version: 66.02
glider: 16
mission: 6
dive: 303
start: 1 10 108 3 45 27
data:
$ID,16
$MISSION,6
$DIVE,303
$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,-2084016.6
$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,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
$GPS1,033553,6247.454,-601.421,12,2.3,31,-8.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-61.6
$GPS2,034437,6247.434,-601.403,38,1.2,38,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.008,0.221
$KALMAN_X,46759.8,383.9,-114.5,115054.3,-719.4
$KALMAN_Y,38816.7,2158.4,613.6,86547.1,-54137.5
$MHEAD_RNG_PITCHd_Wd,278.2,2556,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.74,-28.8,0.0,0.0,0,80,0.00,0.00,-54.53,0.000,6,0.000,0.000,70,2398,2936
$GC,83,-1.75,-41.4,2.2,-4.3,2,105,10.98,2.65,-1.30,0.000,4,0.171,0.088,2020,3772,2987
$GC,357,-1.75,-41.4,49.6,-15.6,14,361,0.00,2.55,0.00,0.000,6,0.000,0.060,2020,2400,2988
$GC,678,-1.75,-41.4,91.4,-11.9,30,683,0.00,2.62,0.00,0.000,4,0.000,0.081,2020,3770,2988
$GC,870,-1.75,-41.4,117.4,-14.1,38,877,0.00,2.55,0.00,0.000,6,0.000,0.062,2020,2395,2988
$GC,1185,-1.75,-41.4,158.4,-13.5,54,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2395,2988
$GC,1495,-1.75,-41.4,198.6,-13.3,69,1499,0.00,2.62,0.00,0.000,4,0.000,0.081,2020,3768,2988
$GC,1561,-1.75,-41.4,207.8,-14.6,72,1565,0.00,2.55,0.00,0.000,6,0.000,0.062,2020,2395,2988
$GC,1881,-1.75,-41.4,249.6,-13.0,88,1886,0.00,2.62,0.00,0.000,4,0.000,0.082,2020,3769,2988
$GC,1925,-1.75,-41.4,255.6,-13.7,90,1930,0.00,2.55,0.00,0.000,6,0.000,0.061,2020,2396,2988
$GC,2253,-1.75,-41.4,298.5,-12.5,106,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2396,2988
$GC,2561,-1.75,-41.4,338.8,-12.7,121,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2396,2989
$GC,2872,-1.75,-41.4,375.9,-10.6,136,2877,0.00,2.65,0.00,0.000,4,0.000,0.084,2020,3775,2989
$GC,2972,-1.75,-41.4,387.1,-12.0,140,2979,0.00,2.55,0.00,0.000,6,0.000,0.063,2020,2401,2989
$GC,3291,-1.75,-41.4,425.8,-13.7,156,3296,0.00,2.62,0.00,0.000,4,0.000,0.084,2020,3768,2989
$GC,3511,-1.75,-41.4,455.6,-13.1,166,3515,0.00,2.55,0.00,0.000,6,0.000,0.063,2020,2397,2989
$STATE,3608,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3608,begin apogee
$GC,3614,-0.31,0.0,467.8,12.2,171,3654,1.65,0.00,36.15,0.962,6,0.128,0.000,2337,2194,2817
$STATE,3655,end apogee,CONTROL_FINISHED_OK
$STATE,3655,begin climb
$GC,3658,1.75,41.4,470.2,0.0,173,3701,2.08,2.78,35.00,0.955,4,0.067,0.071,2791,785,2648
$GC,3757,1.77,59.6,468.0,3.5,177,3778,0.00,2.62,16.33,0.901,6,0.000,0.052,2791,2206,2573
$GC,4094,1.77,59.6,448.5,6.6,194,4098,0.00,2.72,0.00,0.000,4,0.000,0.085,2791,3619,2571
$GC,4351,1.77,63.0,433.2,5.5,205,4361,0.00,2.67,4.25,0.634,6,0.000,0.071,2791,2203,2560
$GC,4689,1.77,63.0,413.4,6.6,222,4694,0.00,2.72,0.00,0.000,4,0.000,0.086,2791,3615,2559
$GC,4946,1.77,63.0,396.2,6.8,233,4952,0.00,2.70,0.00,0.000,6,0.000,0.072,2791,2192,2559
$GC,5262,1.78,67.0,378.9,5.4,249,5272,0.00,2.78,4.97,0.683,4,0.000,0.085,2791,3617,2543
$GC,5526,1.78,67.0,364.8,6.0,261,5531,0.00,2.70,0.00,0.000,6,0.000,0.072,2791,2195,2541
$GC,5852,1.78,68.6,346.1,5.8,277,5857,0.00,2.75,0.00,0.000,4,0.000,0.085,2791,3622,2542
$GC,6110,1.78,68.6,327.3,7.6,288,6116,0.00,2.70,0.00,0.000,6,0.000,0.072,2791,2193,2542
$GC,6425,1.78,68.6,305.5,6.9,304,6430,0.00,2.72,0.00,0.000,4,0.000,0.084,2792,3616,2541
$GC,6682,1.78,68.6,288.2,6.3,315,6689,0.00,2.67,0.00,0.000,6,0.000,0.071,2791,2194,2541
$GC,6998,1.79,72.8,271.2,5.4,331,7011,0.00,2.75,6.15,0.692,4,0.000,0.081,2791,3619,2519
$GC,7109,1.79,72.8,263.5,7.2,336,7113,0.00,2.70,0.00,0.000,6,0.000,0.070,2791,2193,2519
$GC,7435,1.79,72.8,242.5,6.8,352,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2193,2519
$GC,7744,1.79,72.8,220.0,7.0,367,7748,0.00,2.72,0.00,0.000,4,0.000,0.081,2791,3622,2519
$GC,7877,1.79,72.8,209.9,7.7,373,7882,0.00,2.65,0.00,0.000,6,0.000,0.069,2791,2200,2519
$GC,8198,1.79,72.8,188.8,6.5,389,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2200,2519
$GC,8507,1.79,72.8,169.1,6.8,404,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2200,2519
$GC,8817,1.79,72.8,147.2,6.6,419,8821,0.00,2.67,0.00,0.000,4,0.000,0.078,2791,3618,2519
$GC,8992,1.79,72.8,134.2,8.0,427,8997,0.00,2.65,0.00,0.000,6,0.000,0.067,2791,2200,2519
$GC,9321,1.79,72.8,108.9,8.2,443,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2200,2519
$GC,9629,1.79,72.8,86.9,6.8,458,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2200,2519
$GC,9938,1.79,72.8,64.1,7.4,473,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2200,2519
$GC,10247,1.79,73.8,45.1,5.9,488,10251,0.00,2.67,0.00,0.000,4,0.000,0.078,2791,3616,2520
$GC,10364,1.79,73.8,37.5,6.9,493,10368,0.00,2.65,0.00,0.000,6,0.000,0.067,2791,2195,2520
$GC,10681,1.79,73.8,20.9,6.4,508,10682,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2195,2520
$STATE,10966,end climb,SURFACE_DEPTH_REACHED
$STATE,10966,begin surface coast
$FINISH,0.6,1.014051
$STATE,10988,end surface coast,CONTROL_FINISHED_OK
$STATE,10988,begin surface
$SM_CCo,11011,138.05,0.630,6,0,1593,300.00
$SM_GC,1.41,0.00,0.00,138.05,0.000,0.000,0.630,71,2404,1593,-10.75,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2066
$TCM_TEMP,15.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,425.8,50.0
$24V_AH,23.6,50.305
$10V_AH,10.2,25.482
$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,27.200,85.925,102.850,138.050,0.000,65.217,145.494,130.231,4.750,0.000,0.000,38.066,1052.887,8237.094,396.168,1518.359,506.727,33.360,1090.127,0.000,1461.121,0.000,23.379
$DEVICE_MAMPS,171.041,88.205,961.818,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.575,368.564,393.778,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25363,523
$CFSIZE,260165632,242163712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,6,0
$GPS,100108,065322,6247.797,-602.877,39,3.3,58,-8.0