version: 66.02
glider: 16
mission: 6
dive: 290
start: 1 8 108 13 53 42
data:
$ID,16
$MISSION,6
$DIVE,290
$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,-2083667.1
$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,15
$R_STBD_OVSHOOT,15
$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
$GPS1,134755,6246.980,-602.331,36,1.3,36,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-53.5
$GPS2,135250,6246.975,-602.283,14,1.2,31,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.077,0.208
$KALMAN_X,41213.6,2557.9,1230.5,116238.4,-22175.8
$KALMAN_Y,56348.2,3792.6,838.5,66230.2,-53963.5
$MHEAD_RNG_PITCHd_Wd,303.4,2006,-27.3,-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,-1.74,-28.8,0.0,0.0,0,125,0.00,0.00,-96.53,0.000,6,0.000,0.000,70,2400,2935
$GC,128,-1.76,-52.9,3.4,-2.7,5,150,11.02,2.72,-2.60,0.000,4,0.173,0.084,2018,986,3034
$GC,402,-1.76,-52.9,51.7,-15.5,17,406,0.00,2.65,0.00,0.000,6,0.000,0.063,2018,2400,3035
$GC,722,-1.76,-52.9,101.6,-16.6,33,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2400,3035
$GC,1033,-1.76,-52.9,149.2,-14.9,48,1038,0.00,2.62,0.00,0.000,4,0.000,0.081,2018,3772,3035
$GC,1088,-1.76,-52.9,158.1,-15.9,50,1093,0.00,2.55,0.00,0.000,6,0.000,0.060,2018,2400,3035
$GC,1404,-1.76,-52.9,201.9,-13.3,65,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2400,3035
$GC,1712,-1.76,-52.9,243.5,-13.7,80,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2400,3035
$GC,2022,-1.76,-52.9,285.9,-14.0,95,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2400,3034
$GC,2331,-1.76,-52.9,328.4,-13.9,110,2335,0.00,2.65,0.00,0.000,4,0.000,0.084,2018,3773,3035
$GC,2392,-1.76,-52.9,338.0,-15.7,113,2396,0.00,2.58,0.00,0.000,6,0.000,0.063,2018,2397,3035
$GC,2718,-1.76,-52.9,384.3,-13.4,129,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2397,3035
$GC,3027,-1.76,-52.9,422.1,-11.8,144,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2397,3036
$STATE,3190,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3190,begin apogee
$GC,3196,-0.31,0.0,441.6,11.5,152,3246,1.67,0.00,45.30,0.955,6,0.129,0.000,2339,2193,2817
$STATE,3246,end apogee,CONTROL_FINISHED_OK
$STATE,3246,begin climb
$GC,3249,1.76,52.9,443.4,0.0,154,3300,2.05,2.72,43.62,0.951,4,0.066,0.070,2793,785,2600
$GC,3434,1.76,52.9,431.7,7.3,162,3441,0.00,2.62,0.00,0.000,6,0.000,0.054,2791,2202,2600
$GC,3751,1.77,58.8,413.1,5.2,178,3764,0.00,2.80,6.45,0.751,4,0.000,0.085,2792,3616,2576
$GC,4019,1.77,59.4,396.7,5.9,190,4023,0.00,2.70,0.00,0.000,6,0.000,0.071,2792,2194,2575
$GC,4345,1.78,63.6,378.5,5.4,206,4356,0.00,2.80,5.65,0.714,4,0.000,0.085,2793,3623,2557
$GC,4610,1.78,66.3,363.7,5.6,218,4619,0.00,2.72,3.97,0.597,6,0.000,0.072,2792,2194,2545
$GC,4941,1.78,66.9,344.8,5.9,234,4945,0.00,2.78,0.00,0.000,4,0.000,0.086,2793,3624,2544
$GC,5197,1.78,66.9,328.7,6.3,245,5204,0.00,2.70,0.00,0.000,6,0.000,0.071,2793,2200,2543
$GC,5513,1.78,66.9,309.9,6.2,261,5518,0.00,2.72,0.00,0.000,4,0.000,0.085,2792,3616,2543
$GC,5771,1.78,68.0,293.8,5.8,272,5777,0.00,2.70,0.00,0.000,6,0.000,0.071,2793,2192,2542
$GC,6086,1.78,71.7,276.3,5.5,288,6097,0.00,2.78,5.62,0.678,4,0.000,0.082,2792,3625,2523
$GC,6350,1.78,71.7,258.8,7.4,300,6355,0.00,2.67,0.00,0.000,6,0.000,0.070,2793,2202,2523
$GC,6676,1.78,71.7,238.5,6.7,316,6680,0.00,2.72,0.00,0.000,4,0.000,0.081,2792,3626,2523
$GC,6933,1.78,71.7,219.8,7.4,327,6939,0.00,2.67,0.00,0.000,6,0.000,0.068,2793,2197,2522
$GC,7248,1.78,71.7,198.0,6.7,343,7253,0.00,2.70,0.00,0.000,4,0.000,0.081,2793,3618,2523
$GC,7506,1.78,71.7,177.8,7.6,354,7512,0.00,2.65,0.00,0.000,6,0.000,0.068,2793,2202,2523
$GC,7821,1.78,71.7,155.4,7.0,370,7826,0.00,2.70,0.00,0.000,4,0.000,0.080,2793,3618,2523
$GC,8078,1.78,71.7,138.7,7.5,381,8085,0.00,2.70,0.00,0.000,6,0.000,0.068,2793,2202,2523
$GC,8394,1.78,71.7,116.3,6.3,397,8398,0.00,2.70,0.00,0.000,4,0.000,0.080,2792,3616,2523
$GC,8579,1.78,71.7,104.0,7.1,405,8584,0.00,2.65,0.00,0.000,6,0.000,0.067,2793,2193,2523
$GC,8895,1.78,71.7,82.8,7.1,420,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2193,2523
$GC,9205,1.78,71.7,61.7,6.6,435,9209,0.00,2.72,0.00,0.000,4,0.000,0.080,2792,3625,2524
$GC,9433,1.78,71.7,43.8,9.3,445,9437,0.00,2.67,0.00,0.000,6,0.000,0.067,2793,2199,2524
$GC,9756,1.78,71.7,21.3,8.0,461,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2199,2524
$STATE,10021,end climb,SURFACE_DEPTH_REACHED
$STATE,10021,begin surface coast
$FINISH,0.8,1.027420
$STATE,10044,end surface coast,CONTROL_FINISHED_OK
$STATE,10044,begin surface
$SM_CCo,10066,290.55,0.662,2,0,509,566.40
$SM_GC,1.22,0.00,0.00,290.55,0.000,0.000,0.662,70,2404,509,-10.76,0.14,566.40
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2024
$TCM_TEMP,16.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,353.0,97.7
$24V_AH,23.6,49.069
$10V_AH,10.2,24.748
$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,27.125,76.200,110.625,290.550,0.000,32.624,34.487,113.426,3.500,0.000,0.000,31.618,975.532,7318.728,570.882,1467.652,338.984,33.357,1245.265,0.000,1422.496,0.000,18.636
$DEVICE_MAMPS,173.342,85.904,954.915,661.921,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.348,334.648,369.453,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22239,475
$CFSIZE,260165632,242663424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,080108,164738,6246.700,-602.848,32,1.8,32,-8.0