version: 66.02
glider: 16
mission: 6
dive: 322
start: 1 12 108 20 12 37
data:
$ID,16
$MISSION,6
$DIVE,322
$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,-2084610.1
$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
$GPS1,200537,6247.067,-559.017,28,1.2,28,-8.0
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-60.9
$GPS2,201147,6247.040,-558.998,14,2.1,33,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.129,0.180
$KALMAN_X,69627.7,-1459.1,-457.9,96549.5,24375.3
$KALMAN_Y,6566.8,2222.7,901.5,117710.4,-39991.7
$MHEAD_RNG_PITCHd_Wd,287.2,4652,-19.8,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.30,-53.2,0.0,0.0,0,85,0.00,0.00,-57.20,0.000,6,0.000,0.000,64,2400,3036
$GC,88,-1.31,-66.7,3.7,-5.0,3,110,11.68,2.65,-1.38,0.000,4,0.175,0.086,2118,3769,3090
$GC,278,-1.31,-66.7,31.3,-13.6,11,282,0.00,2.55,0.00,0.000,6,0.000,0.061,2118,2398,3091
$GC,599,-1.31,-66.7,70.9,-14.2,27,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2398,3092
$GC,908,-1.31,-66.7,106.9,-10.1,42,913,0.00,2.62,0.00,0.000,4,0.000,0.079,2119,3770,3092
$GC,964,-1.31,-66.7,113.3,-11.6,44,970,0.00,2.55,0.00,0.000,6,0.000,0.064,2119,2401,3092
$GC,1281,-1.31,-66.7,148.0,-10.6,60,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2400,3092
$GC,1588,-1.31,-66.7,180.8,-10.5,75,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2400,3093
$GC,1898,-1.31,-66.7,212.9,-10.2,90,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2400,3093
$GC,2207,-1.31,-66.7,244.2,-9.9,105,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2400,3093
$GC,2517,-1.31,-66.7,275.2,-9.7,120,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2400,3093
$GC,2826,-1.31,-66.7,307.4,-11.3,135,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2400,3093
$GC,3135,-1.31,-66.7,340.5,-10.7,150,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2400,3092
$GC,3444,-1.31,-66.7,372.8,-10.4,165,3448,0.00,2.65,0.00,0.000,4,0.000,0.084,2119,3775,3093
$GC,3651,-1.31,-66.7,397.0,-11.5,174,3655,0.00,2.58,0.00,0.000,6,0.000,0.065,2119,2400,3093
$GC,3967,-1.31,-66.7,427.5,-9.8,189,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2400,3093
$GC,4276,-1.31,-66.7,456.1,-9.4,204,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2400,3093
$STATE,4397,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4397,begin apogee
$GC,4403,-0.31,0.0,467.7,9.4,210,4464,1.12,0.00,57.15,0.969,6,0.122,0.000,2338,2196,2816
$STATE,4465,end apogee,CONTROL_FINISHED_OK
$STATE,4465,begin climb
$GC,4468,1.31,66.7,470.0,0.0,213,4527,1.67,0.00,55.78,0.963,6,0.070,0.000,2692,2196,2544
$GC,4829,1.31,66.7,450.9,6.1,231,4834,0.00,2.75,0.00,0.000,4,0.000,0.085,2692,3612,2543
$GC,5087,1.31,69.1,434.2,5.8,242,5094,0.00,2.67,0.00,0.000,6,0.000,0.072,2692,2202,2542
$GC,5402,1.32,77.9,417.0,5.3,258,5414,0.00,0.00,10.55,0.849,6,0.000,0.000,2691,2202,2499
$GC,5711,1.32,78.1,398.8,6.0,273,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2202,2498
$GC,6021,1.32,78.1,379.8,6.1,288,6025,0.00,2.72,0.00,0.000,4,0.000,0.086,2692,3615,2496
$GC,6093,1.33,80.0,375.6,5.9,291,6097,0.00,2.70,0.00,0.000,6,0.000,0.072,2692,2198,2496
$GC,6409,1.33,89.0,358.8,5.3,306,6424,0.00,2.78,9.98,0.823,4,0.000,0.083,2692,3616,2455
$GC,6566,1.33,89.0,349.6,6.4,312,6570,0.00,2.70,0.00,0.000,6,0.000,0.072,2692,2200,2453
$GC,6886,1.34,92.0,331.7,5.8,328,6895,0.00,2.75,4.28,0.624,4,0.000,0.083,2692,3622,2440
$GC,7082,1.34,92.0,318.6,6.7,337,7086,0.00,2.72,0.00,0.000,6,0.000,0.072,2692,2194,2440
$GC,7407,1.34,95.5,299.6,5.7,353,7414,0.00,0.00,4.25,0.608,6,0.000,0.000,2693,2194,2427
$GC,7717,1.34,97.4,281.7,5.9,368,7722,0.00,2.67,0.00,0.000,4,0.000,0.076,2692,777,2427
$GC,7780,1.35,104.1,277.9,5.5,371,7794,0.00,2.62,8.80,0.762,6,0.000,0.054,2692,2205,2392
$GC,8111,1.35,104.1,257.2,6.0,387,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2205,2392
$GC,8419,1.35,104.1,238.2,6.3,402,8424,0.00,2.67,0.00,0.000,4,0.000,0.078,2692,3618,2392
$GC,8504,1.35,104.1,232.2,7.6,406,8509,0.00,2.67,0.00,0.000,6,0.000,0.069,2692,2202,2392
$GC,8830,1.35,104.1,209.4,7.1,422,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2202,2392
$GC,9139,1.35,104.1,186.9,7.2,437,9144,0.00,2.67,0.00,0.000,4,0.000,0.078,2692,3614,2392
$GC,9251,1.35,104.1,177.9,8.8,442,9255,0.00,2.67,0.00,0.000,6,0.000,0.069,2692,2199,2392
$GC,9572,1.35,104.1,152.8,7.8,458,9573,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2199,2392
$GC,9881,1.35,104.1,131.2,6.8,473,9885,0.00,2.67,0.00,0.000,4,0.000,0.077,2692,3616,2392
$GC,9997,1.35,104.1,122.4,7.6,478,10002,0.00,2.67,0.00,0.000,6,0.000,0.067,2692,2195,2392
$GC,10315,1.35,104.1,100.7,7.2,493,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2195,2393
$GC,10622,1.35,104.1,77.3,8.3,508,10627,0.00,2.70,0.00,0.000,4,0.000,0.078,2692,3615,2393
$GC,10677,1.35,104.1,72.6,8.8,510,10684,0.00,2.65,0.00,0.000,6,0.000,0.067,2692,2201,2393
$GC,10994,1.35,104.1,48.3,6.9,526,10995,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2201,2393
$GC,11302,1.35,104.1,28.0,7.6,541,11307,0.00,2.70,0.00,0.000,4,0.000,0.078,2692,3621,2393
$GC,11365,1.35,104.1,22.2,10.1,544,11369,0.00,2.67,0.00,0.000,6,0.000,0.067,2692,2197,2393
$STATE,11647,end climb,SURFACE_DEPTH_REACHED
$STATE,11647,begin surface coast
$FINISH,0.6,1.014395
$STATE,11669,end surface coast,CONTROL_FINISHED_OK
$STATE,11669,begin surface
$SM_CCo,11691,115.12,0.649,2,0,1594,300.00
$SM_GC,1.50,0.00,0.00,115.12,0.000,0.000,0.649,68,2401,1594,-10.77,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2078
$TCM_TEMP,15.70
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,425.6,51.5
$24V_AH,23.6,51.711
$10V_AH,10.2,26.648
$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,25.975,70.275,150.775,115.125,0.000,32.589,34.041,179.233,11.500,0.000,0.000,34.445,1059.385,8992.310,396.600,1323.487,420.701,33.369,1005.752,0.000,1273.597,0.000,29.237
$DEVICE_MAMPS,174.876,85.904,969.488,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.456,392.045,410.961,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28520,559
$CFSIZE,260165632,241360896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,120108,233038,6247.615,-559.367,27,1.4,27,-8.0