version: 66.02
glider: 16
mission: 6
dive: 319
start: 1 12 108 10 11 45
data:
$ID,16
$MISSION,6
$DIVE,319
$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,-2084545.5
$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,23
$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
$GPS1,100222,6247.822,-602.150,43,2.3,62,-8.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-63.8
$GPS2,101055,6247.832,-602.051,33,2.0,42,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.093,0.201
$KALMAN_X,63128.2,-1474.0,-260.6,100159.7,19622.5
$KALMAN_Y,10305.0,2966.7,822.0,114764.3,-47452.1
$MHEAD_RNG_PITCHd_Wd,258.1,2135,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.74,-28.8,0.0,0.0,0,76,0.00,0.00,-51.03,0.000,2,0.000,0.000,65,2395,2878
$GC,79,-1.76,-47.7,3.1,-3.4,3,102,11.10,2.60,-3.97,0.000,4,0.174,0.088,2019,3763,3013
$GC,354,-1.76,-47.7,46.3,-13.2,15,359,0.00,2.55,0.00,0.000,6,0.000,0.060,2019,2397,3014
$GC,676,-1.76,-47.7,94.5,-16.0,31,680,0.00,2.62,0.00,0.000,4,0.000,0.079,2019,3764,3014
$GC,850,-1.76,-47.7,121.4,-16.6,39,855,0.00,2.55,0.00,0.000,6,0.000,0.063,2019,2400,3014
$GC,1177,-1.76,-47.7,168.1,-14.3,55,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2398,3015
$GC,1485,-1.76,-47.7,210.6,-13.8,70,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2398,3015
$GC,1796,-1.76,-47.7,251.8,-13.1,85,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2398,3015
$GC,2105,-1.76,-47.7,292.0,-12.8,100,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2398,3015
$GC,2413,-1.76,-47.7,331.2,-12.3,115,2418,0.00,2.62,0.00,0.000,4,0.000,0.083,2019,3766,3015
$GC,2463,-1.76,-47.7,337.7,-13.5,117,2467,0.00,2.58,0.00,0.000,6,0.000,0.064,2019,2392,3015
$GC,2782,-1.76,-47.7,376.6,-12.5,132,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2391,3016
$GC,3087,-1.76,-47.7,415.5,-11.9,147,3092,0.00,2.67,0.00,0.000,4,0.000,0.077,2019,977,3016
$GC,3149,-1.76,-47.7,422.5,-11.0,150,3154,0.00,2.62,0.00,0.000,6,0.000,0.067,2019,2394,3015
$GC,3477,-1.76,-47.7,458.1,-10.8,166,3481,0.00,2.62,0.00,0.000,4,0.000,0.084,2019,3772,3016
$GC,3652,-1.76,-47.7,479.3,-13.5,174,3656,0.00,2.58,0.00,0.000,4,0.000,0.065,2019,2395,3016
$STATE,3657,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3657,begin apogee
$GC,3664,-0.31,0.0,480.2,13.4,174,3709,1.62,0.00,41.55,0.975,6,0.127,0.000,2334,2200,2817
$STATE,3710,end apogee,CONTROL_FINISHED_OK
$STATE,3710,begin climb
$GC,3712,1.76,47.7,482.8,0.0,176,3760,2.12,0.00,40.53,0.969,6,0.070,0.000,2788,2200,2622
$GC,4069,1.76,47.7,462.9,6.5,194,4073,0.00,2.72,0.00,0.000,4,0.000,0.083,2788,3618,2621
$GC,4327,1.76,47.7,445.3,6.3,205,4333,0.00,2.67,0.00,0.000,6,0.000,0.071,2788,2201,2621
$GC,4643,1.78,70.5,431.4,2.8,221,4668,0.00,2.80,19.77,0.922,4,0.000,0.084,2788,3620,2528
$GC,4920,1.78,70.5,416.9,6.1,233,4926,0.00,2.70,0.00,0.000,6,0.000,0.072,2788,2202,2527
$GC,5236,1.78,70.5,395.9,6.9,249,5240,0.00,2.70,0.00,0.000,4,0.000,0.079,2788,784,2527
$GC,5493,1.78,70.5,377.2,7.4,260,5500,0.00,2.62,0.00,0.000,6,0.000,0.058,2788,2209,2526
$GC,5809,1.78,70.5,352.6,7.8,276,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2209,2525
$GC,6118,1.78,70.5,331.6,6.3,291,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2209,2525
$GC,6428,1.79,76.5,315.0,5.2,306,6435,0.00,0.00,5.75,0.704,6,0.000,0.000,2788,2209,2505
$GC,6737,1.79,76.5,297.1,6.3,321,6742,0.00,2.67,0.00,0.000,4,0.000,0.081,2788,3617,2504
$GC,6871,1.79,76.5,287.3,7.4,327,6875,0.00,2.70,0.00,0.000,6,0.000,0.071,2788,2191,2504
$GC,7192,1.79,76.5,264.2,7.6,343,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2191,2504
$GC,7502,1.79,76.5,240.8,7.6,358,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2191,2504
$GC,7811,1.79,76.5,217.6,7.2,373,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2191,2504
$GC,8120,1.79,76.5,194.8,7.8,388,8124,0.00,2.70,0.00,0.000,4,0.000,0.079,2788,3612,2504
$GC,8377,1.79,76.5,173.6,8.8,399,8383,0.00,2.67,0.00,0.000,6,0.000,0.070,2788,2193,2504
$GC,8692,1.79,76.5,148.7,8.4,415,8697,0.00,2.70,0.00,0.000,4,0.000,0.077,2788,3616,2504
$GC,8950,1.79,76.5,126.3,8.8,426,8956,0.00,2.70,0.00,0.000,6,0.000,0.069,2788,2199,2505
$GC,9266,1.79,76.5,101.8,7.7,442,9267,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2200,2505
$GC,9575,1.79,76.5,78.6,6.9,457,9580,0.00,2.67,0.00,0.000,4,0.000,0.077,2788,3613,2505
$GC,9773,1.79,76.7,65.4,6.0,466,9777,0.00,2.65,0.00,0.000,6,0.000,0.068,2788,2203,2505
$GC,10099,1.79,76.7,44.8,6.1,482,10104,0.00,2.67,0.00,0.000,4,0.000,0.077,2788,3613,2505
$GC,10199,1.79,79.3,38.8,5.6,486,10209,0.00,2.65,4.40,0.507,6,0.000,0.068,2788,2197,2493
$GC,10537,1.79,79.3,17.9,8.3,503,10541,0.00,2.70,0.00,0.000,4,0.000,0.079,2788,3615,2493
$STATE,10748,end climb,SURFACE_DEPTH_REACHED
$STATE,10748,begin surface coast
$FINISH,0.6,1.027422
$STATE,10770,end surface coast,CONTROL_FINISHED_OK
$STATE,10770,begin surface
$SM_CCo,10794,135.25,0.632,5,0,1593,300.00
$SM_GC,1.59,0.00,0.00,135.25,0.000,0.000,0.632,70,2399,1593,-10.76,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2040
$TCM_TEMP,19.30
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,426.7,63.1
$24V_AH,23.6,51.478
$10V_AH,10.2,26.470
$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,27.225,74.450,112.000,135.250,0.000,65.230,67.455,183.332,7.500,0.000,0.000,42.381,1024.216,8090.592,390.775,1473.452,494.844,33.368,1057.889,0.000,1413.147,0.000,26.365
$DEVICE_MAMPS,174.109,88.205,974.857,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.691,358.069,378.283,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25333,513
$CFSIZE,260165632,241487872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,5,0
$GPS,120108,131537,6247.844,-559.589,40,2.0,40,-8.0