version: 66.02
glider: 16
mission: 6
dive: 324
start: 1 13 108 3 22 6
data:
$ID,16
$MISSION,6
$DIVE,324
$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,-2084661.1
$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,13
$R_STBD_OVSHOOT,15
$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
$GPS1,030457,6247.702,-557.954,40,2.4,59,-8.0
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-60.1
$GPS2,032114,6247.676,-557.744,10,1.6,15,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.151,0.162
$KALMAN_X,74091.9,-1504.3,-615.8,93389.3,28083.7
$KALMAN_Y,4608.5,2631.6,1336.6,120005.0,-36998.3
$MHEAD_RNG_PITCHd_Wd,273.6,5672,-15.6,-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,-1.06,-82.1,0.0,0.0,0,85,0.00,0.00,-61.50,0.000,2,0.000,0.000,66,2404,3150
$GC,88,-1.08,-92.9,3.9,-5.5,3,111,12.02,2.62,-1.08,0.000,4,0.177,0.088,2170,3767,3198
$GC,363,-1.08,-92.9,37.6,-12.3,15,367,0.00,2.55,0.00,0.000,6,0.000,0.060,2170,2398,3199
$GC,684,-1.08,-92.9,70.0,-8.5,31,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2398,3200
$GC,996,-1.08,-92.9,106.0,-12.4,46,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2398,3201
$GC,1303,-1.08,-92.9,136.6,-9.8,61,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2398,3200
$GC,1612,-1.08,-92.9,165.4,-8.6,76,1616,0.00,2.70,0.00,0.000,4,0.000,0.078,2170,979,3201
$GC,1661,-1.08,-92.9,169.6,-8.5,78,1665,0.00,2.65,0.00,0.000,6,0.000,0.064,2171,2405,3200
$GC,1977,-1.08,-92.9,196.8,-8.9,93,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2405,3200
$GC,2286,-1.08,-92.9,224.7,-9.1,108,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2405,3200
$GC,2596,-1.08,-92.9,252.7,-9.0,123,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2405,3200
$GC,2904,-1.08,-92.9,280.1,-8.6,138,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2405,3200
$GC,3214,-1.08,-92.9,306.9,-8.5,153,3218,0.00,2.72,0.00,0.000,4,0.000,0.077,2171,977,3201
$GC,3269,-1.08,-92.9,311.9,-9.2,155,3275,0.00,2.67,0.00,0.000,6,0.000,0.067,2170,2405,3201
$GC,3584,-1.08,-92.9,339.8,-9.1,171,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2405,3201
$GC,3893,-1.08,-92.9,367.1,-8.5,186,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2405,3201
$GC,4204,-1.08,-92.9,392.7,-8.0,201,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2405,3202
$GC,4512,-1.08,-92.9,417.1,-8.5,216,4516,0.00,2.62,0.00,0.000,4,0.000,0.086,2171,3770,3201
$GC,4629,-1.08,-92.9,428.5,-9.5,221,4633,0.00,2.58,0.00,0.000,6,0.000,0.066,2171,2397,3201
$GC,4945,-1.08,-92.9,455.4,-7.8,236,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2397,3201
$STATE,5231,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5231,begin apogee
$GC,5237,-0.31,0.0,476.9,7.4,250,5318,0.85,0.00,78.47,0.992,6,0.109,0.000,2340,2193,2817
$STATE,5319,end apogee,CONTROL_FINISHED_OK
$STATE,5319,begin climb
$GC,5322,1.08,92.9,479.4,0.0,254,5402,1.50,0.00,76.62,0.985,6,0.087,0.000,2647,2194,2438
$GC,5703,1.08,92.9,458.7,6.1,273,5707,0.00,2.78,0.00,0.000,4,0.000,0.089,2647,3613,2435
$GC,5769,1.08,92.9,454.3,6.8,276,5773,0.00,2.72,0.00,0.000,6,0.000,0.074,2647,2197,2435
$GC,6090,1.10,110.7,436.6,5.1,292,6109,0.00,0.00,15.60,0.912,6,0.000,0.000,2647,2197,2365
$GC,6418,1.10,110.7,415.0,6.5,308,6423,0.00,2.80,0.00,0.000,4,0.000,0.091,2647,3622,2362
$GC,6570,1.10,110.7,404.0,7.1,315,6575,0.00,2.75,0.00,0.000,6,0.000,0.076,2647,2195,2362
$GC,6897,1.10,110.7,382.9,6.5,331,6901,0.00,2.78,0.00,0.000,4,0.000,0.091,2647,3613,2361
$GC,7064,1.10,110.7,370.3,7.8,338,7070,0.00,2.72,0.00,0.000,6,0.000,0.074,2647,2196,2361
$GC,7380,1.10,110.7,350.2,6.1,354,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2196,2360
$GC,7689,1.10,115.1,331.8,5.8,369,7698,0.00,2.75,4.43,0.649,4,0.000,0.080,2647,778,2347
$GC,7749,1.10,115.1,327.7,6.9,372,7754,0.00,2.65,0.00,0.000,6,0.000,0.059,2647,2201,2346
$GC,8076,1.10,115.1,304.6,7.1,388,8081,0.00,2.72,0.00,0.000,4,0.000,0.085,2647,3617,2346
$GC,8125,1.10,115.1,300.8,6.9,390,8130,0.00,2.70,0.00,0.000,6,0.000,0.072,2647,2200,2346
$GC,8441,1.10,115.1,279.6,6.7,405,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2200,2346
$GC,8750,1.10,115.1,258.8,6.9,420,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2200,2345
$GC,9059,1.10,115.1,238.8,6.2,435,9063,0.00,2.72,0.00,0.000,4,0.000,0.082,2647,3617,2346
$GC,9120,1.10,115.1,234.7,6.6,438,9125,0.00,2.70,0.00,0.000,6,0.000,0.070,2646,2194,2346
$GC,9447,1.10,115.1,214.6,6.1,454,9448,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2194,2346
$GC,9755,1.10,115.1,195.7,6.1,469,9756,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2194,2346
$GC,10065,1.10,118.6,177.4,5.8,484,10071,0.00,0.00,4.65,0.581,6,0.000,0.000,2647,2194,2333
$GC,10374,1.10,118.6,157.7,6.5,499,10379,0.00,2.72,0.00,0.000,4,0.000,0.081,2647,3619,2332
$GC,10436,1.10,118.6,153.0,7.9,502,10440,0.00,2.67,0.00,0.000,6,0.000,0.068,2647,2201,2333
$GC,10762,1.10,118.6,129.0,7.7,518,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2201,2333
$GC,11073,1.10,118.6,105.8,7.4,533,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2201,2333
$GC,11380,1.10,118.6,82.4,7.5,548,11385,0.00,2.70,0.00,0.000,4,0.000,0.080,2647,3615,2334
$GC,11443,1.10,118.6,77.6,7.8,551,11447,0.00,2.67,0.00,0.000,6,0.000,0.068,2647,2197,2334
$GC,11771,1.10,118.6,54.7,6.9,567,11772,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2197,2334
$GC,12079,1.16,165.9,36.8,3.7,582,12120,0.00,0.00,38.22,0.685,6,0.000,0.000,2647,2197,2139
$GC,12431,1.16,165.9,10.3,10.1,599,12432,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2197,2139
$STATE,12532,end climb,SURFACE_DEPTH_REACHED
$STATE,12533,begin surface coast
$FINISH,0.9,1.027607
$STATE,12552,end surface coast,CONTROL_FINISHED_OK
$STATE,12552,begin surface
$SM_CCo,12573,79.05,0.641,2,0,1594,300.00
$SM_GC,1.70,0.00,0.00,79.05,0.000,0.000,0.641,73,2403,1594,-10.75,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2097
$TCM_TEMP,16.70
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,425.2,61.2
$24V_AH,23.5,51.886
$10V_AH,10.2,26.778
$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,25.825,65.500,218.000,79.050,0.000,130.509,213.577,326.977,11.250,0.000,0.000,14.972,1106.396,9965.585,425.336,1284.436,864.727,33.360,1031.384,0.000,1259.645,0.000,26.332
$DEVICE_MAMPS,177.177,91.273,992.498,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.026,423.688,438.505,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31779,605
$CFSIZE,260165632,241266688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,130108,065426,6247.408,-559.955,40,2.0,40,-8.0