version: 66.02
glider: 16
mission: 6
dive: 274
start: 1 6 108 15 59 34
data:
$ID,16
$MISSION,6
$DIVE,274
$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,-2082343.1
$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,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
$GPS1,155407,6243.141,-618.986,38,1.8,43,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-50.7
$GPS2,155844,6243.124,-618.957,19,1.6,30,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.017,-0.221
$KALMAN_X,40776.2,-542.5,5683.6,100747.7,16842.2
$KALMAN_Y,74935.2,-2223.8,10114.7,37474.6,61544.9
$MHEAD_RNG_PITCHd_Wd,65.2,14676,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,128,0.00,0.00,-102.20,0.000,2,0.000,0.000,70,2401,3065
$GC,131,-0.85,-146.6,3.2,-2.6,5,157,12.23,2.67,-8.65,0.000,4,0.176,0.078,2220,985,3416
$GC,409,-0.85,-146.6,24.8,-7.5,17,416,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2404,3417
$GC,726,-0.85,-146.6,48.5,-9.4,33,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3417
$GC,1034,-0.85,-146.6,79.4,-10.4,48,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3417
$GC,1344,-0.85,-146.6,110.3,-8.3,63,1348,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,983,3417
$GC,1406,-0.85,-146.6,116.0,-9.0,66,1410,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2399,3417
$GC,1731,-0.85,-146.6,142.8,-7.7,82,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3417
$GC,2041,-0.85,-146.6,168.0,-8.6,97,2045,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,982,3417
$GC,2079,-0.85,-146.6,171.0,-7.2,99,2084,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2400,3417
$GC,2406,-0.85,-146.6,194.6,-7.0,115,2410,0.00,2.65,0.00,0.000,4,0.000,0.068,2220,982,3416
$GC,2432,-0.85,-146.6,196.4,-7.0,116,2436,0.00,2.60,0.00,0.000,6,0.000,0.059,2220,2400,3417
$GC,2754,-0.85,-146.6,220.4,-7.6,132,2758,0.00,2.65,0.00,0.000,4,0.000,0.068,2220,984,3417
$GC,2786,-0.85,-146.6,223.0,-8.0,133,2792,0.00,2.60,0.00,0.000,6,0.000,0.059,2220,2400,3417
$GC,3101,-0.85,-146.6,246.8,-7.6,149,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3417
$STATE,3264,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3264,begin apogee
$GC,3270,-0.31,0.0,259.5,7.8,157,3390,0.60,0.00,116.12,0.856,6,0.107,0.000,2340,2198,2817
$STATE,3390,end apogee,CONTROL_FINISHED_OK
$STATE,3390,begin climb
$GC,3393,0.85,146.6,263.6,0.0,163,3516,1.23,2.70,114.35,0.835,4,0.100,0.066,2588,786,2218
$GC,3544,0.86,159.2,259.0,5.7,170,3561,0.00,2.62,11.27,0.726,6,0.000,0.051,2587,2204,2168
$GC,3870,0.86,159.4,240.9,6.0,186,3874,0.00,2.70,0.00,0.000,4,0.000,0.079,2588,3619,2167
$GC,3959,0.87,168.3,235.5,5.8,190,3976,0.00,2.65,9.02,0.708,6,0.000,0.061,2588,2203,2129
$GC,4284,0.88,176.8,217.0,5.8,206,4294,0.00,0.00,7.95,0.689,6,0.000,0.000,2588,2203,2096
$GC,4594,0.91,203.1,200.2,5.3,221,4617,0.00,0.00,21.70,0.774,6,0.000,0.000,2588,2203,1989
$GC,4923,0.91,203.1,181.0,6.3,237,4927,0.00,2.65,0.00,0.000,4,0.000,0.070,2588,784,1987
$GC,4961,0.91,203.1,178.5,6.3,239,4966,0.00,2.60,0.00,0.000,6,0.000,0.051,2588,2203,1987
$GC,5288,0.91,207.3,161.2,5.9,255,5298,0.00,2.70,4.88,0.578,4,0.000,0.076,2588,3615,1971
$GC,5331,0.91,207.3,158.5,6.3,257,5336,0.00,2.65,0.00,0.000,6,0.000,0.060,2588,2191,1971
$GC,5652,0.91,207.3,139.2,6.3,273,5656,0.00,2.62,0.00,0.000,4,0.000,0.069,2587,785,1972
$GC,5700,0.91,207.3,135.9,6.7,275,5705,0.00,2.58,0.00,0.000,6,0.000,0.051,2588,2201,1971
$GC,6023,0.92,216.2,115.6,5.8,291,6034,0.10,0.00,8.48,0.655,6,0.072,0.000,2613,2202,1935
$GC,6333,0.92,216.2,90.6,8.8,306,6337,0.00,2.67,0.00,0.000,4,0.000,0.076,2613,3616,1935
$GC,6359,0.92,216.2,88.4,8.6,307,6364,0.00,2.62,0.00,0.000,6,0.000,0.060,2613,2202,1935
$GC,6675,0.92,216.2,62.6,6.0,322,6680,0.00,2.67,0.00,0.000,4,0.000,0.071,2613,777,1935
$GC,6742,0.92,216.2,56.7,9.2,325,6746,0.00,2.60,0.00,0.000,6,0.000,0.051,2613,2203,1934
$GC,7069,0.92,216.2,31.3,8.9,341,7073,0.00,2.67,0.00,0.000,4,0.000,0.077,2613,3617,1934
$GC,7095,0.92,216.2,28.9,9.0,342,7100,0.00,2.65,0.00,0.000,6,0.000,0.062,2613,2194,1934
$GC,7411,0.92,216.2,8.1,8.3,357,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2194,1934
$STATE,7491,end climb,SURFACE_DEPTH_REACHED
$STATE,7492,begin surface coast
$FINISH,0.5,1.001910
$STATE,7513,end surface coast,CONTROL_FINISHED_OK
$STATE,7513,begin surface
$SM_CCo,7534,194.57,0.663,2,0,509,566.15
$SM_GC,1.01,0.00,0.00,194.57,0.000,0.000,0.663,76,2403,509,-10.74,0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2066
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,201.3,66.5
$24V_AH,23.7,47.420
$10V_AH,10.2,23.849
$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,25.500,69.450,293.775,194.575,0.000,32.588,35.442,101.436,1.250,0.000,0.000,30.147,695.174,5534.577,621.046,880.888,295.884,33.360,1069.401,0.000,851.907,0.000,8.798
$DEVICE_MAMPS,176.410,79.001,855.972,662.688,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,264.320,248.727,376.564,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15992,362
$CFSIZE,260165632,243281920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
$GPS,060108,181007,6243.674,-617.391,46,1.9,58,-8.2