version: 66.02
glider: 16
mission: 6
dive: 281
start: 1 7 108 10 11 9
data:
$ID,16
$MISSION,6
$DIVE,281
$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,-2082501.6
$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,17
$R_STBD_OVSHOOT,16
$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
$GPS1,100522,6247.822,-601.458,40,3.3,59,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-53.3
$GPS2,101017,6247.823,-601.352,12,2.9,31,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.125,-0.183
$KALMAN_X,55897.1,-2027.9,584.5,107743.2,39611.8
$KALMAN_Y,89981.0,-2999.4,2002.6,40055.7,61225.8
$MHEAD_RNG_PITCHd_Wd,262.7,2695,-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,21,-1.74,-28.8,0.0,0.0,0,124,0.00,0.00,-96.18,0.000,6,0.000,0.000,69,2407,2936
$GC,126,-1.77,-54.0,3.4,-2.5,5,148,11.25,0.00,-2.80,0.000,6,0.183,0.000,2017,2406,3038
$GC,458,-1.77,-54.0,57.4,-15.0,21,463,0.00,2.60,0.00,0.000,4,0.000,0.079,2015,3767,3039
$GC,531,-1.77,-54.0,68.4,-15.4,24,535,0.00,2.53,0.00,0.000,6,0.000,0.058,2017,2401,3039
$GC,846,-1.77,-54.0,113.1,-13.8,39,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2401,3039
$GC,1155,-1.77,-54.0,158.3,-15.8,54,1159,0.00,2.62,0.00,0.000,4,0.000,0.081,2017,3769,3039
$GC,1216,-1.77,-54.0,168.2,-16.6,57,1221,0.00,2.55,0.00,0.000,6,0.000,0.061,2017,2400,3039
$GC,1543,-1.77,-54.0,216.3,-15.5,73,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2400,3039
$GC,1852,-1.77,-54.0,260.3,-13.9,88,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2400,3039
$GC,2162,-1.77,-54.0,303.1,-13.6,103,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2400,3039
$GC,2470,-1.77,-54.0,346.4,-14.1,118,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2400,3039
$GC,2780,-1.77,-54.0,389.1,-13.6,133,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2400,3039
$GC,3089,-1.77,-54.0,429.5,-11.7,148,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2400,3040
$GC,3398,-1.77,-54.0,463.7,-10.9,163,3403,0.00,2.65,0.00,0.000,4,0.000,0.076,2017,983,3041
$STATE,3513,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3513,begin apogee
$GC,3521,-0.31,0.0,477.4,12.3,168,3573,1.62,0.00,46.15,1.000,6,0.129,0.000,2338,2200,2817
$STATE,3573,end apogee,CONTROL_FINISHED_OK
$STATE,3574,begin climb
$GC,3576,1.77,54.0,479.8,0.0,171,3632,2.20,2.88,44.55,0.990,4,0.083,0.087,2795,3620,2596
$GC,3885,1.77,54.0,459.0,7.9,185,3890,0.00,2.70,0.00,0.000,6,0.000,0.071,2795,2202,2595
$GC,4206,1.79,74.8,443.6,3.1,201,4230,0.00,2.80,18.02,0.945,4,0.000,0.077,2795,789,2512
$GC,4348,1.79,74.8,436.8,6.2,207,4353,0.00,2.65,0.00,0.000,6,0.000,0.061,2795,2202,2512
$GC,4663,1.79,74.8,414.5,8.0,222,4668,0.00,2.78,0.00,0.000,4,0.000,0.092,2795,3620,2509
$GC,4730,1.79,74.8,408.8,8.6,225,4734,0.00,2.72,0.00,0.000,6,0.000,0.073,2795,2195,2508
$GC,5051,1.79,79.9,390.3,5.3,241,5061,0.00,2.80,5.25,0.749,4,0.000,0.091,2795,3616,2490
$GC,5315,1.79,79.9,372.0,7.9,253,5319,0.00,2.70,0.00,0.000,6,0.000,0.072,2795,2201,2488
$GC,5640,1.79,79.9,347.8,7.5,269,5645,0.00,2.75,0.00,0.000,4,0.000,0.087,2795,3616,2487
$GC,5898,1.79,79.9,326.9,8.4,280,5905,0.00,2.67,0.00,0.000,6,0.000,0.070,2795,2203,2486
$GC,6213,1.79,79.9,303.7,7.6,296,6218,0.00,2.72,0.00,0.000,4,0.000,0.085,2795,3618,2486
$GC,6471,1.79,79.9,282.9,8.5,307,6477,0.00,2.67,0.00,0.000,6,0.000,0.068,2795,2196,2486
$GC,6786,1.79,79.9,260.3,7.1,323,6790,0.00,2.72,0.00,0.000,4,0.000,0.082,2795,3618,2486
$GC,7043,1.79,79.9,240.0,7.6,334,7049,0.00,2.67,0.00,0.000,6,0.000,0.067,2795,2197,2486
$GC,7358,1.79,79.9,216.3,7.5,350,7362,0.00,2.70,0.00,0.000,4,0.000,0.081,2795,3617,2486
$GC,7615,1.79,79.9,195.1,8.5,361,7621,0.00,2.65,0.00,0.000,6,0.000,0.067,2795,2200,2486
$GC,7930,1.79,79.9,170.8,7.6,377,7934,0.00,2.70,0.00,0.000,4,0.000,0.081,2795,3618,2487
$GC,8136,1.79,79.9,154.4,7.8,386,8140,0.00,2.65,0.00,0.000,6,0.000,0.066,2795,2194,2487
$GC,8458,1.79,79.9,130.4,7.5,402,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2194,2487
$GC,8768,1.79,79.9,108.8,6.6,417,8773,0.00,2.72,0.00,0.000,4,0.000,0.080,2795,3622,2488
$GC,8908,1.79,81.4,100.0,5.8,423,8913,0.00,2.65,0.00,0.000,6,0.000,0.065,2795,2193,2488
$GC,9224,1.79,81.4,79.9,7.6,438,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2193,2488
$GC,9533,1.79,81.4,54.1,8.2,453,9537,0.00,2.72,0.00,0.000,4,0.000,0.080,2795,3622,2489
$GC,9689,1.79,81.4,39.7,9.3,460,9693,0.00,2.65,0.00,0.000,6,0.000,0.064,2795,2201,2489
$GC,10009,1.79,81.4,14.7,8.1,476,10014,0.00,2.72,0.00,0.000,4,0.000,0.081,2795,3626,2489
$GC,10050,1.79,81.4,11.2,9.3,478,10054,0.00,2.67,0.00,0.000,6,0.000,0.066,2795,2197,2489
$STATE,10167,end climb,SURFACE_DEPTH_REACHED
$STATE,10168,begin surface coast
$FINISH,0.6,1.027545
$STATE,10189,end surface coast,CONTROL_FINISHED_OK
$STATE,10189,begin surface
$SM_CCo,10211,283.88,0.675,1,0,508,566.15
$SM_GC,1.34,0.00,0.00,283.88,0.000,0.000,0.675,72,2404,508,-10.75,0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2063
$TCM_TEMP,16.80
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,377.9,109.4
$24V_AH,23.6,48.168
$10V_AH,10.2,24.209
$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,27.025,80.750,113.975,283.875,0.000,32.634,37.925,112.493,8.000,0.000,0.000,32.546,976.733,7533.434,570.935,1390.213,334.771,33.383,1213.357,0.000,1340.229,0.000,20.284
$DEVICE_MAMPS,182.546,92.040,1000.168,674.960,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.468,341.155,368.037,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25398,485
$CFSIZE,260165632,242999296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,070108,130745,6247.399,-600.408,39,2.4,58,-8.0