version: 66.02
glider: 16
mission: 6
dive: 289
start: 1 8 108 10 57 54
data:
$ID,16
$MISSION,6
$DIVE,289
$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,-2083634.9
$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,13
$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
$GPS1,104827,6247.252,-603.556,31,4.1,50,-8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-54.1
$GPS2,105704,6247.247,-603.340,12,3.6,31,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.091,0.202
$KALMAN_X,33577.3,3591.3,4635.6,118547.7,-43882.7
$KALMAN_Y,43805.6,6388.8,6878.2,70704.8,-94686.9
$MHEAD_RNG_PITCHd_Wd,299.4,983,-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,21,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,-97.38,0.000,6,0.000,0.000,68,2407,2935
$GC,129,-1.76,-53.3,3.5,-2.6,5,151,11.07,2.72,-2.70,0.000,4,0.176,0.081,2017,984,3037
$GC,354,-1.76,-53.3,37.9,-15.3,15,358,0.00,2.62,0.00,0.000,6,0.000,0.065,2015,2400,3037
$GC,680,-1.76,-53.3,87.5,-15.5,31,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2400,3038
$GC,990,-1.76,-53.3,134.6,-16.0,46,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2400,3037
$GC,1299,-1.76,-53.3,184.8,-16.4,61,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2400,3037
$GC,1608,-1.76,-53.3,231.6,-14.3,76,1612,0.00,2.62,0.00,0.000,4,0.000,0.081,2017,3769,3038
$GC,1692,-1.76,-53.3,244.7,-15.7,80,1696,0.00,2.55,0.00,0.000,6,0.000,0.061,2016,2399,3037
$GC,2018,-1.76,-53.3,289.6,-13.6,96,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2398,3037
$GC,2328,-1.76,-53.3,334.9,-14.0,111,2332,0.00,2.65,0.00,0.000,4,0.000,0.084,2017,3771,3038
$GC,2432,-1.76,-53.3,350.0,-15.2,115,2438,0.00,2.55,0.00,0.000,6,0.000,0.063,2017,2398,3038
$GC,2747,-1.76,-53.3,390.7,-12.6,131,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2398,3038
$GC,3057,-1.76,-53.3,429.3,-12.0,146,3061,0.00,2.70,0.00,0.000,4,0.000,0.077,2017,979,3038
$GC,3124,-1.76,-53.3,436.8,-10.6,149,3129,0.00,2.67,0.00,0.000,6,0.000,0.066,2017,2405,3038
$STATE,3195,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3195,begin apogee
$GC,3200,-0.31,0.0,444.9,11.2,153,3250,1.67,0.00,45.72,0.963,6,0.128,0.000,2338,2194,2817
$STATE,3251,end apogee,CONTROL_FINISHED_OK
$STATE,3251,begin climb
$GC,3254,1.76,53.3,447.0,0.0,155,3306,2.12,2.72,44.08,0.960,4,0.079,0.070,2794,782,2599
$GC,3391,1.76,53.3,439.0,8.7,161,3395,0.00,2.65,0.00,0.000,6,0.000,0.055,2794,2206,2598
$GC,3707,1.76,53.3,419.6,6.0,176,3711,0.00,2.75,0.00,0.000,4,0.000,0.087,2794,3625,2598
$GC,3964,1.76,53.6,403.7,5.9,187,3970,0.00,2.70,0.00,0.000,6,0.000,0.070,2794,2204,2596
$GC,4280,1.79,72.3,390.1,3.4,203,4302,0.00,2.75,16.38,0.890,4,0.000,0.074,2794,784,2521
$GC,4537,1.79,72.3,373.2,7.1,214,4541,0.00,2.62,0.00,0.000,6,0.000,0.058,2794,2202,2521
$GC,4859,1.79,72.3,352.4,6.4,230,4863,0.00,2.70,0.00,0.000,4,0.000,0.074,2794,777,2519
$GC,4965,1.79,72.3,345.0,7.3,235,4969,0.00,2.62,0.00,0.000,6,0.000,0.056,2794,2201,2519
$GC,5292,1.79,72.3,321.2,7.1,251,5296,0.00,2.72,0.00,0.000,4,0.000,0.085,2794,3618,2518
$GC,5548,1.79,72.3,300.3,8.2,262,5555,0.00,2.70,0.00,0.000,6,0.000,0.070,2794,2193,2518
$GC,5864,1.79,72.3,277.8,7.4,278,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2193,2518
$GC,6173,1.79,72.3,252.5,8.2,293,6177,0.00,2.72,0.00,0.000,4,0.000,0.082,2794,3615,2518
$GC,6432,1.79,72.3,230.7,8.3,304,6438,0.00,2.67,0.00,0.000,6,0.000,0.070,2794,2196,2517
$GC,6746,1.79,72.3,208.3,7.0,320,6751,0.00,2.72,0.00,0.000,4,0.000,0.081,2794,3622,2517
$GC,6958,1.79,72.3,192.8,7.5,329,6965,0.00,2.67,0.00,0.000,6,0.000,0.067,2793,2201,2517
$GC,7274,1.79,72.3,170.7,7.1,345,7279,0.00,2.70,0.00,0.000,4,0.000,0.080,2794,3616,2517
$GC,7363,1.79,72.3,164.4,7.0,349,7367,0.00,2.67,0.00,0.000,6,0.000,0.067,2794,2194,2517
$GC,7685,1.79,72.3,142.9,6.8,365,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2194,2518
$GC,7995,1.79,72.3,123.0,6.5,380,8000,0.00,2.72,0.00,0.000,4,0.000,0.079,2794,3625,2517
$GC,8253,1.79,72.3,104.3,8.5,391,8260,0.00,2.67,0.00,0.000,6,0.000,0.068,2794,2201,2518
$GC,8569,1.79,72.3,82.3,6.9,407,8573,0.00,2.70,0.00,0.000,4,0.000,0.079,2794,3621,2518
$GC,8814,1.79,72.3,63.6,7.1,418,8818,0.00,2.67,0.00,0.000,6,0.000,0.067,2794,2196,2518
$GC,9135,1.79,72.3,40.7,8.1,434,9140,0.00,2.72,0.00,0.000,4,0.000,0.081,2794,3626,2518
$GC,9167,1.79,72.3,37.8,9.1,435,9174,0.00,2.67,0.00,0.000,6,0.000,0.066,2794,2194,2518
$GC,9486,1.79,76.7,18.0,5.4,451,9492,0.00,0.00,4.80,0.527,6,0.000,0.000,2794,2194,2504
$STATE,9770,end climb,SURFACE_DEPTH_REACHED
$STATE,9770,begin surface coast
$FINISH,0.6,1.027370
$STATE,9793,end surface coast,CONTROL_FINISHED_OK
$STATE,9793,begin surface
$SM_CCo,9815,287.70,0.653,5,0,509,566.15
$SM_GC,1.20,0.00,0.00,287.70,0.000,0.000,0.653,71,2399,509,-10.75,-0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2022
$TCM_TEMP,16.70
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,401.7,52.2
$24V_AH,23.6,48.976
$10V_AH,10.2,24.690
$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,27.050,81.200,110.975,287.700,0.000,65.303,81.649,190.603,6.500,0.000,0.000,31.886,946.852,7258.518,588.803,1361.513,499.816,33.361,1217.916,0.000,1309.963,0.000,27.628
$DEVICE_MAMPS,175.643,87.438,963.352,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,333.775,328.587,374.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22264,466
$CFSIZE,260165632,242700288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,5,0
$GPS,080108,134755,6246.980,-602.331,36,1.3,36,-8.0