version: 66.02
glider: 16
mission: 6
dive: 310
start: 1 11 108 2 58 7
data:
$ID,16
$MISSION,6
$DIVE,310
$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,-2084255.4
$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,14
$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
$GPS1,025208,6248.264,-559.428,33,1.0,33,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-57.0
$GPS2,025715,6248.254,-559.416,15,1.0,15,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.071,0.210
$KALMAN_X,53057.6,-24.9,-84.0,110898.6,9503.5
$KALMAN_Y,27211.8,2424.9,819.3,99197.7,-42667.4
$MHEAD_RNG_PITCHd_Wd,258.4,4500,-20.6,-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,-1.34,-49.6,0.0,0.0,0,81,0.00,0.00,-56.55,0.000,2,0.000,0.000,68,2398,2995
$GC,84,-1.37,-74.2,3.5,-4.0,3,106,11.60,2.65,-3.33,0.000,4,0.176,0.094,2107,3769,3121
$GC,359,-1.37,-74.2,47.4,-13.3,15,363,0.00,2.58,0.00,0.000,6,0.000,0.062,2107,2395,3122
$GC,680,-1.37,-74.2,88.9,-11.0,31,684,0.00,2.65,0.00,0.000,4,0.000,0.082,2107,3769,3122
$GC,893,-1.37,-74.2,113.0,-11.2,40,900,0.00,2.55,0.00,0.000,6,0.000,0.064,2107,2398,3122
$GC,1208,-1.37,-74.2,149.9,-11.8,56,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2398,3122
$GC,1518,-1.37,-74.2,187.3,-11.8,71,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2398,3122
$GC,1828,-1.37,-74.2,223.4,-11.7,86,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2398,3123
$GC,2136,-1.37,-74.2,259.3,-11.6,101,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2398,3123
$GC,2446,-1.37,-74.2,296.5,-12.2,116,2450,0.00,2.70,0.00,0.000,4,0.000,0.080,2107,977,3123
$GC,2495,-1.37,-74.2,302.4,-12.0,118,2499,0.00,2.65,0.00,0.000,6,0.000,0.063,2107,2404,3123
$GC,2810,-1.37,-74.2,338.7,-11.1,133,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2404,3123
$GC,3119,-1.37,-74.2,371.0,-10.4,148,3124,0.00,2.62,0.00,0.000,4,0.000,0.084,2107,3776,3124
$GC,3182,-1.37,-74.2,378.0,-11.1,151,3187,0.00,2.58,0.00,0.000,6,0.000,0.064,2107,2393,3124
$GC,3508,-1.37,-74.2,412.9,-10.5,167,3512,0.00,2.65,0.00,0.000,4,0.000,0.086,2108,3769,3124
$GC,3597,-1.37,-74.2,423.1,-11.7,171,3601,0.00,2.55,0.00,0.000,6,0.000,0.064,2107,2401,3124
$GC,3917,-1.37,-74.2,457.1,-9.6,187,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2401,3124
$GC,4226,-1.37,-74.2,483.3,-8.5,202,4230,0.00,2.70,0.00,0.000,4,0.000,0.081,2107,974,3125
$STATE,4335,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4335,begin apogee
$GC,4343,-0.31,0.0,493.6,9.5,207,4410,1.17,0.00,63.42,0.997,6,0.124,0.000,2337,2199,2817
$STATE,4411,end apogee,CONTROL_FINISHED_OK
$STATE,4411,begin climb
$GC,4413,1.37,74.2,495.6,0.0,210,4480,1.77,0.00,61.72,0.987,6,0.087,0.000,2707,2199,2514
$GC,4789,1.37,74.2,472.4,6.4,229,4793,0.00,2.70,0.00,0.000,4,0.000,0.075,2706,778,2512
$GC,5023,1.37,74.2,458.8,6.1,239,5030,0.00,2.65,0.00,0.000,6,0.000,0.056,2706,2205,2512
$GC,5340,1.37,82.0,439.9,5.4,255,5349,0.00,0.00,7.65,0.825,6,0.000,0.000,2706,2205,2481
$GC,5648,1.39,94.9,424.3,5.0,270,5670,0.00,2.80,11.73,0.886,4,0.000,0.090,2706,3615,2429
$GC,5878,1.39,94.9,410.3,6.6,280,5882,0.00,2.70,0.00,0.000,6,0.000,0.074,2706,2201,2428
$GC,6198,1.39,94.9,387.5,7.7,296,6202,0.00,2.75,0.00,0.000,4,0.000,0.088,2707,3614,2427
$GC,6305,1.39,94.9,378.3,9.1,301,6309,0.00,2.70,0.00,0.000,6,0.000,0.074,2706,2200,2427
$GC,6631,1.39,94.9,351.7,8.0,317,6635,0.00,2.75,0.00,0.000,4,0.000,0.088,2706,3615,2426
$GC,6806,1.39,94.9,336.8,8.9,325,6811,0.00,2.70,0.00,0.000,6,0.000,0.074,2706,2202,2426
$GC,7133,1.39,94.9,310.1,7.9,341,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2201,2425
$GC,7441,1.39,94.9,288.1,6.7,356,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2202,2425
$GC,7751,1.39,94.9,267.6,6.7,371,7755,0.00,2.72,0.00,0.000,4,0.000,0.084,2706,3616,2425
$GC,7839,1.39,94.9,261.2,7.4,375,7844,0.00,2.67,0.00,0.000,6,0.000,0.071,2707,2197,2425
$GC,8160,1.39,94.9,239.9,6.8,391,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2197,2425
$GC,8469,1.39,94.9,218.5,7.0,406,8474,0.00,2.72,0.00,0.000,4,0.000,0.082,2706,3621,2425
$GC,8559,1.39,94.9,211.7,7.6,410,8563,0.00,2.67,0.00,0.000,6,0.000,0.070,2706,2200,2426
$GC,8879,1.39,94.9,188.7,7.3,426,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2200,2426
$GC,9188,1.39,94.9,165.9,7.4,441,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2200,2426
$GC,9498,1.39,94.9,143.1,7.4,456,9503,0.00,2.72,0.00,0.000,4,0.000,0.081,2707,3626,2426
$GC,9605,1.39,94.9,134.5,8.7,461,9609,0.00,2.70,0.00,0.000,6,0.000,0.068,2706,2192,2426
$GC,9931,1.39,94.9,111.1,7.0,477,9935,0.00,2.72,0.00,0.000,4,0.000,0.081,2706,3616,2427
$GC,9997,1.39,94.9,106.0,8.1,480,10002,0.00,2.67,0.00,0.000,6,0.000,0.068,2706,2192,2427
$GC,10318,1.39,94.9,83.7,6.8,496,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2192,2427
$GC,10627,1.39,94.9,61.6,7.7,511,10631,0.00,2.72,0.00,0.000,4,0.000,0.081,2706,3618,2427
$GC,10713,1.39,94.9,54.9,7.7,515,10718,0.00,2.67,0.00,0.000,6,0.000,0.070,2707,2199,2427
$GC,11041,1.39,94.9,31.5,6.8,531,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2199,2427
$GC,11349,1.39,94.9,10.8,7.0,546,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2199,2428
$STATE,11490,end climb,SURFACE_DEPTH_REACHED
$STATE,11491,begin surface coast
$FINISH,0.8,1.027438
$STATE,11514,end surface coast,CONTROL_FINISHED_OK
$STATE,11514,begin surface
$SM_CCo,11536,119.60,0.653,2,0,1594,300.00
$SM_GC,1.39,0.00,0.00,119.60,0.000,0.000,0.653,71,2405,1594,-10.75,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2075
$TCM_TEMP,16.70
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,400.1,103.3
$24V_AH,23.6,50.802
$10V_AH,10.2,25.903
$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,26.350,80.350,144.525,119.600,0.000,32.586,36.241,131.650,8.000,0.000,0.000,17.200,1064.862,8770.295,398.599,1372.127,373.452,33.364,1040.840,0.000,1344.703,0.000,21.890
$DEVICE_MAMPS,176.410,94.341,997.100,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.020,386.355,409.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28552,554
$CFSIZE,260165632,241889280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,110108,061355,6248.128,-601.543,28,1.6,46,-8.0