version: 66.02
glider: 16
mission: 6
dive: 284
start: 1 7 108 19 46 31
data:
$ID,16
$MISSION,6
$DIVE,284
$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,-2083479.6
$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,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
$GPS1,193716,6248.807,-603.354,109,2.1,128,-8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-59.8
$GPS2,194541,6248.869,-603.301,15,2.8,34,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.112,0.191
$KALMAN_X,61716.4,-8530.6,-5128.7,112763.8,-6879.6
$KALMAN_Y,107391.9,-10499.2,-6065.1,40584.7,-30583.7
$MHEAD_RNG_PITCHd_Wd,207.8,2811,-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,-97.03,0.000,6,0.000,0.000,74,2403,2935
$GC,128,-1.76,-51.8,3.6,-2.8,5,149,11.15,2.72,-2.47,0.000,4,0.176,0.082,2016,984,3030
$GC,271,-1.76,-51.8,26.6,-16.8,11,278,0.00,2.65,0.00,0.000,6,0.000,0.064,2016,2402,3031
$GC,587,-1.76,-51.8,77.9,-14.6,27,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2402,3031
$GC,897,-1.76,-51.8,120.5,-13.3,42,902,0.00,2.62,0.00,0.000,4,0.000,0.081,2016,3769,3031
$GC,982,-1.76,-51.8,133.6,-16.6,46,986,0.00,2.55,0.00,0.000,6,0.000,0.058,2016,2398,3031
$GC,1308,-1.76,-51.8,182.5,-14.8,62,1312,0.00,2.65,0.00,0.000,4,0.000,0.081,2016,3771,3032
$GC,1369,-1.76,-51.8,191.8,-14.6,65,1374,0.00,2.55,0.00,0.000,6,0.000,0.061,2016,2397,3031
$GC,1695,-1.76,-51.8,237.9,-14.4,81,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2397,3031
$GC,2005,-1.76,-51.8,279.9,-13.6,96,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2397,3031
$GC,2314,-1.76,-51.8,321.0,-13.1,111,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2397,3031
$GC,2624,-1.76,-51.8,360.7,-12.6,126,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2396,3031
$GC,2933,-1.76,-51.8,399.5,-12.8,141,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2397,3031
$GC,3242,-1.76,-51.8,439.2,-13.1,156,3246,0.00,2.65,0.00,0.000,4,0.000,0.084,2016,3768,3031
$GC,3353,-1.76,-51.8,454.5,-13.5,161,3357,0.00,2.55,0.00,0.000,6,0.000,0.062,2016,2401,3031
$GC,3680,-1.76,-51.8,489.0,-11.1,177,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2401,3032
$STATE,3780,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3781,begin apogee
$GC,3786,-0.31,0.0,501.1,11.6,182,3835,1.67,0.00,44.53,1.001,6,0.129,0.000,2338,2196,2817
$STATE,3835,end apogee,CONTROL_FINISHED_OK
$STATE,3836,begin climb
$GC,3838,1.76,51.8,503.6,0.0,184,3889,2.12,2.83,43.05,1.000,4,0.077,0.084,2795,3616,2605
$GC,3996,1.76,53.7,494.7,5.7,191,4000,0.00,2.70,0.00,0.000,6,0.000,0.067,2795,2200,2604
$GC,4311,1.77,59.0,477.7,5.3,206,4325,0.00,2.75,7.35,0.823,4,0.000,0.074,2795,793,2576
$GC,4580,1.77,59.1,460.5,6.0,218,4584,0.00,2.62,0.00,0.000,6,0.000,0.058,2795,2203,2575
$GC,4906,1.78,63.2,443.1,5.4,234,4916,0.00,2.70,4.88,0.706,4,0.000,0.072,2795,784,2558
$GC,5124,1.78,63.2,429.3,7.1,244,5129,0.00,2.62,0.00,0.000,6,0.000,0.058,2795,2202,2558
$GC,5451,1.78,63.2,407.1,6.7,260,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2202,2557
$GC,5760,1.78,63.2,387.6,6.1,275,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2201,2557
$GC,6069,1.78,63.2,369.1,6.2,290,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2202,2556
$GC,6378,1.78,64.7,350.8,5.8,305,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2202,2556
$GC,6688,1.78,70.3,334.0,5.2,320,6702,0.00,2.80,6.78,0.761,4,0.000,0.084,2795,3618,2529
$GC,6956,1.78,70.3,316.0,6.8,332,6961,0.00,2.67,0.00,0.000,6,0.000,0.069,2795,2202,2529
$GC,7283,1.78,70.3,295.6,6.0,348,7287,0.00,2.72,0.00,0.000,4,0.000,0.084,2795,3616,2529
$GC,7540,1.78,70.3,278.7,6.5,359,7546,0.00,2.67,0.00,0.000,6,0.000,0.068,2795,2199,2530
$GC,7855,1.78,70.3,259.5,6.2,375,7859,0.00,2.72,0.00,0.000,4,0.000,0.083,2795,3622,2529
$GC,8112,1.78,70.3,242.6,6.7,386,8118,0.00,2.67,0.00,0.000,6,0.000,0.067,2795,2198,2529
$GC,8427,1.78,71.2,223.4,5.9,402,8432,0.00,2.72,0.00,0.000,4,0.000,0.081,2795,3619,2529
$GC,8684,1.78,71.2,206.6,6.2,413,8690,0.00,2.67,0.00,0.000,6,0.000,0.067,2796,2196,2529
$GC,8999,1.78,71.2,187.7,6.2,429,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2196,2529
$GC,9309,1.79,74.5,170.1,5.5,444,9319,0.00,2.75,5.28,0.617,4,0.000,0.080,2795,3622,2512
$GC,9509,1.79,74.5,157.4,6.5,453,9513,0.00,2.67,0.00,0.000,6,0.000,0.066,2795,2194,2512
$GC,9836,1.79,74.5,135.3,7.1,469,9841,0.00,2.72,0.00,0.000,4,0.000,0.081,2795,3617,2512
$GC,9899,1.79,74.5,130.6,7.9,472,9903,0.00,2.67,0.00,0.000,6,0.000,0.066,2795,2191,2512
$GC,10225,1.79,74.5,106.6,7.3,488,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2191,2513
$GC,10534,1.79,74.5,84.0,7.0,503,10538,0.00,2.72,0.00,0.000,4,0.000,0.081,2795,3622,2513
$GC,10790,1.79,74.5,63.2,7.9,514,10797,0.00,2.67,0.00,0.000,6,0.000,0.066,2796,2193,2513
$GC,11106,1.79,74.5,38.6,6.8,530,11111,0.00,2.72,0.00,0.000,4,0.000,0.081,2795,3618,2513
$GC,11364,1.79,74.5,18.0,8.8,541,11370,0.00,2.67,0.00,0.000,6,0.000,0.067,2795,2191,2513
$STATE,11554,end climb,SURFACE_DEPTH_REACHED
$STATE,11554,begin surface coast
$FINISH,0.7,1.026512
$STATE,11576,end surface coast,CONTROL_FINISHED_OK
$STATE,11576,begin surface
$SM_CCo,11598,285.35,0.668,1,0,509,566.15
$SM_GC,1.22,0.00,0.00,285.35,0.000,0.000,0.668,70,2399,509,-10.76,-0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2047
$TCM_TEMP,15.60
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,450.7,58.2
$24V_AH,23.6,48.478
$10V_AH,10.2,24.415
$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,27.300,81.275,111.850,285.350,0.000,66.718,75.014,180.231,7.500,0.000,0.000,36.576,1092.173,8693.038,567.765,1556.703,492.620,33.358,1279.969,0.000,1499.249,0.000,25.020
$DEVICE_MAMPS,175.643,84.370,1000.935,668.057,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.332,386.198,388.660,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28472,552
$CFSIZE,260165632,242880512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,070108,230607,6248.686,-601.089,40,1.9,51,-8.0