version: 66.02
glider: 16
mission: 6
dive: 321
start: 1 12 108 16 32 36
data:
$ID,16
$MISSION,6
$DIVE,321
$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,-2084575
$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,16
$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
$GPS1,162637,6247.092,-557.578,60,1.6,66,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-58.9
$GPS2,163144,6247.069,-557.478,15,1.7,15,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.130,0.179
$KALMAN_X,69385.4,-737.4,-615.7,97552.0,29267.6
$KALMAN_Y,7335.2,2204.7,859.0,117061.0,-47880.1
$MHEAD_RNG_PITCHd_Wd,284.7,5920,-14.8,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.02,-90.4,0.0,0.0,0,85,0.00,0.00,-61.08,0.000,2,0.000,0.000,72,2400,3156
$GC,88,-1.02,-90.4,4.1,-6.4,3,110,11.95,2.62,-0.65,0.000,4,0.173,0.087,2183,3762,3187
$GC,341,-1.02,-90.4,35.0,-10.8,14,345,0.00,2.53,0.00,0.000,6,0.000,0.058,2183,2402,3187
$GC,661,-1.02,-90.4,68.1,-9.6,30,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2401,3187
$GC,970,-1.02,-90.4,95.7,-9.0,45,975,0.00,2.70,0.00,0.000,4,0.000,0.074,2183,976,3187
$GC,1033,-1.02,-90.4,101.6,-9.3,48,1038,0.00,2.65,0.00,0.000,6,0.000,0.062,2183,2403,3188
$GC,1360,-1.02,-90.4,133.4,-10.6,64,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2403,3188
$GC,1669,-1.02,-90.4,164.3,-10.0,79,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2402,3188
$GC,1979,-1.02,-90.4,192.5,-8.5,94,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2403,3188
$GC,2287,-1.02,-90.4,219.1,-9.2,109,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2403,3188
$GC,2596,-1.02,-90.4,248.1,-9.5,124,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2403,3188
$GC,2907,-1.02,-90.4,275.6,-9.0,139,2912,0.00,2.70,0.00,0.000,4,0.000,0.078,2183,980,3188
$GC,2957,-1.02,-90.4,280.4,-9.4,141,2961,0.00,2.62,0.00,0.000,6,0.000,0.065,2183,2400,3189
$GC,3273,-1.02,-90.4,308.7,-8.2,156,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2400,3189
$GC,3583,-1.02,-90.4,335.0,-9.1,171,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2400,3188
$GC,3891,-1.02,-90.4,358.5,-7.0,186,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2400,3189
$GC,4201,-1.02,-90.4,380.0,-6.9,201,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2400,3189
$GC,4510,-1.02,-90.4,405.1,-8.4,216,4515,0.00,2.60,0.00,0.000,4,0.000,0.084,2183,3768,3190
$GC,4667,-1.02,-90.4,417.2,-6.9,223,4671,0.00,2.55,0.00,0.000,6,0.000,0.065,2183,2393,3189
$GC,4994,-1.02,-90.4,438.2,-6.8,239,4999,0.00,2.67,0.00,0.000,4,0.000,0.081,2183,979,3189
$GC,5094,-1.02,-90.4,446.2,-8.5,243,5100,0.00,2.65,0.00,0.000,6,0.000,0.067,2183,2403,3190
$STATE,5366,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5366,begin apogee
$GC,5372,-0.31,0.0,467.8,7.7,257,5451,0.77,0.00,75.95,0.983,6,0.107,0.000,2338,2194,2817
$STATE,5452,end apogee,CONTROL_FINISHED_OK
$STATE,5452,begin climb
$GC,5455,1.02,90.4,470.3,0.0,261,5538,1.40,2.75,74.40,0.967,4,0.085,0.077,2628,786,2448
$GC,5595,1.02,90.4,465.2,6.2,267,5600,0.00,2.65,0.00,0.000,6,0.000,0.058,2628,2205,2446
$GC,5911,1.03,97.3,446.6,5.7,282,5926,0.00,2.80,7.03,0.785,4,0.000,0.085,2628,3613,2419
$GC,6045,1.03,97.3,437.5,7.1,288,6050,0.00,2.72,0.00,0.000,6,0.000,0.074,2628,2198,2419
$GC,6371,1.03,97.3,417.7,6.0,304,6376,0.00,2.72,0.00,0.000,4,0.000,0.081,2628,784,2418
$GC,6523,1.03,97.3,407.9,6.6,311,6527,0.00,2.65,0.00,0.000,6,0.000,0.059,2628,2206,2418
$GC,6849,1.05,112.5,389.2,5.3,327,6870,0.00,2.80,13.60,0.879,4,0.000,0.087,2628,3607,2357
$GC,7018,1.05,112.5,380.1,6.4,334,7022,0.00,2.70,0.00,0.000,6,0.000,0.074,2628,2197,2357
$GC,7333,1.07,135.0,364.3,5.0,349,7354,0.00,0.00,19.00,0.891,6,0.000,0.000,2628,2197,2267
$GC,7665,1.07,136.6,345.0,5.9,365,7669,0.00,2.75,0.00,0.000,4,0.000,0.087,2628,3613,2265
$GC,7826,1.07,136.6,333.3,7.3,372,7831,0.00,2.70,0.00,0.000,6,0.000,0.074,2628,2200,2265
$GC,8142,1.07,136.6,312.3,6.2,387,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2200,2265
$GC,8451,1.07,136.6,292.8,6.2,402,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2200,2265
$GC,8760,1.07,136.6,273.1,6.4,417,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2200,2265
$GC,9070,1.07,136.6,252.0,7.2,432,9074,0.00,2.70,0.00,0.000,4,0.000,0.080,2628,3620,2265
$GC,9147,1.07,136.6,246.3,7.3,435,9154,0.00,2.67,0.00,0.000,6,0.000,0.069,2628,2197,2265
$GC,9463,1.07,136.6,225.6,6.2,451,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2198,2265
$GC,9773,1.07,136.6,204.7,6.7,466,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2198,2265
$GC,10081,1.07,136.6,184.0,6.6,481,10083,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2198,2265
$GC,10391,1.07,136.6,160.6,8.1,496,10392,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2198,2266
$GC,10702,1.07,136.6,137.3,7.2,511,10703,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2198,2266
$GC,11009,1.07,136.6,116.8,6.4,526,11010,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2198,2266
$GC,11319,1.07,136.6,96.7,7.6,541,11323,0.00,2.67,0.00,0.000,4,0.000,0.076,2628,3613,2266
$GC,11380,1.07,136.6,90.8,9.7,544,11385,0.00,2.65,0.00,0.000,6,0.000,0.067,2628,2201,2266
$GC,11708,1.07,136.6,65.3,6.9,560,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2201,2267
$GC,12016,1.07,136.6,43.3,7.6,575,12017,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2201,2266
$GC,12325,1.07,136.6,20.5,9.2,590,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2201,2267
$STATE,12570,end climb,SURFACE_DEPTH_REACHED
$STATE,12571,begin surface coast
$FINISH,0.7,1.027485
$STATE,12593,end surface coast,CONTROL_FINISHED_OK
$STATE,12593,begin surface
$SM_CCo,12615,96.12,0.655,1,0,1592,300.00
$SM_GC,1.65,0.00,0.00,96.12,0.000,0.000,0.655,64,2400,1592,-10.79,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2094
$TCM_TEMP,15.70
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,426.0,51.3
$24V_AH,23.6,51.634
$10V_AH,10.2,26.589
$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,25.400,65.025,189.975,96.125,0.000,32.587,38.054,133.155,9.250,0.000,0.000,14.971,1110.324,9794.322,396.875,1348.100,382.988,33.369,1034.625,0.000,1324.928,0.000,23.372
$DEVICE_MAMPS,173.342,87.438,982.527,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.179,420.290,443.639,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28594,603
$CFSIZE,260165632,241405952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,120108,200537,6247.067,-559.017,28,1.2,28,-8.0