version: 66.02
glider: 16
mission: 6
dive: 326
start: 1 13 108 10 12 59
data:
$ID,16
$MISSION,6
$DIVE,326
$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,-2084718.6
$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,14
$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
$GPS1,100626,6247.896,-601.175,41,1.9,41,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-61.6
$GPS2,101207,6247.909,-601.141,35,1.7,35,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.140,0.172
$KALMAN_X,74665.0,-1740.4,-616.6,90065.4,27223.1
$KALMAN_Y,2909.2,1932.0,1411.5,122765.8,-37797.3
$MHEAD_RNG_PITCHd_Wd,260.6,2911,-27.3,-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,23,-1.74,-28.8,0.0,0.0,0,79,0.00,0.00,-53.95,0.000,6,0.000,0.000,67,2402,2936
$GC,82,-1.76,-48.5,2.3,-3.3,2,104,11.05,2.65,-2.12,0.000,4,0.173,0.091,2017,3764,3015
$GC,356,-1.76,-48.5,48.7,-15.6,14,361,0.00,2.58,0.00,0.000,6,0.000,0.062,2017,2394,3017
$GC,678,-1.76,-48.5,103.0,-16.8,30,682,0.00,2.65,0.00,0.000,4,0.000,0.082,2017,3769,3018
$GC,919,-1.76,-48.5,136.9,-13.9,41,924,0.00,2.55,0.00,0.000,6,0.000,0.064,2017,2401,3018
$GC,1246,-1.76,-48.5,182.1,-14.7,57,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2401,3018
$GC,1556,-1.76,-48.5,225.1,-13.9,72,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2401,3018
$GC,1865,-1.76,-48.5,266.8,-13.2,87,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2401,3018
$GC,2173,-1.76,-48.5,307.9,-13.1,102,2178,0.00,2.65,0.00,0.000,4,0.000,0.084,2017,3773,3018
$GC,2246,-1.76,-48.5,318.3,-14.7,105,2250,0.00,2.58,0.00,0.000,6,0.000,0.064,2017,2397,3018
$GC,2561,-1.76,-48.5,360.0,-12.5,120,2565,0.00,2.70,0.00,0.000,4,0.000,0.081,2017,979,3019
$GC,2627,-1.76,-48.5,368.3,-12.2,123,2631,0.00,2.67,0.00,0.000,6,0.000,0.069,2017,2403,3019
$GC,2949,-1.76,-48.5,407.9,-11.9,139,2953,0.00,2.62,0.00,0.000,4,0.000,0.086,2017,3769,3018
$GC,3055,-1.76,-48.5,422.1,-12.6,144,3059,0.00,2.55,0.00,0.000,6,0.000,0.065,2017,2401,3018
$GC,3381,-1.76,-48.5,461.9,-12.0,160,3386,0.00,2.72,0.00,0.000,4,0.000,0.081,2017,979,3019
$GC,3511,-1.76,-48.5,477.5,-12.4,166,3516,0.00,2.67,0.00,0.000,6,0.000,0.071,2017,2402,3018
$STATE,3546,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3546,begin apogee
$GC,3552,-0.31,0.0,481.9,11.5,168,3599,1.67,0.00,42.33,0.976,6,0.127,0.000,2339,2194,2817
$STATE,3599,end apogee,CONTROL_FINISHED_OK
$STATE,3599,begin climb
$GC,3602,1.76,48.5,483.9,0.0,170,3653,2.12,2.78,41.15,0.967,4,0.077,0.074,2795,786,2618
$GC,3670,1.76,50.5,481.4,5.7,173,3675,0.00,2.65,0.00,0.000,6,0.000,0.055,2795,2205,2617
$GC,3991,1.76,50.8,463.1,6.0,189,3996,0.00,2.72,0.00,0.000,4,0.000,0.084,2795,3616,2617
$GC,4070,1.77,54.2,458.5,5.5,192,4081,0.00,2.70,5.78,0.743,6,0.000,0.073,2795,2203,2596
$GC,4402,1.77,59.2,440.7,5.3,209,4413,0.00,2.75,6.10,0.757,4,0.000,0.077,2795,782,2575
$GC,4667,1.77,59.2,424.5,6.6,221,4671,0.00,2.62,0.00,0.000,6,0.000,0.058,2795,2203,2574
$GC,4993,1.77,59.6,405.1,5.9,237,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2203,2573
$GC,5303,1.78,63.9,388.1,5.4,252,5313,0.00,2.75,5.43,0.717,4,0.000,0.087,2795,3622,2555
$GC,5567,1.78,63.9,371.0,6.5,264,5571,0.00,2.72,0.00,0.000,6,0.000,0.074,2795,2200,2554
$GC,5893,1.78,69.1,353.6,5.3,280,5904,0.00,2.78,5.65,0.720,4,0.000,0.087,2795,3619,2534
$GC,6158,1.78,70.1,337.3,5.9,292,6163,0.00,2.70,0.00,0.000,6,0.000,0.073,2795,2199,2534
$GC,6484,1.78,70.8,318.2,5.9,308,6488,0.00,2.75,0.00,0.000,4,0.000,0.084,2795,3623,2534
$GC,6741,1.78,70.8,300.7,7.0,319,6747,0.00,2.70,0.00,0.000,6,0.000,0.071,2795,2198,2533
$GC,7056,1.78,70.8,280.5,6.7,335,7061,0.00,2.72,0.00,0.000,4,0.000,0.084,2795,3618,2533
$GC,7314,1.78,70.8,262.5,6.5,346,7320,0.00,2.70,0.00,0.000,6,0.000,0.071,2795,2196,2533
$GC,7630,1.79,72.6,244.1,5.7,362,7639,0.00,2.72,4.55,0.610,4,0.000,0.081,2795,3615,2519
$GC,7891,1.79,72.6,225.1,8.0,373,7897,0.00,2.67,0.00,0.000,6,0.000,0.070,2795,2201,2520
$GC,8206,1.79,72.6,204.0,6.3,389,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2201,2519
$GC,8516,1.79,72.6,182.9,7.3,404,8520,0.00,2.67,0.00,0.000,4,0.000,0.081,2795,3615,2519
$GC,8773,1.79,72.6,163.5,7.3,415,8779,0.00,2.67,0.00,0.000,6,0.000,0.067,2795,2191,2520
$GC,9089,1.79,72.6,143.7,6.7,431,9093,0.00,2.72,0.00,0.000,4,0.000,0.080,2795,3619,2520
$GC,9256,1.79,72.6,130.7,8.2,438,9263,0.00,2.67,0.00,0.000,6,0.000,0.069,2795,2196,2520
$GC,9573,1.79,72.6,105.2,7.8,454,9578,0.00,2.70,0.00,0.000,4,0.000,0.078,2795,3616,2521
$GC,9669,1.79,72.6,96.6,8.9,458,9673,0.00,2.67,0.00,0.000,6,0.000,0.068,2796,2193,2520
$GC,9986,1.79,72.6,68.0,9.6,473,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2193,2521
$GC,10293,1.79,72.6,41.5,8.8,488,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2193,2521
$GC,10603,1.79,72.6,16.0,8.0,503,10608,0.00,2.72,0.00,0.000,4,0.000,0.079,2795,3623,2521
$GC,10748,1.79,72.6,3.4,9.9,509,10755,0.00,2.67,0.00,0.000,6,0.000,0.067,2795,2194,2521
$STATE,10773,end climb,SURFACE_DEPTH_REACHED
$STATE,10773,begin surface coast
$FINISH,0.7,1.027455
$STATE,10795,end surface coast,CONTROL_FINISHED_OK
$STATE,10795,begin surface
$SM_CCo,10818,146.60,0.633,6,0,1595,300.00
$SM_GC,1.51,0.00,0.00,146.60,0.000,0.000,0.633,72,2401,1595,-10.75,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2048
$TCM_TEMP,16.70
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,426.6,64.0
$24V_AH,23.6,52.023
$10V_AH,10.2,26.896
$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,27.175,97.375,110.975,146.600,0.000,32.608,51.554,132.940,8.250,0.000,0.000,36.704,1064.752,7888.641,416.967,1572.301,402.497,33.366,1144.616,0.000,1515.501,0.000,23.411
$DEVICE_MAMPS,173.342,91.273,976.391,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.027,361.362,355.957,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25395,512
$CFSIZE,260165632,241180672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,6,0
$GPS,130108,131737,6247.969,-558.692,40,1.5,46,-8.0