version: 66.02
glider: 16
mission: 6
dive: 318
start: 1 12 108 6 58 45
data:
$ID,16
$MISSION,6
$DIVE,318
$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,-2084502.5
$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
$GPS1,065226,6247.099,-601.404,61,1.8,61,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-62.3
$GPS2,065753,6247.067,-601.443,14,2.2,33,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.084,0.205
$KALMAN_X,62042.6,-830.4,-157.1,101043.4,16966.5
$KALMAN_Y,10623.6,2526.7,942.1,113352.2,-47085.3
$MHEAD_RNG_PITCHd_Wd,293.3,2615,-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,-53.38,0.000,6,0.000,0.000,74,2398,2935
$GC,81,-1.75,-37.8,2.6,-4.8,2,103,11.05,2.65,-1.02,0.000,4,0.173,0.087,2023,3769,2975
$GC,355,-1.75,-37.8,43.2,-14.5,14,359,0.00,2.55,0.00,0.000,6,0.000,0.059,2023,2400,2975
$GC,675,-1.75,-37.8,91.5,-16.3,30,680,0.00,2.62,0.00,0.000,4,0.000,0.077,2023,3773,2976
$GC,725,-1.75,-37.8,99.7,-15.7,32,729,0.00,2.55,0.00,0.000,6,0.000,0.061,2023,2401,2975
$GC,1042,-1.75,-37.8,143.8,-13.1,47,1046,0.00,2.62,0.00,0.000,4,0.000,0.080,2023,3769,2975
$GC,1113,-1.75,-37.8,153.7,-13.0,50,1117,0.00,2.55,0.00,0.000,6,0.000,0.058,2023,2393,2975
$GC,1428,-1.75,-37.8,194.1,-12.4,65,1433,0.00,2.65,0.00,0.000,4,0.000,0.082,2023,3769,2974
$GC,1513,-1.75,-37.8,205.3,-13.7,69,1517,0.00,2.55,0.00,0.000,6,0.000,0.061,2023,2401,2975
$GC,1839,-1.75,-37.8,244.8,-12.2,85,1843,0.00,2.65,0.00,0.000,4,0.000,0.084,2023,3775,2975
$GC,1911,-1.75,-37.8,254.3,-13.3,88,1915,0.00,2.58,0.00,0.000,6,0.000,0.064,2023,2394,2975
$GC,2226,-1.75,-37.8,292.0,-11.9,103,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2394,2975
$GC,2535,-1.75,-37.8,328.3,-11.6,118,2540,0.00,2.65,0.00,0.000,4,0.000,0.084,2023,3770,2976
$GC,2569,-1.75,-37.8,332.5,-13.4,119,2575,0.00,2.55,0.00,0.000,6,0.000,0.064,2023,2401,2976
$GC,2884,-1.75,-37.8,368.0,-11.5,135,2888,0.00,2.65,0.00,0.000,4,0.000,0.085,2023,3773,2976
$GC,3144,-1.75,-37.8,403.2,-13.7,146,3150,0.00,2.55,0.00,0.000,6,0.000,0.063,2023,2401,2976
$GC,3459,-1.75,-37.8,437.8,-10.1,162,3463,0.00,2.70,0.00,0.000,4,0.000,0.080,2023,983,2976
$GC,3565,-1.75,-37.8,449.1,-10.5,167,3570,0.00,2.65,0.00,0.000,6,0.000,0.067,2023,2402,2977
$STATE,3600,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3601,begin apogee
$GC,3607,-0.31,0.0,453.2,11.0,169,3645,1.65,0.00,33.65,0.948,6,0.129,0.000,2339,2193,2817
$STATE,3645,end apogee,CONTROL_FINISHED_OK
$STATE,3646,begin climb
$GC,3648,1.75,37.8,455.2,0.0,171,3685,2.15,0.00,32.58,0.942,6,0.077,0.000,2790,2193,2661
$GC,3993,1.76,48.7,441.7,4.5,188,4009,0.00,2.80,10.52,0.846,4,0.000,0.083,2790,3619,2617
$GC,4087,1.76,49.0,436.7,6.0,191,4091,0.00,2.70,0.00,0.000,6,0.000,0.070,2790,2201,2617
$GC,4403,1.78,64.0,422.8,3.9,206,4424,0.00,2.75,13.88,0.874,4,0.000,0.074,2790,782,2555
$GC,4676,1.78,64.0,406.4,6.4,218,4681,0.00,2.62,0.00,0.000,6,0.000,0.058,2790,2202,2554
$GC,4998,1.78,64.4,386.6,6.0,234,5003,0.00,2.72,0.00,0.000,4,0.000,0.085,2790,3620,2553
$GC,5121,1.78,65.0,379.3,5.9,239,5127,0.00,2.70,0.00,0.000,6,0.000,0.071,2790,2199,2553
$GC,5437,1.78,70.8,363.8,5.2,255,5450,0.00,2.78,6.62,0.751,4,0.000,0.084,2790,3615,2528
$GC,5705,1.78,70.8,345.9,6.7,267,5709,0.00,2.67,0.00,0.000,6,0.000,0.071,2790,2199,2527
$GC,6030,1.78,70.8,324.1,6.8,283,6035,0.00,2.72,0.00,0.000,4,0.000,0.084,2790,3613,2526
$GC,6287,1.78,70.8,304.3,7.6,294,6294,0.00,2.67,0.00,0.000,6,0.000,0.071,2790,2198,2526
$GC,6603,1.78,70.8,283.4,6.7,310,6608,0.00,2.70,0.00,0.000,4,0.000,0.081,2790,3615,2526
$GC,6861,1.78,70.8,265.2,6.8,321,6867,0.00,2.67,0.00,0.000,6,0.000,0.070,2790,2194,2526
$GC,7177,1.78,70.8,245.3,6.3,337,7181,0.00,2.70,0.00,0.000,4,0.000,0.077,2790,3614,2526
$GC,7434,1.78,70.8,226.8,7.2,348,7440,0.00,2.65,0.00,0.000,6,0.000,0.068,2790,2199,2525
$GC,7750,1.78,70.8,206.3,6.5,364,7754,0.00,2.67,0.00,0.000,4,0.000,0.076,2790,3616,2525
$GC,7894,1.78,70.8,196.1,7.6,370,7901,0.00,2.65,0.00,0.000,6,0.000,0.067,2790,2197,2525
$GC,8210,1.78,70.8,176.1,6.3,386,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2198,2525
$GC,8520,1.78,70.8,156.3,6.6,401,8524,0.00,2.62,0.00,0.000,4,0.000,0.068,2790,787,2526
$GC,8581,1.78,70.8,152.1,6.6,404,8586,0.00,2.55,0.00,0.000,6,0.000,0.049,2790,2209,2526
$GC,8907,1.78,70.8,129.9,7.0,420,8912,0.00,2.62,0.00,0.000,4,0.000,0.074,2790,3609,2526
$GC,8997,1.78,70.8,123.1,8.0,424,9001,0.00,2.65,0.00,0.000,6,0.000,0.069,2790,2194,2526
$GC,9317,1.78,70.8,97.5,8.2,440,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2194,2526
$GC,9628,1.78,70.8,75.8,7.7,455,9633,0.00,2.67,0.00,0.000,4,0.000,0.074,2790,3612,2526
$GC,9773,1.78,70.8,63.4,9.4,461,9780,0.00,2.65,0.00,0.000,6,0.000,0.069,2790,2197,2526
$GC,10089,1.79,77.1,40.7,5.1,477,10102,0.00,2.67,6.62,0.587,4,0.000,0.076,2790,3610,2502
$GC,10357,1.80,85.8,30.2,4.8,489,10371,0.00,2.65,8.48,0.610,6,0.000,0.069,2790,2200,2468
$GC,10688,1.80,85.8,6.4,7.6,505,10693,0.00,2.67,0.00,0.000,4,0.000,0.077,2790,3609,2467
$STATE,10730,end climb,SURFACE_DEPTH_REACHED
$STATE,10730,begin surface coast
$FINISH,1.0,1.027416
$STATE,10737,end surface coast,CONTROL_FINISHED_OK
$STATE,10737,begin surface
$SM_CCo,10760,131.55,0.631,5,0,1594,300.00
$SM_GC,1.60,0.00,0.00,131.55,0.000,0.000,0.631,66,2396,1594,-10.78,-0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2044
$TCM_TEMP,19.10
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,450.2,11.1
$24V_AH,23.6,51.405
$10V_AH,10.2,26.409
$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,27.025,111.425,112.350,131.550,0.000,32.586,40.096,129.531,6.000,0.000,0.000,34.215,1057.318,7816.327,415.212,1576.362,386.194,33.365,1144.786,0.000,1513.567,0.000,33.492
$DEVICE_MAMPS,173.342,86.671,948.012,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.178,359.007,383.446,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25361,507
$CFSIZE,260165632,241524736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,5,0
$GPS,120108,100222,6247.822,-602.150,43,2.3,62,-8.0