version: 66.02
glider: 16
mission: 6
dive: 263
start: 1 5 108 21 49 31
data:
$ID,16
$MISSION,6
$DIVE,263
$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,-2082102.2
$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,17
$R_STBD_OVSHOOT,17
$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
$GPS1,212206,6243.148,-624.494,35,1.8,39,-8.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-51.1
$GPS2,214839,6243.130,-624.398,14,2.0,14,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.125,-0.183
$KALMAN_X,46552.2,-1125.4,-15.7,96491.6,34475.4
$KALMAN_Y,66215.9,-1083.4,-203.8,55357.7,32747.4
$MHEAD_RNG_PITCHd_Wd,222.5,18704,-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,19,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-94.20,0.000,6,0.000,0.000,60,2403,2791
$GC,127,-0.85,-146.6,2.8,-1.8,5,149,12.18,2.67,-4.20,0.000,4,0.172,0.076,2220,983,2934
$GC,399,-0.85,-146.6,28.6,-7.6,17,410,0.00,2.60,-5.90,0.000,6,0.000,0.057,2220,2398,3419
$GC,727,-0.85,-146.6,49.5,-6.2,33,731,0.00,2.65,0.00,0.000,4,0.000,0.066,2221,982,3421
$GC,781,-0.85,-146.6,53.9,-6.8,35,788,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2394,3421
$GC,1097,-0.85,-146.6,77.2,-7.2,51,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2394,3421
$GC,1406,-0.85,-146.6,100.2,-7.5,66,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2394,3421
$GC,1715,-0.85,-146.6,124.6,-7.7,81,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2394,3421
$GC,2025,-0.85,-146.6,148.6,-7.7,96,2030,0.00,2.65,0.00,0.000,4,0.000,0.068,2220,981,3421
$GC,2096,-0.85,-146.6,153.9,-7.4,99,2101,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2404,3421
$STATE,2313,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2313,begin apogee
$GC,2318,-0.31,0.0,170.6,7.9,110,2437,0.60,0.00,115.57,0.793,6,0.100,0.000,2342,2198,2817
$STATE,2438,end apogee,CONTROL_FINISHED_OK
$STATE,2438,begin climb
$GC,2441,0.85,146.6,174.7,0.0,116,2558,1.23,0.00,113.72,0.775,6,0.091,0.000,2590,2198,2218
$GC,2864,0.88,180.1,155.3,5.1,137,2893,0.00,0.00,27.00,0.732,6,0.000,0.000,2590,2197,2082
$GC,3195,0.90,198.0,137.6,5.5,153,3214,0.00,0.00,15.25,0.703,6,0.000,0.000,2590,2198,2009
$GC,3525,0.90,198.0,118.5,6.2,169,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2197,2009
$GC,3833,0.90,198.0,98.6,7.5,184,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2198,2009
$GC,4142,0.90,198.0,76.0,7.4,199,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2198,2009
$GC,4451,0.90,198.0,54.9,6.3,214,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2198,2009
$GC,4760,0.90,198.0,33.1,7.3,229,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2198,2008
$GC,5070,0.99,279.0,14.9,3.8,244,5135,0.17,0.00,61.92,0.686,6,0.058,0.000,2640,2198,1679
$STATE,5230,end climb,SURFACE_DEPTH_REACHED
$STATE,5231,begin surface coast
$FINISH,0.3,1.027329
$STATE,5254,end surface coast,CONTROL_FINISHED_OK
$STATE,5254,begin surface
$SM_CCo,5275,155.45,0.658,1,0,509,566.15
$SM_GC,0.98,0.00,0.00,155.45,0.000,0.000,0.658,72,2408,509,-10.75,0.23,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026078
$HUMID,2039
$TCM_TEMP,16.90
$XPDR_PINGS,71
$ALTIM_BOTTOM_PING,150.2,29.1
$24V_AH,23.8,46.174
$10V_AH,10.2,23.407
$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,25.575,16.575,333.475,155.450,0.000,163.040,175.001,893.050,18.250,0.000,0.000,14.273,478.228,4028.720,607.383,570.031,1357.697,33.366,880.263,0.000,568.321,0.000,5.789
$DEVICE_MAMPS,171.808,75.933,793.078,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,182.628,173.928,374.619,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12780,253
$CFSIZE,260165632,243515392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,050108,232128,6241.995,-624.555,25,2.4,44,-8.2