version: 66.02
glider: 16
mission: 6
dive: 316
start: 1 12 108 0 8 55
data:
$ID,16
$MISSION,6
$DIVE,316
$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,-2084431.6
$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,14
$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
$GPS1,000302,6248.466,-600.250,39,1.4,39,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-60.7
$GPS2,000803,6248.426,-600.169,12,1.3,12,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.108,0.193
$KALMAN_X,61832.9,-1453.5,-383.3,103206.8,21306.9
$KALMAN_Y,15079.4,2542.0,1477.1,110864.0,-46739.1
$MHEAD_RNG_PITCHd_Wd,251.1,4038,-23.1,-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,-1.49,-39.7,0.0,0.0,0,84,0.00,0.00,-55.97,0.000,6,0.000,0.000,73,2407,2980
$GC,87,-1.49,-39.7,4.2,-6.3,3,109,11.43,2.60,0.00,0.000,4,0.175,0.074,2078,3773,2983
$GC,361,-1.49,-39.7,47.2,-13.8,15,365,0.00,2.58,0.00,0.000,6,0.000,0.061,2078,2395,2984
$GC,682,-1.49,-39.7,83.9,-12.1,31,686,0.00,2.62,0.00,0.000,4,0.000,0.079,2079,3769,2984
$GC,938,-1.49,-39.7,111.2,-10.8,42,945,0.00,2.55,0.00,0.000,6,0.000,0.062,2079,2401,2984
$GC,1254,-1.49,-39.7,147.3,-10.6,58,1259,0.00,2.62,0.00,0.000,4,0.000,0.081,2078,3769,2985
$GC,1431,-1.49,-39.7,170.1,-13.6,66,1435,0.00,2.55,0.00,0.000,6,0.000,0.061,2079,2395,2985
$GC,1757,-1.49,-39.7,210.7,-11.6,82,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2393,2985
$GC,2066,-1.49,-39.7,245.6,-10.7,97,2070,0.00,2.65,0.00,0.000,4,0.000,0.081,2079,3773,2986
$GC,2121,-1.49,-39.7,252.1,-12.1,99,2127,0.00,2.58,0.00,0.000,6,0.000,0.064,2079,2393,2985
$GC,2436,-1.49,-39.7,284.3,-9.9,115,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2393,2985
$GC,2746,-1.49,-39.7,312.3,-9.3,130,2750,0.00,2.65,0.00,0.000,4,0.000,0.083,2079,3769,2985
$GC,2795,-1.49,-39.7,317.4,-10.5,132,2799,0.00,2.55,0.00,0.000,6,0.000,0.063,2079,2393,2985
$GC,3110,-1.49,-39.7,347.0,-8.9,147,3115,0.00,2.67,0.00,0.000,4,0.000,0.078,2079,980,2985
$GC,3226,-1.49,-39.7,358.3,-9.4,152,3231,0.00,2.62,0.00,0.000,6,0.000,0.064,2077,2398,2985
$GC,3543,-1.49,-39.7,388.0,-9.7,167,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2398,2986
$GC,3852,-1.49,-39.7,417.9,-9.6,182,3856,0.00,2.62,0.00,0.000,4,0.000,0.083,2079,3770,2986
$GC,3986,-1.49,-39.7,432.3,-10.2,188,3991,0.00,2.58,0.00,0.000,6,0.000,0.065,2079,2393,2986
$GC,4307,-1.49,-39.7,461.1,-8.4,204,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2393,2986
$GC,4616,-1.49,-39.7,490.3,-9.5,219,4621,0.00,2.67,0.00,0.000,4,0.000,0.079,2079,982,2986
$GC,4657,-1.49,-39.7,493.8,-9.0,221,4662,0.00,2.65,0.00,0.000,6,0.000,0.064,2079,2408,2986
$STATE,4713,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4713,begin apogee
$GC,4719,-0.31,0.0,498.7,8.4,224,4758,1.35,0.00,35.53,0.989,6,0.125,0.000,2340,2200,2817
$STATE,4759,end apogee,CONTROL_FINISHED_OK
$STATE,4759,begin climb
$GC,4761,1.49,39.7,500.2,0.0,226,4799,1.88,0.00,34.20,0.978,6,0.077,0.000,2732,2200,2655
$GC,5104,1.52,72.4,488.4,2.7,243,5134,0.00,0.00,28.08,0.967,6,0.000,0.000,2732,2200,2521
$GC,5434,1.52,72.4,460.7,9.0,259,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2200,2519
$GC,5744,1.52,72.4,437.0,6.8,274,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2200,2518
$GC,6054,1.53,78.9,419.2,5.4,289,6062,0.00,0.00,6.68,0.786,6,0.000,0.000,2732,2200,2494
$GC,6363,1.55,93.2,404.1,4.6,304,6384,0.00,2.80,12.80,0.885,4,0.000,0.084,2732,3607,2436
$GC,6636,1.55,93.2,385.3,7.9,316,6640,0.00,2.70,0.00,0.000,6,0.000,0.071,2732,2194,2435
$GC,6963,1.55,93.2,363.3,6.8,332,6967,0.00,2.75,0.00,0.000,4,0.000,0.084,2732,3615,2435
$GC,7219,1.55,93.2,342.5,8.3,343,7226,0.00,2.70,0.00,0.000,6,0.000,0.072,2732,2202,2434
$GC,7535,1.55,93.2,318.5,8.0,359,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2202,2433
$GC,7845,1.55,93.2,294.3,7.8,374,7849,0.00,2.72,0.00,0.000,4,0.000,0.080,2732,3625,2433
$GC,7951,1.55,93.2,284.6,9.3,379,7955,0.00,2.70,0.00,0.000,6,0.000,0.068,2732,2199,2433
$GC,8277,1.55,93.2,257.8,7.9,395,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2199,2433
$GC,8586,1.55,93.2,234.5,7.8,410,8591,0.00,2.70,0.00,0.000,4,0.000,0.076,2732,3619,2433
$GC,8693,1.55,93.2,225.3,8.9,415,8697,0.00,2.67,0.00,0.000,6,0.000,0.067,2732,2197,2433
$GC,9019,1.55,93.2,199.8,7.5,431,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2197,2433
$GC,9329,1.55,93.2,177.0,7.2,446,9333,0.00,2.70,0.00,0.000,4,0.000,0.075,2732,3620,2434
$GC,9468,1.55,93.2,165.7,8.6,452,9472,0.00,2.65,0.00,0.000,6,0.000,0.064,2732,2202,2434
$GC,9784,1.55,93.2,142.3,7.4,467,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2201,2434
$GC,10093,1.55,93.2,118.9,7.6,482,10097,0.00,2.67,0.00,0.000,4,0.000,0.074,2732,3619,2434
$GC,10268,1.55,93.2,104.8,8.5,490,10273,0.00,2.65,0.00,0.000,6,0.000,0.065,2732,2199,2434
$GC,10596,1.55,93.2,80.7,7.7,506,10600,0.00,2.67,0.00,0.000,4,0.000,0.074,2732,3619,2435
$GC,10695,1.55,93.2,72.4,8.8,510,10702,0.00,2.65,0.00,0.000,6,0.000,0.062,2732,2192,2435
$GC,11013,1.56,104.5,51.4,4.9,526,11029,0.00,2.72,10.80,0.647,4,0.000,0.073,2732,3619,2389
$GC,11113,1.56,104.5,43.5,8.6,529,11120,0.00,2.65,0.00,0.000,6,0.000,0.060,2732,2195,2389
$GC,11429,1.56,104.5,18.9,10.8,545,11430,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2195,2389
$STATE,11612,end climb,SURFACE_DEPTH_REACHED
$STATE,11612,begin surface coast
$FINISH,0.7,1.007431
$STATE,11634,end surface coast,CONTROL_FINISHED_OK
$STATE,11634,begin surface
$SM_CCo,11657,120.45,0.638,4,0,1594,300.00
$SM_GC,1.51,0.00,0.00,120.45,0.000,0.000,0.638,70,2402,1594,-10.76,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2078
$TCM_TEMP,15.70
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,425.2,83.2
$24V_AH,23.6,51.274
$10V_AH,10.2,26.284
$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,26.525,85.700,128.075,120.450,0.000,32.586,34.525,131.741,10.000,0.000,0.000,12.431,1082.457,8798.243,403.015,1446.241,376.952,33.366,1080.508,0.000,1416.938,0.000,23.456
$DEVICE_MAMPS,174.876,84.370,988.663,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.480,389.380,402.381,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28599,555
$CFSIZE,260165632,241623040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,4,0
$GPS,120108,032657,6247.325,-559.696,28,2.6,47,-8.0