version: 66.02
glider: 16
mission: 6
dive: 304
start: 1 10 108 7 2 55
data:
$ID,16
$MISSION,6
$DIVE,304
$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,-2084054.6
$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,14
$R_STBD_OVSHOOT,17
$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
$GPS1,065322,6247.797,-602.877,39,3.3,58,-8.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-65.5
$GPS2,070205,6247.819,-602.874,17,4.4,36,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.002,0.221
$KALMAN_X,46056.8,-64.6,-28.1,114831.5,-1815.3
$KALMAN_Y,37849.9,2277.2,592.3,88127.6,-46618.2
$MHEAD_RNG_PITCHd_Wd,249.9,1487,-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,-28.8,0.0,0.0,0,79,0.00,0.00,-54.58,0.000,6,0.000,0.000,70,2404,2936
$GC,82,-1.76,-45.8,2.0,-3.6,2,104,11.02,2.60,-1.88,0.000,4,0.173,0.087,2016,3762,3005
$GC,356,-1.76,-45.8,48.3,-15.7,14,360,0.00,2.55,0.00,0.000,6,0.000,0.060,2018,2393,3005
$GC,678,-1.76,-45.8,94.7,-14.8,30,682,0.00,2.62,0.00,0.000,4,0.000,0.080,2018,3768,3005
$GC,934,-1.76,-45.8,136.9,-16.6,41,941,0.00,2.55,0.00,0.000,6,0.000,0.062,2018,2393,3006
$GC,1250,-1.76,-45.8,182.1,-14.7,57,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2393,3006
$GC,1560,-1.76,-45.8,225.5,-14.1,72,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2393,3006
$GC,1869,-1.76,-45.8,265.6,-12.1,87,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2394,3006
$GC,2180,-1.76,-45.8,301.3,-11.4,102,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2392,3006
$GC,2487,-1.76,-45.8,338.5,-12.4,117,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2393,3006
$GC,2797,-1.76,-45.8,379.8,-13.3,132,2801,0.00,2.65,0.00,0.000,4,0.000,0.084,2018,3770,3007
$GC,3053,-1.76,-45.8,416.8,-15.4,143,3060,0.00,2.55,0.00,0.000,6,0.000,0.064,2018,2400,3007
$GC,3370,-1.76,-45.8,459.0,-12.8,159,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2398,3007
$STATE,3449,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3450,begin apogee
$GC,3455,-0.31,0.0,469.6,13.0,163,3499,1.67,0.00,39.70,0.966,6,0.129,0.000,2339,2194,2817
$STATE,3500,end apogee,CONTROL_FINISHED_OK
$STATE,3500,begin climb
$GC,3502,1.76,45.8,472.1,0.0,165,3545,2.10,0.00,38.65,0.959,6,0.075,0.000,2796,2194,2629
$GC,3854,1.77,57.2,456.9,4.4,182,3869,0.00,2.78,10.57,0.861,4,0.000,0.082,2796,3613,2583
$GC,4122,1.77,57.2,438.5,7.7,193,4126,0.00,2.67,0.00,0.000,6,0.000,0.069,2796,2200,2581
$GC,4442,1.77,57.2,418.3,6.2,209,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2200,2581
$GC,4752,1.77,58.5,399.4,5.8,224,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2200,2581
$GC,5061,1.78,66.0,383.3,5.0,239,5075,0.00,2.70,8.73,0.809,4,0.000,0.073,2796,783,2546
$GC,5179,1.78,66.0,376.2,7.2,244,5183,0.00,2.60,0.00,0.000,6,0.000,0.053,2796,2202,2546
$GC,5499,1.78,66.0,355.7,6.6,260,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2202,2545
$GC,5809,1.78,66.0,334.4,6.8,275,5813,0.00,2.70,0.00,0.000,4,0.000,0.081,2796,3619,2544
$GC,6065,1.78,66.0,315.7,7.2,286,6072,0.00,2.70,0.00,0.000,6,0.000,0.071,2796,2194,2544
$GC,6381,1.78,66.0,295.3,6.4,302,6386,0.00,2.70,0.00,0.000,4,0.000,0.079,2796,3620,2544
$GC,6504,1.78,66.0,286.7,6.4,307,6510,0.00,2.67,0.00,0.000,6,0.000,0.070,2796,2201,2544
$GC,6819,1.78,66.0,266.2,6.4,323,6824,0.00,2.67,0.00,0.000,4,0.000,0.079,2796,3614,2544
$GC,7038,1.78,66.0,251.1,7.4,333,7043,0.00,2.67,0.00,0.000,6,0.000,0.070,2796,2196,2544
$GC,7365,1.78,67.1,231.6,5.8,349,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2195,2544
$GC,7674,1.79,72.9,214.5,5.2,364,7683,0.00,0.00,6.72,0.679,6,0.000,0.000,2796,2195,2519
$GC,7983,1.79,72.9,195.4,6.2,379,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2195,2519
$GC,8293,1.79,73.5,175.6,5.9,394,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2195,2517
$GC,8602,1.79,76.2,158.0,5.6,409,8609,0.00,0.00,4.32,0.551,6,0.000,0.000,2796,2195,2506
$GC,8912,1.79,76.2,138.0,6.6,424,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2196,2506
$GC,9221,1.79,76.2,115.6,7.4,439,9225,0.00,2.67,0.00,0.000,4,0.000,0.074,2796,3616,2506
$GC,9477,1.79,76.2,93.6,9.4,450,9484,0.00,2.67,0.00,0.000,6,0.000,0.068,2796,2204,2506
$GC,9793,1.79,76.2,70.3,7.1,466,9794,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2204,2506
$GC,10103,1.79,76.2,47.0,8.1,481,10104,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2204,2506
$GC,10412,1.79,76.2,25.4,6.9,496,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2204,2506
$GC,10721,1.79,76.2,5.2,7.7,511,10722,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2204,2506
$STATE,10782,end climb,SURFACE_DEPTH_REACHED
$STATE,10782,begin surface coast
$FINISH,0.5,1.023860
$STATE,10803,end surface coast,CONTROL_FINISHED_OK
$STATE,10803,begin surface
$SM_CCo,10825,130.95,0.647,3,0,1594,300.00
$SM_GC,1.41,0.00,0.00,130.95,0.000,0.000,0.647,71,2404,1594,-10.76,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2053
$TCM_TEMP,16.90
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,426.4,52.6
$24V_AH,23.6,50.376
$10V_AH,10.2,25.540
$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,27.025,48.525,108.700,130.950,0.000,65.246,73.091,198.043,5.500,0.000,0.000,37.370,984.646,8322.265,363.777,1324.485,498.368,33.363,959.327,0.000,1276.699,0.000,23.378
$DEVICE_MAMPS,172.575,86.671,965.653,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.170,364.256,378.292,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25311,515
$CFSIZE,260165632,242130944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,3,0
$GPS,100108,100715,6248.346,-602.390,40,2.7,59,-8.0