,9653,1.79,72.7,32.1,9.8,462,9657,0.00,2.65,0.00,0.000,6,0.000,0.064,2794,2199,2519
$GC,9975,1.79,74.9,4.2,5.7,478,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2199,2519
$STATE,10014,end climb,SURFACE_DEPTH_REACHED
$STATE,10014,begin surface coast
$FINISH,0.6,1.023057
$STATE,10036,end surface coast,CONTROL_FINISHED_OK
$STATE,10036,begin surface
$SM_CCo,10058,291.95,0.654,5,0,509,566.15
$SM_GC,1.30,0.00,0.00,291.95,0.000,0.000,0.654,70,2406,509,-10.76,0.17,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2051
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,402.2,57.7
$24V_AH,23.7,48.071
$10V_AH,10.2,24.152
$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,27.150,69.950,108.075,291.950,0.000,32.612,33.926,108.949,3.750,0.000,0.000,10.904,939.936,7620.562,579.948,1194.145,319.406,33.351,1151.460,0.000,1169.241,0.000,24.732
$DEVICE_MAMPS,175.643,81.302,964.119,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,343.972,340.441,352.522,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22248,481
$CFSIZE,260165632,243048448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,5,0
$GPS,070108,100522,6247.822,-601.458,40,3.3,59,-8.0