version: 66.02
glider: 16
mission: 6
dive: 244
start: 1 3 108 15 0 54
data:
$ID,16
$MISSION,6
$DIVE,244
$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,1
$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,566.1524
$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,-2081560.8
$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,17
$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
$GPS1,145427,6248.282,-601.154,46,2.6,65,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-51.0
$GPS2,150002,6248.323,-601.088,33,1.9,44,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.120,-0.186
$KALMAN_X,24088.0,-174.9,-142.1,138607.8,15807.7
$KALMAN_Y,53610.7,-837.1,506.5,76624.0,14506.7
$MHEAD_RNG_PITCHd_Wd,220.7,15768,-11.0,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-101.80,0.000,2,0.000,0.000,58,2403,3156
$GC,127,-0.85,-146.6,3.8,-2.5,5,153,12.32,2.72,-5.88,0.000,4,0.176,0.081,2220,980,3416
$GC,277,-0.85,-146.6,21.1,-7.1,11,283,0.00,2.60,0.00,0.000,6,0.000,0.054,2220,2405,3417
$GC,592,-0.85,-146.6,51.7,-8.4,27,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2406,3417
$GC,901,-0.85,-146.6,77.2,-6.7,42,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3417
$GC,1211,-0.85,-146.6,101.6,-7.6,57,1215,0.00,2.67,0.00,0.000,4,0.000,0.066,2220,973,3417
$GC,1277,-0.85,-146.6,106.8,-8.2,60,1281,0.00,2.60,0.00,0.000,6,0.000,0.054,2220,2401,3417
$GC,1597,-0.85,-146.6,131.7,-8.5,76,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3417
$GC,1907,-0.85,-146.6,158.9,-9.2,91,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3417
$GC,2216,-0.85,-146.6,187.4,-9.2,106,2220,0.00,2.65,0.00,0.000,4,0.000,0.066,2221,980,3417
$GC,2294,-0.85,-146.6,194.8,-9.4,109,2300,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2404,3417
$GC,2609,-0.85,-146.6,220.9,-7.9,125,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3417
$GC,2918,-0.85,-146.6,245.3,-8.1,140,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3417
$GC,3227,-0.85,-146.6,270.0,-8.2,155,3232,0.00,2.67,0.00,0.000,4,0.000,0.069,2221,977,3417
$GC,3296,-0.85,-146.6,275.7,-8.5,158,3300,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2399,3417
$GC,3615,-0.85,-146.6,302.1,-8.0,174,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3417
$GC,3925,-0.85,-146.6,324.4,-6.4,189,3929,0.00,2.67,0.00,0.000,4,0.000,0.070,2221,975,3417
$GC,3996,-0.85,-146.6,329.4,-6.7,192,4001,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2403,3417
$GC,4312,-0.85,-146.6,350.1,-7.1,207,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3417
$GC,4620,-0.85,-146.6,371.7,-6.3,222,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3417
$GC,4930,-0.85,-146.6,395.2,-7.9,237,4935,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,980,3418
$GC,4974,-0.85,-146.6,399.1,-8.7,239,4978,0.00,2.60,0.00,0.000,6,0.000,0.060,2221,2400,3418
$GC,5305,-0.85,-146.6,425.8,-8.0,255,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,5611,-0.85,-146.6,442.9,-4.9,270,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3418
$GC,5919,-0.85,-146.6,468.1,-8.0,285,5923,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,980,3418
$GC,6025,-0.85,-146.6,476.5,-7.1,290,6029,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2406,3418
$STATE,6123,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6123,begin apogee
$GC,6129,-0.31,0.0,484.0,7.7,295,6252,0.60,0.00,119.40,1.016,6,0.107,0.000,2340,2190,2817
$STATE,6253,end apogee,CONTROL_FINISHED_OK
$STATE,6253,begin climb
$GC,6255,0.85,146.6,489.0,0.0,301,6381,1.17,2.75,117.65,0.988,4,0.077,0.069,2587,788,2218
$GC,6476,0.88,179.3,479.5,5.1,311,6508,0.00,2.60,27.35,0.935,6,0.000,0.054,2588,2200,2084
$GC,6817,0.90,193.2,462.7,5.6,328,6831,0.00,0.00,12.32,0.880,6,0.000,0.000,2587,2200,2029
$GC,7126,0.90,193.2,445.4,6.5,343,7130,0.00,2.67,0.00,0.000,4,0.000,0.072,2587,787,2027
$GC,7180,0.90,193.2,442.0,6.2,345,7187,0.00,2.65,0.00,0.000,6,0.000,0.056,2588,2200,2027
$GC,7497,0.94,232.1,424.2,4.9,361,7535,0.12,0.00,32.00,0.952,6,0.073,0.000,2618,2200,1870
$GC,7845,0.94,232.1,397.5,8.2,378,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2200,1867
$GC,8153,0.94,232.1,374.8,7.1,393,8158,0.00,2.70,0.00,0.000,4,0.000,0.080,2618,3621,1867
$GC,8198,0.94,232.1,371.5,8.1,395,8203,0.00,2.65,0.00,0.000,6,0.000,0.064,2618,2208,1867
$GC,8519,0.94,232.1,348.1,7.6,411,8524,0.00,2.70,0.00,0.000,4,0.000,0.073,2618,781,1867
$GC,8558,0.94,232.1,344.9,7.9,413,8562,0.00,2.62,0.00,0.000,6,0.000,0.053,2618,2204,1866
$GC,8883,0.94,232.1,320.3,7.5,429,8887,0.00,2.70,0.00,0.000,4,0.000,0.070,2618,778,1866
$GC,8922,0.94,232.1,317.2,8.0,431,8927,0.00,2.62,0.00,0.000,6,0.000,0.051,2618,2207,1866
$GC,9248,0.94,232.1,292.8,7.4,447,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2207,1866
$GC,9558,0.94,232.1,269.7,7.3,462,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2206,1866
$GC,9867,0.94,232.1,246.8,7.2,477,9872,0.00,2.67,0.00,0.000,4,0.000,0.070,2618,781,1866
$GC,9912,0.94,232.1,243.4,7.8,479,9916,0.00,2.60,0.00,0.000,6,0.000,0.051,2618,2206,1866
$GC,10232,0.94,232.1,215.8,9.3,495,10233,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2206,1866
$GC,10542,0.94,232.1,189.1,8.8,510,10546,0.00,2.67,0.00,0.000,4,0.000,0.068,2618,781,1866
$GC,10580,0.94,232.1,184.7,11.5,512,10584,0.00,2.60,0.00,0.000,6,0.000,0.050,2618,2204,1867
$GC,10905,0.94,232.1,151.8,9.6,528,10907,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2204,1866
$GC,11217,0.94,232.1,125.0,8.6,543,11218,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2204,1867
$GC,11525,0.94,232.1,99.4,8.1,558,11529,0.00,2.67,0.00,0.000,4,0.000,0.067,2618,777,1867
$GC,11564,0.94,232.1,95.6,10.6,560,11568,0.00,2.60,0.00,0.000,6,0.000,0.048,2617,2206,1867
$GC,11890,0.94,232.1,67.5,9.3,576,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2206,1867
$GC,12199,1.10,380.3,54.2,1.9,591,12317,0.15,2.75,111.18,0.714,4,0.050,0.069,2668,782,1266
$GC,12364,1.10,380.3,33.8,14.7,598,12368,0.00,2.62,0.00,0.000,6,0.000,0.051,2668,2203,1266
$STATE,12605,end climb,SURFACE_DEPTH_REACHED
$STATE,12605,begin surface coast
$FINISH,0.9,1.027433
$STATE,12627,end surface coast,CONTROL_FINISHED_OK
$STATE,12627,begin surface
$SM_CCo,12647,116.60,0.644,3,0,509,566.15
$SM_GC,1.60,0.00,0.00,116.60,0.000,0.000,0.644,68,2401,509,-10.77,0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2051
$TCM_TEMP,16.90
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,425.8,68.1
$24V_AH,23.6,43.159
$10V_AH,10.2,22.324
$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,26.050,85.675,419.900,116.600,0.000,32.588,35.293,137.017,8.500,0.000,0.000,46.182,1104.149,9636.623,653.089,1361.427,366.122,33.378,1335.891,0.000,1305.059,0.000,23.415
$DEVICE_MAMPS,176.410,80.535,1015.508,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.670,418.854,440.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31693,611
$CFSIZE,260165632,244215808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,3,0
$GPS,030108,183507,6247.038,-557.929,38,1.5,38,-8.0