version: 66.02
glider: 16
mission: 6
dive: 313
start: 1 11 108 13 11 27
data:
$ID,16
$MISSION,6
$DIVE,313
$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,-2084354.8
$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,15
$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
$GPS1,130252,6248.771,-559.017,43,2.6,62,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-54.1
$GPS2,131035,6248.777,-558.898,15,2.2,34,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.098,0.199
$KALMAN_X,57202.9,-567.5,-174.2,107843.2,15339.5
$KALMAN_Y,21862.4,2913.6,945.5,104894.2,-43425.9
$MHEAD_RNG_PITCHd_Wd,250.1,5293,-17.0,-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,-1.14,-70.4,0.0,0.0,0,85,0.00,0.00,-60.62,0.000,6,0.000,0.000,71,2408,3103
$GC,88,-1.15,-77.9,3.9,-5.6,3,110,11.82,2.60,-0.80,0.000,4,0.174,0.087,2156,3762,3137
$GC,362,-1.15,-77.9,36.8,-9.5,15,366,0.00,2.53,0.00,0.000,6,0.000,0.059,2155,2400,3138
$GC,684,-1.15,-77.9,67.2,-10.2,31,688,0.00,2.62,0.00,0.000,4,0.000,0.080,2155,3769,3139
$GC,859,-1.15,-77.9,86.4,-12.9,39,863,0.00,2.55,0.00,0.000,6,0.000,0.060,2155,2397,3139
$GC,1187,-1.15,-77.9,121.3,-9.9,55,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2397,3139
$GC,1496,-1.15,-77.9,151.1,-9.4,70,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2397,3140
$GC,1803,-1.15,-77.9,181.3,-11.1,85,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2396,3139
$GC,2112,-1.15,-77.9,215.3,-10.8,100,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2396,3139
$GC,2422,-1.15,-77.9,247.6,-10.6,115,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2396,3139
$GC,2731,-1.15,-77.9,280.1,-10.5,130,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2396,3140
$GC,3040,-1.15,-77.9,311.2,-9.9,145,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2396,3140
$GC,3350,-1.15,-77.9,342.2,-9.6,160,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2396,3139
$GC,3659,-1.15,-77.9,370.0,-8.9,175,3663,0.00,2.67,0.00,0.000,4,0.000,0.078,2155,982,3139
$GC,3708,-1.15,-77.9,374.3,-8.8,177,3712,0.00,2.60,0.00,0.000,6,0.000,0.062,2155,2404,3140
$GC,4030,-1.15,-77.9,400.1,-7.7,193,4035,0.00,2.70,0.00,0.000,4,0.000,0.075,2155,977,3140
$GC,4108,-1.15,-77.9,406.3,-7.6,196,4114,0.00,2.62,0.00,0.000,6,0.000,0.062,2155,2402,3140
$GC,4423,-1.15,-77.9,428.8,-6.9,212,4428,0.00,2.62,0.00,0.000,4,0.000,0.084,2155,3772,3140
$GC,4513,-1.15,-77.9,436.1,-8.1,216,4517,0.00,2.55,0.00,0.000,6,0.000,0.063,2155,2401,3140
$GC,4833,-1.15,-77.9,461.7,-8.5,232,4837,0.00,2.65,0.00,0.000,4,0.000,0.085,2155,3773,3141
$GC,4917,-1.15,-77.9,470.0,-10.2,236,4922,0.00,2.58,0.00,0.000,6,0.000,0.064,2155,2392,3141
$GC,5243,-1.15,-77.9,495.7,-7.3,252,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2393,3141
$GC,5552,-1.15,-77.9,521.3,-8.8,267,5557,0.00,2.67,0.00,0.000,4,0.000,0.081,2155,984,3141
$GC,5619,-1.15,-77.9,527.1,-8.3,270,5624,0.00,2.65,0.00,0.000,4,0.000,0.067,2155,2398,3141
$STATE,5624,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5625,begin apogee
$GC,5630,-0.31,0.0,527.6,8.8,270,5702,0.90,0.00,67.00,1.036,6,0.113,0.000,2336,2201,2817
$STATE,5703,end apogee,CONTROL_FINISHED_OK
$STATE,5703,begin climb
$GC,5705,1.15,77.9,530.4,0.0,274,5781,1.55,2.85,65.00,1.026,4,0.081,0.089,2657,3618,2498
$GC,5815,1.16,93.0,527.1,5.1,279,5835,0.00,2.72,13.65,0.929,6,0.000,0.071,2657,2203,2437
$GC,6157,1.16,93.0,504.9,6.8,296,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2203,2436
$GC,6466,1.16,93.0,486.0,6.7,311,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2203,2434
$GC,6777,1.17,102.5,468.9,5.5,326,6791,0.00,2.80,9.05,0.895,4,0.000,0.094,2657,3614,2397
$GC,6875,1.17,102.5,462.6,6.7,330,6879,0.00,2.72,0.00,0.000,6,0.000,0.075,2657,2201,2396
$GC,7190,1.17,102.5,442.7,6.3,345,7195,0.00,2.78,0.00,0.000,4,0.000,0.092,2657,3614,2394
$GC,7252,1.17,102.5,438.6,6.8,348,7257,0.00,2.72,0.00,0.000,6,0.000,0.074,2657,2197,2394
$GC,7579,1.17,102.5,418.2,6.3,364,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2196,2393
$GC,7888,1.17,102.5,398.7,6.3,379,7892,0.00,2.78,0.00,0.000,4,0.000,0.090,2657,3623,2391
$GC,8005,1.17,102.5,390.9,6.3,384,8009,0.00,2.72,0.00,0.000,6,0.000,0.073,2657,2192,2391
$GC,8320,1.18,107.4,372.6,5.7,399,8329,0.00,2.70,4.22,0.666,4,0.000,0.077,2657,787,2379
$GC,8365,1.18,107.4,369.7,6.8,401,8369,0.00,2.62,0.00,0.000,6,0.000,0.056,2657,2202,2379
$GC,8691,1.18,110.7,350.6,5.8,417,8697,0.00,0.00,4.53,0.676,6,0.000,0.000,2656,2202,2365
$GC,9000,1.20,126.0,333.8,5.1,432,9021,0.00,2.80,13.80,0.871,4,0.000,0.087,2657,3623,2302
$GC,9067,1.20,126.0,330.1,6.2,435,9072,0.00,2.72,0.00,0.000,6,0.000,0.071,2657,2202,2302
$GC,9394,1.20,128.8,311.8,5.8,451,9400,0.00,0.00,4.05,0.611,6,0.000,0.000,2657,2202,2291
$GC,9703,1.20,128.8,291.2,6.6,466,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2202,2291
$GC,10014,1.20,128.8,269.7,7.2,481,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2203,2291
$GC,10322,1.20,128.8,246.2,7.7,496,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2202,2291
$GC,10631,1.20,128.8,222.5,7.6,511,10632,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2202,2291
$GC,10941,1.20,128.8,200.0,7.6,526,10942,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2202,2292
$GC,11250,1.20,128.8,176.1,7.8,541,11254,0.00,2.70,0.00,0.000,4,0.000,0.078,2657,3619,2292
$GC,11299,1.20,128.8,171.9,8.5,543,11303,0.00,2.67,0.00,0.000,6,0.000,0.067,2657,2200,2293
$GC,11615,1.20,128.8,148.1,7.1,558,11616,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2200,2293
$GC,11925,1.20,128.8,127.3,6.4,573,11926,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2200,2293
$GC,12234,1.21,131.5,108.9,5.8,588,12240,0.00,0.00,4.90,0.568,6,0.000,0.000,2657,2200,2280
$GC,12544,1.21,131.5,89.2,7.1,603,12546,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2200,2280
$GC,12851,1.21,131.5,66.0,7.2,618,12853,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2200,2280
$GC,13161,1.21,131.5,44.0,7.3,633,13162,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2200,2280
$GC,13471,1.21,131.5,21.5,7.3,648,13472,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2200,2280
$STATE,13756,end climb,SURFACE_DEPTH_REACHED
$STATE,13756,begin surface coast
$FINISH,0.8,1.020614
$STATE,13779,end surface coast,CONTROL_FINISHED_OK
$STATE,13779,begin surface
$SM_CCo,13801,99.80,0.645,3,0,1594,300.00
$SM_GC,1.48,0.00,0.00,99.80,0.000,0.000,0.645,72,2406,1594,-10.75,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026078
$HUMID,2103
$TCM_TEMP,16.90
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,426.0,111.4
$24V_AH,23.5,51.038
$10V_AH,10.2,26.097
$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,25.950,75.725,186.200,99.800,0.000,32.588,41.065,260.064,13.500,0.000,0.000,34.926,1213.289,10785.750,421.999,1437.481,527.316,33.364,1092.013,0.000,1394.681,0.000,23.536
$DEVICE_MAMPS,174.109,93.574,1036.217,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.481,463.695,471.190,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34848,663
$CFSIZE,260165632,241737728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,3,0
$GPS,110108,170458,6248.253,-559.247,39,3.6,58,-8.0