version: 66.02
glider: 16
mission: 6
dive: 298
start: 1 9 108 13 30 19
data:
$ID,16
$MISSION,6
$DIVE,298
$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,-2083884.6
$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,18
$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
$GPS1,132038,6246.993,-600.958,34,2.0,35,-8.0
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-51.1
$GPS2,132927,6246.943,-600.987,14,1.9,14,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.003,0.221
$KALMAN_X,45888.7,579.6,111.8,115864.0,-3704.0
$KALMAN_Y,44242.0,2443.4,207.3,80336.2,-53942.0
$MHEAD_RNG_PITCHd_Wd,295.5,3051,-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,23,-1.74,-28.8,0.0,0.0,0,124,0.00,0.00,-97.25,0.000,6,0.000,0.000,73,2407,2937
$GC,127,-1.76,-53.5,3.3,-2.6,5,149,10.93,2.72,-2.65,0.000,4,0.170,0.086,2019,986,3038
$GC,401,-1.76,-53.5,47.6,-14.4,17,405,0.00,2.62,0.00,0.000,6,0.000,0.064,2020,2396,3038
$GC,722,-1.76,-53.5,102.8,-17.1,33,726,0.00,2.67,0.00,0.000,4,0.000,0.074,2019,979,3039
$GC,896,-1.76,-53.5,128.2,-13.4,41,901,0.00,2.67,0.00,0.000,6,0.000,0.067,2019,2400,3038
$GC,1224,-1.76,-53.5,176.8,-15.2,57,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2400,3038
$GC,1532,-1.76,-53.5,224.7,-16.8,72,1539,0.00,2.60,0.00,0.000,4,0.000,0.082,2019,3769,3038
$GC,1595,-1.76,-53.5,235.1,-15.6,74,1601,0.00,2.55,0.00,0.000,6,0.000,0.063,2019,2397,3039
$GC,1911,-1.76,-53.5,278.7,-13.5,90,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2397,3038
$GC,2219,-1.76,-53.5,319.4,-13.2,105,2224,0.00,2.62,0.00,0.000,4,0.000,0.083,2019,3770,3039
$GC,2269,-1.76,-53.5,326.5,-14.8,107,2273,0.00,2.55,0.00,0.000,6,0.000,0.064,2019,2398,3038
$GC,2584,-1.76,-53.5,368.1,-13.1,122,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2398,3038
$GC,2893,-1.76,-53.5,404.2,-10.6,137,2897,0.00,2.67,0.00,0.000,4,0.000,0.080,2019,976,3038
$GC,2942,-1.76,-53.5,410.0,-11.0,139,2947,0.00,2.65,0.00,0.000,6,0.000,0.066,2019,2404,3039
$STATE,3235,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3235,begin apogee
$GC,3241,-0.31,0.0,443.1,11.4,153,3291,1.67,0.00,45.97,0.951,6,0.129,0.000,2339,2195,2817
$STATE,3292,end apogee,CONTROL_FINISHED_OK
$STATE,3292,begin climb
$GC,3294,1.76,53.5,445.1,0.0,155,3349,2.08,2.72,44.45,0.942,4,0.069,0.070,2794,780,2597
$GC,3468,1.76,53.5,435.8,6.9,163,3472,0.00,2.62,0.00,0.000,6,0.000,0.054,2795,2202,2596
$GC,3795,1.77,57.8,415.9,5.4,179,3805,0.00,2.72,5.03,0.682,4,0.000,0.087,2794,3615,2580
$GC,4058,1.77,61.0,401.9,5.6,191,4068,0.00,2.67,4.12,0.617,6,0.000,0.071,2794,2202,2568
$GC,4390,1.77,61.6,382.3,5.9,207,4394,0.00,2.75,0.00,0.000,4,0.000,0.087,2794,3623,2567
$GC,4647,1.78,65.8,368.2,5.4,218,4658,0.00,2.70,5.78,0.721,6,0.000,0.072,2794,2200,2548
$GC,4979,1.78,71.6,350.8,5.2,235,4992,0.00,2.75,6.35,0.739,4,0.000,0.086,2794,3616,2524
$GC,5246,1.78,71.6,331.7,8.2,247,5251,0.00,2.67,0.00,0.000,6,0.000,0.074,2794,2200,2523
$GC,5573,1.78,71.6,305.3,7.8,263,5577,0.00,2.72,0.00,0.000,4,0.000,0.086,2794,3616,2522
$GC,5830,1.78,71.6,283.8,8.1,274,5836,0.00,2.67,0.00,0.000,6,0.000,0.072,2794,2199,2522
$GC,6146,1.78,71.6,260.7,7.4,290,6150,0.00,2.70,0.00,0.000,4,0.000,0.084,2793,3616,2522
$GC,6402,1.78,71.6,239.4,9.5,301,6409,0.00,2.67,0.00,0.000,6,0.000,0.071,2794,2200,2522
$GC,6719,1.78,71.6,215.4,6.3,317,6723,0.00,2.70,0.00,0.000,4,0.000,0.082,2794,3618,2522
$GC,6975,1.78,71.6,196.4,7.2,328,6982,0.00,2.67,0.00,0.000,6,0.000,0.069,2794,2193,2522
$GC,7291,1.78,71.6,177.9,6.0,344,7296,0.00,2.70,0.00,0.000,4,0.000,0.082,2794,3618,2522
$GC,7549,1.80,82.1,161.6,4.5,355,7564,0.00,2.65,9.50,0.702,6,0.000,0.071,2794,2203,2481
$GC,7886,1.83,111.0,153.0,2.0,372,7915,0.00,2.75,23.83,0.757,4,0.000,0.081,2794,3616,2364
$GC,8169,1.83,111.0,133.3,9.9,384,8176,0.00,2.67,0.00,0.000,6,0.000,0.070,2794,2196,2364
$GC,8485,1.83,111.0,99.8,12.3,400,8489,0.00,2.72,0.00,0.000,4,0.000,0.080,2794,3626,2364
$GC,8741,1.83,111.0,67.2,12.9,411,8748,0.00,2.70,0.00,0.000,6,0.000,0.069,2794,2208,2364
$GC,9057,1.83,111.0,32.0,11.3,427,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2208,2364
$STATE,9302,end climb,SURFACE_DEPTH_REACHED
$STATE,9302,begin surface coast
$FINISH,0.5,1.027287
$STATE,9324,end surface coast,CONTROL_FINISHED_OK
$STATE,9324,begin surface
$SM_CCo,9346,255.27,0.652,2,0,508,566.15
$SM_GC,1.11,0.00,0.00,255.27,0.000,0.000,0.652,70,2401,508,-10.76,0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2041
$TCM_TEMP,16.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,351.7,99.1
$24V_AH,23.6,49.866
$10V_AH,10.2,25.199
$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,26.825,81.100,145.025,255.275,0.000,65.233,70.878,226.928,4.250,0.000,0.000,14.728,918.934,6738.616,560.122,1409.167,524.218,33.360,1228.839,0.000,1374.663,0.000,18.637
$DEVICE_MAMPS,170.274,87.438,951.080,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,315.040,307.217,307.550,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22269,440
$CFSIZE,260165632,242364416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
$GPS,090108,161158,6246.224,-601.549,31,3.3,50,-8.0