version: 66.02
glider: 16
mission: 6
dive: 307
start: 1 10 108 16 49 15
data:
$ID,16
$MISSION,6
$DIVE,307
$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,-2084189.8
$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,15
$R_STBD_OVSHOOT,20
$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
$GPS1,164308,6247.366,-600.228,34,1.2,34,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.6
$GPS2,164823,6247.358,-600.209,12,3.9,31,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.040,0.218
$KALMAN_X,49850.5,95.5,-116.0,113317.6,5133.0
$KALMAN_Y,30780.5,2344.1,1066.3,93793.8,-47970.3
$MHEAD_RNG_PITCHd_Wd,280.4,3571,-26.2,-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,-1.67,-31.1,0.0,0.0,0,79,0.00,0.00,-54.67,0.000,6,0.000,0.000,73,2404,2945
$GC,82,-1.70,-53.9,2.2,-3.1,2,104,11.12,2.60,-2.55,0.000,4,0.174,0.084,2031,3759,3039
$GC,356,-1.70,-53.9,46.4,-16.9,14,360,0.00,2.53,0.00,0.000,6,0.000,0.057,2031,2393,3039
$GC,677,-1.70,-53.9,94.7,-14.4,30,681,0.00,2.60,0.00,0.000,4,0.000,0.076,2031,3766,3040
$GC,772,-1.70,-53.9,108.2,-14.5,34,776,0.00,2.53,0.00,0.000,6,0.000,0.060,2031,2401,3040
$GC,1096,-1.70,-53.9,151.9,-13.5,50,1100,0.00,2.60,0.00,0.000,4,0.000,0.076,2031,3769,3040
$GC,1158,-1.70,-53.9,161.2,-13.8,53,1162,0.00,2.55,0.00,0.000,6,0.000,0.059,2031,2393,3040
$GC,1484,-1.70,-53.9,203.6,-13.0,69,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2393,3040
$GC,1793,-1.70,-53.9,243.7,-12.9,84,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2393,3040
$GC,2102,-1.70,-53.9,283.1,-12.8,99,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2393,3040
$GC,2412,-1.70,-53.9,322.3,-12.8,114,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2393,3040
$GC,2721,-1.70,-53.9,362.8,-13.3,129,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2393,3040
$GC,3030,-1.70,-53.9,400.3,-12.5,144,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2393,3041
$GC,3340,-1.70,-53.9,440.1,-12.5,159,3344,0.00,2.62,0.00,0.000,4,0.000,0.080,2031,3766,3041
$STATE,3508,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3508,begin apogee
$GC,3517,-0.31,0.0,463.3,13.9,166,3567,1.55,0.00,46.78,0.964,6,0.125,0.000,2334,2197,2817
$STATE,3568,end apogee,CONTROL_FINISHED_OK
$STATE,3568,begin climb
$GC,3571,1.70,53.9,466.5,0.0,169,3625,2.05,2.75,44.65,0.963,4,0.072,0.073,2779,778,2597
$GC,3760,1.70,53.9,455.6,6.4,177,3766,0.00,2.60,0.00,0.000,6,0.000,0.051,2779,2196,2596
$GC,4076,1.70,53.9,438.7,6.2,193,4080,0.00,2.72,0.00,0.000,4,0.000,0.081,2779,3621,2596
$GC,4252,1.70,56.5,428.3,5.7,201,4261,0.00,2.70,3.90,0.600,6,0.000,0.067,2779,2193,2586
$GC,4584,1.71,66.1,412.1,4.8,217,4598,0.00,2.78,9.45,0.828,4,0.000,0.082,2779,3619,2547
$GC,4850,1.71,66.1,394.7,7.0,228,4855,0.00,2.67,0.00,0.000,6,0.000,0.067,2779,2200,2546
$GC,5172,1.71,66.1,372.8,6.6,244,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2200,2546
$GC,5481,1.72,73.6,354.7,5.0,259,5495,0.00,2.78,7.35,0.765,4,0.000,0.084,2779,3616,2516
$GC,5750,1.72,73.6,337.0,6.4,271,5754,0.00,2.65,0.00,0.000,6,0.000,0.065,2779,2199,2515
$GC,6076,1.72,73.6,316.1,6.6,287,6080,0.00,2.70,0.00,0.000,4,0.000,0.081,2778,3615,2515
$GC,6332,1.72,73.6,297.1,8.0,298,6339,0.00,2.67,0.00,0.000,6,0.000,0.067,2779,2193,2515
$GC,6648,1.72,73.6,275.1,7.0,314,6652,0.00,2.70,0.00,0.000,4,0.000,0.080,2779,3614,2515
$GC,6844,1.72,73.6,260.0,7.8,323,6848,0.00,2.65,0.00,0.000,6,0.000,0.067,2778,2199,2514
$GC,7169,1.72,73.6,236.8,7.0,339,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2199,2515
$GC,7479,1.72,73.6,216.3,6.8,354,7483,0.00,2.70,0.00,0.000,4,0.000,0.077,2779,3622,2514
$GC,7642,1.72,73.6,204.4,7.3,361,7647,0.00,2.65,0.00,0.000,6,0.000,0.066,2778,2198,2514
$GC,7957,1.72,73.6,183.6,6.5,376,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2197,2514
$GC,8267,1.72,73.6,162.5,6.9,391,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2197,2515
$GC,8576,1.72,73.6,137.3,8.4,406,8577,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2197,2515
$GC,8885,1.72,73.6,111.0,8.9,421,8890,0.00,2.67,0.00,0.000,4,0.000,0.077,2779,3616,2514
$GC,8948,1.72,73.6,106.1,7.5,424,8953,0.00,2.65,0.00,0.000,6,0.000,0.065,2779,2194,2514
$GC,9274,1.72,74.4,84.5,5.9,440,9276,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2194,2515
$GC,9584,1.72,76.6,66.7,5.7,455,9593,0.00,2.70,4.12,0.505,4,0.000,0.077,2778,3619,2504
$GC,9779,1.72,76.6,51.1,8.6,463,9785,0.00,2.65,0.00,0.000,6,0.000,0.065,2779,2198,2504
$GC,10096,1.72,76.6,26.0,8.2,479,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2198,2503
$GC,10404,1.72,76.6,2.3,8.1,494,10408,0.00,2.67,0.00,0.000,4,0.000,0.077,2779,3617,2504
$STATE,10411,end climb,SURFACE_DEPTH_REACHED
$STATE,10412,begin surface coast
$FINISH,0.5,1.027431
$STATE,10435,end surface coast,CONTROL_FINISHED_OK
$STATE,10435,begin surface
$SM_CCo,10459,132.12,0.644,3,0,1593,300.00
$SM_GC,1.49,0.00,0.00,132.12,0.000,0.000,0.644,74,2398,1593,-10.75,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2051
$TCM_TEMP,19.00
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,375.4,97.7
$24V_AH,23.6,50.572
$10V_AH,10.2,25.718
$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,26.875,74.375,116.250,132.125,0.000,32.625,40.606,120.888,5.500,0.000,0.000,32.640,989.809,7830.769,377.916,1372.192,359.256,33.369,1008.354,0.000,1324.100,0.000,20.246
$DEVICE_MAMPS,174.109,83.603,964.119,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.696,348.502,371.107,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25339,495
$CFSIZE,260165632,242008064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,3,0
$GPS,100108,194708,6248.044,-601.933,30,1.3,30,-8.0