version: 66.02
glider: 16
mission: 6
dive: 325
start: 1 13 108 7 0 24
data:
$ID,16
$MISSION,6
$DIVE,325
$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,-2084681.2
$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,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
$GPS1,065426,6247.408,-559.955,40,2.0,40,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-62.3
$GPS2,065932,6247.403,-559.991,13,1.9,17,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.137,0.174
$KALMAN_X,73436.2,-1161.0,-729.2,91852.6,23742.9
$KALMAN_Y,3569.8,1967.4,1444.1,121096.8,-35172.6
$MHEAD_RNG_PITCHd_Wd,279.0,3753,-25.0,-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,-1.60,-34.3,0.0,0.0,0,79,0.00,0.00,-54.05,0.000,6,0.000,0.000,73,2404,2958
$GC,82,-1.61,-48.3,2.6,-4.4,2,104,11.12,2.65,-1.58,0.000,4,0.170,0.091,2052,3768,3015
$GC,356,-1.61,-48.3,48.7,-14.7,14,361,0.00,2.58,0.00,0.000,6,0.000,0.061,2052,2397,3017
$GC,678,-1.61,-48.3,91.7,-12.8,30,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2397,3017
$GC,988,-1.61,-48.3,131.8,-12.8,45,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2397,3018
$GC,1296,-1.61,-48.3,170.2,-12.3,60,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2397,3018
$GC,1605,-1.61,-48.3,209.3,-12.6,75,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2397,3018
$GC,1914,-1.61,-48.3,247.9,-12.6,90,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2397,3018
$GC,2224,-1.61,-48.3,285.2,-11.8,105,2229,0.00,2.70,0.00,0.000,4,0.000,0.080,2052,982,3018
$GC,2274,-1.61,-48.3,291.5,-12.2,107,2278,0.00,2.65,0.00,0.000,6,0.000,0.070,2052,2403,3018
$GC,2594,-1.61,-48.3,331.0,-13.3,123,2599,0.00,2.62,0.00,0.000,4,0.000,0.084,2052,3772,3018
$GC,2706,-1.61,-48.3,345.5,-12.4,128,2711,0.00,2.55,0.00,0.000,6,0.000,0.067,2052,2401,3018
$GC,3028,-1.61,-48.3,380.9,-10.8,144,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2401,3018
$GC,3337,-1.61,-48.3,413.8,-10.1,159,3341,0.00,2.65,0.00,0.000,4,0.000,0.087,2052,3773,3018
$GC,3594,-1.61,-48.3,444.6,-12.0,170,3600,0.00,2.58,0.00,0.000,6,0.000,0.066,2052,2398,3018
$STATE,3783,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3783,begin apogee
$GC,3790,-0.31,0.0,465.1,10.6,180,3836,1.50,0.00,42.20,0.966,6,0.131,0.000,2338,2195,2817
$STATE,3837,end apogee,CONTROL_FINISHED_OK
$STATE,3837,begin climb
$GC,3839,1.61,48.3,467.1,0.0,182,3890,1.92,2.88,40.78,0.953,4,0.068,0.084,2761,3618,2620
$GC,3952,1.62,50.8,462.6,5.7,187,3961,0.00,2.72,3.70,0.577,6,0.000,0.072,2761,2202,2609
$GC,4278,1.63,60.8,446.0,4.8,203,4293,0.00,2.78,9.98,0.846,4,0.000,0.077,2761,778,2568
$GC,4541,1.63,60.8,429.1,6.3,214,4545,0.00,2.65,0.00,0.000,6,0.000,0.060,2761,2201,2566
$GC,4867,1.63,65.5,410.3,5.5,230,4877,0.00,2.75,5.30,0.712,4,0.000,0.086,2761,3615,2549
$GC,5026,1.63,65.5,401.2,6.4,237,5031,0.00,2.72,0.00,0.000,6,0.000,0.076,2761,2197,2548
$GC,5347,1.63,66.9,383.6,5.8,253,5352,0.00,2.78,0.00,0.000,4,0.000,0.089,2760,3618,2547
$GC,5605,1.64,69.0,367.6,5.8,264,5614,0.00,2.72,4.22,0.633,6,0.000,0.074,2761,2197,2534
$GC,5943,1.64,71.8,348.6,5.7,281,5952,0.00,2.78,4.00,0.608,4,0.000,0.087,2761,3614,2524
$GC,6182,1.64,71.8,334.1,6.5,291,6189,0.00,2.70,0.00,0.000,6,0.000,0.074,2761,2200,2523
$GC,6498,1.64,71.8,315.1,6.3,307,6502,0.00,2.75,0.00,0.000,4,0.000,0.087,2761,3615,2523
$GC,6755,1.64,71.8,297.8,6.3,318,6761,0.00,2.70,0.00,0.000,6,0.000,0.072,2762,2198,2522
$GC,7070,1.64,76.5,279.7,5.4,334,7081,0.00,2.75,5.55,0.681,4,0.000,0.084,2761,3614,2503
$GC,7160,1.64,76.5,274.4,6.6,338,7164,0.00,2.70,0.00,0.000,6,0.000,0.071,2761,2201,2503
$GC,7480,1.64,76.5,254.2,6.2,354,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2201,2503
$GC,7789,1.64,76.5,233.9,6.8,369,7793,0.00,2.70,0.00,0.000,4,0.000,0.082,2761,3615,2503
$GC,7873,1.64,76.5,228.1,7.2,373,7878,0.00,2.67,0.00,0.000,6,0.000,0.069,2761,2199,2503
$GC,8200,1.64,76.5,207.9,6.3,389,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2199,2503
$GC,8509,1.64,76.5,189.1,6.0,404,8513,0.00,2.70,0.00,0.000,4,0.000,0.081,2761,3616,2503
$GC,8661,1.64,76.5,178.2,7.3,411,8666,0.00,2.67,0.00,0.000,6,0.000,0.068,2761,2200,2503
$GC,8988,1.64,76.8,156.9,6.0,427,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2199,2503
$GC,9298,1.64,76.8,139.7,6.2,442,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2199,2503
$GC,9606,1.64,76.8,114.3,9.2,457,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2199,2504
$GC,9916,1.66,94.4,91.6,3.9,472,9938,0.00,2.72,15.35,0.696,4,0.000,0.077,2761,3614,2432
$GC,9994,1.66,94.4,86.5,6.7,475,9999,0.00,2.70,0.00,0.000,6,0.000,0.067,2761,2197,2431
$GC,10310,1.66,94.4,59.6,10.4,490,10311,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2196,2432
$GC,10620,1.66,94.4,27.6,10.2,505,10622,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2196,2432
$STATE,10905,end climb,SURFACE_DEPTH_REACHED
$STATE,10905,begin surface coast
$FINISH,0.7,1.027248
$STATE,10927,end surface coast,CONTROL_FINISHED_OK
$STATE,10928,begin surface
$SM_CCo,10950,123.47,0.655,2,0,1593,300.00
$SM_GC,1.56,0.00,0.00,123.47,0.000,0.000,0.655,67,2402,1593,-10.77,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2071
$TCM_TEMP,15.50
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,400.8,73.2
$24V_AH,23.6,51.954
$10V_AH,10.2,26.836
$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,26.500,76.325,131.075,123.475,0.000,32.586,33.339,132.580,8.500,0.000,0.000,19.555,1032.164,8225.183,374.072,1394.937,371.962,33.361,1026.461,0.000,1358.793,0.000,24.754
$DEVICE_MAMPS,169.507,91.273,965.653,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,374.966,363.514,371.410,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25443,520
$CFSIZE,260165632,241229824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
$GPS,130108,100626,6247.896,-601.175,41,1.9,41,-8.0