version: 66.02
glider: 16
mission: 6
dive: 301
start: 1 9 108 22 3 57
data:
$ID,16
$MISSION,6
$DIVE,301
$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,-2083964.9
$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,16
$R_STBD_OVSHOOT,13
$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
$GPS1,215125,6247.751,-603.319,26,1.5,43,-8.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-51.5
$GPS2,220303,6247.734,-603.198,12,2.0,12,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.019,0.221
$KALMAN_X,44760.9,72.2,237.7,115429.5,-5452.3
$KALMAN_Y,42214.9,2944.9,463.0,83058.2,-51474.3
$MHEAD_RNG_PITCHd_Wd,250.3,1171,-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,-98.03,0.000,6,0.000,0.000,71,2404,2934
$GC,128,-1.76,-53.4,3.5,-2.6,5,150,10.88,2.75,-2.70,0.000,4,0.168,0.088,2016,982,3037
$GC,403,-1.76,-53.4,45.8,-17.2,17,407,0.00,2.67,0.00,0.000,6,0.000,0.064,2016,2409,3039
$GC,723,-1.76,-53.4,88.9,-13.0,33,728,0.00,2.70,0.00,0.000,4,0.000,0.074,2016,982,3038
$GC,808,-1.76,-53.4,101.1,-14.8,37,813,0.00,2.65,0.00,0.000,6,0.000,0.066,2016,2401,3038
$GC,1137,-1.76,-53.4,148.4,-14.3,53,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2401,3038
$GC,1444,-1.76,-53.4,194.2,-15.1,68,1448,0.00,2.60,0.00,0.000,4,0.000,0.082,2016,3768,3038
$GC,1509,-1.76,-53.4,204.9,-16.0,71,1514,0.00,2.55,0.00,0.000,6,0.000,0.061,2016,2395,3038
$GC,1837,-1.76,-53.4,250.6,-13.5,87,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2395,3038
$GC,2145,-1.76,-53.4,292.1,-13.1,102,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2393,3038
$GC,2455,-1.76,-53.4,329.6,-11.2,117,2459,0.00,2.65,0.00,0.000,4,0.000,0.084,2016,3773,3038
$GC,2493,-1.76,-53.4,334.6,-13.1,119,2498,0.00,2.58,0.00,0.000,6,0.000,0.065,2016,2397,3038
$GC,2820,-1.76,-53.4,371.4,-11.9,135,2824,0.00,2.67,0.00,0.000,4,0.000,0.080,2016,982,3038
$GC,2981,-1.76,-53.4,390.4,-11.2,142,2986,0.00,2.62,0.00,0.000,6,0.000,0.067,2016,2398,3038
$GC,3297,-1.76,-53.4,430.6,-14.3,157,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2398,3038
$STATE,3501,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3501,begin apogee
$GC,3508,-0.31,0.0,457.8,11.1,167,3557,1.65,0.00,45.83,0.966,6,0.121,0.000,2338,2200,2817
$STATE,3558,end apogee,CONTROL_FINISHED_OK
$STATE,3558,begin climb
$GC,3560,1.76,53.4,459.7,0.0,169,3609,2.10,0.00,44.58,0.956,6,0.067,0.000,2796,2200,2599
$GC,3915,1.76,53.4,437.0,7.9,187,3920,0.00,2.72,0.00,0.000,4,0.000,0.085,2795,3617,2598
$GC,4174,1.76,53.7,419.3,6.0,198,4180,0.00,2.70,0.00,0.000,6,0.000,0.071,2796,2194,2597
$GC,4489,1.76,53.7,401.2,7.0,214,4493,0.00,2.75,0.00,0.000,4,0.000,0.086,2795,3618,2597
$GC,4533,1.76,53.7,398.4,6.3,216,4537,0.00,2.67,0.00,0.000,6,0.000,0.071,2796,2199,2597
$GC,4852,1.76,53.7,372.6,9.4,232,4857,0.00,2.67,0.00,0.000,4,0.000,0.074,2796,779,2596
$GC,5110,1.76,53.7,348.1,9.3,243,5116,0.00,2.60,0.00,0.000,6,0.000,0.052,2795,2203,2596
$GC,5425,1.78,66.2,329.2,4.3,259,5446,0.00,2.75,11.48,0.812,4,0.000,0.069,2796,780,2547
$GC,5698,1.80,88.2,317.6,2.9,271,5723,0.00,2.60,19.10,0.847,6,0.000,0.053,2796,2201,2457
$GC,6045,1.81,95.6,303.3,5.0,288,6059,0.00,2.72,7.05,0.728,4,0.000,0.069,2796,783,2427
$GC,6190,1.81,95.6,294.2,6.7,294,6194,0.00,2.60,0.00,0.000,6,0.000,0.052,2795,2203,2427
$GC,6505,1.81,95.6,268.2,9.1,309,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2203,2426
$GC,6814,1.81,95.6,236.2,10.4,324,6818,0.00,2.67,0.00,0.000,4,0.000,0.084,2796,3616,2426
$GC,7043,1.81,95.6,212.0,10.5,334,7047,0.00,2.67,0.00,0.000,6,0.000,0.069,2796,2200,2426
$GC,7358,1.81,95.6,183.9,8.4,349,7362,0.00,2.70,0.00,0.000,4,0.000,0.079,2795,3622,2426
$GC,7447,1.81,95.6,175.1,10.3,353,7451,0.00,2.65,0.00,0.000,6,0.000,0.069,2795,2200,2426
$GC,7767,1.81,95.6,146.0,10.2,369,7772,0.00,2.70,0.00,0.000,4,0.000,0.079,2795,3623,2427
$GC,7920,1.81,95.6,128.3,12.3,376,7924,0.00,2.67,0.00,0.000,6,0.000,0.068,2796,2199,2426
$GC,8246,1.81,95.6,93.9,10.6,392,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2199,2426
$GC,8555,1.81,95.6,61.9,10.1,407,8560,0.00,2.70,0.00,0.000,4,0.000,0.079,2796,3623,2426
$GC,8663,1.81,95.6,50.8,10.0,412,8667,0.00,2.67,0.00,0.000,6,0.000,0.068,2795,2197,2426
$GC,8989,1.81,95.6,26.2,8.0,428,8990,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2197,2427
$STATE,9256,end climb,SURFACE_DEPTH_REACHED
$STATE,9256,begin surface coast
$FINISH,0.7,1.027517
$STATE,9277,end surface coast,CONTROL_FINISHED_OK
$STATE,9277,begin surface
$SM_CCo,9299,267.48,0.656,1,0,508,566.15
$SM_GC,1.09,0.00,0.00,267.48,0.000,0.000,0.656,70,2405,508,-10.76,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2048
$TCM_TEMP,16.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,375.4,91.4
$24V_AH,23.6,50.169
$10V_AH,10.2,25.367
$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,26.850,75.475,128.025,267.475,0.000,97.907,128.782,238.073,3.750,0.000,0.000,12.868,890.699,6975.072,557.984,1225.186,633.154,33.384,1138.497,0.000,1197.980,0.000,20.232
$DEVICE_MAMPS,167.973,88.205,965.653,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,316.489,308.595,328.483,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22270,442
$CFSIZE,260165632,242249728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,100108,004438,6247.422,-601.965,33,1.5,33,-8.0