version: 66.02
glider: 16
mission: 6
dive: 253
start: 1 4 108 18 44 16
data:
$ID,16
$MISSION,6
$DIVE,253
$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,-2081815.2
$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,18
$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
$GPS1,183137,6242.739,-604.723,35,1.3,41,-8.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-42.5
$GPS2,184326,6242.838,-604.848,14,1.5,31,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.217,-0.044
$KALMAN_X,44154.2,-1992.1,-230.1,117189.6,50943.3
$KALMAN_Y,57592.5,-595.0,-56.8,62788.7,18824.7
$MHEAD_RNG_PITCHd_Wd,266.5,8530,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.85,-146.6,0.0,0.0,0,130,0.00,0.00,-106.93,0.000,2,0.000,0.000,73,2407,3229
$GC,133,-0.85,-146.6,3.6,-3.2,6,156,11.88,2.62,-4.15,0.000,4,0.166,0.091,2221,3771,3417
$GC,408,-0.85,-146.6,35.8,-8.5,18,412,0.00,2.55,0.00,0.000,6,0.000,0.058,2221,2396,3418
$GC,736,-0.85,-146.6,64.3,-10.7,34,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2396,3418
$GC,1046,-0.85,-146.6,91.2,-6.2,49,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2396,3417
$GC,1354,-0.85,-146.6,120.5,-7.8,64,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2396,3418
$GC,1663,-0.85,-146.6,157.1,-10.3,79,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2396,3418
$GC,1972,-0.85,-146.6,184.7,-6.4,94,1976,0.00,2.65,0.00,0.000,4,0.000,0.073,2221,982,3418
$GC,2011,-0.85,-146.6,186.9,-5.5,96,2016,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2404,3418
$GC,2338,-0.85,-146.6,207.5,-8.7,112,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,2647,-0.85,-146.6,226.4,-5.1,127,2651,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,979,3418
$GC,2724,-0.85,-146.6,230.9,-5.4,130,2731,0.00,2.60,0.00,0.000,6,0.000,0.060,2221,2401,3418
$GC,3044,-0.85,-146.6,250.8,-7.7,146,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3418
$GC,3349,-0.85,-146.6,277.5,-9.6,161,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3418
$GC,3659,-0.85,-146.6,306.3,-7.9,176,3663,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,980,3418
$GC,3713,-0.85,-146.6,310.7,-7.6,178,3719,0.00,2.60,0.00,0.000,6,0.000,0.060,2221,2401,3418
$STATE,3738,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3738,begin apogee
$GC,3744,-0.31,0.0,312.6,7.3,180,3864,0.57,0.00,117.22,0.882,6,0.100,0.000,2338,2198,2817
$STATE,3865,end apogee,CONTROL_FINISHED_OK
$STATE,3865,begin climb
$GC,3867,0.85,146.6,316.9,0.0,186,3987,1.23,0.00,115.95,0.860,6,0.077,0.000,2593,2198,2219
$GC,4290,0.89,182.7,299.3,5.0,207,4321,0.00,0.00,29.38,0.828,6,0.000,0.000,2593,2198,2072
$GC,4619,0.89,182.7,281.3,6.1,223,4623,0.00,2.65,0.00,0.000,4,0.000,0.070,2593,785,2070
$GC,4664,0.93,225.4,279.1,4.8,225,4704,0.00,2.60,34.12,0.826,6,0.000,0.052,2593,2203,1897
$GC,5033,0.97,257.4,257.9,5.1,243,5062,0.12,0.00,26.38,0.804,6,0.064,0.000,2625,2203,1766
$GC,5361,0.97,257.4,229.6,8.5,259,5365,0.00,2.67,0.00,0.000,4,0.000,0.071,2625,782,1765
$GC,5404,0.97,257.4,225.5,9.7,261,5408,0.00,2.60,0.00,0.000,6,0.000,0.052,2625,2201,1764
$GC,5731,0.97,257.4,194.1,9.4,277,5735,0.00,2.67,0.00,0.000,4,0.000,0.069,2625,781,1765
$GC,5774,0.97,257.4,189.7,10.3,279,5778,0.00,2.60,0.00,0.000,6,0.000,0.051,2625,2203,1764
$GC,6101,0.97,257.4,160.5,7.9,295,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2203,1764
$GC,6410,0.97,257.4,132.1,9.7,310,6415,0.00,2.65,0.00,0.000,4,0.000,0.067,2625,786,1764
$GC,6459,0.97,257.4,127.8,7.8,312,6464,0.00,2.58,0.00,0.000,6,0.000,0.051,2625,2201,1764
$GC,6782,0.97,257.4,102.5,7.3,328,6786,0.00,2.65,0.00,0.000,4,0.000,0.068,2625,786,1765
$GC,6843,0.97,257.4,96.1,10.3,331,6847,0.00,2.58,0.00,0.000,6,0.000,0.051,2625,2201,1764
$GC,7170,0.97,261.3,76.8,5.9,347,7176,0.00,0.00,4.55,0.528,6,0.000,0.000,2625,2201,1751
$GC,7480,0.97,261.3,46.6,9.7,362,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2202,1750
$GC,7787,0.97,261.3,16.0,7.4,377,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2201,1750
$STATE,8012,end climb,SURFACE_DEPTH_REACHED
$STATE,8012,begin surface coast
$FINISH,0.6,1.027429
$STATE,8034,end surface coast,CONTROL_FINISHED_OK
$STATE,8034,begin surface
$SM_CCo,8055,168.23,0.668,1,0,509,566.15
$SM_GC,1.10,0.00,0.00,168.23,0.000,0.000,0.668,72,2405,509,-10.75,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2049
$TCM_TEMP,16.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,275.4,46.4
$24V_AH,23.7,44.375
$10V_AH,10.2,22.816
$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,25.025,48.000,327.600,168.225,0.000,97.841,205.785,173.636,2.750,0.000,0.000,31.001,723.083,6124.315,630.998,869.559,601.615,33.368,1051.046,0.000,837.502,0.000,16.491
$DEVICE_MAMPS,165.672,90.506,882.050,668.057,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,283.204,266.590,359.417,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19131,389
$CFSIZE,260165632,243912704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,040108,210238,6242.989,-605.781,38,1.4,38,-8.1