version: 66.02
glider: 16
mission: 6
dive: 299
start: 1 9 108 16 25 13
data:
$ID,16
$MISSION,6
$DIVE,299
$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,-2083920.9
$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,14
$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
$GPS1,161158,6246.224,-601.549,31,3.3,50,-8.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-51.0
$GPS2,162423,6246.158,-601.720,15,4.0,34,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.007,0.221
$KALMAN_X,45647.6,375.7,183.8,115598.1,-4440.1
$KALMAN_Y,40421.9,2389.2,760.7,82198.8,-60777.7
$MHEAD_RNG_PITCHd_Wd,324.1,3297,-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,-97.75,0.000,6,0.000,0.000,68,2404,2936
$GC,128,-1.76,-53.1,3.3,-2.6,5,150,11.00,2.62,-2.78,0.000,4,0.173,0.089,2016,3766,3035
$GC,324,-1.76,-53.1,38.9,-19.4,13,331,0.00,2.55,0.00,0.000,6,0.000,0.062,2017,2395,3035
$GC,640,-1.76,-53.1,88.4,-13.4,29,645,0.00,2.65,0.00,0.000,4,0.000,0.082,2016,3775,3035
$GC,826,-1.76,-53.1,115.2,-16.2,37,830,0.00,2.55,0.00,0.000,6,0.000,0.061,2017,2400,3035
$GC,1142,-1.76,-53.1,160.9,-14.3,52,1146,0.00,2.62,0.00,0.000,4,0.000,0.083,2016,3770,3035
$GC,1252,-1.76,-53.1,179.4,-17.0,57,1256,0.00,2.55,0.00,0.000,6,0.000,0.062,2017,2400,3035
$GC,1581,-1.76,-53.1,227.5,-14.3,73,1586,0.00,2.62,0.00,0.000,4,0.000,0.083,2017,3769,3035
$GC,1621,-1.76,-53.1,233.6,-14.4,75,1625,0.00,2.55,0.00,0.000,6,0.000,0.062,2017,2400,3035
$GC,1947,-1.76,-53.1,281.8,-15.1,91,1951,0.00,2.70,0.00,0.000,4,0.000,0.080,2017,979,3035
$GC,1996,-1.76,-53.1,289.5,-15.0,93,2000,0.00,2.65,0.00,0.000,6,0.000,0.067,2017,2399,3035
$GC,2312,-1.76,-53.1,336.1,-14.6,108,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2399,3035
$GC,2620,-1.76,-53.1,379.8,-13.6,123,2625,0.00,2.62,0.00,0.000,4,0.000,0.085,2017,3771,3035
$GC,2705,-1.76,-53.1,392.8,-16.6,127,2709,0.00,2.55,0.00,0.000,6,0.000,0.064,2017,2400,3035
$STATE,2946,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2946,begin apogee
$GC,2953,-0.31,0.0,423.4,12.6,139,3002,1.67,0.00,45.25,0.936,6,0.124,0.000,2341,2196,2817
$STATE,3003,end apogee,CONTROL_FINISHED_OK
$STATE,3003,begin climb
$GC,3005,1.76,53.1,425.9,0.0,141,3057,2.10,2.72,43.88,0.929,4,0.074,0.072,2795,785,2600
$GC,3137,1.76,53.1,419.9,6.3,147,3141,0.00,2.62,0.00,0.000,6,0.000,0.054,2795,2204,2599
$GC,3457,1.77,62.1,402.7,4.8,163,3471,0.00,2.78,9.02,0.805,4,0.000,0.086,2796,3622,2563
$GC,3726,1.77,62.1,386.8,6.1,175,3730,0.00,2.70,0.00,0.000,6,0.000,0.072,2795,2203,2562
$GC,4052,1.78,65.6,368.7,5.5,191,4061,0.00,2.72,4.40,0.634,4,0.000,0.086,2795,3621,2549
$GC,4314,1.78,67.7,353.1,5.7,202,4320,0.00,2.70,0.00,0.000,6,0.000,0.071,2795,2196,2549
$GC,4630,1.79,74.7,337.1,5.0,218,4644,0.00,2.78,8.77,0.777,4,0.000,0.085,2795,3625,2512
$GC,4898,1.79,74.7,318.3,7.2,230,4902,0.00,2.70,0.00,0.000,6,0.000,0.072,2795,2201,2511
$GC,5225,1.79,74.7,295.4,7.1,246,5229,0.00,2.72,0.00,0.000,4,0.000,0.083,2796,3624,2510
$GC,5444,1.79,74.7,277.8,8.7,256,5448,0.00,2.70,0.00,0.000,6,0.000,0.071,2795,2196,2510
$GC,5770,1.79,74.7,253.4,7.2,272,5774,0.00,2.65,0.00,0.000,4,0.000,0.074,2795,784,2510
$GC,5926,1.79,79.4,243.1,5.3,279,5936,0.00,2.58,5.38,0.640,6,0.000,0.049,2795,2202,2493
$GC,6246,1.79,79.4,221.4,7.0,294,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2202,2493
$GC,6556,1.79,79.4,199.9,6.7,309,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2202,2493
$GC,6864,1.79,79.4,170.4,10.2,324,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2202,2493
$GC,7174,1.79,79.4,143.5,9.9,339,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2202,2493
$GC,7484,1.79,79.4,109.6,11.7,354,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2202,2493
$GC,7793,1.79,79.4,81.7,9.7,369,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2202,2493
$GC,8103,1.79,79.4,58.9,6.5,384,8108,0.00,2.65,0.00,0.000,4,0.000,0.079,2795,3616,2493
$GC,8361,1.79,79.4,38.4,6.7,395,8368,0.00,2.67,0.00,0.000,6,0.000,0.067,2795,2201,2494
$GC,8677,1.79,79.4,13.0,8.4,411,8681,0.00,2.67,0.00,0.000,4,0.000,0.080,2795,3616,2493
$GC,8771,1.79,79.4,3.3,10.5,415,8775,0.00,2.65,0.00,0.000,6,0.000,0.069,2795,2199,2493
$STATE,8795,end climb,SURFACE_DEPTH_REACHED
$STATE,8796,begin surface coast
$FINISH,0.5,1.027363
$STATE,8817,end surface coast,CONTROL_FINISHED_OK
$STATE,8818,begin surface
$SM_CCo,8839,272.70,0.654,0,0,508,566.40
$SM_GC,1.08,0.00,0.00,272.70,0.000,0.000,0.654,70,2405,508,-10.76,0.14,566.40
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2023
$TCM_TEMP,16.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,327.1,104.2
$24V_AH,23.6,49.971
$10V_AH,10.2,25.255
$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,26.925,75.075,116.700,272.700,0.000,97.861,203.789,198.115,3.250,0.000,0.000,35.674,859.958,6581.775,538.036,1232.855,653.226,33.359,1116.165,0.000,1186.594,0.000,17.024
$DEVICE_MAMPS,172.575,88.972,935.740,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,299.026,291.596,323.061,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19132,417
$CFSIZE,260165632,242331648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,090108,185826,6246.714,-603.575,25,1.4,44,-8.1