version: 66.02
glider: 16
mission: 6
dive: 265
start: 1 6 108 1 17 43
data:
$ID,16
$MISSION,6
$DIVE,265
$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,0
$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,-2082138.8
$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,16
$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
$GPS1,010905,6240.941,-626.360,9,4.4,28,-8.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-56.4
$GPS2,011651,6240.883,-626.492,12,1.6,12,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.131,-0.178
$KALMAN_X,45038.2,-1028.2,693.2,95351.1,45044.4
$KALMAN_Y,65723.1,-1081.5,492.2,50988.5,46990.6
$MHEAD_RNG_PITCHd_Wd,65.2,22287,-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,-101.60,0.000,2,0.000,0.000,70,2400,3018
$GC,128,-0.85,-146.6,3.3,-2.5,5,157,12.27,2.62,-9.65,0.000,4,0.179,0.086,2220,3770,3415
$GC,304,-0.85,-146.6,22.6,-10.6,13,308,0.00,2.53,0.00,0.000,6,0.000,0.054,2220,2400,3415
$GC,630,-0.85,-146.6,50.7,-8.5,29,634,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,980,3415
$GC,662,-0.85,-146.6,53.8,-8.6,30,669,0.00,2.65,0.00,0.000,6,0.000,0.059,2221,2400,3416
$GC,980,-0.85,-146.6,79.9,-7.7,46,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3416
$GC,1287,-0.85,-146.6,104.3,-8.0,61,1292,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,982,3416
$GC,1359,-0.85,-146.6,110.4,-8.7,64,1363,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2407,3416
$GC,1681,-0.85,-146.6,135.0,-7.9,80,1685,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,983,3415
$GC,1724,-0.85,-146.6,138.5,-7.0,82,1728,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2400,3416
$STATE,1902,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1902,begin apogee
$GC,1908,-0.31,0.0,150.5,6.9,91,2026,0.60,0.00,114.60,0.779,6,0.104,0.000,2341,2197,2817
$STATE,2027,end apogee,CONTROL_FINISHED_OK
$STATE,2027,begin climb
$GC,2029,0.85,146.6,154.3,0.0,97,2147,1.25,0.00,112.88,0.758,6,0.099,0.000,2590,2197,2218
$GC,2452,0.85,152.2,131.6,5.8,118,2463,0.00,2.75,6.07,0.589,4,0.000,0.077,2590,3619,2196
$GC,2507,0.85,152.2,126.1,10.0,120,2515,0.00,2.65,0.00,0.000,6,0.000,0.060,2590,2200,2196
$GC,2823,0.94,232.1,112.9,3.8,136,2888,0.12,0.00,61.67,0.733,6,0.061,0.000,2626,2200,1870
$GC,3194,0.94,232.1,85.8,7.4,154,3198,0.00,2.67,0.00,0.000,4,0.000,0.071,2626,782,1868
$GC,3226,0.94,232.1,82.5,9.5,155,3233,0.00,2.62,0.00,0.000,6,0.000,0.051,2626,2202,1868
$GC,3542,0.94,232.1,57.3,6.8,171,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2202,1868
$GC,3853,0.94,232.1,36.4,7.1,186,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2202,1868
$GC,4161,0.94,232.1,13.4,8.5,201,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2202,1868
$STATE,4325,end climb,SURFACE_DEPTH_REACHED
$STATE,4325,begin surface coast
$FINISH,0.5,1.027414
$STATE,4345,end surface coast,CONTROL_FINISHED_OK
$STATE,4345,begin surface
$SM_CCo,4366,179.38,0.663,1,0,509,566.15
$SM_GC,1.10,0.00,0.00,179.38,0.000,0.000,0.663,71,2402,509,-10.75,0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2040
$TCM_TEMP,16.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,150.5,6.8
$24V_AH,23.8,46.421
$10V_AH,10.2,23.488
$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,25.775,32.475,295.225,179.375,0.000,65.316,76.845,165.647,1.250,0.000,0.000,12.771,418.331,3089.499,589.634,524.872,410.676,33.364,865.608,0.000,522.442,0.000,5.387
$DEVICE_MAMPS,178.711,85.904,778.505,663.455,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,151.429,142.596,340.484,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9678,210
$CFSIZE,260165632,243548160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,060108,023421,6240.929,-627.340,12,1.5,13,-8.2