version: 66.02
glider: 16
mission: 6
dive: 283
start: 1 7 108 16 37 0
data:
$ID,16
$MISSION,6
$DIVE,283
$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,-2083442.4
$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,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
$GPS1,161307,6247.821,-601.695,56,1.9,56,-8.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-58.0
$GPS2,161307,6247.821,-601.695,56,1.9,56,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.009,-0.221
$KALMAN_X,90857.7,-212.1,907.5,103883.0,35786.1
$KALMAN_Y,141048.2,-571.7,1105.0,35576.1,55525.0
$MHEAD_RNG_PITCHd_Wd,261.0,2414,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.74,-28.8,0.0,0.0,0,126,0.00,0.00,-97.55,0.000,6,0.000,0.000,67,2404,2934
$GC,129,-1.76,-53.8,3.4,-2.5,5,151,10.98,2.72,-2.80,0.000,4,0.173,0.084,2018,989,3038
$GC,223,-1.76,-53.8,19.0,-16.6,9,227,0.00,2.62,0.00,0.000,6,0.000,0.064,2017,2401,3039
$GC,551,-1.76,-53.8,68.8,-14.9,25,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2401,3039
$GC,860,-1.76,-53.8,116.3,-15.2,40,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2401,3039
$GC,1169,-1.76,-53.8,161.2,-13.8,55,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2401,3039
$GC,1478,-1.76,-53.8,204.9,-14.6,70,1483,0.00,2.62,0.00,0.000,4,0.000,0.083,2018,3775,3039
$GC,1550,-1.76,-53.8,216.1,-15.0,73,1554,0.00,2.55,0.00,0.000,6,0.000,0.061,2018,2400,3039
$GC,1871,-1.76,-53.8,261.7,-13.7,89,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2400,3039
$GC,2181,-1.76,-53.8,302.8,-13.2,104,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2400,3039
$GC,2489,-1.76,-53.8,344.1,-13.1,119,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2400,3039
$GC,2799,-1.76,-53.8,384.8,-13.2,134,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2400,3039
$GC,3108,-1.76,-53.8,426.3,-13.3,149,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2400,3039
$GC,3417,-1.76,-53.8,463.2,-10.6,164,3421,0.00,2.62,0.00,0.000,4,0.000,0.084,2018,3768,3040
$STATE,3509,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3509,begin apogee
$GC,3519,-0.31,0.0,474.3,11.6,168,3570,1.62,0.00,45.92,0.984,6,0.128,0.000,2339,2201,2817
$STATE,3571,end apogee,CONTROL_FINISHED_OK
$STATE,3571,begin climb
$GC,3573,1.76,53.8,476.4,0.0,171,3628,2.10,2.83,44.53,0.978,4,0.077,0.073,2796,779,2597
$GC,3882,1.77,55.5,458.2,5.8,185,3887,0.00,2.65,0.00,0.000,6,0.000,0.056,2796,2206,2596
$GC,4208,1.77,62.1,438.9,5.1,201,4222,0.00,2.80,8.35,0.828,4,0.000,0.087,2796,3611,2562
$GC,4262,1.78,69.1,436.2,5.0,203,4275,0.00,2.70,7.25,0.796,6,0.000,0.068,2796,2196,2535
$GC,4583,1.79,78.3,421.6,4.7,219,4598,0.00,2.80,9.18,0.842,4,0.000,0.087,2796,3614,2496
$GC,4666,1.79,78.3,416.6,6.8,222,4670,0.00,2.70,0.00,0.000,6,0.000,0.071,2796,2201,2496
$GC,4994,1.79,78.3,394.2,7.9,238,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2200,2495
$GC,5301,1.79,78.3,370.3,7.5,253,5305,0.00,2.78,0.00,0.000,4,0.000,0.087,2796,3622,2494
$GC,5513,1.79,78.3,352.6,8.6,262,5519,0.00,2.70,0.00,0.000,6,0.000,0.070,2796,2200,2493
$GC,5828,1.79,78.3,329.1,7.0,278,5832,0.00,2.75,0.00,0.000,4,0.000,0.086,2796,3622,2493
$GC,5934,1.79,78.3,320.9,8.1,283,5938,0.00,2.70,0.00,0.000,6,0.000,0.069,2796,2197,2493
$GC,6260,1.79,78.3,295.6,8.0,299,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2197,2493
$GC,6569,1.79,78.3,271.2,7.6,314,6573,0.00,2.72,0.00,0.000,4,0.000,0.083,2796,3616,2493
$GC,6675,1.79,78.3,262.3,8.5,319,6679,0.00,2.67,0.00,0.000,6,0.000,0.067,2796,2200,2493
$GC,7001,1.79,78.3,236.4,7.9,335,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2200,2493
$GC,7310,1.79,78.3,211.6,8.1,350,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2200,2493
$GC,7619,1.79,78.3,187.7,6.4,365,7623,0.00,2.72,0.00,0.000,4,0.000,0.082,2797,3620,2493
$GC,7825,1.80,82.9,174.5,5.4,374,7837,0.00,2.67,4.65,0.588,6,0.000,0.066,2796,2192,2479
$GC,8145,1.80,82.9,156.2,6.2,390,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2192,2479
$GC,8456,1.80,82.9,133.9,7.7,405,8460,0.00,2.75,0.00,0.000,4,0.000,0.081,2796,3625,2478
$GC,8594,1.80,82.9,121.8,8.6,411,8599,0.00,2.67,0.00,0.000,6,0.000,0.065,2796,2200,2479
$GC,8912,1.80,82.9,100.5,6.8,426,8917,0.00,2.72,0.00,0.000,4,0.000,0.081,2796,3622,2479
$GC,9159,1.80,85.6,84.5,5.6,437,9168,0.00,2.67,4.15,0.517,6,0.000,0.065,2796,2193,2467
$GC,9485,1.80,85.6,63.2,6.2,453,9489,0.00,2.72,0.00,0.000,4,0.000,0.081,2796,3623,2467
$GC,9539,1.80,85.6,59.7,6.7,455,9546,0.00,2.67,0.00,0.000,6,0.000,0.066,2796,2199,2467
$GC,9855,1.80,85.6,37.2,7.0,471,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2199,2467
$GC,10165,1.80,85.6,11.7,9.4,486,10166,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2199,2467
$STATE,10307,end climb,SURFACE_DEPTH_REACHED
$STATE,10307,begin surface coast
$FINISH,0.6,1.016022
$STATE,10329,end surface coast,CONTROL_FINISHED_OK
$STATE,10329,begin surface
$SM_CCo,10350,279.45,0.657,4,0,509,566.15
$SM_GC,1.26,0.00,0.00,279.45,0.000,0.000,0.657,75,2403,509,-10.74,0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2031
$TCM_TEMP,16.80
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,400.8,83.1
$24V_AH,23.6,48.376
$10V_AH,10.2,24.348
$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,26.950,70.925,124.025,279.450,0.000,65.217,67.747,197.649,11.250,0.000,0.000,903.206,954.926,7908.017,573.357,2116.259,489.090,33.363,1162.592,0.000,1207.389,0.000,21.838
$DEVICE_MAMPS,173.342,86.671,984.061,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.595,351.518,376.587,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25425,494
$CFSIZE,260165632,242925568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,4,0
$GPS,070108,193716,6248.807,-603.354,109,2.1,128,-8.1