version: 66.02
glider: 16
mission: 6
dive: 336
start: 1 14 108 20 39 43
data:
$ID,16
$MISSION,6
$DIVE,336
$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,566.1524
$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,-2084995.1
$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
$GPS1,202122,6246.170,-558.067,38,2.8,57,-8.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-44.7
$GPS2,203851,6245.950,-558.221,13,2.0,13,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.169,0.143
$KALMAN_X,93899.0,-2166.3,-871.6,74109.9,33694.2
$KALMAN_Y,-9307.2,1621.2,736.6,132358.0,-30280.9
$MHEAD_RNG_PITCHd_Wd,305.7,5932,-14.7,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.02,-90.8,0.0,0.0,0,107,0.00,0.00,-81.60,0.000,2,0.000,0.000,68,2400,3003
$GC,110,-1.08,-146.6,3.1,-3.0,4,140,11.65,2.65,-11.23,0.000,4,0.165,0.088,2170,3769,3415
$GC,314,-1.08,-146.6,35.1,-14.1,13,318,0.00,2.55,0.00,0.000,6,0.000,0.061,2170,2399,3416
$GC,637,-1.08,-146.6,74.2,-13.7,29,641,0.00,2.70,0.00,0.000,4,0.000,0.078,2170,980,3416
$GC,653,-1.08,-146.6,76.9,-14.9,30,658,0.00,2.62,0.00,0.000,6,0.000,0.061,2170,2404,3417
$GC,980,-1.08,-146.6,127.8,-13.2,46,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2404,3416
$GC,1290,-1.08,-146.6,161.1,-10.0,61,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2404,3416
$GC,1599,-1.08,-146.6,199.6,-13.5,76,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2404,3417
$GC,1908,-1.08,-146.6,233.5,-10.8,91,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2404,3417
$GC,2218,-1.08,-146.6,269.6,-12.2,106,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2404,3417
$GC,2527,-1.08,-146.6,303.2,-9.0,121,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2404,3417
$GC,2836,-1.08,-146.6,331.8,-10.1,136,2840,0.00,2.72,0.00,0.000,4,0.000,0.077,2171,974,3417
$GC,2898,-1.08,-146.6,337.6,-9.6,139,2902,0.00,2.65,0.00,0.000,6,0.000,0.064,2170,2404,3416
$GC,3223,-1.08,-146.6,368.2,-9.8,155,3228,0.00,2.62,0.00,0.000,4,0.000,0.084,2171,3770,3417
$GC,3267,-1.08,-146.6,372.8,-9.5,157,3272,0.00,2.55,0.00,0.000,6,0.000,0.064,2170,2398,3417
$GC,3595,-1.08,-146.6,404.0,-9.2,173,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2398,3417
$STATE,3819,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3819,begin apogee
$GC,3825,-0.31,0.0,427.6,10.1,184,3948,0.85,0.00,120.00,0.952,6,0.114,0.000,2338,2195,2817
$STATE,3949,end apogee,CONTROL_FINISHED_OK
$STATE,3949,begin climb
$GC,3952,1.08,146.6,431.6,0.0,190,4079,1.42,2.80,117.62,0.937,4,0.072,0.077,2641,788,2217
$GC,4157,1.08,146.6,421.2,7.6,199,4163,0.00,2.62,0.00,0.000,6,0.000,0.055,2641,2200,2217
$GC,4473,1.08,146.6,398.3,7.0,215,4478,0.00,2.72,0.00,0.000,4,0.000,0.084,2641,3615,2216
$GC,4545,1.08,146.6,392.5,8.4,218,4549,0.00,2.70,0.00,0.000,6,0.000,0.071,2641,2204,2216
$GC,4860,1.08,146.6,369.5,7.2,233,4865,0.00,2.72,0.00,0.000,4,0.000,0.084,2641,3614,2216
$GC,4927,1.08,146.6,364.2,7.8,236,4931,0.00,2.70,0.00,0.000,6,0.000,0.071,2640,2198,2216
$GC,5247,1.08,146.6,339.4,8.0,252,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2197,2216
$GC,5556,1.08,146.6,315.6,7.6,267,5560,0.00,2.72,0.00,0.000,4,0.000,0.084,2641,3619,2215
$GC,5601,1.08,146.6,312.1,8.7,269,5606,0.00,2.70,0.00,0.000,6,0.000,0.070,2641,2194,2215
$GC,5922,1.08,146.6,288.2,7.8,285,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2194,2215
$GC,6231,1.08,146.6,266.0,7.0,300,6235,0.00,2.72,0.00,0.000,4,0.000,0.081,2641,3614,2215
$GC,6275,1.08,146.6,262.4,7.6,302,6279,0.00,2.65,0.00,0.000,6,0.000,0.068,2641,2202,2215
$GC,6595,1.08,146.6,237.9,8.0,318,6599,0.00,2.67,0.00,0.000,4,0.000,0.074,2641,784,2214
$GC,6644,1.08,146.6,233.7,8.3,320,6648,0.00,2.60,0.00,0.000,6,0.000,0.053,2641,2201,2213
$GC,6960,1.08,146.6,209.6,7.8,335,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,2213
$GC,7269,1.08,146.6,187.7,6.9,350,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,2213
$GC,7578,1.08,146.6,167.8,6.9,365,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,2213
$GC,7888,1.08,146.6,143.6,8.2,380,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2200,2213
$GC,8198,1.08,146.6,118.5,8.0,395,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,2213
$GC,8507,1.09,157.1,95.6,5.5,410,8517,0.00,0.00,8.98,0.657,6,0.000,0.000,2641,2201,2176
$GC,8817,1.09,157.1,73.3,7.2,425,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,2176
$GC,9126,1.09,157.1,50.3,8.3,440,9130,0.00,2.67,0.00,0.000,4,0.000,0.075,2641,3619,2176
$GC,9175,1.09,157.1,45.2,10.1,442,9179,0.00,2.67,0.00,0.000,6,0.000,0.065,2641,2196,2176
$GC,9492,1.09,157.1,15.5,10.5,457,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2196,2176
$STATE,9674,end climb,SURFACE_DEPTH_REACHED
$STATE,9674,begin surface coast
$FINISH,0.5,1.027429
$STATE,9696,end surface coast,CONTROL_FINISHED_OK
$STATE,9696,begin surface
$SM_CCo,9718,237.57,0.653,3,0,509,566.15
$SM_GC,1.16,0.00,0.00,237.57,0.000,0.000,0.653,70,2408,509,-10.76,0.25,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2042
$TCM_TEMP,16.90
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,350.6,86.3
$24V_AH,23.6,52.970
$10V_AH,10.2,27.496
$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,25.475,59.575,246.600,237.575,0.000,165.338,402.654,125.477,4.750,0.000,0.000,13.554,859.731,7692.573,607.141,999.571,868.196,33.363,1104.232,0.000,980.854,0.000,21.561
$DEVICE_MAMPS,164.905,88.205,951.847,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,334.258,326.136,361.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22226,467
$CFSIZE,260165632,240771072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,3,0
$GPS,140108,232708,6246.363,-600.309,37,1.7,37,-8.0