version: 66.02
glider: 16
mission: 6
dive: 328
start: 1 13 108 17 5 51
data:
$ID,16
$MISSION,6
$DIVE,328
$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,-2084764.4
$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,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
$GPS1,165546,6247.159,-556.579,43,3.1,62,-8.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-56.3
$GPS2,170459,6247.107,-556.482,12,4.3,31,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.166,0.146
$KALMAN_X,82114.6,-1271.1,-800.6,86436.0,34089.4
$KALMAN_Y,-219.9,2069.7,725.2,124970.1,-35468.5
$MHEAD_RNG_PITCHd_Wd,283.2,6752,-12.3,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.90,-122.1,0.0,0.0,0,85,0.00,0.00,-61.05,0.000,2,0.000,0.000,72,2408,3143
$GC,88,-0.90,-122.1,4.2,-6.7,3,111,12.02,2.62,-3.70,0.000,4,0.172,0.090,2206,3770,3316
$GC,318,-0.90,-122.1,36.0,-8.7,13,322,0.00,2.58,0.00,0.000,6,0.000,0.060,2206,2394,3316
$GC,645,-0.90,-122.1,67.5,-13.1,29,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2394,3316
$GC,955,-0.90,-122.1,93.6,-7.1,44,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2394,3316
$GC,1265,-0.90,-122.1,118.4,-7.9,59,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2394,3317
$GC,1573,-0.90,-122.1,147.8,-9.4,74,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2393,3317
$GC,1883,-0.90,-122.1,176.2,-9.2,89,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2393,3317
$GC,2195,-0.90,-122.1,201.5,-8.2,104,2199,0.00,2.67,0.00,0.000,4,0.000,0.076,2206,980,3317
$GC,2244,-0.90,-122.1,206.0,-8.2,106,2248,0.00,2.62,0.00,0.000,6,0.000,0.064,2206,2400,3317
$GC,2561,-0.90,-122.1,234.4,-9.0,121,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2400,3317
$GC,2869,-0.90,-122.1,260.6,-8.3,136,2874,0.00,2.70,0.00,0.000,4,0.000,0.075,2206,976,3317
$GC,2909,-0.90,-122.1,263.8,-7.9,138,2913,0.00,2.65,0.00,0.000,6,0.000,0.064,2206,2406,3317
$GC,3235,-0.90,-122.1,289.5,-8.0,154,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2407,3317
$GC,3544,-0.90,-122.1,315.0,-8.1,169,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2407,3317
$GC,3853,-0.90,-122.1,339.8,-8.1,184,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2407,3317
$GC,4163,-0.90,-122.1,365.1,-8.1,199,4167,0.00,2.70,0.00,0.000,4,0.000,0.077,2206,980,3318
$GC,4241,-0.90,-122.1,371.6,-8.3,202,4247,0.00,2.62,0.00,0.000,6,0.000,0.059,2206,2406,3318
$GC,4556,-0.90,-122.1,394.6,-7.1,218,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2406,3318
$GC,4867,-0.91,-126.5,415.8,-5.9,233,4871,0.00,2.60,0.00,0.000,4,0.000,0.083,2206,3768,3318
$GC,4973,-0.91,-126.5,425.2,-9.0,238,4977,0.00,2.55,0.00,0.000,6,0.000,0.063,2204,2398,3318
$GC,5299,-0.91,-126.5,451.3,-8.2,254,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2398,3317
$STATE,5503,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5503,begin apogee
$GC,5509,-0.31,0.0,467.1,7.5,264,5614,0.68,0.00,101.62,0.986,6,0.111,0.000,2340,2199,2817
$STATE,5614,end apogee,CONTROL_FINISHED_OK
$STATE,5614,begin climb
$GC,5617,0.91,126.5,470.2,0.0,269,5728,1.25,2.80,102.45,0.973,4,0.076,0.079,2603,3603,2301
$GC,5763,0.92,135.2,465.7,5.7,276,5777,0.00,2.70,8.88,0.815,6,0.000,0.067,2604,2194,2265
$GC,6094,0.93,143.3,446.3,5.7,292,6108,0.00,2.75,8.27,0.810,4,0.000,0.077,2604,794,2232
$GC,6167,0.93,143.3,441.9,6.2,295,6171,0.00,2.60,0.00,0.000,6,0.000,0.054,2604,2198,2231
$GC,6487,0.93,143.3,423.2,6.5,311,6492,0.00,2.72,0.00,0.000,4,0.000,0.083,2603,3615,2230
$GC,6609,0.93,143.3,414.3,7.8,316,6616,0.00,2.70,0.00,0.000,6,0.000,0.069,2604,2201,2230
$GC,6926,0.95,161.5,396.2,5.4,332,6947,0.00,2.80,15.62,0.890,4,0.000,0.085,2602,3612,2157
$GC,7060,0.95,161.5,387.3,6.6,338,7065,0.00,2.70,0.00,0.000,6,0.000,0.071,2604,2200,2157
$GC,7386,0.95,161.5,368.1,6.2,354,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2200,2156
$GC,7695,0.97,186.8,350.0,5.2,369,7724,0.00,2.78,21.33,0.886,4,0.000,0.077,2603,777,2054
$GC,7815,0.98,189.2,343.5,5.9,374,7820,0.00,2.62,0.00,0.000,6,0.000,0.055,2603,2198,2053
$GC,8131,0.99,204.6,326.5,5.5,389,8153,0.10,2.78,15.62,0.849,4,0.067,0.084,2633,3615,1982
$GC,8192,0.99,204.6,322.1,8.1,391,8198,0.00,2.72,0.00,0.000,6,0.000,0.071,2633,2199,1982
$GC,8508,0.99,204.6,298.0,7.8,407,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2198,1981
$GC,8818,0.99,204.6,273.4,7.7,422,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2198,1980
$GC,9126,0.99,204.6,248.2,8.3,437,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2198,1981
$GC,9436,0.99,204.6,223.5,7.7,452,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2198,1981
$GC,9744,0.99,204.6,199.6,7.7,467,9745,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2198,1981
$GC,10053,0.99,204.6,176.2,7.0,482,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2198,1981
$GC,10363,0.99,204.6,152.0,8.0,497,10365,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2198,1981
$GC,10672,0.99,204.6,126.5,7.8,512,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2198,1981
$GC,10982,0.99,204.6,103.6,7.1,527,10983,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2198,1981
$GC,11292,0.99,204.6,79.3,7.7,542,11294,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2198,1981
$GC,11601,0.99,204.6,55.2,9.0,557,11602,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2198,1981
$GC,11909,0.99,204.6,27.8,9.6,572,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2198,1981
$STATE,12216,end climb,SURFACE_DEPTH_REACHED
$STATE,12217,begin surface coast
$FINISH,0.8,1.027461
$STATE,12238,end surface coast,CONTROL_FINISHED_OK
$STATE,12238,begin surface
$SM_CCo,12260,54.65,0.646,1,0,1593,300.00
$SM_GC,1.59,0.00,0.00,54.65,0.000,0.000,0.646,74,2414,1593,-10.75,0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2082
$TCM_TEMP,16.70
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,400.8,76.1
$24V_AH,23.5,52.205
$10V_AH,10.2,27.020
$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,25.275,59.775,273.800,54.650,0.000,65.236,76.055,216.022,10.250,0.000,0.000,31.818,1074.068,9574.054,413.439,1273.291,546.922,33.367,1025.547,0.000,1231.250,0.000,24.652
$DEVICE_MAMPS,171.808,89.739,986.362,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.005,405.805,428.165,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28587,588
$CFSIZE,260165632,241094656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,130108,203235,6247.062,-558.093,38,1.9,47,-8.0