version: 66.02
glider: 16
mission: 6
dive: 256
start: 1 5 108 3 6 49
data:
$ID,16
$MISSION,6
$DIVE,256
$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,-2081918.8
$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,13
$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
$GPS1,023707,6242.731,-610.433,34,1.9,34,-8.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-46.8
$GPS2,030559,6243.023,-611.023,15,2.3,34,-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,-0.021
$KALMAN_X,46275.6,-2105.7,-72.5,109597.0,44490.8
$KALMAN_Y,56468.6,-734.0,149.0,64187.1,11865.7
$MHEAD_RNG_PITCHd_Wd,272.6,9907,-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,-146.6,0.0,0.0,0,125,0.00,0.00,-101.25,0.000,2,0.000,0.000,69,2408,3016
$GC,128,-0.85,-146.6,3.3,-2.9,5,158,11.88,2.72,-9.82,0.000,4,0.163,0.081,2220,973,3415
$GC,163,-0.85,-146.6,10.6,-16.2,6,170,0.00,2.65,0.00,0.000,6,0.000,0.055,2220,2408,3415
$GC,479,-0.85,-146.6,49.4,-12.8,22,484,0.00,2.72,0.00,0.000,4,0.000,0.076,2220,983,3415
$GC,736,-0.85,-146.6,73.8,-9.4,33,743,0.00,2.67,0.00,0.000,6,0.000,0.059,2220,2400,3415
$GC,1052,-0.85,-146.6,103.7,-6.3,49,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3415
$GC,1363,-0.85,-146.6,127.7,-8.5,64,1367,0.00,2.67,0.00,0.000,4,0.000,0.069,2220,976,3415
$GC,1426,-0.85,-146.6,133.6,-9.0,67,1430,0.00,2.65,0.00,0.000,6,0.000,0.060,2220,2401,3415
$GC,1751,-0.85,-146.6,158.5,-9.0,83,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3415
$GC,2061,-0.85,-146.6,179.0,-7.8,98,2066,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,979,3415
$GC,2116,-0.85,-146.6,184.6,-11.0,100,2123,0.00,2.62,0.00,0.000,6,0.000,0.060,2220,2393,3415
$GC,2432,-0.85,-146.6,217.6,-9.8,116,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2393,3415
$GC,2742,-0.85,-146.6,243.7,-7.2,131,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2393,3415
$GC,3051,-0.85,-146.6,266.3,-8.1,146,3055,0.00,2.65,0.00,0.000,4,0.000,0.071,2220,979,3415
$GC,3095,-0.85,-146.6,270.1,-8.7,148,3100,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2407,3415
$STATE,3331,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3331,begin apogee
$GC,3337,-0.31,0.0,290.5,8.7,160,3456,0.60,0.00,116.43,0.883,6,0.101,0.000,2342,2193,2817
$STATE,3457,end apogee,CONTROL_FINISHED_OK
$STATE,3457,begin climb
$GC,3459,0.85,146.6,295.2,0.0,166,3578,1.20,0.00,115.28,0.865,6,0.073,0.000,2594,2192,2219
$GC,3882,0.89,186.7,277.8,4.9,187,3917,0.00,0.00,32.40,0.827,6,0.000,0.000,2594,2192,2056
$GC,4212,0.92,219.1,261.0,5.1,203,4241,0.00,0.00,26.25,0.817,6,0.000,0.000,2594,2192,1923
$GC,4541,0.97,262.1,244.5,4.8,219,4582,0.12,0.00,34.88,0.819,6,0.054,0.000,2627,2192,1747
$GC,4891,0.97,262.1,217.8,7.7,236,4896,0.00,2.65,0.00,0.000,4,0.000,0.071,2627,782,1745
$GC,4930,0.97,262.1,214.8,7.6,238,4934,0.00,2.60,0.00,0.000,6,0.000,0.051,2627,2207,1745
$GC,5255,0.97,262.1,189.4,7.7,254,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2207,1745
$GC,5565,0.97,262.1,166.5,7.2,269,5569,0.00,2.67,0.00,0.000,4,0.000,0.067,2627,782,1745
$GC,5626,0.97,262.1,161.7,7.1,272,5630,0.00,2.60,0.00,0.000,6,0.000,0.051,2627,2203,1744
$GC,5952,0.97,262.1,134.3,8.9,288,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2202,1744
$GC,6262,0.97,262.1,107.9,8.5,303,6266,0.00,2.65,0.00,0.000,4,0.000,0.068,2627,786,1744
$GC,6301,0.97,262.1,104.7,8.5,305,6305,0.00,2.58,0.00,0.000,6,0.000,0.051,2627,2204,1744
$GC,6627,1.05,333.6,76.9,4.0,321,6690,0.00,2.75,54.55,0.738,4,0.000,0.068,2627,787,1456
$GC,6746,1.05,333.6,67.7,8.6,326,6750,0.00,2.60,0.00,0.000,6,0.000,0.051,2627,2202,1456
$GC,7061,1.05,333.6,40.1,12.1,341,7066,0.00,2.67,0.00,0.000,4,0.000,0.070,2627,783,1455
$GC,7105,1.05,333.6,35.5,10.4,343,7110,0.00,2.60,0.00,0.000,6,0.000,0.051,2627,2203,1455
$GC,7427,1.05,333.6,2.9,8.0,359,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2203,1455
$STATE,7445,end climb,SURFACE_DEPTH_REACHED
$STATE,7445,begin surface coast
$FINISH,0.9,1.027420
$STATE,7467,end surface coast,CONTROL_FINISHED_OK
$STATE,7467,begin surface
$SM_CCo,7488,128.43,0.666,2,0,509,566.15
$SM_GC,0.99,0.00,0.00,128.43,0.000,0.000,0.666,77,2405,509,-10.73,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2056
$TCM_TEMP,16.80
$XPDR_PINGS,79
$ALTIM_BOTTOM_PING,200.9,99.5
$24V_AH,23.7,44.925
$10V_AH,10.2,22.998
$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,25.600,53.850,379.775,128.425,0.000,163.089,202.124,954.596,20.750,0.000,0.000,35.564,674.528,5719.553,649.157,832.154,1494.270,33.360,1063.273,0.000,797.743,0.000,8.885
$DEVICE_MAMPS,162.604,80.535,882.817,665.756,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,262.474,245.082,343.942,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15973,361
$CFSIZE,260165632,243769344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$GPS,050108,051527,6243.550,-613.273,36,2.2,55,-8.1