version: 66.02
glider: 16
mission: 6
dive: 306
start: 1 10 108 13 20 19
data:
$ID,16
$MISSION,6
$DIVE,306
$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,-2084156.5
$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,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
$GPS1,131407,6247.807,-559.928,39,1.6,39,-8.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-63.0
$GPS2,131927,6247.799,-559.841,34,1.6,34,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.035,0.218
$KALMAN_X,49124.2,222.5,87.6,114023.9,4411.9
$KALMAN_Y,32747.8,2556.2,1124.6,92380.5,-52657.0
$MHEAD_RNG_PITCHd_Wd,268.3,3936,-23.8,-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,-1.53,-37.7,0.0,0.0,0,84,0.00,0.00,-55.80,0.000,6,0.000,0.000,71,2401,2971
$GC,87,-1.53,-41.6,3.6,-5.6,3,109,11.30,2.62,-0.35,0.000,4,0.172,0.086,2069,3775,2989
$GC,362,-1.53,-41.6,43.4,-13.9,15,366,0.00,2.53,0.00,0.000,6,0.000,0.056,2069,2400,2989
$GC,683,-1.53,-41.6,79.5,-10.4,31,687,0.00,2.60,0.00,0.000,4,0.000,0.075,2069,3769,2989
$GC,790,-1.53,-41.6,92.0,-12.1,36,794,0.00,2.53,0.00,0.000,6,0.000,0.056,2069,2398,2989
$GC,1116,-1.53,-41.6,127.7,-10.9,52,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2398,2990
$GC,1425,-1.53,-41.6,162.9,-11.5,67,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2398,2990
$GC,1734,-1.53,-41.6,199.1,-11.4,82,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2398,2990
$GC,2044,-1.53,-41.6,233.3,-10.9,97,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2398,2990
$GC,2352,-1.53,-41.6,269.4,-11.9,112,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2398,2990
$GC,2662,-1.53,-41.6,305.3,-11.4,127,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2398,2990
$GC,2971,-1.53,-41.6,339.9,-11.2,142,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2398,2990
$GC,3280,-1.53,-41.6,373.8,-10.4,157,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2398,2990
$GC,3590,-1.53,-41.6,406.1,-10.7,172,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2398,2990
$GC,3899,-1.53,-41.6,435.0,-8.4,187,3904,0.00,2.60,0.00,0.000,4,0.000,0.079,2069,3768,2991
$GC,3999,-1.53,-41.6,443.4,-7.9,191,4006,0.00,2.53,0.00,0.000,6,0.000,0.058,2069,2395,2990
$GC,4316,-1.53,-41.6,470.6,-9.3,207,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2396,2991
$STATE,4437,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4437,begin apogee
$GC,4443,-0.31,0.0,482.1,9.4,213,4483,1.38,0.00,36.40,0.978,6,0.123,0.000,2336,2201,2818
$STATE,4483,end apogee,CONTROL_FINISHED_OK
$STATE,4484,begin climb
$GC,4486,1.53,41.6,484.0,0.0,215,4527,1.92,0.00,35.60,0.968,6,0.081,0.000,2748,2201,2647
$GC,4837,1.54,54.4,468.3,4.6,232,4850,0.00,0.00,11.68,0.881,6,0.000,0.000,2748,2201,2595
$GC,5168,1.57,76.5,453.9,3.6,248,5192,0.00,2.75,19.38,0.928,4,0.000,0.082,2748,3613,2505
$GC,5324,1.57,76.5,443.8,8.0,255,5329,0.00,2.67,0.00,0.000,6,0.000,0.066,2748,2199,2504
$GC,5650,1.57,76.5,421.7,6.4,271,5655,0.00,2.72,0.00,0.000,4,0.000,0.081,2748,3614,2503
$GC,5907,1.57,76.5,402.9,7.9,282,5913,0.00,2.65,0.00,0.000,6,0.000,0.064,2748,2199,2502
$GC,6223,1.57,76.5,381.3,7.0,298,6227,0.00,2.70,0.00,0.000,4,0.000,0.081,2749,3614,2501
$GC,6481,1.57,76.5,364.8,7.4,309,6487,0.00,2.65,0.00,0.000,6,0.000,0.067,2748,2199,2500
$GC,6796,1.57,76.5,343.4,6.9,325,6800,0.00,2.70,0.00,0.000,4,0.000,0.079,2748,3615,2500
$GC,7053,1.57,76.5,325.7,6.7,336,7059,0.00,2.65,0.00,0.000,6,0.000,0.064,2748,2193,2500
$GC,7368,1.57,76.5,305.6,6.4,352,7372,0.00,2.70,0.00,0.000,4,0.000,0.077,2748,3615,2499
$GC,7625,1.57,76.5,287.4,7.5,363,7631,0.00,2.65,0.00,0.000,6,0.000,0.065,2748,2197,2499
$GC,7940,1.57,76.5,265.7,7.2,379,7945,0.00,2.67,0.00,0.000,4,0.000,0.075,2749,3616,2499
$GC,8130,1.57,76.5,251.7,7.6,387,8136,0.00,2.65,0.00,0.000,6,0.000,0.064,2748,2194,2499
$GC,8446,1.57,76.5,231.0,6.4,403,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2194,2498
$GC,8755,1.57,79.7,212.4,5.7,418,8760,0.00,2.67,0.00,0.000,4,0.000,0.074,2749,3621,2499
$GC,8918,1.57,79.7,202.1,6.9,425,8922,0.00,2.62,0.00,0.000,6,0.000,0.064,2748,2201,2499
$GC,9233,1.57,79.7,180.9,6.5,440,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2200,2500
$GC,9542,1.57,79.7,162.0,7.1,455,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2200,2500
$GC,9852,1.57,79.7,142.5,6.6,470,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2200,2500
$GC,10161,1.57,79.7,121.9,7.7,485,10165,0.00,2.65,0.00,0.000,4,0.000,0.074,2748,3616,2500
$GC,10295,1.57,79.7,112.2,7.5,491,10299,0.00,2.62,0.00,0.000,6,0.000,0.061,2748,2191,2500
$GC,10617,1.58,87.0,91.9,5.2,507,10631,0.00,2.70,9.35,0.658,4,0.000,0.073,2748,3617,2461
$GC,10773,1.58,87.0,81.9,7.1,513,10778,0.00,2.62,0.00,0.000,6,0.000,0.061,2748,2201,2461
$GC,11096,1.58,87.0,58.9,7.4,529,11097,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2201,2461
$GC,11404,1.58,87.0,35.6,7.4,544,11408,0.00,2.65,0.00,0.000,4,0.000,0.073,2748,3616,2461
$GC,11504,1.58,87.0,28.1,6.6,548,11510,0.00,2.62,0.00,0.000,6,0.000,0.063,2748,2197,2461
$GC,11819,1.58,87.0,9.1,6.8,564,11821,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2197,2461
$STATE,11920,end climb,SURFACE_DEPTH_REACHED
$STATE,11920,begin surface coast
$FINISH,0.5,1.017444
$STATE,11942,end surface coast,CONTROL_FINISHED_OK
$STATE,11942,begin surface
$SM_CCo,11964,123.53,0.650,2,0,1593,300.00
$SM_GC,1.38,0.00,0.00,123.53,0.000,0.000,0.650,73,2404,1593,-10.75,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2077
$TCM_TEMP,16.90
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,426.4,65.3
$24V_AH,23.6,50.506
$10V_AH,10.2,25.662
$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,26.600,69.500,112.400,123.525,0.000,32.591,35.783,131.693,7.250,0.000,0.000,34.252,1104.279,9078.513,371.010,1498.038,375.666,33.372,1051.755,0.000,1446.982,0.000,26.345
$DEVICE_MAMPS,171.808,85.904,977.925,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.617,401.245,424.749,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28547,570
$CFSIZE,260165632,242044928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,100108,164308,6247.366,-600.228,34,1.2,34,-8.0