version: 66.02
glider: 16
mission: 6
dive: 327
start: 1 13 108 13 23 25
data:
$ID,16
$MISSION,6
$DIVE,327
$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,-2084731.9
$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,15
$R_STBD_OVSHOOT,16
$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
$GPS1,131737,6247.969,-558.692,40,1.5,46,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-61.9
$GPS2,132233,6247.961,-558.600,12,1.9,12,-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,78730.6,-1617.1,-718.0,88205.7,35084.8
$KALMAN_Y,2029.4,2119.2,905.0,124069.6,-38559.3
$MHEAD_RNG_PITCHd_Wd,266.9,5024,-18.1,-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,22,-1.20,-62.8,0.0,0.0,0,85,0.00,0.00,-59.38,0.000,6,0.000,0.000,71,2401,3074
$GC,88,-1.22,-80.1,3.6,-4.9,3,110,11.70,2.65,-1.75,0.000,4,0.173,0.089,2139,3768,3146
$GC,363,-1.22,-80.1,40.3,-9.9,15,367,0.00,2.55,0.00,0.000,6,0.000,0.061,2140,2401,3146
$GC,683,-1.22,-80.1,70.8,-11.1,31,688,0.00,2.65,0.00,0.000,4,0.000,0.081,2140,3775,3146
$GC,791,-1.22,-80.1,83.1,-12.0,36,795,0.00,2.58,0.00,0.000,6,0.000,0.062,2140,2400,3146
$GC,1117,-1.22,-80.1,117.6,-10.8,52,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2400,3147
$GC,1426,-1.22,-80.1,158.5,-13.4,67,1430,0.00,2.65,0.00,0.000,4,0.000,0.082,2140,3772,3147
$GC,1493,-1.22,-80.1,168.3,-14.2,70,1497,0.00,2.55,0.00,0.000,6,0.000,0.061,2140,2400,3147
$GC,1815,-1.22,-80.1,214.3,-11.8,86,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2401,3147
$GC,2123,-1.22,-80.1,245.2,-10.0,101,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2401,3147
$GC,2433,-1.22,-80.1,274.8,-9.6,116,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2401,3147
$GC,2742,-1.22,-80.1,304.4,-9.5,131,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2401,3147
$GC,3051,-1.22,-80.1,332.9,-9.2,146,3055,0.00,2.65,0.00,0.000,4,0.000,0.085,2140,3771,3148
$GC,3106,-1.22,-80.1,338.6,-10.3,148,3112,0.00,2.55,0.00,0.000,6,0.000,0.064,2140,2401,3148
$GC,3421,-1.22,-80.1,367.2,-9.3,164,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2401,3148
$GC,3730,-1.22,-80.1,397.1,-9.7,179,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2401,3148
$GC,4040,-1.22,-80.1,424.0,-8.3,194,4045,0.00,2.70,0.00,0.000,4,0.000,0.081,2140,983,3148
$GC,4084,-1.22,-80.1,427.9,-8.9,196,4088,0.00,2.65,0.00,0.000,6,0.000,0.069,2140,2403,3148
$GC,4404,-1.22,-80.1,455.3,-8.6,212,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2403,3148
$GC,4714,-1.22,-80.1,482.2,-9.7,227,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2403,3148
$STATE,4794,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4795,begin apogee
$GC,4801,-0.31,0.0,490.1,9.6,231,4876,1.00,0.00,68.22,1.003,6,0.107,0.000,2340,2193,2817
$STATE,4877,end apogee,CONTROL_FINISHED_OK
$STATE,4877,begin climb
$GC,4879,1.22,80.1,493.1,0.0,235,4955,1.60,2.78,66.15,0.990,4,0.081,0.074,2674,791,2489
$GC,5000,1.22,80.1,488.7,6.6,240,5007,0.00,2.62,0.00,0.000,6,0.000,0.060,2674,2201,2489
$GC,5315,1.22,80.1,469.7,6.5,256,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2201,2487
$GC,5625,1.22,80.1,448.2,7.5,271,5629,0.00,2.75,0.00,0.000,4,0.000,0.087,2675,3621,2487
$GC,5882,1.22,80.1,429.3,6.8,282,5888,0.00,2.70,0.00,0.000,6,0.000,0.071,2674,2203,2486
$GC,6197,1.23,87.2,411.4,5.5,298,6211,0.00,2.83,6.78,0.788,4,0.000,0.088,2674,3615,2460
$GC,6466,1.23,87.2,393.7,7.2,310,6470,0.00,2.70,0.00,0.000,6,0.000,0.071,2674,2194,2459
$GC,6793,1.24,95.2,374.6,5.5,326,6807,0.00,2.83,7.68,0.802,4,0.000,0.087,2674,3614,2428
$GC,6955,1.24,95.2,364.2,6.8,333,6959,0.00,2.70,0.00,0.000,6,0.000,0.071,2674,2199,2428
$GC,7275,1.24,95.2,343.1,6.7,349,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2199,2427
$GC,7584,1.24,99.6,324.5,5.7,364,7595,0.00,2.72,5.35,0.698,4,0.000,0.077,2674,784,2410
$GC,7743,1.24,99.6,314.3,6.3,371,7748,0.00,2.62,0.00,0.000,6,0.000,0.058,2674,2204,2409
$GC,8064,1.24,99.6,293.3,6.7,387,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2204,2409
$GC,8373,1.25,104.3,275.9,5.7,402,8380,0.00,0.00,5.78,0.689,6,0.000,0.000,2674,2204,2391
$GC,8684,1.25,104.3,257.5,6.3,417,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2204,2390
$GC,8992,1.25,104.3,238.1,6.4,432,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2204,2389
$GC,9300,1.25,104.3,219.1,6.3,447,9305,0.00,2.67,0.00,0.000,4,0.000,0.080,2674,3614,2390
$GC,9407,1.25,104.3,211.3,7.2,452,9412,0.00,2.67,0.00,0.000,6,0.000,0.067,2674,2197,2390
$GC,9733,1.25,104.3,188.9,7.1,468,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2197,2390
$GC,10042,1.25,104.3,168.1,6.6,483,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2197,2391
$GC,10352,1.25,104.3,146.7,7.0,498,10356,0.00,2.70,0.00,0.000,4,0.000,0.078,2674,3615,2391
$GC,10459,1.25,104.3,138.7,7.2,503,10464,0.00,2.67,0.00,0.000,6,0.000,0.067,2674,2194,2391
$GC,10786,1.26,112.9,119.7,5.4,519,10796,0.00,0.00,8.57,0.663,6,0.000,0.000,2674,2194,2356
$GC,11097,1.26,112.9,101.0,7.1,534,11101,0.00,2.72,0.00,0.000,4,0.000,0.077,2674,3621,2356
$GC,11185,1.26,112.9,94.0,8.9,538,11189,0.00,2.67,0.00,0.000,6,0.000,0.065,2674,2199,2356
$GC,11507,1.26,112.9,71.9,7.1,554,11508,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2199,2356
$GC,11816,1.26,112.9,48.5,8.5,569,11818,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2199,2356
$GC,12125,1.26,112.9,24.4,6.3,584,12126,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2199,2357
$GC,12434,1.26,112.9,2.1,7.3,599,12435,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2199,2357
$STATE,12453,end climb,SURFACE_DEPTH_REACHED
$STATE,12453,begin surface coast
$FINISH,0.7,1.027424
$STATE,12475,end surface coast,CONTROL_FINISHED_OK
$STATE,12475,begin surface
$SM_CCo,12497,118.55,0.630,5,0,1593,300.00
$SM_GC,1.66,0.00,0.00,118.55,0.000,0.000,0.630,73,2406,1593,-10.75,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2053
$TCM_TEMP,16.60
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,450.0,49.9
$24V_AH,23.5,52.102
$10V_AH,10.2,26.958
$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,26.000,70.350,168.525,118.550,0.000,32.588,35.724,121.935,11.500,0.000,0.000,12.651,1131.998,9597.909,428.506,1405.779,381.487,33.367,1090.996,0.000,1382.411,0.000,27.914
$DEVICE_MAMPS,173.342,88.972,1003.236,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.929,419.464,440.208,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31680,601
$CFSIZE,260165632,241131520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,5,0
$GPS,130108,165546,6247.159,-556.579,43,3.1,62,-8.0