version: 66.02
glider: 16
mission: 6
dive: 254
start: 1 4 108 21 27 16
data:
$ID,16
$MISSION,6
$DIVE,254
$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,-2081851.1
$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,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
$GPS1,210238,6242.989,-605.781,38,1.4,38,-8.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-45.7
$GPS2,212626,6243.110,-605.877,18,1.2,35,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.218,-0.040
$KALMAN_X,45015.7,-1811.6,95.3,114914.3,47476.1
$KALMAN_Y,57576.7,-616.3,101.2,63170.9,16548.2
$MHEAD_RNG_PITCHd_Wd,267.6,8113,-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,22,-0.85,-146.6,0.0,0.0,0,126,0.00,0.00,-101.60,0.000,2,0.000,0.000,69,2406,2992
$GC,129,-0.85,-146.6,3.2,-2.5,5,159,11.75,2.70,-10.38,0.000,4,0.166,0.076,2220,985,3415
$GC,360,-0.85,-146.6,31.9,-6.4,15,364,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2398,3416
$GC,676,-0.85,-146.6,49.6,-7.5,30,681,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,982,3416
$GC,720,-0.85,-146.6,52.5,-7.0,32,724,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2404,3416
$GC,1047,-0.85,-146.6,75.9,-8.9,48,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3416
$GC,1357,-0.85,-146.6,100.4,-9.7,63,1361,0.00,2.65,0.00,0.000,4,0.000,0.067,2218,983,3416
$GC,1400,-0.85,-146.6,103.7,-7.0,65,1404,0.00,2.60,0.00,0.000,6,0.000,0.059,2220,2400,3416
$GC,1721,-0.85,-146.6,119.2,-5.4,81,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,2032,-0.85,-146.6,137.0,-3.7,96,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,2339,-0.85,-146.6,165.1,-12.9,111,2344,0.00,2.65,0.00,0.000,4,0.000,0.068,2220,982,3416
$GC,2406,-0.85,-146.6,173.6,-13.0,114,2410,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2402,3415
$GC,2727,-0.85,-146.6,197.1,-6.5,130,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3416
$GC,3035,-0.85,-146.6,218.1,-7.8,145,3040,0.00,2.65,0.00,0.000,4,0.000,0.069,2221,983,3416
$GC,3107,-0.85,-146.6,223.4,-7.0,148,3111,0.00,2.60,0.00,0.000,6,0.000,0.059,2219,2403,3416
$GC,3429,-0.85,-146.6,249.5,-7.9,164,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3416
$GC,3737,-0.85,-146.6,270.8,-7.3,179,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3416
$GC,4047,-0.85,-146.6,297.0,-9.2,194,4051,0.00,2.65,0.00,0.000,4,0.000,0.071,2219,983,3416
$GC,4113,-0.85,-146.6,302.9,-8.5,197,4117,0.00,2.60,0.00,0.000,6,0.000,0.060,2219,2402,3416
$STATE,4225,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4225,begin apogee
$GC,4230,-0.31,0.0,311.4,7.1,203,4350,0.60,0.00,116.38,0.905,6,0.100,0.000,2342,2201,2817
$STATE,4351,end apogee,CONTROL_FINISHED_OK
$STATE,4351,begin climb
$GC,4353,0.85,146.6,313.7,0.0,209,4475,1.15,0.00,114.80,0.872,6,0.071,0.000,2589,2201,2218
$GC,4784,0.85,146.6,290.3,6.6,230,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2218
$GC,5093,0.85,146.6,269.7,6.5,245,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2218
$GC,5403,0.91,201.9,250.5,4.5,260,5449,0.00,0.00,43.78,0.827,6,0.000,0.000,2589,2201,1993
$GC,5752,0.93,227.6,234.3,5.3,277,5776,0.12,0.00,21.02,0.788,6,0.061,0.000,2622,2201,1889
$GC,6082,0.93,227.6,205.5,8.4,293,6087,0.00,2.67,0.00,0.000,4,0.000,0.072,2622,784,1888
$GC,6144,0.93,227.6,199.8,8.6,296,6149,0.00,2.60,0.00,0.000,6,0.000,0.051,2623,2202,1887
$GC,6470,0.93,227.6,169.8,8.8,312,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2202,1887
$GC,6780,0.93,227.6,148.4,7.5,327,6784,0.00,2.67,0.00,0.000,4,0.000,0.070,2622,783,1887
$GC,6819,0.93,227.6,144.5,10.8,329,6823,0.00,2.60,0.00,0.000,6,0.000,0.051,2623,2205,1887
$GC,7144,0.93,227.6,119.2,8.8,345,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2205,1887
$GC,7454,0.93,227.6,86.4,10.8,360,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2205,1887
$GC,7763,0.93,227.6,57.3,8.5,375,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2205,1887
$GC,8074,0.93,227.6,30.0,9.4,390,8078,0.00,2.65,0.00,0.000,4,0.000,0.067,2622,782,1887
$GC,8100,0.93,227.6,27.4,9.2,391,8104,0.00,2.58,0.00,0.000,6,0.000,0.051,2622,2202,1887
$GC,8416,0.93,227.6,8.1,7.9,406,8421,0.00,2.65,0.00,0.000,4,0.000,0.066,2622,780,1887
$GC,8460,1.27,534.5,8.5,-2.4,408,8512,0.28,2.58,45.08,0.679,2,0.040,0.049,2696,2210,1649
$STATE,8512,end climb,SURFACE_DEPTH_REACHED
$STATE,8513,begin surface coast
$FINISH,0.8,1.027407
$STATE,8517,end surface coast,CONTROL_FINISHED_OK
$STATE,8518,begin surface
$SM_CCo,8539,155.30,0.662,1,0,509,566.15
$SM_GC,1.18,0.00,0.00,155.30,0.000,0.000,0.662,69,2402,509,-10.77,0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2045
$TCM_TEMP,17.00
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,225.5,95.1
$24V_AH,23.7,44.543
$10V_AH,10.2,22.876
$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,25.725,53.350,341.050,155.300,0.000,162.988,178.529,704.432,10.750,0.000,0.000,35.260,759.373,6623.944,599.823,954.583,1201.707,33.368,1075.834,0.000,916.648,0.000,10.499
$DEVICE_MAMPS,165.672,75.933,905.060,661.921,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,293.260,283.009,402.386,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19112,411
$CFSIZE,260165632,243834880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,040108,235337,6242.721,-607.473,40,1.7,45,-8.1