version: 66.02
glider: 16
mission: 6
dive: 255
start: 1 5 108 0 23 16
data:
$ID,16
$MISSION,6
$DIVE,255
$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,-2081882.5
$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,15
$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
$GPS1,235337,6242.721,-607.473,40,1.7,45,-8.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-48.6
$GPS2,002226,6242.850,-607.799,13,1.2,30,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.220,-0.024
$KALMAN_X,45665.5,-1918.4,311.1,112469.1,42044.7
$KALMAN_Y,56808.8,-785.7,115.4,63614.7,12673.2
$MHEAD_RNG_PITCHd_Wd,272.0,8969,-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,23,-0.85,-146.6,0.0,0.0,0,144,0.00,0.00,-117.07,0.000,6,0.000,0.000,64,2405,3416
$GC,147,-0.85,-146.6,4.8,-4.1,6,169,12.10,2.80,0.00,0.000,4,0.176,0.081,2221,986,3419
$GC,394,-0.85,-146.6,36.6,-7.9,17,399,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2399,3421
$GC,721,-0.85,-146.6,67.2,-10.6,33,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3421
$GC,1030,-0.85,-146.6,96.1,-10.9,48,1034,0.00,2.67,0.00,0.000,4,0.000,0.069,2221,976,3421
$GC,1084,-0.85,-146.6,101.0,-9.1,50,1091,0.00,2.65,0.00,0.000,6,0.000,0.058,2220,2417,3421
$GC,1401,-0.85,-146.6,126.8,-7.9,66,1405,0.00,2.70,0.00,0.000,4,0.000,0.070,2221,980,3421
$GC,1485,-0.85,-146.6,133.0,-7.8,70,1489,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2406,3421
$GC,1811,-0.85,-146.6,162.9,-10.6,86,1815,0.00,2.67,0.00,0.000,4,0.000,0.069,2221,979,3421
$GC,1860,-0.85,-146.6,168.1,-10.0,88,1865,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2405,3421
$GC,2175,-0.85,-146.6,196.9,-8.4,103,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3421
$GC,2485,-0.85,-146.6,221.8,-7.5,118,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3421
$GC,2794,-0.85,-146.6,244.6,-6.9,133,2798,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,980,3421
$GC,2859,-0.85,-146.6,249.5,-7.7,136,2864,0.00,2.60,0.00,0.000,6,0.000,0.060,2220,2401,3421
$GC,3187,-0.85,-146.6,275.0,-8.3,152,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3421
$STATE,3390,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3391,begin apogee
$GC,3396,-0.31,0.0,292.1,8.0,162,3517,0.60,0.00,117.45,0.877,6,0.100,0.000,2343,2198,2817
$STATE,3517,end apogee,CONTROL_FINISHED_OK
$STATE,3518,begin climb
$GC,3520,0.85,146.6,296.0,0.0,168,3642,1.17,2.78,115.18,0.861,4,0.069,0.080,2592,3622,2219
$GC,3670,0.85,146.6,290.8,6.2,175,3677,0.00,2.67,0.00,0.000,6,0.000,0.064,2592,2203,2219
$GC,3986,0.85,150.4,273.6,5.9,191,3992,0.00,0.00,4.78,0.601,6,0.000,0.000,2592,2203,2202
$GC,4295,0.85,150.4,253.3,6.5,206,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2203,2201
$GC,4605,0.92,211.9,237.3,4.3,221,4656,0.00,0.00,48.33,0.838,6,0.000,0.000,2592,2203,1952
$GC,4953,0.92,211.9,218.8,6.0,238,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2203,1951
$GC,5262,0.92,211.9,196.8,7.3,253,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2203,1950
$GC,5572,0.92,211.9,174.8,6.9,268,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2203,1950
$GC,5880,0.92,211.9,153.0,6.8,283,5885,0.00,2.65,0.00,0.000,4,0.000,0.071,2592,782,1950
$GC,5926,0.92,211.9,150.4,6.7,285,5930,0.00,2.60,0.00,0.000,6,0.000,0.053,2591,2202,1950
$GC,6247,0.92,218.1,131.8,5.8,301,6254,0.00,0.00,6.00,0.621,6,0.000,0.000,2592,2202,1928
$GC,6557,0.92,218.1,109.4,6.1,316,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2202,1928
$GC,6865,1.03,311.9,90.4,3.4,331,6948,0.15,2.75,72.05,0.749,4,0.056,0.070,2639,775,1544
$GC,7005,1.03,311.9,76.2,9.6,337,7009,0.00,2.62,0.00,0.000,6,0.000,0.051,2639,2201,1543
$GC,7320,1.05,332.5,53.4,5.4,352,7343,0.00,2.78,16.88,0.680,4,0.000,0.070,2639,779,1460
$GC,7390,1.09,366.3,51.5,5.1,355,7421,0.00,2.62,26.60,0.693,6,0.000,0.051,2639,2201,1323
$GC,7737,1.13,409.7,10.7,4.8,372,7773,0.00,0.00,33.78,0.676,6,0.000,0.000,2639,2201,1146
$STATE,7820,end climb,SURFACE_DEPTH_REACHED
$STATE,7820,begin surface coast
$FINISH,0.5,1.014163
$STATE,7840,end surface coast,CONTROL_FINISHED_OK
$STATE,7840,begin surface
$SM_CCo,7861,90.45,0.668,2,0,508,566.15
$SM_GC,1.04,0.00,0.00,90.45,0.000,0.000,0.668,72,2405,508,-10.76,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2056
$TCM_TEMP,16.80
$XPDR_PINGS,96
$ALTIM_BOTTOM_PING,226.5,74.2
$24V_AH,23.7,44.736
$10V_AH,10.2,22.938
$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,25.450,48.900,441.025,90.450,0.000,163.012,185.866,969.952,25.500,0.000,0.000,30.697,696.912,5975.952,650.647,877.551,1499.812,33.367,1098.335,0.000,845.901,0.000,13.396
$DEVICE_MAMPS,176.410,80.535,876.681,668.057,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,276.493,257.009,366.282,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19080,377
$CFSIZE,260165632,243802112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,2,0
$GPS,050108,023707,6242.731,-610.433,34,1.9,34,-8.1