version: 66.02
glider: 16
mission: 6
dive: 337
start: 1 14 108 23 52 28
data:
$ID,16
$MISSION,6
$DIVE,337
$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,-2085027.9
$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,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
$GPS1,232708,6246.363,-600.309,37,1.7,37,-8.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-46.3
$GPS2,235138,6246.133,-600.440,15,1.3,32,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.162,0.151
$KALMAN_X,94392.4,-2949.7,-922.9,72497.2,37156.5
$KALMAN_Y,-11010.8,1927.8,1175.4,133648.1,-35321.7
$MHEAD_RNG_PITCHd_Wd,313.7,4151,-22.5,-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,24,-1.45,-42.0,0.0,0.0,0,126,0.00,0.00,-99.72,0.000,6,0.000,0.000,67,2410,2989
$GC,129,-1.49,-79.3,3.0,-2.4,5,151,11.48,2.70,-4.20,0.000,4,0.172,0.083,2078,980,3142
$GC,191,-1.49,-79.3,12.3,-11.9,8,195,0.00,2.65,0.00,0.000,6,0.000,0.061,2078,2400,3144
$GC,511,-1.49,-79.3,63.5,-14.0,24,516,0.00,2.60,0.00,0.000,4,0.000,0.076,2078,3770,3144
$GC,611,-1.49,-79.3,76.8,-13.4,28,618,0.00,2.55,0.00,0.000,6,0.000,0.061,2078,2398,3144
$GC,930,-1.49,-79.3,116.5,-13.2,44,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2398,3144
$GC,1236,-1.49,-79.3,156.1,-12.8,59,1240,0.00,2.62,0.00,0.000,4,0.000,0.081,2078,3767,3143
$GC,1297,-1.49,-79.3,164.3,-14.3,62,1302,0.00,2.55,0.00,0.000,6,0.000,0.061,2078,2401,3144
$GC,1624,-1.49,-79.3,206.9,-13.1,78,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2401,3144
$GC,1933,-1.49,-79.3,247.0,-13.2,93,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2400,3144
$GC,2243,-1.49,-79.3,286.7,-13.0,108,2247,0.00,2.70,0.00,0.000,4,0.000,0.078,2078,982,3144
$GC,2281,-1.49,-79.3,292.1,-13.6,110,2286,0.00,2.62,0.00,0.000,6,0.000,0.065,2078,2398,3144
$GC,2608,-1.49,-79.3,333.5,-12.7,126,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2398,3144
$GC,2918,-1.49,-79.3,371.9,-12.3,141,2922,0.00,2.62,0.00,0.000,4,0.000,0.084,2078,3768,3143
$GC,3011,-1.49,-79.3,384.7,-13.2,145,3015,0.00,2.55,0.00,0.000,6,0.000,0.064,2078,2400,3144
$GC,3332,-1.49,-79.3,424.3,-12.3,161,3337,0.00,2.65,0.00,0.000,4,0.000,0.084,2078,3773,3144
$STATE,3341,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3341,begin apogee
$GC,3351,-0.31,0.0,425.7,11.9,161,3421,1.30,0.00,66.45,0.948,6,0.120,0.000,2333,2203,2817
$STATE,3422,end apogee,CONTROL_FINISHED_OK
$STATE,3422,begin climb
$GC,3424,1.49,79.3,429.3,0.0,165,3499,1.90,2.78,64.82,0.937,4,0.080,0.073,2743,777,2492
$GC,3690,1.49,79.3,412.4,7.8,177,3694,0.00,2.62,0.00,0.000,6,0.000,0.054,2743,2200,2491
$GC,4011,1.49,79.3,391.3,6.6,193,4015,0.00,2.72,0.00,0.000,4,0.000,0.082,2743,3619,2491
$GC,4267,1.49,79.3,373.0,6.4,204,4274,0.00,2.70,0.00,0.000,6,0.000,0.071,2743,2197,2491
$GC,4583,1.49,79.3,351.6,7.2,220,4587,0.00,2.75,0.00,0.000,4,0.000,0.084,2743,3621,2490
$GC,4825,1.49,79.3,330.6,8.3,231,4829,0.00,2.70,0.00,0.000,6,0.000,0.071,2743,2200,2490
$GC,5150,1.49,79.3,306.9,7.1,247,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2200,2489
$GC,5460,1.49,79.3,285.9,6.9,262,5465,0.00,2.72,0.00,0.000,4,0.000,0.082,2743,3617,2489
$GC,5548,1.49,79.3,279.4,7.2,266,5553,0.00,2.67,0.00,0.000,6,0.000,0.068,2743,2199,2490
$GC,5870,1.49,79.3,257.8,6.8,282,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2199,2489
$GC,6179,1.49,79.3,236.5,7.2,297,6184,0.00,2.70,0.00,0.000,4,0.000,0.081,2743,3616,2489
$GC,6245,1.49,79.3,231.4,7.7,300,6250,0.00,2.67,0.00,0.000,6,0.000,0.067,2743,2190,2489
$GC,6567,1.49,79.3,207.6,7.5,316,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2190,2489
$GC,6877,1.49,79.3,187.0,6.3,331,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2190,2489
$GC,7185,1.49,79.3,167.7,6.0,346,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2190,2489
$GC,7494,1.49,82.3,149.5,5.7,361,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2190,2489
$GC,7804,1.49,83.1,130.8,5.9,376,7814,0.00,2.70,3.97,0.515,4,0.000,0.078,2743,3616,2477
$GC,7954,1.49,83.1,120.9,6.8,382,7961,0.00,2.67,0.00,0.000,6,0.000,0.067,2743,2193,2477
$GC,8272,1.49,83.1,101.2,7.0,398,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2194,2477
$GC,8581,1.49,83.3,79.7,6.0,413,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2194,2478
$GC,8889,1.53,115.1,66.5,3.0,428,8923,0.00,2.78,26.55,0.708,4,0.000,0.077,2743,3616,2346
$GC,9066,1.57,155.5,62.5,2.1,436,9107,0.00,2.67,32.03,0.705,6,0.000,0.067,2743,2200,2181
$GC,9418,1.57,155.5,26.6,13.9,453,9422,0.00,2.72,0.00,0.000,4,0.000,0.078,2743,3624,2180
$GC,9496,1.57,155.5,13.2,17.5,456,9502,0.00,2.70,0.00,0.000,6,0.000,0.069,2745,2195,2180
$STATE,9603,end climb,SURFACE_DEPTH_REACHED
$STATE,9603,begin surface coast
$FINISH,0.6,1.017022
$STATE,9626,end surface coast,CONTROL_FINISHED_OK
$STATE,9626,begin surface
$SM_CCo,9648,234.18,0.653,2,0,508,566.15
$SM_GC,1.09,0.00,0.00,234.18,0.000,0.000,0.653,66,2403,508,-10.78,0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2038
$TCM_TEMP,16.80
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,375.0,60.2
$24V_AH,23.6,53.121
$10V_AH,10.2,27.562
$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,26.875,75.525,193.825,234.175,0.000,162.962,183.571,733.673,9.750,0.000,0.000,32.181,897.767,7431.691,578.463,1186.873,1276.405,33.362,1150.389,0.000,1142.355,0.000,23.081
$DEVICE_MAMPS,171.808,84.370,948.012,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,332.553,322.746,378.287,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22282,463
$CFSIZE,260165632,240701440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,150108,023837,6246.209,-600.554,39,1.3,39,-8.0