version: 66.02
glider: 16
mission: 6
dive: 323
start: 1 12 108 23 36 54
data:
$ID,16
$MISSION,6
$DIVE,323
$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,-2084645.5
$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,14
$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
$GPS1,233038,6247.615,-559.367,27,1.4,27,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-63.0
$GPS2,233602,6247.617,-559.273,17,1.7,34,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.136,0.174
$KALMAN_X,71596.0,-2182.9,-337.7,94939.6,27586.8
$KALMAN_Y,5238.1,2875.4,1255.3,119099.8,-41353.2
$MHEAD_RNG_PITCHd_Wd,273.7,4373,-21.2,-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,-1.38,-46.7,0.0,0.0,0,84,0.00,0.00,-56.10,0.000,6,0.000,0.000,67,2401,3008
$GC,87,-1.38,-46.7,4.1,-6.1,3,109,11.52,2.67,0.00,0.000,4,0.173,0.077,2105,3778,3011
$GC,362,-1.38,-46.7,41.9,-11.4,15,366,0.00,2.58,0.00,0.000,6,0.000,0.062,2105,2400,3011
$GC,683,-1.38,-46.7,71.7,-9.3,31,687,0.00,2.65,0.00,0.000,4,0.000,0.081,2105,3776,3012
$GC,906,-1.38,-46.7,95.2,-12.4,41,910,0.00,2.58,0.00,0.000,6,0.000,0.062,2105,2401,3012
$GC,1227,-1.38,-46.7,131.2,-10.9,57,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2402,3012
$GC,1535,-1.38,-46.7,163.7,-10.6,72,1540,0.00,2.62,0.00,0.000,4,0.000,0.081,2105,3770,3012
$GC,1621,-1.38,-46.7,173.4,-11.7,76,1625,0.00,2.58,0.00,0.000,6,0.000,0.064,2105,2396,3011
$GC,1947,-1.38,-46.7,207.3,-10.3,92,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2396,3012
$GC,2256,-1.38,-46.7,239.3,-10.2,107,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2396,3011
$GC,2566,-1.38,-46.7,270.3,-9.9,122,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2396,3012
$GC,2875,-1.38,-46.7,301.8,-10.2,137,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2396,3012
$GC,3184,-1.38,-46.7,332.6,-10.2,152,3188,0.00,2.62,0.00,0.000,4,0.000,0.084,2105,3770,3012
$GC,3284,-1.38,-46.7,343.2,-11.1,156,3290,0.00,2.55,0.00,0.000,6,0.000,0.064,2105,2401,3012
$GC,3600,-1.38,-46.7,375.0,-9.6,172,3605,0.00,2.70,0.00,0.000,4,0.000,0.081,2105,982,3013
$GC,3663,-1.38,-46.7,381.2,-9.9,175,3667,0.00,2.62,0.00,0.000,6,0.000,0.067,2105,2401,3013
$GC,3989,-1.38,-46.7,410.6,-8.6,191,3993,0.00,2.70,0.00,0.000,4,0.000,0.080,2105,982,3013
$GC,4096,-1.38,-46.7,420.1,-8.7,196,4100,0.00,2.62,0.00,0.000,6,0.000,0.067,2105,2402,3013
$GC,4422,-1.38,-46.7,448.4,-8.7,212,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2401,3013
$GC,4731,-1.38,-46.7,476.2,-8.8,227,4735,0.00,2.62,0.00,0.000,4,0.000,0.086,2105,3768,3013
$STATE,4857,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4857,begin apogee
$GC,4867,-0.31,0.0,489.5,10.2,233,4912,1.23,0.00,41.33,0.983,6,0.130,0.000,2340,2195,2817
$STATE,4913,end apogee,CONTROL_FINISHED_OK
$STATE,4913,begin climb
$GC,4915,1.38,46.7,491.5,0.0,235,4964,1.73,2.75,39.97,0.971,4,0.073,0.076,2708,784,2625
$GC,5022,1.40,63.3,487.5,4.6,240,5044,0.00,2.65,14.85,0.904,6,0.000,0.059,2707,2208,2558
$GC,5353,1.40,68.5,469.3,5.5,256,5364,0.00,2.72,5.82,0.755,4,0.000,0.083,2708,3612,2535
$GC,5493,1.40,68.5,459.9,6.4,262,5497,0.00,2.72,0.00,0.000,6,0.000,0.074,2707,2193,2536
$GC,5809,1.41,72.0,441.3,5.7,277,5818,0.00,2.78,4.50,0.678,4,0.000,0.089,2708,3612,2522
$GC,6015,1.41,72.0,428.0,6.8,286,6019,0.00,2.72,0.00,0.000,6,0.000,0.074,2706,2194,2522
$GC,6336,1.41,72.0,408.1,6.1,302,6340,0.00,2.70,0.00,0.000,4,0.000,0.081,2707,786,2521
$GC,6532,1.41,72.0,395.4,6.8,311,6537,0.00,2.65,0.00,0.000,6,0.000,0.061,2708,2206,2520
$GC,6859,1.41,72.0,375.2,6.2,327,6864,0.00,2.70,0.00,0.000,4,0.000,0.077,2708,785,2519
$GC,7083,1.41,72.0,360.8,6.4,337,7087,0.00,2.62,0.00,0.000,6,0.000,0.060,2707,2202,2519
$GC,7405,1.43,90.6,344.7,4.4,353,7427,0.00,2.75,15.82,0.875,4,0.000,0.074,2708,784,2447
$GC,7522,1.43,90.6,337.7,7.3,358,7526,0.00,2.65,0.00,0.000,6,0.000,0.058,2707,2208,2446
$GC,7843,1.43,90.6,316.8,6.4,374,7847,0.00,2.70,0.00,0.000,4,0.000,0.084,2707,3616,2445
$GC,7959,1.43,90.6,308.4,7.7,379,7964,0.00,2.70,0.00,0.000,6,0.000,0.074,2707,2202,2445
$GC,8275,1.43,90.6,286.4,7.1,394,8279,0.00,2.70,0.00,0.000,4,0.000,0.084,2707,3613,2444
$GC,8359,1.43,90.6,280.0,7.9,398,8363,0.00,2.67,0.00,0.000,6,0.000,0.072,2707,2199,2444
$GC,8685,1.43,90.6,256.6,7.2,414,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2199,2444
$GC,8994,1.43,90.6,235.4,6.6,429,8998,0.00,2.70,0.00,0.000,4,0.000,0.081,2707,3613,2444
$GC,9060,1.43,90.6,230.5,7.4,432,9065,0.00,2.67,0.00,0.000,6,0.000,0.069,2707,2193,2444
$GC,9381,1.43,90.6,207.8,7.6,448,9385,0.00,2.70,0.00,0.000,4,0.000,0.080,2707,3613,2445
$GC,9469,1.43,90.6,200.5,8.3,452,9473,0.00,2.65,0.00,0.000,6,0.000,0.068,2707,2202,2445
$GC,9791,1.43,90.6,173.7,8.4,468,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2201,2446
$GC,10100,1.43,90.6,148.4,7.8,483,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2202,2445
$GC,10409,1.43,90.6,125.8,6.9,498,10410,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2201,2446
$GC,10719,1.43,95.8,106.8,5.6,513,10727,0.00,0.00,5.75,0.595,6,0.000,0.000,2707,2202,2426
$GC,11029,1.43,95.8,83.7,7.3,528,11030,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2202,2426
$GC,11337,1.43,95.8,62.8,8.2,543,11341,0.00,2.67,0.00,0.000,4,0.000,0.077,2708,3613,2426
$GC,11467,1.43,95.8,51.7,7.9,549,11471,0.00,2.65,0.00,0.000,6,0.000,0.066,2707,2199,2427
$GC,11793,1.43,95.8,33.7,7.5,565,11797,0.00,2.70,0.00,0.000,4,0.000,0.077,2707,3622,2427
$GC,11855,1.43,95.8,28.6,7.6,568,11860,0.00,2.67,0.00,0.000,6,0.000,0.068,2707,2199,2427
$GC,12181,1.43,95.8,2.7,8.5,584,12182,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2199,2428
$STATE,12200,end climb,SURFACE_DEPTH_REACHED
$STATE,12200,begin surface coast
$FINISH,0.7,1.013988
$STATE,12222,end surface coast,CONTROL_FINISHED_OK
$STATE,12222,begin surface
$SM_CCo,12243,122.20,0.636,4,0,1593,300.00
$SM_GC,1.56,0.00,0.00,122.20,0.000,0.000,0.636,67,2403,1593,-10.77,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2073
$TCM_TEMP,15.70
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,426.7,72.5
$24V_AH,23.6,51.780
$10V_AH,10.2,26.711
$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,26.200,102.150,128.050,122.200,0.000,32.588,32.504,131.437,10.500,0.000,0.000,34.731,1149.998,9220.260,397.589,1558.547,392.794,33.368,1124.955,0.000,1505.922,0.000,23.430
$DEVICE_MAMPS,173.342,88.972,982.527,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.155,411.610,435.057,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28540,586
$CFSIZE,260165632,241307648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,4,0
$GPS,130108,030457,6247.702,-557.954,40,2.4,59,-8.0