version: 66.02
glider: 16
mission: 6
dive: 311
start: 1 11 108 6 21 57
data:
$ID,16
$MISSION,6
$DIVE,311
$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,-2084288.6
$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,14
$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
$GPS1,061355,6248.128,-601.543,28,1.6,46,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-64.7
$GPS2,062105,6248.138,-601.587,12,4.6,31,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.052,0.215
$KALMAN_X,52754.4,-332.2,-213.5,109742.2,8373.3
$KALMAN_Y,24254.4,2188.0,1490.5,101497.7,-46279.3
$MHEAD_RNG_PITCHd_Wd,249.7,2727,-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,-28.8,0.0,0.0,0,79,0.00,0.00,-54.58,0.000,6,0.000,0.000,71,2405,2935
$GC,82,-1.76,-50.3,2.2,-3.0,2,104,11.02,2.62,-2.45,0.000,4,0.173,0.086,2020,3770,3026
$GC,356,-1.76,-50.3,47.8,-16.4,14,361,0.00,2.58,0.00,0.000,6,0.000,0.062,2020,2395,3026
$GC,678,-1.76,-50.3,93.6,-13.9,30,682,0.00,2.65,0.00,0.000,4,0.000,0.081,2020,3773,3026
$GC,896,-1.76,-50.3,127.5,-15.4,40,901,0.00,2.58,0.00,0.000,6,0.000,0.064,2020,2400,3027
$GC,1223,-1.76,-50.3,172.5,-13.7,56,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2400,3027
$GC,1533,-1.76,-50.3,215.4,-13.8,71,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2400,3027
$GC,1842,-1.76,-50.3,259.1,-14.1,86,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2400,3027
$GC,2151,-1.76,-50.3,303.1,-14.4,101,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2399,3027
$GC,2461,-1.76,-50.3,347.3,-14.1,116,2465,0.00,2.62,0.00,0.000,4,0.000,0.083,2020,3770,3027
$GC,2639,-1.76,-50.3,373.0,-14.6,124,2643,0.00,2.58,0.00,0.000,6,0.000,0.065,2020,2396,3027
$GC,2965,-1.76,-50.3,411.3,-11.4,140,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2395,3027
$GC,3273,-1.76,-50.3,447.1,-11.5,155,3278,0.00,2.70,0.00,0.000,4,0.000,0.080,2020,973,3027
$GC,3440,-1.76,-50.3,468.7,-11.7,162,3446,0.00,2.65,0.00,0.000,6,0.000,0.067,2020,2400,3028
$STATE,3568,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3568,begin apogee
$GC,3574,-0.31,0.0,483.6,11.5,169,3622,1.67,0.00,44.25,0.977,6,0.135,0.000,2338,2190,2817
$STATE,3623,end apogee,CONTROL_FINISHED_OK
$STATE,3623,begin climb
$GC,3625,1.76,50.3,485.7,0.0,171,3676,2.08,2.72,42.62,0.966,4,0.068,0.071,2793,785,2610
$GC,3821,1.76,50.3,474.0,6.4,180,3826,0.00,2.62,0.00,0.000,6,0.000,0.053,2793,2205,2610
$GC,4143,1.76,51.6,454.0,5.8,196,4148,0.00,2.75,0.00,0.000,4,0.000,0.087,2793,3623,2609
$GC,4400,1.76,51.6,439.1,6.7,207,4407,0.00,2.70,0.00,0.000,6,0.000,0.073,2793,2204,2608
$GC,4716,1.78,64.3,422.3,4.2,223,4738,0.00,2.80,12.40,0.879,4,0.000,0.077,2793,782,2554
$GC,4979,1.78,67.3,408.8,5.6,234,4988,0.00,2.60,4.10,0.631,6,0.000,0.054,2793,2201,2542
$GC,5317,1.78,70.7,390.2,5.5,251,5323,0.00,0.00,4.55,0.670,6,0.000,0.000,2793,2201,2528
$GC,5625,1.78,70.7,368.9,7.1,266,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2201,2527
$GC,5934,1.78,70.7,346.8,6.8,281,5939,0.00,2.72,0.00,0.000,4,0.000,0.088,2793,3624,2526
$GC,6052,1.78,70.7,338.4,7.2,286,6056,0.00,2.70,0.00,0.000,6,0.000,0.073,2793,2200,2525
$GC,6367,1.78,70.7,317.3,6.4,301,6372,0.00,2.72,0.00,0.000,4,0.000,0.086,2793,3615,2525
$GC,6535,1.78,70.7,305.7,7.2,308,6541,0.00,2.67,0.00,0.000,6,0.000,0.073,2793,2200,2525
$GC,6851,1.78,71.1,286.9,5.9,324,6855,0.00,2.72,0.00,0.000,4,0.000,0.084,2793,3616,2524
$GC,6990,1.78,71.1,278.0,6.6,330,6994,0.00,2.67,0.00,0.000,6,0.000,0.072,2793,2200,2524
$GC,7306,1.78,72.2,259.7,5.9,345,7310,0.00,2.72,0.00,0.000,4,0.000,0.082,2792,3623,2524
$GC,7450,1.78,72.2,249.7,7.5,351,7457,0.00,2.70,0.00,0.000,6,0.000,0.071,2793,2197,2524
$GC,7766,1.78,72.2,228.4,6.8,367,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2197,2524
$GC,8075,1.78,72.2,207.5,7.0,382,8079,0.00,2.70,0.00,0.000,4,0.000,0.081,2793,3616,2525
$GC,8255,1.78,72.2,194.2,7.5,390,8260,0.00,2.67,0.00,0.000,6,0.000,0.070,2793,2196,2525
$GC,8576,1.78,72.2,171.8,7.0,406,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2196,2525
$GC,8886,1.78,72.2,149.3,7.3,421,8890,0.00,2.70,0.00,0.000,4,0.000,0.080,2793,3623,2525
$GC,9025,1.78,72.2,138.4,8.1,427,9030,0.00,2.67,0.00,0.000,6,0.000,0.070,2793,2199,2525
$GC,9341,1.78,72.2,115.0,7.5,442,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2199,2525
$GC,9651,1.78,72.2,93.2,6.9,457,9656,0.00,2.70,0.00,0.000,4,0.000,0.080,2793,3616,2526
$GC,9909,1.78,72.2,73.5,8.0,468,9916,0.00,2.70,0.00,0.000,6,0.000,0.070,2793,2199,2525
$GC,10225,1.78,72.2,49.3,8.1,484,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2199,2526
$GC,10535,1.78,72.2,25.6,6.9,499,10539,0.00,2.70,0.00,0.000,4,0.000,0.080,2793,3619,2526
$GC,10656,1.78,72.2,17.1,7.2,504,10663,0.00,2.70,0.00,0.000,6,0.000,0.067,2793,2196,2527
$STATE,10951,end climb,SURFACE_DEPTH_REACHED
$STATE,10951,begin surface coast
$FINISH,0.7,1.014075
$STATE,10971,end surface coast,CONTROL_FINISHED_OK
$STATE,10972,begin surface
$SM_CCo,10994,140.93,0.636,5,0,1594,300.00
$SM_GC,1.48,0.00,0.00,140.93,0.000,0.000,0.636,73,2403,1594,-10.75,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2052
$TCM_TEMP,16.80
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,450.6,41.3
$24V_AH,23.6,50.876
$10V_AH,10.2,25.964
$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,27.025,81.175,107.925,140.925,0.000,32.655,51.206,225.626,7.250,0.000,0.000,32.595,1042.359,8176.071,402.385,1493.357,485.082,33.364,1083.816,0.000,1443.266,0.000,25.309
$DEVICE_MAMPS,173.342,88.205,977.158,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.375,367.622,381.735,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25320,520
$CFSIZE,260165632,241844224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,5,0
$GPS,110108,092926,6248.640,-602.351,34,1.8,52,-8.0