version: 66.02
glider: 16
mission: 6
dive: 314
start: 1 11 108 17 11 43
data:
$ID,16
$MISSION,6
$DIVE,314
$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,-2084389
$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,13
$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
$GPS1,170458,6248.253,-559.247,39,3.6,58,-8.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-59.2
$GPS2,171053,6248.245,-559.235,13,2.8,32,-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,58607.8,-297.3,-493.1,106210.0,14424.9
$KALMAN_Y,19041.5,2581.1,1178.3,106830.1,-40127.8
$MHEAD_RNG_PITCHd_Wd,259.2,4638,-19.9,-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,22,-1.30,-52.9,0.0,0.0,0,84,0.00,0.00,-57.60,0.000,6,0.000,0.000,71,2407,3033
$GC,87,-1.32,-67.1,3.8,-4.9,3,109,11.57,2.60,-1.48,0.000,4,0.173,0.086,2118,3762,3094
$GC,362,-1.32,-67.1,37.4,-11.5,15,366,0.00,2.55,0.00,0.000,6,0.000,0.060,2119,2392,3094
$GC,683,-1.32,-67.1,77.3,-13.3,31,687,0.00,2.65,0.00,0.000,4,0.000,0.080,2118,3771,3094
$GC,885,-1.32,-67.1,102.9,-12.3,40,890,0.00,2.55,0.00,0.000,6,0.000,0.061,2118,2398,3094
$GC,1206,-1.32,-67.1,137.6,-10.4,56,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2398,3095
$GC,1516,-1.32,-67.1,170.7,-10.8,71,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2397,3096
$GC,1825,-1.32,-67.1,204.0,-10.7,86,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2397,3096
$GC,2134,-1.32,-67.1,236.4,-10.3,101,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2397,3096
$GC,2443,-1.32,-67.1,266.7,-9.8,116,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2397,3096
$GC,2753,-1.32,-67.1,298.4,-10.5,131,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2397,3096
$GC,3062,-1.32,-67.1,331.6,-11.4,146,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2397,3096
$GC,3371,-1.32,-67.1,365.0,-10.3,161,3376,0.00,2.65,0.00,0.000,4,0.000,0.084,2118,3773,3096
$GC,3471,-1.32,-67.1,376.2,-11.4,165,3478,0.00,2.58,0.00,0.000,6,0.000,0.064,2119,2395,3096
$GC,3787,-1.32,-67.1,405.5,-9.2,181,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2394,3096
$GC,4097,-1.32,-67.1,433.5,-8.7,196,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2395,3096
$GC,4405,-1.32,-67.1,461.0,-9.1,211,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2395,3096
$GC,4715,-1.32,-67.1,487.7,-8.4,226,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2395,3096
$STATE,4816,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4816,begin apogee
$GC,4823,-0.31,0.0,497.0,9.0,231,4884,1.12,0.00,57.78,0.999,6,0.120,0.000,2338,2198,2817
$STATE,4885,end apogee,CONTROL_FINISHED_OK
$STATE,4885,begin climb
$GC,4887,1.32,67.1,499.2,0.0,234,4947,1.75,0.00,56.28,0.990,6,0.090,0.000,2695,2197,2542
$GC,5247,1.32,67.6,480.6,6.0,252,5251,0.00,2.75,0.00,0.000,4,0.000,0.084,2695,3613,2541
$GC,5444,1.32,67.6,468.0,6.4,261,5449,0.00,2.67,0.00,0.000,6,0.000,0.069,2695,2202,2540
$GC,5771,1.33,80.5,450.7,5.0,277,5792,0.00,2.80,12.23,0.891,4,0.000,0.084,2695,3610,2487
$GC,5855,1.33,80.5,446.1,6.2,280,5862,0.00,2.67,0.00,0.000,6,0.000,0.070,2695,2200,2487
$GC,6171,1.34,90.5,429.3,5.2,296,6186,0.00,2.78,9.43,0.854,4,0.000,0.085,2694,3615,2448
$GC,6249,1.34,90.5,424.3,6.3,298,6255,0.00,2.70,0.00,0.000,6,0.000,0.069,2695,2199,2447
$GC,6565,1.34,90.7,403.7,6.0,314,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2199,2446
$GC,6873,1.34,90.7,384.7,6.7,329,6878,0.00,2.67,0.00,0.000,4,0.000,0.076,2695,784,2445
$GC,6974,1.34,90.7,377.2,7.4,333,6979,0.00,2.60,0.00,0.000,6,0.000,0.054,2695,2199,2445
$GC,7289,1.34,90.7,355.8,7.1,349,7293,0.00,2.72,0.00,0.000,4,0.000,0.087,2695,3619,2444
$GC,7433,1.34,90.7,345.2,6.9,355,7440,0.00,2.70,0.00,0.000,6,0.000,0.072,2695,2196,2444
$GC,7749,1.34,90.7,325.7,6.4,371,7754,0.00,2.75,0.00,0.000,4,0.000,0.084,2695,3618,2443
$GC,7911,1.34,90.7,313.6,7.5,378,7915,0.00,2.70,0.00,0.000,6,0.000,0.071,2695,2197,2443
$GC,8227,1.34,90.7,291.6,7.2,393,8231,0.00,2.72,0.00,0.000,4,0.000,0.084,2695,3615,2443
$GC,8366,1.34,90.7,280.8,7.5,399,8370,0.00,2.67,0.00,0.000,6,0.000,0.069,2695,2200,2443
$GC,8681,1.34,90.7,259.0,7.2,414,8686,0.00,2.70,0.00,0.000,4,0.000,0.083,2695,3614,2443
$GC,8788,1.34,90.7,251.2,7.7,419,8792,0.00,2.67,0.00,0.000,6,0.000,0.070,2695,2199,2443
$GC,9114,1.37,114.0,232.0,4.2,435,9135,0.00,0.00,19.67,0.807,6,0.000,0.000,2695,2199,2351
$GC,9444,1.37,114.0,208.6,7.7,451,9445,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2199,2351
$GC,9753,1.37,114.0,190.1,6.0,466,9757,0.00,2.70,0.00,0.000,4,0.000,0.077,2695,3619,2351
$GC,9818,1.37,114.0,185.5,6.6,469,9823,0.00,2.67,0.00,0.000,6,0.000,0.067,2695,2199,2351
$GC,10139,1.37,114.0,164.7,7.0,485,10141,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2199,2351
$GC,10449,1.37,114.0,142.2,7.2,500,10454,0.00,2.67,0.00,0.000,4,0.000,0.074,2694,3614,2352
$GC,10549,1.37,121.2,135.2,5.5,504,10563,0.00,2.65,7.30,0.650,6,0.000,0.067,2695,2200,2322
$GC,10886,1.37,121.7,118.0,6.0,521,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2201,2322
$GC,11195,1.39,136.4,97.8,4.9,536,11214,0.00,0.00,14.00,0.694,6,0.000,0.000,2694,2200,2259
$GC,11525,1.39,136.4,69.1,8.8,552,11526,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2200,2259
$GC,11834,1.39,136.4,36.0,10.0,567,11835,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2199,2259
$GC,12142,1.39,136.4,9.4,8.9,582,12143,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2199,2259
$STATE,12243,end climb,SURFACE_DEPTH_REACHED
$STATE,12243,begin surface coast
$FINISH,0.6,1.016676
$STATE,12265,end surface coast,CONTROL_FINISHED_OK
$STATE,12265,begin surface
$SM_CCo,12286,97.93,0.644,3,0,1594,300.00
$SM_GC,1.45,0.00,0.00,97.93,0.000,0.000,0.644,68,2409,1594,-10.77,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2074
$TCM_TEMP,16.70
$XPDR_PINGS,35
$ALTIM_BOTTOM_PING,451.6,54.5
$24V_AH,23.6,51.115
$10V_AH,10.2,26.159
$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,26.200,70.350,176.675,97.925,0.000,32.587,35.133,143.976,12.500,0.000,0.000,33.580,1106.269,9440.067,419.332,1388.929,406.110,33.365,1061.764,0.000,1341.646,0.000,27.927
$DEVICE_MAMPS,173.342,86.671,998.634,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.239,411.424,414.404,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28545,588
$CFSIZE,260165632,241709056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,3,0
$GPS,110108,203957,6248.456,-601.321,37,2.3,56,-8.0