version: 66.02
glider: 16
mission: 6
dive: 302
start: 1 10 108 0 50 8
data:
$ID,16
$MISSION,6
$DIVE,302
$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,300
$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,-2083977.9
$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,14
$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
$GPS1,004438,6247.422,-601.965,33,1.5,33,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-52.7
$GPS2,004915,6247.416,-601.920,12,1.8,12,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.005,0.221
$KALMAN_X,45771.9,461.2,48.5,115342.1,-3340.6
$KALMAN_Y,40031.7,2666.4,296.1,85109.8,-56315.0
$MHEAD_RNG_PITCHd_Wd,279.2,2119,-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,-97.62,0.000,6,0.000,0.000,69,2405,2934
$GC,128,-1.77,-55.4,2.9,-2.3,5,150,11.00,2.62,-3.20,0.000,4,0.171,0.087,2018,3770,3045
$GC,403,-1.77,-55.4,44.3,-15.6,17,407,0.00,2.55,0.00,0.000,6,0.000,0.062,2018,2401,3045
$GC,723,-1.77,-55.4,101.0,-16.4,33,728,0.00,2.62,0.00,0.000,4,0.000,0.081,2018,3769,3045
$GC,981,-1.77,-55.4,147.7,-19.1,44,987,0.00,2.55,0.00,0.000,6,0.000,0.063,2018,2398,3045
$GC,1297,-1.77,-55.4,201.6,-15.3,60,1301,0.00,2.65,0.00,0.000,4,0.000,0.082,2018,3776,3045
$GC,1419,-1.77,-55.4,222.8,-16.9,65,1425,0.00,2.58,0.00,0.000,6,0.000,0.063,2018,2395,3045
$GC,1735,-1.77,-55.4,268.0,-14.5,81,1739,0.00,2.62,0.00,0.000,4,0.000,0.082,2018,3772,3045
$GC,1785,-1.77,-55.4,275.6,-15.1,83,1790,0.00,2.55,0.00,0.000,6,0.000,0.063,2018,2401,3046
$GC,2101,-1.77,-55.4,318.7,-13.3,98,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2401,3046
$GC,2409,-1.77,-55.4,356.2,-12.5,113,2414,0.00,2.70,0.00,0.000,4,0.000,0.078,2018,972,3045
$GC,2567,-1.77,-55.4,378.0,-13.9,120,2571,0.00,2.67,0.00,0.000,6,0.000,0.064,2018,2404,3045
$GC,2888,-1.77,-55.4,416.8,-11.0,136,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2404,3046
$GC,3197,-1.77,-55.4,450.1,-12.0,151,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2404,3046
$STATE,3338,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3339,begin apogee
$GC,3345,-0.31,0.0,469.3,13.4,158,3401,1.65,0.00,47.60,0.973,6,0.127,0.000,2335,2194,2817
$STATE,3402,end apogee,CONTROL_FINISHED_OK
$STATE,3402,begin climb
$GC,3404,1.77,55.4,471.6,0.0,161,3459,2.12,2.75,45.88,0.963,4,0.077,0.069,2794,787,2591
$GC,3588,1.77,55.4,460.9,7.1,169,3592,0.00,2.60,0.00,0.000,6,0.000,0.051,2794,2202,2591
$GC,3909,1.77,55.4,439.7,6.8,185,3914,0.00,2.72,0.00,0.000,4,0.000,0.086,2794,3616,2590
$GC,4167,1.77,55.4,422.9,6.7,196,4173,0.00,2.67,0.00,0.000,6,0.000,0.071,2794,2203,2589
$GC,4482,1.79,74.1,408.4,3.4,212,4504,0.00,2.83,16.50,0.890,4,0.000,0.086,2794,3615,2513
$GC,4757,1.79,74.1,389.1,8.2,224,4761,0.00,2.70,0.00,0.000,6,0.000,0.074,2794,2197,2513
$GC,5077,1.79,74.1,363.1,8.5,240,5081,0.00,2.75,0.00,0.000,4,0.000,0.087,2794,3621,2511
$GC,5333,1.79,74.1,339.4,9.2,251,5340,0.00,2.70,0.00,0.000,6,0.000,0.072,2794,2200,2511
$GC,5649,1.79,74.1,316.7,6.8,267,5653,0.00,2.67,0.00,0.000,4,0.000,0.075,2794,778,2510
$GC,5907,1.79,74.1,296.8,8.5,278,5913,0.00,2.60,0.00,0.000,6,0.000,0.051,2794,2204,2510
$GC,6222,1.79,74.1,272.6,7.0,294,6226,0.00,2.67,0.00,0.000,4,0.000,0.067,2794,776,2510
$GC,6479,1.79,74.1,251.8,8.1,305,6485,0.00,2.62,0.00,0.000,6,0.000,0.051,2794,2201,2510
$GC,6794,1.79,74.1,227.3,8.1,321,6799,0.00,2.65,0.00,0.000,4,0.000,0.067,2794,779,2510
$GC,6947,1.79,74.1,214.4,8.3,328,6951,0.00,2.58,0.00,0.000,6,0.000,0.049,2794,2202,2509
$GC,7272,1.79,74.1,189.2,7.2,344,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2202,2509
$GC,7582,1.79,74.1,164.7,7.7,359,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2202,2510
$GC,7893,1.79,74.1,141.8,8.2,374,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2202,2510
$GC,8201,1.79,74.1,120.4,6.4,389,8205,0.00,2.67,0.00,0.000,4,0.000,0.078,2794,3621,2510
$GC,8376,1.79,74.1,107.1,8.2,397,8381,0.00,2.67,0.00,0.000,6,0.000,0.067,2794,2193,2510
$GC,8703,1.79,74.1,81.8,8.1,413,8707,0.00,2.70,0.00,0.000,4,0.000,0.079,2794,3617,2511
$GC,8802,1.79,74.1,72.3,9.3,417,8809,0.00,2.65,0.00,0.000,6,0.000,0.069,2794,2201,2511
$GC,9120,1.79,74.1,43.8,8.4,433,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2200,2511
$GC,9427,1.79,74.1,23.7,9.3,448,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2200,2511
$STATE,9693,end climb,SURFACE_DEPTH_REACHED
$STATE,9693,begin surface coast
$FINISH,0.5,1.027426
$STATE,9715,end surface coast,CONTROL_FINISHED_OK
$STATE,9715,begin surface
$SM_CCo,9738,132.68,0.663,1,0,1594,300.00
$SM_GC,1.24,0.00,0.00,132.68,0.000,0.000,0.663,71,2398,1594,-10.75,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2079
$TCM_TEMP,15.60
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,400.4,76.4
$24V_AH,23.6,50.236
$10V_AH,10.2,25.420
$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,27.250,75.125,109.975,132.675,0.000,32.628,36.152,111.646,7.750,0.000,0.000,12.431,936.530,7116.131,412.161,1361.643,338.808,33.356,1051.464,0.000,1332.981,0.000,21.814
$DEVICE_MAMPS,171.041,86.671,972.556,662.688,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,332.008,323.316,347.367,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22179,462
$CFSIZE,260165632,242212864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,100108,033553,6247.454,-601.421,12,2.3,31,-8.0