version: 66.02
glider: 16
mission: 6
dive: 259
start: 1 5 108 11 2 43
data:
$ID,16
$MISSION,6
$DIVE,259
$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,-2081986.4
$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,17
$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
$GPS1,103528,6244.650,-616.150,36,2.5,55,-8.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-45.7
$GPS2,110151,6244.938,-616.420,11,1.9,11,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.206,-0.081
$KALMAN_X,48677.4,-1674.3,-112.5,102047.5,45514.0
$KALMAN_Y,60286.9,-555.9,-98.4,63983.8,19691.3
$MHEAD_RNG_PITCHd_Wd,256.7,11167,-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,-146.6,0.0,0.0,0,135,0.00,0.00,-111.68,0.000,2,0.000,0.000,71,2402,3219
$GC,138,-0.85,-146.6,3.2,-2.9,6,161,11.90,2.70,-4.85,0.000,4,0.166,0.084,2219,979,3415
$GC,328,-0.85,-146.6,27.6,-15.0,14,333,0.00,2.62,0.00,0.000,6,0.000,0.057,2219,2408,3417
$GC,650,-0.85,-146.6,56.3,-10.4,30,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2408,3416
$GC,960,-0.85,-146.6,86.6,-13.3,45,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2408,3416
$GC,1270,-0.85,-146.6,112.5,-5.9,60,1275,0.00,2.67,0.00,0.000,4,0.000,0.067,2219,979,3417
$GC,1355,-0.85,-146.6,117.4,-7.7,64,1359,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2402,3416
$GC,1682,-0.85,-146.6,135.5,-5.4,80,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3416
$GC,1990,-0.85,-146.6,155.0,-6.9,95,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3416
$GC,2300,-0.85,-146.6,176.2,-6.2,110,2304,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,982,3416
$GC,2361,-0.85,-146.6,180.6,-7.6,113,2366,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2401,3416
$GC,2687,-0.85,-146.6,206.0,-8.6,129,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3416
$GC,2997,-0.85,-146.6,232.5,-9.7,144,3001,0.00,2.65,0.00,0.000,4,0.000,0.071,2219,983,3416
$GC,3046,-0.85,-146.6,238.1,-10.9,146,3050,0.00,2.60,0.00,0.000,6,0.000,0.060,2219,2401,3416
$GC,3361,-0.85,-146.6,263.1,-8.5,161,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3416
$GC,3670,-0.85,-146.6,287.9,-6.4,176,3675,0.00,2.65,0.00,0.000,4,0.000,0.071,2219,984,3416
$GC,3720,-0.85,-146.6,291.1,-6.3,178,3725,0.00,2.60,0.00,0.000,6,0.000,0.061,2219,2401,3416
$GC,4035,-0.85,-146.6,314.3,-7.8,193,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3416
$STATE,4178,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4178,begin apogee
$GC,4183,-0.31,0.0,325.4,8.0,200,4303,0.60,0.00,116.90,0.898,6,0.107,0.000,2340,2201,2818
$STATE,4304,end apogee,CONTROL_FINISHED_OK
$STATE,4304,begin climb
$GC,4307,0.85,146.6,329.6,0.0,206,4427,1.20,0.00,115.93,0.879,6,0.071,0.000,2593,2201,2219
$GC,4730,0.86,157.4,309.1,5.7,227,4741,0.00,0.00,10.05,0.749,6,0.000,0.000,2593,2201,2175
$GC,5039,0.86,157.4,290.4,6.5,242,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2201,2173
$GC,5348,0.90,193.6,272.5,5.0,257,5380,0.00,0.00,29.60,0.821,6,0.000,0.000,2593,2201,2027
$GC,5677,0.91,209.5,255.0,5.6,273,5693,0.00,0.00,13.48,0.769,6,0.000,0.000,2593,2201,1963
$GC,6003,0.95,245.7,237.7,5.0,288,6036,0.12,0.00,29.52,0.806,6,0.060,0.000,2627,2201,1815
$GC,6332,0.95,245.7,214.8,7.9,304,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2201,1814
$GC,6641,0.95,245.7,194.3,7.1,319,6645,0.00,2.67,0.00,0.000,4,0.000,0.071,2627,782,1814
$GC,6681,0.95,245.7,190.3,10.7,321,6685,0.00,2.60,0.00,0.000,6,0.000,0.051,2627,2203,1813
$GC,7006,0.95,245.7,161.3,10.5,337,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2203,1813
$GC,7316,0.98,266.5,136.4,5.4,352,7337,0.00,0.00,17.30,0.726,6,0.000,0.000,2627,2203,1730
$GC,7648,0.98,266.5,110.3,7.6,368,7653,0.00,2.67,0.00,0.000,4,0.000,0.069,2627,782,1729
$GC,7703,0.98,266.5,104.5,11.0,370,7710,0.00,2.62,0.00,0.000,6,0.000,0.051,2627,2201,1728
$GC,8019,0.98,266.5,70.2,9.5,386,8024,0.00,2.65,0.00,0.000,4,0.000,0.067,2627,784,1728
$GC,8052,0.98,266.5,67.7,8.0,387,8059,0.00,2.58,0.00,0.000,6,0.000,0.051,2627,2202,1728
$GC,8369,0.99,277.5,42.9,5.7,403,8384,0.00,2.67,9.88,0.633,4,0.000,0.067,2627,782,1684
$GC,8423,0.99,277.5,36.6,10.7,404,8430,0.00,2.62,0.00,0.000,6,0.000,0.051,2627,2200,1684
$GC,8739,0.99,277.5,14.8,8.5,420,8744,0.00,2.67,0.00,0.000,4,0.000,0.075,2627,788,1684
$GC,8772,1.15,424.4,13.2,2.0,421,8890,0.15,2.55,109.85,0.686,6,0.048,0.049,2674,2199,1086
$STATE,8893,end climb,SURFACE_DEPTH_REACHED
$STATE,8895,begin surface coast
$FINISH,0.4,1.027439
$STATE,8901,end surface coast,CONTROL_FINISHED_OK
$STATE,8902,begin surface
$SM_CCo,8923,80.12,0.652,1,0,507,566.15
$SM_GC,1.00,0.00,0.00,80.12,0.000,0.000,0.652,73,2402,507,-10.75,0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2049
$TCM_TEMP,17.00
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,226.4,107.9
$24V_AH,23.7,45.465
$10V_AH,10.2,23.178
$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,25.775,53.450,452.500,80.125,0.000,163.078,281.324,756.651,15.000,0.000,0.000,11.878,779.074,6870.788,643.190,928.151,1383.523,33.361,1130.040,0.000,917.244,0.000,10.537
$DEVICE_MAMPS,166.439,84.370,898.157,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,316.183,291.042,388.633,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22322,428
$CFSIZE,260165632,243638272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,050108,133408,6244.793,-619.396,41,1.6,41,-8.2