version: 66.02
glider: 16
mission: 6
dive: 312
start: 1 11 108 9 36 59
data:
$ID,16
$MISSION,6
$DIVE,312
$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,-2084319.2
$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,16
$R_STBD_OVSHOOT,16
$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
$GPS1,092926,6248.640,-602.351,34,1.8,52,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-58.9
$GPS2,093607,6248.662,-602.308,13,1.7,30,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.055,0.214
$KALMAN_X,53271.4,-929.7,-44.3,109013.2,9656.2
$KALMAN_Y,23359.6,2625.0,1238.6,103172.5,-47145.2
$MHEAD_RNG_PITCHd_Wd,226.3,2885,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.74,-28.8,0.0,0.0,0,78,0.00,0.00,-53.35,0.000,6,0.000,0.000,72,2403,2936
$GC,81,-1.74,-35.3,2.6,-5.1,2,103,11.02,2.60,-0.62,0.000,4,0.172,0.087,2024,3772,2962
$GC,355,-1.74,-35.3,51.9,-14.3,14,360,0.00,2.58,0.00,0.000,6,0.000,0.061,2024,2395,2962
$GC,677,-1.74,-35.3,91.5,-12.1,30,681,0.00,2.65,0.00,0.000,4,0.000,0.081,2025,3775,2962
$GC,933,-1.74,-35.3,127.3,-13.8,41,940,0.00,2.58,0.00,0.000,6,0.000,0.062,2023,2394,2962
$GC,1249,-1.74,-35.3,163.2,-11.2,57,1253,0.00,2.65,0.00,0.000,4,0.000,0.082,2024,3773,2963
$GC,1366,-1.74,-35.3,177.6,-12.5,62,1370,0.00,2.55,0.00,0.000,6,0.000,0.063,2024,2400,2961
$GC,1681,-1.74,-35.3,212.7,-11.2,77,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2400,2963
$GC,1991,-1.74,-35.3,246.0,-10.5,92,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2400,2963
$GC,2300,-1.74,-35.3,276.7,-9.4,107,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2400,2962
$GC,2609,-1.74,-35.3,307.1,-10.1,122,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2400,2962
$GC,2918,-1.74,-35.3,342.3,-11.3,137,2923,0.00,2.70,0.00,0.000,4,0.000,0.081,2023,981,2963
$GC,2973,-1.74,-35.3,349.2,-12.2,139,2980,0.00,2.62,0.00,0.000,6,0.000,0.067,2024,2397,2963
$GC,3288,-1.74,-35.3,384.1,-10.9,155,3293,0.00,2.70,0.00,0.000,4,0.000,0.077,2024,977,2964
$GC,3401,-1.74,-35.3,396.3,-9.9,160,3406,0.00,2.65,0.00,0.000,6,0.000,0.065,2024,2403,2963
$GC,3722,-1.74,-35.3,430.2,-11.2,176,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2403,2964
$GC,4032,-1.74,-35.3,464.9,-10.4,191,4036,0.00,2.62,0.00,0.000,4,0.000,0.086,2024,3773,2963
$GC,4076,-1.74,-35.3,469.8,-10.8,193,4080,0.00,2.55,0.00,0.000,6,0.000,0.064,2024,2400,2964
$GC,4396,-1.74,-35.3,503.1,-11.0,209,4401,0.00,2.70,0.00,0.000,4,0.000,0.081,2024,978,2964
$GC,4475,-1.74,-35.3,511.1,-10.5,212,4481,0.00,2.65,0.00,0.000,6,0.000,0.066,2024,2401,2963
$STATE,4520,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4520,begin apogee
$GC,4526,-0.31,0.0,515.8,10.1,215,4562,1.65,0.00,31.35,0.991,6,0.130,0.000,2340,2192,2817
$STATE,4563,end apogee,CONTROL_FINISHED_OK
$STATE,4563,begin climb
$GC,4565,1.74,35.3,517.3,0.0,217,4601,2.05,0.00,30.50,0.982,6,0.074,0.000,2790,2191,2673
$GC,4912,1.77,57.6,506.5,2.9,233,4937,0.00,2.83,19.62,0.958,4,0.000,0.087,2790,3616,2581
$GC,5099,1.77,61.0,496.1,5.5,241,5109,0.00,2.67,4.57,0.693,6,0.000,0.071,2790,2204,2568
$GC,5438,1.78,63.3,475.8,5.7,258,5442,0.00,2.75,0.00,0.000,4,0.000,0.088,2790,3615,2567
$GC,5532,1.78,67.5,470.2,5.4,262,5544,0.00,2.70,6.95,0.817,6,0.000,0.072,2790,2197,2541
$GC,5852,1.78,67.5,448.3,6.6,278,5857,0.00,2.75,0.00,0.000,4,0.000,0.089,2790,3616,2539
$GC,6110,1.78,67.5,431.4,6.4,289,6116,0.00,2.70,0.00,0.000,6,0.000,0.073,2790,2200,2538
$GC,6426,1.78,71.6,413.7,5.4,305,6435,0.00,2.78,4.50,0.685,4,0.000,0.088,2790,3621,2525
$GC,6688,1.78,71.6,396.2,6.6,317,6693,0.00,2.72,0.00,0.000,6,0.000,0.074,2791,2193,2524
$GC,7015,1.78,71.6,376.7,6.2,333,7020,0.00,2.78,0.00,0.000,4,0.000,0.088,2790,3622,2523
$GC,7273,1.78,71.6,357.4,8.9,344,7279,0.00,2.72,0.00,0.000,6,0.000,0.073,2790,2191,2522
$GC,7588,1.78,71.6,334.1,6.5,360,7593,0.00,2.75,0.00,0.000,4,0.000,0.087,2790,3618,2522
$GC,7845,1.78,71.6,315.1,7.8,371,7851,0.00,2.70,0.00,0.000,6,0.000,0.072,2790,2197,2522
$GC,8161,1.78,71.6,288.8,8.3,387,8165,0.00,2.75,0.00,0.000,4,0.000,0.084,2790,3622,2522
$GC,8418,1.78,71.6,267.7,7.9,398,8424,0.00,2.70,0.00,0.000,6,0.000,0.071,2790,2199,2522
$GC,8736,1.78,71.6,245.3,6.7,414,8741,0.00,2.72,0.00,0.000,4,0.000,0.083,2790,3618,2522
$GC,8994,1.78,71.6,227.7,6.7,425,9000,0.00,2.67,0.00,0.000,6,0.000,0.071,2790,2201,2522
$GC,9310,1.79,76.1,210.0,5.4,441,9321,0.00,2.72,5.20,0.634,4,0.000,0.081,2790,3619,2506
$GC,9562,1.79,76.1,194.4,6.8,452,9566,0.00,2.67,0.00,0.000,6,0.000,0.069,2788,2201,2505
$GC,9878,1.79,76.1,173.2,7.1,467,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2200,2505
$GC,10186,1.79,76.1,149.5,8.0,482,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2200,2506
$GC,10498,1.79,76.1,125.0,7.6,497,10502,0.00,2.70,0.00,0.000,4,0.000,0.080,2790,3618,2506
$GC,10650,1.79,76.1,112.5,9.3,504,10655,0.00,2.67,0.00,0.000,6,0.000,0.069,2790,2197,2506
$GC,10978,1.79,76.1,89.0,7.1,520,10982,0.00,2.70,0.00,0.000,4,0.000,0.080,2790,3619,2506
$GC,11062,1.79,76.1,82.4,7.8,524,11067,0.00,2.65,0.00,0.000,6,0.000,0.066,2790,2201,2507
$GC,11389,1.79,76.1,58.9,7.1,540,11390,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2201,2507
$GC,11698,1.79,76.1,34.3,8.4,555,11703,0.00,2.70,0.00,0.000,4,0.000,0.078,2790,3626,2507
$GC,11810,1.79,76.1,23.7,9.4,560,11815,0.00,2.65,0.00,0.000,6,0.000,0.065,2790,2201,2507
$STATE,12047,end climb,SURFACE_DEPTH_REACHED
$STATE,12047,begin surface coast
$FINISH,0.6,1.027431
$STATE,12068,end surface coast,CONTROL_FINISHED_OK
$STATE,12068,begin surface
$SM_CCo,12090,137.90,0.637,5,0,1593,300.00
$SM_GC,1.46,0.00,0.00,137.90,0.000,0.000,0.637,72,2407,1593,-10.75,0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2082
$TCM_TEMP,16.90
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,425.8,99.9
$24V_AH,23.6,50.947
$10V_AH,10.2,26.030
$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,26.900,102.775,102.700,137.900,0.000,32.586,34.832,219.758,8.750,0.000,0.000,30.015,1166.021,8931.951,402.516,1693.318,469.859,33.362,1185.618,0.000,1638.080,0.000,23.504
$DEVICE_MAMPS,171.808,88.972,990.964,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.713,402.264,393.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28543,573
$CFSIZE,260165632,241790976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,5,0
$GPS,110108,130252,6248.771,-559.017,43,2.6,62,-8.0