version: 66.02
glider: 16
mission: 6
dive: 285
start: 1 7 108 23 15 43
data:
$ID,16
$MISSION,6
$DIVE,285
$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,-2083512.5
$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,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
$GPS1,230607,6248.686,-601.089,40,1.9,51,-8.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-53.5
$GPS2,231453,6248.745,-601.007,12,2.3,31,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.076,0.208
$KALMAN_X,46705.6,7726.5,-5400.2,113343.1,-29252.7
$KALMAN_Y,71612.2,10880.6,-7108.4,55140.4,-74151.5
$MHEAD_RNG_PITCHd_Wd,238.1,3769,-24.8,-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,-1.59,-34.6,0.0,0.0,0,125,0.00,0.00,-98.35,0.000,6,0.000,0.000,68,2400,2959
$GC,128,-1.62,-64.8,3.2,-2.5,5,150,11.30,2.70,-3.40,0.000,4,0.177,0.084,2048,983,3082
$GC,331,-1.62,-64.8,33.6,-14.0,14,335,0.00,2.67,0.00,0.000,6,0.000,0.065,2047,2405,3084
$GC,657,-1.62,-64.8,78.5,-14.8,30,661,0.00,2.62,0.00,0.000,4,0.000,0.081,2047,3771,3084
$GC,719,-1.62,-64.8,87.3,-14.4,33,723,0.00,2.58,0.00,0.000,6,0.000,0.061,2048,2395,3084
$GC,1046,-1.62,-64.8,131.4,-12.8,49,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2395,3084
$GC,1356,-1.62,-64.8,175.6,-14.5,64,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2395,3084
$GC,1664,-1.62,-64.8,215.3,-12.6,79,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2395,3084
$GC,1972,-1.62,-64.8,254.7,-12.4,94,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2393,3084
$GC,2282,-1.62,-64.8,294.1,-13.2,109,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2395,3084
$GC,2592,-1.62,-64.8,334.7,-13.6,124,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2395,3084
$GC,2901,-1.62,-64.8,375.0,-12.0,139,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2395,3084
$GC,3210,-1.62,-64.8,414.2,-13.1,154,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2395,3084
$GC,3519,-1.62,-64.8,453.7,-13.2,169,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2395,3084
$GC,3828,-1.62,-64.8,488.8,-11.2,184,3832,0.00,2.67,0.00,0.000,4,0.000,0.076,2049,983,3085
$GC,3899,-1.62,-64.8,497.8,-13.0,187,3904,0.00,2.65,0.00,0.000,6,0.000,0.067,2047,2404,3085
$GC,4216,-1.68,-116.8,501.0,0.0,202,4220,0.00,2.65,0.00,0.000,4,0.000,0.090,2048,3773,3086
$STATE,4308,end dive,NO_VERTICAL_VELOCITY
$STATE,4308,begin apogee
$GC,4316,-0.31,0.0,500.9,0.0,206,4375,1.40,0.00,54.95,1.022,6,0.093,0.000,2340,2197,2817
$STATE,4376,end apogee,CONTROL_FINISHED_OK
$STATE,4376,begin climb
$GC,4379,1.68,116.8,500.9,0.0,209,4482,1.95,2.88,94.20,1.025,4,0.060,0.088,2775,3622,2339
$GC,4734,1.68,116.8,463.4,13.0,225,4739,0.00,2.75,0.00,0.000,6,0.000,0.073,2775,2194,2339
$GC,5056,1.68,116.8,431.1,9.2,241,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2194,2337
$GC,5365,1.68,116.8,397.8,11.3,256,5370,0.00,2.80,0.00,0.000,4,0.000,0.091,2775,3621,2334
$GC,5499,1.68,116.8,382.2,11.7,262,5503,0.00,2.72,0.00,0.000,6,0.000,0.074,2775,2200,2334
$GC,5819,1.68,116.8,347.3,10.5,278,5823,0.00,2.75,0.00,0.000,4,0.000,0.088,2775,3618,2333
$GC,5925,1.68,116.8,335.4,11.0,283,5929,0.00,2.72,0.00,0.000,6,0.000,0.072,2775,2194,2333
$GC,6251,1.68,116.8,303.2,9.8,299,6255,0.00,2.75,0.00,0.000,4,0.000,0.086,2775,3623,2332
$GC,6328,1.68,116.8,294.7,10.7,302,6334,0.00,2.70,0.00,0.000,6,0.000,0.070,2775,2200,2332
$GC,6643,1.68,116.8,262.2,10.2,318,6648,0.00,2.72,0.00,0.000,4,0.000,0.084,2773,3621,2332
$GC,6778,1.68,116.8,247.2,10.9,324,6782,0.00,2.70,0.00,0.000,6,0.000,0.070,2775,2192,2331
$GC,7098,1.68,116.8,213.5,10.9,340,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2192,2331
$GC,7407,1.68,116.8,180.5,10.3,355,7412,0.00,2.75,0.00,0.000,4,0.000,0.081,2775,3623,2332
$GC,7484,1.68,116.8,171.8,10.6,358,7492,0.00,2.70,0.00,0.000,6,0.000,0.067,2775,2193,2332
$GC,7800,1.68,116.8,137.6,10.9,374,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2193,2332
$GC,8110,1.68,116.8,106.7,10.1,389,8115,0.00,2.72,0.00,0.000,4,0.000,0.081,2775,3618,2332
$GC,8217,1.68,116.8,94.4,11.9,394,8221,0.00,2.67,0.00,0.000,6,0.000,0.068,2775,2202,2332
$GC,8542,1.68,116.8,58.3,10.6,410,8547,0.00,2.72,0.00,0.000,4,0.000,0.081,2775,3622,2333
$GC,8620,1.68,116.8,49.2,12.4,413,8627,0.00,2.67,0.00,0.000,6,0.000,0.068,2775,2193,2333
$GC,8935,1.68,116.8,12.5,11.6,429,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2193,2333
$STATE,9036,end climb,SURFACE_DEPTH_REACHED
$STATE,9037,begin surface coast
$FINISH,0.6,1.018213
$STATE,9058,end surface coast,CONTROL_FINISHED_OK
$STATE,9058,begin surface
$SM_CCo,9080,254.02,0.679,0,0,509,566.15
$SM_GC,1.19,0.00,0.00,254.02,0.000,0.000,0.679,73,2402,509,-10.75,0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2058
$TCM_TEMP,16.80
$XPDR_PINGS,16
$24V_AH,23.6,48.588
$10V_AH,10.2,24.467
$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,26.925,65.725,149.150,254.025,0.000,65.303,153.889,129.306,8.250,0.000,0.000,32.210,838.894,6907.686,543.296,1091.028,485.962,33.349,1064.984,0.000,1045.724,0.000,30.871
$DEVICE_MAMPS,177.177,90.506,1024.712,678.795,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,314.572,300.267,316.441,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22263,435
$CFSIZE,260165632,242860032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,080108,015237,6247.774,-601.069,37,2.0,43,-8.0