version: 66.02
glider: 16
mission: 6
dive: 335
start: 1 14 108 16 51 54
data:
$ID,16
$MISSION,6
$DIVE,335
$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,-2084981
$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,14
$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
$GPS1,164528,6246.808,-556.384,37,3.5,56,-8.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-52.1
$GPS2,165104,6246.754,-556.301,13,3.1,32,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.180,0.128
$KALMAN_X,93667.6,-1594.5,-835.9,75407.2,41365.5
$KALMAN_Y,-7040.7,1850.4,513.1,131574.5,-33294.5
$MHEAD_RNG_PITCHd_Wd,288.5,6993,-11.7,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.88,-132.5,0.0,0.0,0,86,0.00,0.00,-61.45,0.000,2,0.000,0.000,73,2402,3161
$GC,89,-0.88,-132.5,4.3,-6.4,3,114,12.20,2.62,-4.28,0.000,4,0.172,0.090,2216,3766,3358
$GC,221,-0.88,-132.5,23.0,-16.6,9,225,0.00,2.55,0.00,0.000,6,0.000,0.057,2216,2394,3359
$GC,543,-0.89,-146.6,44.4,-4.8,25,545,0.00,0.00,-0.60,0.000,6,0.000,0.000,2216,2394,3421
$GC,851,-0.89,-146.6,74.2,-12.2,40,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2394,3421
$GC,1161,-0.89,-146.6,105.2,-9.7,55,1165,0.00,2.67,0.00,0.000,4,0.000,0.074,2216,981,3421
$GC,1232,-0.89,-146.6,112.4,-10.5,58,1237,0.00,2.62,0.00,0.000,6,0.000,0.062,2216,2401,3421
$GC,1550,-0.89,-146.6,145.8,-9.8,73,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2401,3421
$GC,1858,-0.89,-146.6,174.6,-9.6,88,1865,0.00,2.67,0.00,0.000,4,0.000,0.074,2216,985,3421
$GC,1915,-0.89,-146.6,180.6,-10.2,90,1920,0.00,2.62,0.00,0.000,6,0.000,0.063,2216,2401,3421
$GC,2231,-0.89,-146.6,207.4,-8.0,105,2235,0.00,2.70,0.00,0.000,4,0.000,0.074,2216,977,3421
$GC,2270,-0.89,-146.6,210.7,-8.8,107,2275,0.00,2.65,0.00,0.000,6,0.000,0.064,2216,2406,3421
$GC,2597,-0.89,-146.6,236.6,-7.3,123,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2406,3422
$GC,2906,-0.89,-146.6,257.5,-7.3,138,2910,0.00,2.70,0.00,0.000,4,0.000,0.075,2216,981,3421
$GC,2969,-0.89,-146.6,262.2,-7.6,141,2973,0.00,2.62,0.00,0.000,6,0.000,0.065,2216,2400,3421
$GC,3294,-0.89,-146.6,289.0,-8.8,157,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2400,3422
$GC,3604,-0.89,-146.6,313.5,-7.8,172,3608,0.00,2.67,0.00,0.000,4,0.000,0.077,2216,983,3422
$GC,3666,-0.89,-146.6,318.5,-8.1,175,3670,0.00,2.62,0.00,0.000,6,0.000,0.066,2216,2400,3422
$GC,3992,-0.89,-146.6,344.3,-7.8,191,3996,0.00,2.62,0.00,0.000,4,0.000,0.084,2216,3772,3422
$GC,4035,-0.89,-146.6,348.0,-8.4,193,4040,0.00,2.55,0.00,0.000,6,0.000,0.064,2216,2401,3422
$GC,4357,-0.89,-146.6,373.2,-8.2,209,4361,0.00,2.70,0.00,0.000,4,0.000,0.079,2216,979,3422
$GC,4428,-0.89,-146.6,379.4,-8.4,212,4433,0.00,2.62,0.00,0.000,6,0.000,0.064,2216,2402,3422
$GC,4745,-0.89,-146.6,404.5,-8.0,227,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2402,3422
$GC,5054,-0.89,-146.6,428.3,-7.7,242,5058,0.00,2.62,0.00,0.000,4,0.000,0.087,2216,3770,3423
$GC,5097,-0.89,-146.6,431.9,-8.4,244,5102,0.00,2.55,0.00,0.000,6,0.000,0.064,2216,2401,3422
$STATE,5416,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5417,begin apogee
$GC,5423,-0.31,0.0,456.4,7.5,260,5548,0.62,0.00,121.43,0.979,6,0.104,0.000,2342,2197,2817
$STATE,5549,end apogee,CONTROL_FINISHED_OK
$STATE,5549,begin climb
$GC,5551,0.89,146.6,460.2,0.0,266,5674,1.25,0.00,118.95,0.958,6,0.073,0.000,2603,2197,2219
$GC,5969,0.89,146.6,434.2,6.7,287,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2197,2218
$GC,6279,0.90,154.9,416.1,5.7,302,6293,0.00,2.83,8.15,0.800,4,0.000,0.087,2603,3613,2184
$GC,6422,0.90,154.9,406.9,6.9,308,6427,0.00,2.70,0.00,0.000,6,0.000,0.071,2603,2199,2184
$GC,6738,0.90,154.9,388.0,6.1,323,6743,0.00,2.78,0.00,0.000,4,0.000,0.088,2603,3619,2183
$GC,6777,0.90,154.9,385.6,6.4,325,6782,0.00,2.72,0.00,0.000,6,0.000,0.074,2603,2198,2183
$GC,7104,0.90,154.9,366.5,6.4,341,7108,0.00,2.72,0.00,0.000,4,0.000,0.081,2603,777,2182
$GC,7148,0.90,154.9,363.5,7.4,343,7152,0.00,2.62,0.00,0.000,6,0.000,0.058,2603,2200,2181
$GC,7468,0.90,154.9,342.4,6.5,359,7473,0.00,2.70,0.00,0.000,4,0.000,0.087,2603,3614,2181
$GC,7540,0.90,154.9,337.4,7.0,362,7544,0.00,2.70,0.00,0.000,6,0.000,0.072,2603,2199,2181
$GC,7856,0.90,154.9,317.0,6.4,377,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2199,2180
$GC,8165,0.90,156.7,298.2,5.9,392,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2199,2180
$GC,8474,0.90,156.7,277.3,7.1,407,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2199,2180
$GC,8786,0.90,156.7,255.0,7.0,422,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2199,2179
$GC,9092,0.90,156.7,232.2,7.6,437,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2199,2180
$GC,9402,0.91,161.3,211.7,5.9,452,9409,0.00,0.00,5.95,0.661,6,0.000,0.000,2603,2199,2159
$GC,9711,0.91,161.3,190.8,7.3,467,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2199,2159
$GC,10022,0.91,161.3,169.2,6.5,482,10027,0.00,2.72,0.00,0.000,4,0.000,0.080,2603,3623,2159
$GC,10066,0.91,161.3,166.5,6.4,484,10071,0.00,2.70,0.00,0.000,6,0.000,0.070,2603,2196,2159
$GC,10388,0.97,219.3,154.6,4.2,500,10436,0.00,0.00,46.25,0.772,6,0.000,0.000,2603,2195,1923
$GC,10737,0.97,219.3,130.0,9.3,517,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2195,1923
$GC,11046,0.97,219.3,106.1,8.7,532,11050,0.00,2.67,0.00,0.000,4,0.000,0.075,2603,782,1923
$GC,11108,0.97,219.3,101.8,7.9,535,11113,0.00,2.62,0.00,0.000,6,0.000,0.054,2603,2207,1923
$GC,11435,0.97,219.3,79.2,6.3,551,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2207,1923
$GC,11745,1.22,446.6,68.8,-0.9,566,11927,0.30,2.80,172.05,0.708,4,0.041,0.077,2687,785,995
$GC,11977,1.22,446.6,44.4,15.4,576,11981,0.00,2.62,0.00,0.000,6,0.000,0.054,2687,2202,993
$GC,12299,1.22,446.6,13.1,10.0,592,12303,0.00,2.70,0.00,0.000,4,0.000,0.067,2687,775,992
$GC,12349,1.22,446.6,5.0,17.6,594,12353,0.00,2.62,0.00,0.000,6,0.000,0.051,2687,2207,992
$STATE,12373,end climb,SURFACE_DEPTH_REACHED
$STATE,12373,begin surface coast
$FINISH,0.7,1.027480
$STATE,12395,end surface coast,CONTROL_FINISHED_OK
$STATE,12395,begin surface
$SM_CCo,12477,0.00,0.000,0,0,991,447.92
$SM_GC,1.18,11.70,0.00,0.00,0.048,0.000,0.000,72,2397,991,-10.70,-0.08,447.92
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2091
$TCM_TEMP,16.80
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,425.1,40.5
$24V_AH,23.6,52.830
$10V_AH,10.2,27.438
$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,26.075,91.425,472.775,0.000,0.000,32.590,35.948,140.611,7.000,0.000,0.000,33.792,1091.267,9457.744,550.762,1317.236,399.541,33.363,1211.219,0.000,1272.183,0.000,26.199
$DEVICE_MAMPS,171.808,89.739,978.692,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.874,410.881,433.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28612,596
$CFSIZE,260165632,240807936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,140108,202122,6246.170,-558.067,38,2.8,57,-8.0