version: 66.02
glider: 16
mission: 6
dive: 309
start: 1 10 108 23 18 14
data:
$ID,16
$MISSION,6
$DIVE,309
$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,-2084237.5
$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
$GPS1,231047,6248.859,-601.022,32,1.6,41,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-57.5
$GPS2,231721,6248.890,-600.928,15,1.7,15,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.051,0.215
$KALMAN_X,50849.7,-525.6,155.8,112032.9,7136.2
$KALMAN_Y,29929.6,3014.7,852.5,97023.0,-45955.2
$MHEAD_RNG_PITCHd_Wd,235.8,3996,-23.4,-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,-1.50,-38.8,0.0,0.0,0,84,0.00,0.00,-56.28,0.000,6,0.000,0.000,71,2405,2976
$GC,87,-1.51,-47.8,3.4,-5.1,3,109,11.30,2.75,-0.95,0.000,4,0.172,0.084,2071,980,3014
$GC,362,-1.51,-47.8,38.6,-10.9,15,366,0.00,2.62,0.00,0.000,6,0.000,0.061,2072,2403,3015
$GC,683,-1.51,-47.8,73.4,-11.6,31,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2403,3015
$GC,994,-1.51,-47.8,110.9,-11.9,46,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2403,3015
$GC,1301,-1.51,-47.8,148.2,-12.0,61,1305,0.00,2.60,0.00,0.000,4,0.000,0.078,2071,3773,3015
$GC,1363,-1.51,-47.8,156.0,-12.9,64,1367,0.00,2.55,0.00,0.000,6,0.000,0.060,2071,2399,3015
$GC,1690,-1.51,-47.8,194.2,-11.6,80,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2399,3015
$GC,1999,-1.51,-47.8,230.0,-11.5,95,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2399,3016
$GC,2308,-1.51,-47.8,264.4,-11.1,110,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2398,3016
$GC,2618,-1.51,-47.8,298.6,-11.2,125,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2398,3016
$GC,2926,-1.51,-47.8,332.6,-11.2,140,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2398,3016
$GC,3236,-1.51,-47.8,367.5,-11.2,155,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2398,3017
$GC,3548,-1.51,-47.8,400.8,-10.6,170,3552,0.00,2.70,0.00,0.000,4,0.000,0.081,2071,978,3017
$GC,3591,-1.51,-47.8,406.2,-11.7,172,3596,0.00,2.62,0.00,0.000,6,0.000,0.062,2071,2404,3016
$GC,3912,-1.51,-47.8,438.8,-10.6,188,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2404,3017
$GC,4222,-1.51,-47.8,469.8,-9.1,203,4226,0.00,2.60,0.00,0.000,4,0.000,0.084,2071,3769,3017
$GC,4275,-1.51,-47.8,475.5,-11.4,205,4280,0.00,2.55,0.00,0.000,6,0.000,0.064,2071,2395,3017
$GC,4591,-1.51,-47.8,505.4,-9.0,220,4595,0.00,2.65,0.00,0.000,4,0.000,0.085,2071,3769,3017
$STATE,4683,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4683,begin apogee
$GC,4692,-0.31,0.0,515.6,10.7,224,4737,1.35,0.00,41.92,0.999,6,0.123,0.000,2335,2194,2817
$STATE,4738,end apogee,CONTROL_FINISHED_OK
$STATE,4738,begin climb
$GC,4740,1.51,47.8,517.8,0.0,226,4790,1.90,2.78,40.45,0.991,4,0.074,0.075,2750,791,2622
$GC,4902,1.53,60.3,511.1,4.7,233,4921,0.00,2.60,11.73,0.898,6,0.000,0.054,2750,2205,2571
$GC,5243,1.53,64.9,492.6,5.5,250,5254,0.00,2.78,5.55,0.756,4,0.000,0.087,2749,3621,2551
$GC,5456,1.53,65.5,478.4,5.9,259,5462,0.00,2.70,0.00,0.000,6,0.000,0.071,2749,2200,2551
$GC,5771,1.54,69.0,462.6,5.6,275,5781,0.00,2.78,4.85,0.713,4,0.000,0.089,2749,3615,2535
$GC,6034,1.54,69.0,444.3,7.7,287,6039,0.00,2.67,0.00,0.000,6,0.000,0.072,2749,2201,2533
$GC,6361,1.54,69.0,422.5,6.5,303,6366,0.00,2.75,0.00,0.000,4,0.000,0.087,2749,3617,2533
$GC,6405,1.54,69.0,419.3,7.2,305,6409,0.00,2.70,0.00,0.000,6,0.000,0.071,2749,2198,2532
$GC,6726,1.54,69.0,396.5,7.2,321,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2198,2532
$GC,7036,1.54,69.0,374.6,6.4,336,7040,0.00,2.75,0.00,0.000,4,0.000,0.087,2749,3616,2532
$GC,7292,1.54,69.0,356.3,7.0,347,7299,0.00,2.70,0.00,0.000,6,0.000,0.074,2749,2200,2530
$GC,7608,1.54,72.4,337.8,5.6,363,7617,0.00,2.75,4.03,0.613,4,0.000,0.087,2750,3619,2521
$GC,7870,1.54,72.4,320.8,6.3,374,7876,0.00,2.70,0.00,0.000,6,0.000,0.073,2749,2201,2520
$GC,8186,1.54,75.9,302.3,5.6,390,8196,0.00,2.75,4.53,0.637,4,0.000,0.087,2749,3618,2507
$GC,8420,1.54,75.9,286.7,7.2,400,8427,0.00,2.67,0.00,0.000,6,0.000,0.072,2749,2200,2506
$GC,8736,1.54,75.9,266.1,6.7,416,8741,0.00,2.70,0.00,0.000,4,0.000,0.085,2749,3616,2506
$GC,8821,1.54,75.9,260.0,7.8,420,8826,0.00,2.67,0.00,0.000,6,0.000,0.071,2749,2200,2506
$GC,9148,1.54,75.9,237.9,6.7,436,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2200,2506
$GC,9458,1.54,75.9,218.2,6.2,451,9462,0.00,2.72,0.00,0.000,4,0.000,0.083,2749,3622,2506
$GC,9570,1.54,75.9,210.3,7.5,456,9575,0.00,2.67,0.00,0.000,6,0.000,0.070,2749,2200,2507
$GC,9890,1.54,75.9,189.8,6.0,472,9895,0.00,2.70,0.00,0.000,4,0.000,0.082,2749,3616,2507
$GC,10091,1.55,76.4,177.2,6.0,481,10095,0.00,2.67,0.00,0.000,6,0.000,0.070,2749,2194,2507
$GC,10412,1.55,76.4,157.8,6.8,497,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2194,2507
$GC,10722,1.55,76.4,136.8,7.0,512,10727,0.00,2.72,0.00,0.000,4,0.000,0.081,2749,3623,2507
$GC,10861,1.55,76.4,125.8,7.7,518,10865,0.00,2.67,0.00,0.000,6,0.000,0.069,2749,2196,2507
$GC,11178,1.55,77.8,106.2,5.9,533,11182,0.00,2.72,0.00,0.000,4,0.000,0.081,2749,3625,2509
$GC,11255,1.55,77.8,100.7,7.1,536,11262,0.00,2.70,0.00,0.000,6,0.000,0.069,2749,2205,2508
$GC,11571,1.55,77.8,78.6,7.5,552,11572,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2205,2508
$GC,11880,1.55,77.8,53.5,8.4,567,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2206,2508
$GC,12189,1.56,90.9,36.5,4.6,582,12209,0.00,0.00,13.62,0.652,6,0.000,0.000,2749,2205,2446
$GC,12520,1.56,90.9,8.7,6.9,598,12524,0.00,2.70,0.00,0.000,4,0.000,0.080,2749,3623,2446
$STATE,12581,end climb,SURFACE_DEPTH_REACHED
$STATE,12581,begin surface coast
$FINISH,1.1,1.027426
$STATE,12584,end surface coast,CONTROL_FINISHED_OK
$STATE,12585,begin surface
$SM_CCo,12608,131.12,0.633,5,0,1593,300.00
$SM_GC,1.26,0.00,0.00,131.12,0.000,0.000,0.633,69,2398,1593,-10.77,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2079
$TCM_TEMP,19.00
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,475.5,50.0
$24V_AH,23.6,50.727
$10V_AH,10.2,25.844
$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,26.775,96.725,126.675,131.125,0.000,32.588,35.575,227.164,9.750,0.000,0.000,15.555,1175.963,9519.270,420.695,1577.447,475.833,33.368,1160.066,0.000,1539.122,0.000,29.554
$DEVICE_MAMPS,171.808,88.972,998.634,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.709,425.291,426.479,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28587,601
$CFSIZE,260165632,241922048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,5,0
$GPS,110108,025208,6248.264,-559.428,33,1.0,33,-8.0