version: 66.02
glider: 16
mission: 6
dive: 275
start: 1 6 108 18 15 25
data:
$ID,16
$MISSION,6
$DIVE,275
$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,-2082359.2
$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,14
$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
$GPS1,181007,6243.674,-617.391,46,1.9,58,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-50.8
$GPS2,181433,6243.678,-617.307,15,2.0,15,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.022,-0.220
$KALMAN_X,41126.4,-674.7,6321.9,101340.4,16941.9
$KALMAN_Y,76734.7,-1849.7,12132.3,34303.3,62626.6
$MHEAD_RNG_PITCHd_Wd,65.6,12946,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,127,0.00,0.00,-102.07,0.000,2,0.000,0.000,74,2404,3109
$GC,130,-0.85,-146.6,4.1,-3.3,5,155,12.15,2.72,-6.38,0.000,4,0.174,0.083,2221,985,3418
$GC,408,-0.85,-146.6,35.9,-6.2,17,412,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2400,3418
$GC,723,-0.85,-146.6,58.1,-5.9,32,728,0.00,2.67,0.00,0.000,4,0.000,0.067,2221,973,3418
$GC,778,-0.85,-146.6,61.4,-6.1,34,785,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2401,3418
$GC,1095,-0.85,-146.6,81.7,-8.5,50,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3418
$GC,1405,-0.85,-146.6,107.1,-7.0,65,1409,0.00,2.65,0.00,0.000,4,0.000,0.067,2221,981,3419
$GC,1448,-0.85,-146.6,110.3,-6.0,67,1452,0.00,2.60,0.00,0.000,6,0.000,0.060,2221,2399,3419
$GC,1776,-0.85,-146.6,131.5,-6.7,83,1780,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,980,3418
$GC,1808,-0.85,-146.6,133.9,-7.3,84,1815,0.00,2.60,0.00,0.000,6,0.000,0.060,2221,2400,3419
$GC,2123,-0.85,-146.6,155.1,-7.8,100,2128,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,980,3419
$GC,2156,-0.85,-146.6,157.7,-8.0,101,2162,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2406,3418
$GC,2472,-0.85,-146.6,181.3,-7.8,117,2476,0.00,2.67,0.00,0.000,4,0.000,0.069,2221,979,3419
$GC,2498,-0.85,-146.6,183.6,-8.1,118,2503,0.00,2.60,0.00,0.000,6,0.000,0.060,2221,2401,3419
$GC,2819,-0.85,-146.6,207.6,-7.3,134,2824,0.00,2.67,0.00,0.000,4,0.000,0.070,2221,972,3419
$GC,2847,-0.85,-146.6,209.6,-7.4,135,2851,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2404,3418
$GC,3162,-0.85,-146.6,231.7,-7.2,150,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,3471,-0.85,-146.6,253.3,-7.1,165,3475,0.00,2.67,0.00,0.000,4,0.000,0.067,2221,974,3419
$GC,3537,-0.85,-146.6,258.7,-8.0,168,3541,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2407,3419
$GC,3857,-0.85,-146.6,285.3,-8.8,184,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3418
$STATE,3979,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3979,begin apogee
$GC,3985,-0.31,0.0,295.6,8.2,190,4105,0.60,0.00,117.07,0.877,6,0.108,0.000,2341,2188,2817
$STATE,4106,end apogee,CONTROL_FINISHED_OK
$STATE,4106,begin climb
$GC,4108,0.85,146.6,300.6,0.0,196,4232,1.23,2.67,114.80,0.859,4,0.100,0.067,2588,789,2218
$GC,4293,0.85,146.6,294.5,7.4,204,4299,0.00,2.60,0.00,0.000,6,0.000,0.051,2588,2202,2217
$GC,4609,0.88,175.7,275.6,5.2,220,4639,0.00,2.78,23.92,0.808,4,0.000,0.077,2588,3623,2099
$GC,4674,0.88,175.7,271.9,6.3,223,4679,0.00,2.67,0.00,0.000,6,0.000,0.061,2588,2204,2099
$GC,5000,0.93,219.8,256.0,4.8,239,5041,0.12,0.00,35.10,0.818,6,0.067,0.000,2621,2204,1920
$GC,5350,0.93,219.8,230.5,8.1,256,5354,0.00,2.67,0.00,0.000,4,0.000,0.071,2620,783,1920
$GC,5394,0.93,219.8,226.8,8.2,258,5399,0.00,2.60,0.00,0.000,6,0.000,0.050,2620,2204,1920
$GC,5715,0.93,219.8,201.6,8.3,274,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2204,1920
$GC,6024,0.93,219.8,175.3,9.4,289,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2204,1920
$GC,6333,0.93,219.8,147.4,8.4,304,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2204,1919
$GC,6643,0.93,219.8,123.4,6.8,319,6647,0.00,2.67,0.00,0.000,4,0.000,0.067,2620,782,1920
$GC,6727,0.93,219.8,117.2,6.9,323,6732,0.00,2.60,0.00,0.000,6,0.000,0.051,2620,2203,1919
$GC,7056,0.96,254.9,102.3,5.0,339,7090,0.00,2.78,28.20,0.731,4,0.000,0.075,2620,3611,1776
$GC,7120,0.96,254.9,97.8,6.5,342,7125,0.00,2.67,0.00,0.000,6,0.000,0.062,2620,2193,1776
$GC,7446,0.96,254.9,66.7,10.2,358,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2193,1775
$GC,7755,0.96,254.9,36.0,9.3,373,7760,0.00,2.65,0.00,0.000,4,0.000,0.071,2621,783,1775
$GC,7805,0.96,254.9,31.5,8.5,375,7810,0.00,2.60,0.00,0.000,6,0.000,0.052,2621,2199,1774
$GC,8121,0.96,254.9,8.0,10.4,390,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2199,1775
$STATE,8201,end climb,SURFACE_DEPTH_REACHED
$STATE,8201,begin surface coast
$FINISH,0.5,1.026985
$STATE,8223,end surface coast,CONTROL_FINISHED_OK
$STATE,8223,begin surface
$SM_CCo,8244,173.27,0.667,1,0,509,566.15
$SM_GC,1.01,0.00,0.00,173.27,0.000,0.000,0.667,76,2406,509,-10.74,0.17,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2065
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,225.8,79.2
$24V_AH,23.7,47.539
$10V_AH,10.2,23.898
$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,25.450,75.050,319.100,173.275,0.000,32.641,34.189,104.177,1.500,0.000,0.000,15.497,750.209,6080.770,616.283,948.836,305.302,33.346,1108.619,0.000,930.856,0.000,10.456
$DEVICE_MAMPS,174.109,82.836,877.448,667.290,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,284.592,268.482,395.480,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19078,395
$CFSIZE,260165632,243236864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$GPS,060108,203707,6244.442,-613.751,38,1.4,43,-8.1