version: 66.02
glider: 16
mission: 6
dive: 295
start: 1 9 108 4 56 25
data:
$ID,16
$MISSION,6
$DIVE,295
$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,-2083799.9
$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,13
$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
$GPS1,044938,6246.598,-601.124,29,1.6,29,-8.0
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-47.7
$GPS2,045533,6246.565,-601.215,16,2.0,16,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.004,0.221
$KALMAN_X,45975.2,212.1,-407.7,116467.4,-3858.0
$KALMAN_Y,47140.9,2401.9,377.5,76594.5,-53023.3
$MHEAD_RNG_PITCHd_Wd,308.8,3162,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.74,-28.8,0.0,0.0,0,126,0.00,0.00,-97.40,0.000,6,0.000,0.000,68,2393,2934
$GC,129,-1.76,-51.0,3.6,-2.9,5,151,11.07,2.67,-2.35,0.000,4,0.174,0.091,2018,3769,3027
$GC,403,-1.76,-51.0,48.8,-14.6,17,408,0.00,2.55,0.00,0.000,6,0.000,0.060,2018,2398,3028
$GC,725,-1.76,-51.0,100.0,-14.3,33,729,0.00,2.65,0.00,0.000,4,0.000,0.082,2018,3778,3028
$GC,841,-1.76,-51.0,117.4,-14.7,38,846,0.00,2.55,0.00,0.000,6,0.000,0.060,2018,2398,3028
$GC,1156,-1.76,-51.0,160.2,-13.7,53,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2398,3028
$GC,1468,-1.76,-51.0,201.6,-13.1,68,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2398,3028
$GC,1775,-1.76,-51.0,243.6,-13.4,83,1779,0.00,2.62,0.00,0.000,4,0.000,0.083,2018,3769,3028
$GC,1824,-1.76,-51.0,250.8,-14.3,85,1828,0.00,2.53,0.00,0.000,6,0.000,0.061,2018,2395,3027
$GC,2146,-1.76,-51.0,293.2,-13.0,101,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2395,3028
$GC,2455,-1.76,-51.0,334.8,-13.5,116,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2395,3028
$GC,2765,-1.76,-51.0,376.3,-12.7,131,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2395,3028
$GC,3074,-1.76,-51.0,414.6,-13.1,146,3078,0.00,2.65,0.00,0.000,4,0.000,0.084,2018,3775,3028
$STATE,3251,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3251,begin apogee
$GC,3260,-0.31,0.0,438.7,14.1,154,3307,1.62,0.00,43.50,0.979,6,0.128,0.000,2339,2204,2817
$STATE,3308,end apogee,CONTROL_FINISHED_OK
$STATE,3308,begin climb
$GC,3311,1.76,51.0,441.4,0.0,156,3361,2.10,2.75,42.53,0.950,4,0.071,0.071,2797,782,2607
$GC,3496,1.76,51.0,432.1,6.0,164,3502,0.00,2.62,0.00,0.000,6,0.000,0.053,2797,2204,2605
$GC,3812,1.78,70.6,419.1,3.3,180,3834,0.00,2.83,16.85,0.892,4,0.000,0.084,2797,3616,2529
$GC,4086,1.78,70.6,400.7,7.6,192,4091,0.00,2.67,0.00,0.000,6,0.000,0.069,2797,2199,2528
$GC,4408,1.78,70.6,379.4,6.1,208,4413,0.00,2.72,0.00,0.000,4,0.000,0.085,2797,3616,2528
$GC,4665,1.78,70.6,362.6,6.8,219,4671,0.00,2.67,0.00,0.000,6,0.000,0.071,2797,2197,2527
$GC,4981,1.78,70.6,341.9,6.4,235,4985,0.00,2.72,0.00,0.000,4,0.000,0.084,2797,3616,2526
$GC,5238,1.78,70.6,322.5,7.5,246,5244,0.00,2.67,0.00,0.000,6,0.000,0.070,2797,2194,2526
$GC,5553,1.78,70.6,299.3,7.7,262,5557,0.00,2.72,0.00,0.000,4,0.000,0.084,2797,3619,2526
$GC,5812,1.78,70.6,277.6,9.1,273,5818,0.00,2.67,0.00,0.000,6,0.000,0.069,2797,2193,2525
$GC,6127,1.78,70.6,251.5,8.5,289,6131,0.00,2.72,0.00,0.000,4,0.000,0.081,2797,3622,2525
$GC,6384,1.78,70.6,229.6,7.3,300,6390,0.00,2.67,0.00,0.000,6,0.000,0.068,2797,2192,2525
$GC,6700,1.79,80.9,213.3,4.6,316,6714,0.00,2.75,9.15,0.727,4,0.000,0.080,2797,3623,2487
$GC,6862,1.80,87.3,204.8,5.1,323,6878,0.00,2.67,6.78,0.680,6,0.000,0.066,2797,2192,2461
$GC,7187,1.84,126.8,189.8,0.5,339,7229,0.00,2.80,31.98,0.797,4,0.000,0.080,2797,3620,2299
$GC,7348,1.84,126.8,176.7,12.0,346,7352,0.00,2.67,0.00,0.000,6,0.000,0.067,2797,2200,2299
$GC,7669,1.84,126.8,137.6,13.0,362,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2199,2299
$GC,7977,1.84,126.8,94.2,12.9,377,7982,0.00,2.70,0.00,0.000,4,0.000,0.079,2797,3619,2299
$GC,8094,1.84,126.8,80.2,12.3,382,8099,0.00,2.65,0.00,0.000,6,0.000,0.067,2797,2199,2299
$GC,8411,1.84,126.8,42.2,11.5,397,8416,0.00,2.70,0.00,0.000,4,0.000,0.080,2797,3617,2299
$GC,8522,1.84,126.8,28.7,12.7,402,8526,0.00,2.65,0.00,0.000,6,0.000,0.067,2797,2200,2299
$STATE,8738,end climb,SURFACE_DEPTH_REACHED
$STATE,8738,begin surface coast
$FINISH,0.5,1.020347
$STATE,8760,end surface coast,CONTROL_FINISHED_OK
$STATE,8760,begin surface
$SM_CCo,8782,254.50,0.648,4,0,509,566.15
$SM_GC,1.07,0.00,0.00,254.50,0.000,0.000,0.648,73,2408,509,-10.75,0.23,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2021
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,425.3,23.3
$24V_AH,23.6,49.569
$10V_AH,10.2,25.030
$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,27.050,75.675,150.775,254.500,0.000,32.586,34.877,189.448,4.000,0.000,0.000,16.710,859.604,6321.411,571.607,1268.072,401.017,33.363,1179.317,0.000,1230.393,0.000,26.180
$DEVICE_MAMPS,174.109,91.273,978.692,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,295.304,287.133,288.898,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19072,414
$CFSIZE,260165632,242487296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,4,0
$GPS,090108,072837,6247.078,-602.506,36,1.3,40,-8.0