version: 66.02
glider: 16
mission: 6
dive: 305
start: 1 10 108 10 13 44
data:
$ID,16
$MISSION,6
$DIVE,305
$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,-2084121.6
$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
$GPS1,100715,6248.346,-602.390,40,2.7,59,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.5
$GPS2,101252,6248.375,-602.299,46,2.6,65,-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,46694.1,-134.1,113.8,114622.4,-230.5
$KALMAN_Y,35757.6,2878.6,859.4,90377.5,-48849.0
$MHEAD_RNG_PITCHd_Wd,234.1,2495,-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,-54.47,0.000,6,0.000,0.000,70,2403,2935
$GC,82,-1.75,-42.8,2.2,-4.1,2,104,11.12,2.62,-1.55,0.000,4,0.176,0.087,2020,3768,2994
$GC,357,-1.75,-42.8,44.2,-13.8,14,361,0.00,2.55,0.00,0.000,6,0.000,0.062,2020,2400,2994
$GC,677,-1.75,-42.8,84.6,-12.5,30,682,0.00,2.62,0.00,0.000,4,0.000,0.079,2020,3772,2995
$GC,935,-1.75,-42.8,122.9,-14.9,41,941,0.00,2.55,0.00,0.000,6,0.000,0.063,2020,2400,2995
$GC,1250,-1.75,-42.8,161.4,-13.3,57,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2400,2995
$GC,1559,-1.75,-42.8,198.4,-12.3,72,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2400,2995
$GC,1869,-1.75,-42.8,237.0,-13.2,87,1874,0.00,2.62,0.00,0.000,4,0.000,0.080,2020,3773,2995
$GC,1935,-1.75,-42.8,246.8,-14.9,90,1939,0.00,2.55,0.00,0.000,6,0.000,0.063,2020,2401,2995
$GC,2262,-1.75,-42.8,290.5,-13.3,106,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2401,2995
$GC,2573,-1.75,-42.8,332.4,-13.7,121,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2401,2995
$GC,2881,-1.75,-42.8,373.3,-12.5,136,2885,0.00,2.70,0.00,0.000,4,0.000,0.078,2020,976,2996
$GC,2952,-1.75,-42.8,382.3,-12.5,139,2957,0.00,2.62,0.00,0.000,6,0.000,0.063,2020,2401,2996
$GC,3268,-1.75,-42.8,422.0,-13.3,154,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2402,2996
$GC,3577,-1.75,-42.8,460.2,-11.8,169,3581,0.00,2.60,0.00,0.000,4,0.000,0.082,2020,3769,2996
$GC,3733,-1.75,-42.8,480.1,-11.7,176,3738,0.00,2.53,0.00,0.000,6,0.000,0.061,2020,2398,2996
$STATE,3804,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3805,begin apogee
$GC,3810,-0.31,0.0,489.1,12.1,180,3852,1.65,0.00,37.47,0.978,6,0.130,0.000,2336,2194,2817
$STATE,3853,end apogee,CONTROL_FINISHED_OK
$STATE,3853,begin climb
$GC,3855,1.75,42.8,491.7,0.0,182,3901,2.10,2.75,36.22,0.968,4,0.072,0.071,2791,793,2642
$GC,3920,1.76,53.0,489.0,4.6,185,3935,0.00,2.58,9.85,0.851,6,0.000,0.050,2791,2203,2600
$GC,4245,1.76,53.0,471.1,6.6,200,4249,0.00,2.70,0.00,0.000,4,0.000,0.081,2791,3619,2598
$GC,4501,1.76,53.0,456.1,6.2,211,4508,0.00,2.67,0.00,0.000,6,0.000,0.068,2791,2201,2598
$GC,4817,1.77,57.1,439.0,5.4,227,4827,0.00,2.72,4.80,0.690,4,0.000,0.082,2791,3620,2584
$GC,5080,1.77,57.1,422.7,6.6,239,5085,0.00,2.70,0.00,0.000,6,0.000,0.069,2791,2195,2583
$GC,5407,1.77,57.3,403.1,6.0,255,5411,0.00,2.72,0.00,0.000,4,0.000,0.084,2791,3615,2582
$GC,5663,1.78,65.6,389.4,4.8,266,5678,0.00,2.67,8.68,0.814,6,0.000,0.070,2791,2200,2549
$GC,6001,1.78,72.0,371.5,5.1,283,6014,0.00,2.78,6.70,0.759,4,0.000,0.074,2791,777,2522
$GC,6269,1.80,82.9,357.0,4.5,295,6284,0.00,2.60,10.40,0.821,6,0.000,0.052,2791,2200,2479
$GC,6595,1.80,82.9,333.9,7.8,310,6599,0.00,2.67,0.00,0.000,4,0.000,0.071,2791,777,2478
$GC,6842,1.80,82.9,313.7,8.3,321,6846,0.00,2.60,0.00,0.000,6,0.000,0.051,2791,2202,2477
$GC,7162,1.80,82.9,288.5,7.8,337,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2203,2477
$GC,7471,1.80,82.9,263.7,8.2,352,7475,0.00,2.67,0.00,0.000,4,0.000,0.081,2791,3615,2476
$GC,7588,1.80,82.9,253.6,8.9,357,7592,0.00,2.65,0.00,0.000,6,0.000,0.064,2791,2193,2476
$GC,7903,1.80,82.9,228.8,7.9,372,7907,0.00,2.70,0.00,0.000,4,0.000,0.076,2791,3622,2476
$GC,8126,1.80,82.9,208.4,9.4,382,8131,0.00,2.65,0.00,0.000,6,0.000,0.064,2791,2199,2476
$GC,8448,1.80,82.9,181.5,8.1,398,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2199,2476
$GC,8756,1.80,82.9,155.3,8.5,413,8761,0.00,2.67,0.00,0.000,4,0.000,0.073,2791,3623,2476
$GC,8868,1.80,82.9,144.5,10.5,418,8873,0.00,2.65,0.00,0.000,6,0.000,0.063,2792,2193,2477
$GC,9189,1.80,82.9,116.7,8.7,434,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2192,2477
$GC,9498,1.80,82.9,91.8,7.4,449,9502,0.00,2.67,0.00,0.000,4,0.000,0.074,2791,3617,2477
$GC,9654,1.80,82.9,79.4,8.4,456,9658,0.00,2.62,0.00,0.000,6,0.000,0.064,2791,2199,2477
$GC,9976,1.80,82.9,52.7,9.1,472,9980,0.00,2.67,0.00,0.000,4,0.000,0.074,2791,3620,2477
$GC,10098,1.80,82.9,40.7,9.9,477,10105,0.00,2.62,0.00,0.000,6,0.000,0.064,2791,2200,2477
$GC,10415,1.80,82.9,14.0,7.3,493,10420,0.00,2.67,0.00,0.000,4,0.000,0.076,2791,3619,2477
$GC,10515,1.80,82.9,4.2,9.8,497,10522,0.00,2.65,0.00,0.000,6,0.000,0.063,2791,2204,2477
$STATE,10562,end climb,SURFACE_DEPTH_REACHED
$STATE,10563,begin surface coast
$FINISH,0.5,1.015113
$STATE,10583,end surface coast,CONTROL_FINISHED_OK
$STATE,10583,begin surface
$SM_CCo,10605,127.00,0.646,3,0,1593,300.00
$SM_GC,1.36,0.00,0.00,127.00,0.000,0.000,0.646,72,2401,1593,-10.75,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2065
$TCM_TEMP,16.90
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,427.0,70.0
$24V_AH,23.6,50.441
$10V_AH,10.2,25.600
$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,27.075,90.850,114.125,127.000,0.000,32.588,33.420,118.317,7.250,0.000,0.000,66.368,1031.588,7786.779,376.831,1542.272,357.310,33.365,1078.564,0.000,1457.120,0.000,23.425
$DEVICE_MAMPS,176.410,86.671,977.925,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,358.588,352.937,362.829,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25400,501
$CFSIZE,260165632,242085888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,3,0
$GPS,100108,131407,6247.807,-559.928,39,1.6,39,-8.0