version: 66.02
glider: 16
mission: 6
dive: 317
start: 1 12 108 3 33 19
data:
$ID,16
$MISSION,6
$DIVE,317
$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,-2084467.6
$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,13
$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
$GPS1,032657,6247.325,-559.696,28,2.6,47,-8.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.4
$GPS2,033229,6247.275,-559.670,15,2.7,34,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.102,0.197
$KALMAN_X,62758.0,-694.2,-405.7,101995.9,20734.4
$KALMAN_Y,12198.3,2412.3,1162.5,112064.0,-47878.2
$MHEAD_RNG_PITCHd_Wd,282.3,4036,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.49,-39.6,0.0,0.0,0,84,0.00,0.00,-55.58,0.000,6,0.000,0.000,69,2402,2981
$GC,87,-1.49,-43.2,3.8,-5.6,3,109,11.43,2.62,-0.30,0.000,4,0.174,0.083,2077,3772,2996
$GC,362,-1.49,-43.2,43.4,-13.4,15,366,0.00,2.55,0.00,0.000,6,0.000,0.054,2078,2392,2997
$GC,682,-1.49,-43.2,80.3,-10.8,31,687,0.00,2.62,0.00,0.000,4,0.000,0.076,2078,3772,2997
$GC,902,-1.49,-43.2,108.5,-12.3,41,906,0.00,2.55,0.00,0.000,6,0.000,0.057,2078,2395,2997
$GC,1228,-1.49,-43.2,143.0,-10.0,57,1233,0.00,2.62,0.00,0.000,4,0.000,0.076,2078,3776,2998
$GC,1368,-1.49,-43.2,159.0,-11.6,63,1373,0.00,2.55,0.00,0.000,6,0.000,0.058,2078,2390,2997
$GC,1683,-1.49,-43.2,191.4,-10.2,78,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2389,2998
$GC,1993,-1.49,-43.2,223.2,-10.6,93,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2389,2998
$GC,2303,-1.49,-43.2,254.6,-10.4,108,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2389,2998
$GC,2611,-1.49,-43.2,286.1,-9.9,123,2615,0.00,2.62,0.00,0.000,4,0.000,0.076,2078,3772,2998
$GC,2666,-1.49,-43.2,292.2,-11.4,125,2672,0.00,2.53,0.00,0.000,6,0.000,0.058,2078,2403,2998
$GC,2983,-1.49,-43.2,322.9,-9.6,141,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2403,2998
$GC,3291,-1.49,-43.2,352.5,-9.6,156,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2403,2999
$GC,3600,-1.49,-43.2,383.6,-10.9,171,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2403,2999
$GC,3911,-1.49,-43.2,412.7,-8.8,186,3915,0.00,2.60,0.00,0.000,4,0.000,0.080,2078,3771,2999
$GC,4156,-1.49,-43.2,439.2,-10.3,197,4160,0.00,2.55,0.00,0.000,6,0.000,0.061,2078,2395,2999
$STATE,4398,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4398,begin apogee
$GC,4405,-0.31,0.0,462.2,9.1,209,4447,1.35,0.00,38.17,0.956,6,0.123,0.000,2341,2202,2817
$STATE,4448,end apogee,CONTROL_FINISHED_OK
$STATE,4448,begin climb
$GC,4450,1.49,43.2,464.0,0.0,211,4492,1.85,0.00,37.08,0.951,6,0.071,0.000,2732,2202,2640
$GC,4791,1.51,62.3,449.9,4.1,228,4813,0.00,2.80,16.73,0.900,4,0.000,0.073,2733,784,2563
$GC,5065,1.52,65.4,434.7,5.7,240,5075,0.00,2.62,4.32,0.648,6,0.000,0.054,2732,2205,2549
$GC,5392,1.52,65.4,415.7,6.0,256,5396,0.00,2.67,0.00,0.000,4,0.000,0.070,2732,782,2548
$GC,5463,1.52,65.4,411.2,6.6,259,5468,0.00,2.60,0.00,0.000,6,0.000,0.054,2733,2200,2548
$GC,5785,1.52,70.7,392.7,5.5,275,5796,0.00,2.75,5.90,0.739,4,0.000,0.084,2732,3615,2527
$GC,6049,1.52,70.7,374.5,6.6,287,6053,0.00,2.70,0.00,0.000,6,0.000,0.070,2732,2192,2526
$GC,6376,1.52,70.9,355.0,6.0,303,6380,0.00,2.75,0.00,0.000,4,0.000,0.083,2732,3617,2525
$GC,6632,1.52,70.9,336.8,8.1,314,6639,0.00,2.70,0.00,0.000,6,0.000,0.071,2732,2197,2525
$GC,6948,1.52,70.9,315.5,6.7,330,6953,0.00,2.72,0.00,0.000,4,0.000,0.082,2733,3615,2525
$GC,7206,1.52,70.9,299.0,6.0,341,7212,0.00,2.67,0.00,0.000,6,0.000,0.067,2732,2194,2524
$GC,7522,1.53,79.2,281.5,5.2,357,7532,0.00,0.00,8.07,0.753,6,0.000,0.000,2732,2194,2492
$GC,7831,1.53,79.2,263.3,6.1,372,7835,0.00,2.72,0.00,0.000,4,0.000,0.081,2732,3615,2492
$GC,7902,1.53,79.2,258.7,6.3,375,7906,0.00,2.67,0.00,0.000,6,0.000,0.067,2732,2196,2492
$GC,8218,1.53,79.2,239.5,6.2,390,8223,0.00,2.70,0.00,0.000,4,0.000,0.077,2732,3615,2491
$GC,8347,1.53,79.2,230.3,7.4,396,8352,0.00,2.65,0.00,0.000,6,0.000,0.064,2733,2192,2491
$GC,8674,1.53,79.2,210.0,6.5,412,8679,0.00,2.72,0.00,0.000,4,0.000,0.080,2732,3620,2491
$GC,8759,1.53,79.2,204.5,6.6,416,8764,0.00,2.62,0.00,0.000,6,0.000,0.061,2732,2206,2492
$GC,9086,1.53,79.2,183.5,6.4,432,9090,0.00,2.67,0.00,0.000,4,0.000,0.074,2732,3622,2492
$GC,9304,1.53,79.2,168.9,6.5,442,9308,0.00,2.67,0.00,0.000,6,0.000,0.065,2732,2194,2492
$GC,9630,1.53,79.6,148.4,6.0,458,9635,0.00,2.70,0.00,0.000,4,0.000,0.076,2732,3622,2492
$GC,9792,1.53,79.6,137.7,7.0,465,9797,0.00,2.65,0.00,0.000,6,0.000,0.065,2732,2201,2492
$GC,10108,1.53,79.6,115.4,6.2,480,10112,0.00,2.67,0.00,0.000,4,0.000,0.074,2732,3620,2492
$GC,10193,1.53,79.6,109.3,8.1,484,10197,0.00,2.65,0.00,0.000,6,0.000,0.061,2732,2188,2492
$GC,10520,1.53,79.6,86.4,7.1,500,10525,0.00,2.60,0.00,0.000,4,0.000,0.066,2732,784,2493
$GC,10701,1.53,79.6,74.9,7.9,508,10705,0.00,2.55,0.00,0.000,6,0.000,0.048,2732,2205,2493
$GC,11022,1.53,79.6,47.7,8.6,524,11026,0.00,2.65,0.00,0.000,4,0.000,0.075,2732,3619,2493
$GC,11144,1.53,79.6,37.9,8.2,529,11150,0.00,2.62,0.00,0.000,6,0.000,0.062,2732,2203,2493
$GC,11462,1.53,79.6,17.9,6.8,545,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2202,2493
$STATE,11663,end climb,SURFACE_DEPTH_REACHED
$STATE,11663,begin surface coast
$FINISH,0.7,1.027425
$STATE,11687,end surface coast,CONTROL_FINISHED_OK
$STATE,11687,begin surface
$SM_CCo,11709,134.10,0.658,1,0,1594,300.00
$SM_GC,1.46,0.00,0.00,134.10,0.000,0.000,0.658,75,2398,1594,-10.74,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2061
$TCM_TEMP,17.00
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,376.8,93.8
$24V_AH,23.6,51.341
$10V_AH,10.2,26.348
$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,26.500,96.125,110.275,134.100,0.000,32.585,35.827,135.707,7.250,0.000,0.000,35.420,1123.295,8663.968,388.736,1622.355,388.436,33.363,1126.889,0.000,1565.952,0.000,20.241
$DEVICE_MAMPS,174.109,84.370,956.449,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.470,391.593,410.963,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28569,556
$CFSIZE,260165632,241565696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,120108,065226,6247.099,-601.404,61,1.8,61,-8.0