version: 66.02
glider: 16
mission: 6
dive: 331
start: 1 14 108 3 46 12
data:
$ID,16
$MISSION,6
$DIVE,331
$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,-2084898.6
$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
$GPS1,033528,6246.724,-557.485,27,2.3,46,-8.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-58.2
$GPS2,034520,6246.633,-557.405,36,1.9,48,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.168,0.144
$KALMAN_X,87205.1,-1957.6,-894.2,81325.5,36684.3
$KALMAN_Y,-4178.9,2041.3,996.8,127805.6,-35085.4
$MHEAD_RNG_PITCHd_Wd,292.1,6127,-14.1,-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,-0.99,-97.7,0.0,0.0,0,85,0.00,0.00,-60.83,0.000,2,0.000,0.000,70,2403,3138
$GC,88,-1.00,-104.2,3.8,-5.7,3,111,11.98,2.60,-2.45,0.000,4,0.173,0.088,2189,3767,3245
$GC,360,-1.00,-104.2,40.7,-10.2,15,365,0.00,2.55,0.00,0.000,6,0.000,0.059,2190,2400,3245
$GC,688,-1.00,-104.2,69.2,-8.4,31,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2400,3246
$GC,998,-1.00,-104.2,96.6,-8.7,46,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2400,3246
$GC,1306,-1.00,-104.2,129.7,-10.6,61,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2400,3246
$GC,1615,-1.00,-104.2,157.3,-8.5,76,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2400,3247
$GC,1925,-1.00,-104.2,184.2,-8.7,91,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2400,3246
$GC,2233,-1.00,-104.2,210.2,-8.4,106,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2400,3246
$GC,2543,-1.00,-104.2,235.4,-7.7,121,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2400,3246
$GC,2853,-1.00,-104.2,257.6,-7.0,136,2857,0.00,2.70,0.00,0.000,4,0.000,0.077,2190,976,3246
$GC,2892,-1.00,-104.2,260.6,-7.5,138,2896,0.00,2.65,0.00,0.000,6,0.000,0.064,2190,2405,3247
$GC,3217,-1.00,-104.2,283.7,-6.9,154,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2405,3247
$GC,3527,-1.00,-104.2,305.0,-6.4,169,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2405,3247
$GC,3836,-1.00,-104.2,327.5,-8.5,184,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2405,3247
$GC,4145,-1.00,-104.2,356.3,-8.8,199,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2405,3247
$GC,4455,-1.00,-104.2,381.5,-7.6,214,4459,0.00,2.67,0.00,0.000,4,0.000,0.075,2190,981,3247
$GC,4526,-1.00,-104.2,387.4,-8.2,217,4531,0.00,2.62,0.00,0.000,6,0.000,0.064,2190,2400,3247
$GC,4843,-1.00,-104.2,412.8,-7.9,232,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2400,3247
$GC,5151,-1.00,-104.2,438.1,-7.8,247,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2400,3247
$STATE,5293,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5293,begin apogee
$GC,5300,-0.31,0.0,449.9,8.9,254,5390,0.75,0.00,87.53,0.969,6,0.107,0.000,2340,2199,2817
$STATE,5391,end apogee,CONTROL_FINISHED_OK
$STATE,5391,begin climb
$GC,5394,1.00,104.2,452.9,0.0,258,5487,1.38,2.75,84.62,0.961,4,0.087,0.073,2624,783,2391
$GC,5561,1.01,114.9,447.2,5.6,266,5576,0.00,2.65,10.43,0.837,6,0.000,0.056,2624,2203,2348
$GC,5887,1.02,126.9,428.9,5.5,281,5903,0.00,2.78,10.98,0.844,4,0.000,0.083,2624,3619,2298
$GC,6094,1.02,128.0,416.3,6.0,289,6099,0.00,2.70,0.00,0.000,6,0.000,0.069,2624,2202,2298
$GC,6410,1.02,128.0,397.5,6.3,304,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2202,2297
$GC,6719,1.02,128.0,376.5,6.9,319,6723,0.00,2.70,0.00,0.000,4,0.000,0.077,2624,782,2296
$GC,6780,1.02,128.0,372.0,7.2,322,6784,0.00,2.62,0.00,0.000,6,0.000,0.057,2624,2200,2296
$GC,7106,1.02,128.0,351.3,6.3,338,7111,0.00,2.72,0.00,0.000,4,0.000,0.085,2624,3614,2295
$GC,7173,1.02,128.0,346.7,6.7,341,7177,0.00,2.67,0.00,0.000,6,0.000,0.071,2624,2200,2295
$GC,7500,1.02,128.0,326.7,6.1,357,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2200,2295
$GC,7809,1.02,128.0,307.2,6.3,372,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2200,2294
$GC,8118,1.02,128.0,288.1,6.0,387,8122,0.00,2.72,0.00,0.000,4,0.000,0.084,2624,3614,2294
$GC,8218,1.02,128.0,281.3,7.1,391,8224,0.00,2.67,0.00,0.000,6,0.000,0.068,2624,2199,2294
$GC,8534,1.02,130.3,261.8,5.9,407,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2199,2294
$GC,8842,1.02,130.3,243.3,6.0,422,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2199,2294
$GC,9152,1.03,135.0,225.0,5.8,437,9161,0.00,0.00,7.22,0.699,6,0.000,0.000,2624,2199,2266
$GC,9478,1.03,138.2,205.6,5.9,453,9488,0.00,2.72,4.57,0.586,4,0.000,0.080,2624,3617,2253
$GC,9532,1.03,138.2,201.8,6.9,455,9539,0.00,2.67,0.00,0.000,6,0.000,0.067,2624,2199,2253
$GC,9848,1.04,144.1,183.0,5.8,471,9856,0.00,0.00,6.50,0.658,6,0.000,0.000,2624,2199,2228
$GC,10159,1.04,144.1,163.1,6.7,486,10161,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2199,2228
$GC,10466,1.04,144.1,142.4,6.5,501,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2197,2228
$GC,10777,1.04,144.1,122.2,6.3,516,10778,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2199,2228
$GC,11086,1.04,144.1,101.1,7.5,531,11087,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2199,2229
$GC,11394,1.04,144.1,77.7,7.3,546,11396,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2198,2228
$GC,11704,1.16,251.2,66.2,1.6,561,11790,0.17,0.00,83.47,0.712,6,0.047,0.000,2676,2198,1793
$GC,12095,1.16,251.2,26.2,12.4,580,12099,0.00,2.70,0.00,0.000,4,0.000,0.076,2675,782,1792
$GC,12144,1.16,251.2,19.2,11.8,582,12149,0.00,2.60,0.00,0.000,6,0.000,0.052,2675,2203,1791
$STATE,12335,end climb,SURFACE_DEPTH_REACHED
$STATE,12336,begin surface coast
$FINISH,0.7,1.027443
$STATE,12356,end surface coast,CONTROL_FINISHED_OK
$STATE,12356,begin surface
$SM_CCo,12378,31.25,0.594,2,0,1594,300.00
$SM_GC,1.31,0.00,0.00,31.25,0.000,0.000,0.594,73,2406,1594,-10.75,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2077
$TCM_TEMP,16.70
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,426.3,32.0
$24V_AH,23.6,52.479
$10V_AH,10.2,27.206
$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,25.925,54.250,295.325,31.250,0.000,65.285,72.597,244.835,10.500,0.000,0.000,48.904,1079.583,9664.332,418.027,1284.280,574.021,33.364,1020.238,0.000,1227.135,0.000,26.217
$DEVICE_MAMPS,172.575,88.205,969.488,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.611,411.526,435.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28548,592
$CFSIZE,260165632,240971776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
$GPS,140108,071431,6246.252,-558.809,37,1.3,42,-8.0