version: 66.02
glider: 16
mission: 6
dive: 320
start: 1 12 108 13 21 20
data:
$ID,16
$MISSION,6
$DIVE,320
$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,-2084559.4
$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,12
$R_STBD_OVSHOOT,19
$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
$GPS1,131537,6247.844,-559.589,40,2.0,40,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-59.8
$GPS2,132027,6247.838,-559.454,13,2.0,13,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.120,0.186
$KALMAN_X,66390.9,-1086.4,-446.8,98977.9,25458.6
$KALMAN_Y,9452.0,2774.8,686.6,115964.3,-47146.5
$MHEAD_RNG_PITCHd_Wd,268.1,4271,-21.8,-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,-1.41,-44.5,0.0,0.0,0,81,0.00,0.00,-56.17,0.000,6,0.000,0.000,67,2400,2999
$GC,84,-1.45,-80.5,2.6,-2.8,3,106,11.40,2.62,-4.07,0.000,4,0.171,0.089,2086,3765,3147
$GC,359,-1.45,-80.5,40.9,-13.0,15,364,0.00,2.55,0.00,0.000,6,0.000,0.061,2086,2397,3147
$GC,680,-1.45,-80.5,81.9,-13.8,31,685,0.00,2.62,0.00,0.000,4,0.000,0.081,2086,3766,3148
$GC,803,-1.45,-80.5,98.4,-12.6,36,809,0.00,2.55,0.00,0.000,6,0.000,0.064,2086,2400,3148
$GC,1119,-1.45,-80.5,139.4,-12.7,52,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2400,3148
$GC,1428,-1.45,-80.5,174.2,-11.0,67,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2400,3148
$GC,1737,-1.45,-80.5,212.0,-12.7,82,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2400,3148
$GC,2048,-1.45,-80.5,250.6,-12.1,97,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2400,3148
$GC,2355,-1.45,-80.5,288.9,-12.4,112,2360,0.00,2.67,0.00,0.000,4,0.000,0.077,2086,982,3148
$GC,2417,-1.45,-80.5,296.9,-12.9,115,2422,0.00,2.65,0.00,0.000,6,0.000,0.067,2086,2401,3147
$GC,2745,-1.45,-80.5,336.9,-12.0,131,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2401,3148
$GC,3053,-1.45,-80.5,374.3,-12.5,146,3061,0.00,2.67,0.00,0.000,4,0.000,0.079,2086,990,3149
$GC,3140,-1.45,-80.5,385.5,-12.1,149,3146,0.00,2.62,0.00,0.000,6,0.000,0.066,2086,2404,3149
$GC,3455,-1.45,-80.5,422.5,-11.9,165,3459,0.00,2.62,0.00,0.000,4,0.000,0.084,2086,3775,3149
$GC,3570,-1.45,-80.5,438.3,-14.3,170,3575,0.00,2.58,0.00,0.000,6,0.000,0.065,2086,2401,3149
$GC,3886,-1.45,-80.5,472.6,-10.0,185,3890,0.00,2.70,0.00,0.000,4,0.000,0.081,2086,980,3149
$GC,3952,-1.45,-80.5,480.7,-10.6,188,3956,0.00,2.65,0.00,0.000,6,0.000,0.067,2086,2405,3149
$STATE,3981,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3982,begin apogee
$GC,3988,-0.31,0.0,483.9,10.9,190,4064,1.30,0.00,68.72,0.985,6,0.127,0.000,2336,2197,2817
$STATE,4065,end apogee,CONTROL_FINISHED_OK
$STATE,4065,begin climb
$GC,4067,1.45,80.5,486.4,0.0,194,4138,1.83,0.00,66.70,0.976,6,0.067,0.000,2725,2197,2488
$GC,4433,1.45,80.5,459.1,7.9,212,4437,0.00,2.72,0.00,0.000,4,0.000,0.084,2725,3613,2486
$GC,4499,1.45,80.5,453.5,8.7,215,4504,0.00,2.70,0.00,0.000,6,0.000,0.073,2725,2202,2486
$GC,4820,1.45,83.5,432.1,5.7,231,4826,0.00,0.00,3.80,0.597,6,0.000,0.000,2725,2201,2476
$GC,5129,1.45,83.5,413.3,6.2,246,5134,0.00,2.75,0.00,0.000,4,0.000,0.088,2725,3617,2475
$GC,5386,1.45,83.5,393.9,7.0,257,5392,0.00,2.70,0.00,0.000,6,0.000,0.074,2725,2197,2475
$GC,5701,1.45,83.5,373.1,6.3,273,5706,0.00,2.78,0.00,0.000,4,0.000,0.088,2725,3619,2474
$GC,5958,1.45,83.5,352.7,8.1,284,5964,0.00,2.70,0.00,0.000,6,0.000,0.073,2725,2200,2474
$GC,6274,1.45,83.7,331.5,6.0,300,6278,0.00,2.75,0.00,0.000,4,0.000,0.087,2725,3622,2473
$GC,6530,1.46,91.3,317.2,5.3,311,6544,0.00,2.70,7.20,0.753,6,0.000,0.073,2725,2201,2444
$GC,6867,1.46,91.3,297.7,6.2,328,6872,0.00,2.72,0.00,0.000,4,0.000,0.084,2725,3615,2443
$GC,7125,1.46,91.3,278.2,8.0,339,7131,0.00,2.70,0.00,0.000,6,0.000,0.071,2725,2193,2443
$GC,7441,1.46,91.3,255.0,7.4,355,7445,0.00,2.72,0.00,0.000,4,0.000,0.082,2725,3615,2443
$GC,7664,1.46,91.3,236.8,7.8,365,7669,0.00,2.67,0.00,0.000,6,0.000,0.070,2725,2201,2443
$GC,7986,1.46,91.3,213.0,7.3,381,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2201,2443
$GC,8295,1.46,91.3,190.0,7.3,396,8299,0.00,2.70,0.00,0.000,4,0.000,0.080,2725,3618,2443
$GC,8428,1.46,91.3,179.5,7.9,402,8432,0.00,2.67,0.00,0.000,6,0.000,0.067,2725,2199,2444
$GC,8750,1.46,91.3,155.2,7.6,418,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2199,2444
$GC,9059,1.46,91.3,133.3,6.8,433,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2199,2444
$GC,9370,1.46,91.3,110.4,7.9,448,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2199,2444
$GC,9678,1.46,91.3,86.7,8.0,463,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2199,2444
$GC,9987,1.46,91.3,62.7,7.4,478,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2199,2445
$GC,10296,1.46,91.3,40.5,7.5,493,10300,0.00,2.67,0.00,0.000,4,0.000,0.077,2726,3614,2445
$GC,10346,1.46,91.3,37.0,6.3,495,10350,0.00,2.65,0.00,0.000,6,0.000,0.067,2725,2200,2446
$GC,10661,1.46,91.3,13.5,6.8,510,10665,0.00,2.70,0.00,0.000,4,0.000,0.077,2725,3623,2446
$GC,10716,1.46,94.1,10.4,5.7,512,10726,0.00,2.67,4.22,0.484,6,0.000,0.065,2725,2191,2432
$STATE,10825,end climb,SURFACE_DEPTH_REACHED
$STATE,10825,begin surface coast
$FINISH,0.7,1.005629
$STATE,10847,end surface coast,CONTROL_FINISHED_OK
$STATE,10847,begin surface
$SM_CCo,10869,124.47,0.634,4,0,1594,300.00
$SM_GC,1.62,0.00,0.00,124.47,0.000,0.000,0.634,72,2400,1594,-10.75,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2052
$TCM_TEMP,15.70
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,425.1,67.7
$24V_AH,23.6,51.553
$10V_AH,10.2,26.527
$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,26.400,81.025,150.650,124.475,0.000,32.589,37.946,119.182,8.750,0.000,0.000,13.263,1017.678,8130.869,427.428,1375.528,362.857,33.396,1071.798,0.000,1347.710,0.000,23.429
$DEVICE_MAMPS,171.041,88.972,984.828,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,375.342,360.090,390.344,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25417,519
$CFSIZE,260165632,241451008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,4,0
$GPS,120108,162637,6247.092,-557.578,60,1.6,66,-8.0