version: 66.02
glider: 16
mission: 6
dive: 332
start: 1 14 108 7 20 26
data:
$ID,16
$MISSION,6
$DIVE,332
$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,-2084914.1
$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,12
$R_STBD_OVSHOOT,18
$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
$GPS1,071431,6246.252,-558.809,37,1.3,42,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-57.3
$GPS2,071934,6246.203,-558.854,13,1.3,14,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.157,0.156
$KALMAN_X,86635.6,-1438.7,-838.3,80050.9,31242.9
$KALMAN_Y,-5451.4,1676.8,996.8,128644.5,-33718.0
$MHEAD_RNG_PITCHd_Wd,303.9,5242,-17.2,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.15,-68.9,0.0,0.0,0,85,0.00,0.00,-60.83,0.000,2,0.000,0.000,72,2408,3092
$GC,88,-1.17,-89.6,3.4,-4.8,3,111,11.62,2.60,-2.28,0.000,4,0.169,0.087,2150,3759,3184
$GC,352,-1.17,-89.6,34.8,-11.4,14,359,0.00,2.53,0.00,0.000,6,0.000,0.060,2150,2395,3184
$GC,668,-1.17,-89.6,67.0,-9.2,30,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2395,3184
$GC,977,-1.17,-89.6,103.7,-11.1,45,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2395,3184
$GC,1287,-1.17,-89.6,135.5,-9.7,60,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2395,3185
$GC,1595,-1.17,-89.6,165.6,-10.1,75,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2395,3185
$GC,1904,-1.17,-89.6,194.5,-9.6,90,1909,0.00,2.65,0.00,0.000,4,0.000,0.081,2150,3770,3184
$GC,1954,-1.17,-89.6,199.7,-10.4,92,1959,0.00,2.55,0.00,0.000,6,0.000,0.061,2150,2396,3185
$GC,2274,-1.17,-89.6,229.9,-9.5,108,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2396,3185
$GC,2583,-1.17,-89.6,260.0,-9.8,123,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2396,3185
$GC,2893,-1.17,-89.6,289.8,-9.7,138,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2396,3185
$GC,3202,-1.17,-89.6,321.0,-10.4,153,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2396,3185
$GC,3512,-1.17,-89.6,351.3,-9.4,168,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2396,3185
$GC,3821,-1.17,-89.6,380.1,-9.1,183,3826,0.00,2.65,0.00,0.000,4,0.000,0.084,2150,3769,3185
$GC,3899,-1.17,-89.6,388.0,-10.0,186,3905,0.00,2.55,0.00,0.000,6,0.000,0.063,2150,2400,3185
$GC,4215,-1.17,-89.6,416.8,-9.2,202,4219,0.00,2.65,0.00,0.000,4,0.000,0.085,2150,3770,3186
$GC,4344,-1.17,-89.6,430.4,-10.5,208,4348,0.00,2.55,0.00,0.000,6,0.000,0.064,2150,2400,3186
$STATE,4352,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4352,begin apogee
$GC,4358,-0.31,0.0,431.7,10.8,208,4436,0.95,0.00,75.12,0.950,6,0.120,0.000,2336,2196,2817
$STATE,4437,end apogee,CONTROL_FINISHED_OK
$STATE,4437,begin climb
$GC,4439,1.17,89.6,434.7,0.0,212,4517,1.52,0.00,73.82,0.939,6,0.072,0.000,2663,2196,2450
$GC,4816,1.17,90.5,417.5,5.9,231,4821,0.00,2.75,0.00,0.000,4,0.000,0.085,2663,3614,2449
$GC,5017,1.17,90.5,404.6,6.0,240,5022,0.00,2.70,0.00,0.000,6,0.000,0.070,2663,2196,2449
$GC,5339,1.19,104.6,386.8,5.2,256,5360,0.00,2.83,13.32,0.859,4,0.000,0.084,2663,3609,2390
$GC,5451,1.19,104.6,379.6,6.7,261,5455,0.00,2.70,0.00,0.000,6,0.000,0.070,2662,2197,2389
$GC,5777,1.19,104.6,359.4,6.8,277,5782,0.00,2.75,0.00,0.000,4,0.000,0.085,2663,3610,2388
$GC,5866,1.19,104.6,352.7,7.6,281,5871,0.00,2.70,0.00,0.000,6,0.000,0.070,2663,2194,2389
$GC,6187,1.19,104.6,330.5,7.0,297,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2194,2388
$GC,6497,1.19,104.6,309.0,7.1,312,6502,0.00,2.72,0.00,0.000,4,0.000,0.084,2663,3612,2388
$GC,6598,1.19,104.6,301.0,8.3,316,6604,0.00,2.67,0.00,0.000,6,0.000,0.068,2663,2196,2387
$GC,6914,1.19,104.6,278.9,6.9,332,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2196,2387
$GC,7222,1.19,104.6,257.6,6.6,347,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2196,2387
$GC,7532,1.19,104.6,237.6,6.6,362,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2196,2387
$GC,7841,1.19,104.6,217.5,6.6,377,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2196,2387
$GC,8151,1.19,104.6,197.4,6.8,392,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2196,2387
$GC,8459,1.19,104.6,176.6,6.5,407,8464,0.00,2.67,0.00,0.000,4,0.000,0.078,2662,3611,2387
$GC,8589,1.19,104.6,167.7,7.0,413,8594,0.00,2.65,0.00,0.000,6,0.000,0.066,2663,2202,2387
$GC,8915,1.19,104.6,146.6,6.8,429,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2201,2387
$GC,9225,1.19,104.6,125.7,6.8,444,9229,0.00,2.70,0.00,0.000,4,0.000,0.077,2663,3616,2387
$GC,9342,1.19,104.6,115.5,8.3,449,9346,0.00,2.62,0.00,0.000,6,0.000,0.064,2663,2197,2387
$GC,9657,1.25,163.2,100.8,2.6,464,9709,0.00,2.78,46.33,0.729,4,0.000,0.077,2663,3616,2150
$GC,9799,1.25,163.2,90.1,11.6,470,9806,0.00,2.67,0.00,0.000,6,0.000,0.067,2663,2200,2149
$GC,10116,1.25,163.2,56.1,12.6,486,10121,0.00,2.67,0.00,0.000,4,0.000,0.074,2663,784,2149
$GC,10171,1.25,163.2,49.5,12.5,488,10178,0.00,2.62,0.00,0.000,6,0.000,0.052,2663,2206,2148
$GC,10488,1.25,163.2,15.6,12.7,504,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2206,2148
$STATE,10650,end climb,SURFACE_DEPTH_REACHED
$STATE,10650,begin surface coast
$FINISH,0.6,1.027417
$STATE,10672,end surface coast,CONTROL_FINISHED_OK
$STATE,10672,begin surface
$SM_CCo,10694,77.10,0.642,2,0,1594,300.00
$SM_GC,1.43,0.00,0.00,77.10,0.000,0.000,0.642,67,2395,1594,-10.78,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2074
$TCM_TEMP,16.70
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,376.4,65.0
$24V_AH,23.6,52.558
$10V_AH,10.2,27.260
$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,25.725,64.700,208.600,77.100,0.000,32.587,37.764,125.755,4.750,0.000,0.000,14.895,959.921,8175.978,406.874,1186.155,363.056,33.360,977.386,0.000,1163.339,0.000,20.169
$DEVICE_MAMPS,168.740,86.671,949.546,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,373.520,356.897,388.617,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25356,513
$CFSIZE,260165632,240939008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,140108,102125,6246.687,-600.355,41,1.8,41,-8.0