version: 66.02
glider: 16
mission: 6
dive: 252
start: 1 4 108 16 16 25
data:
$ID,16
$MISSION,6
$DIVE,252
$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,1
$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,-2081783.6
$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,16
$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
$GPS1,161052,6242.319,-603.019,36,3.0,55,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-40.2
$GPS2,161535,6242.351,-603.139,12,3.6,31,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.217,-0.043
$KALMAN_X,44763.3,-2261.9,-548.5,118680.3,55655.3
$KALMAN_Y,57774.7,-828.5,-243.9,62126.6,20669.5
$MHEAD_RNG_PITCHd_Wd,266.8,9488,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,127,0.00,0.00,-101.90,0.000,2,0.000,0.000,70,2401,3157
$GC,130,-0.85,-146.6,4.4,-4.0,5,153,11.75,2.70,-5.68,0.000,4,0.160,0.081,2219,980,3417
$GC,379,-0.85,-146.6,27.5,-3.0,16,383,0.00,2.62,0.00,0.000,6,0.000,0.059,2218,2402,3418
$GC,705,-0.85,-146.6,49.5,-9.6,32,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2403,3418
$GC,1014,-0.85,-146.6,74.0,-6.9,47,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2403,3418
$GC,1324,-0.85,-146.6,96.0,-9.2,62,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2403,3418
$GC,1633,-0.85,-146.6,130.2,-9.8,77,1637,0.00,2.65,0.00,0.000,4,0.000,0.068,2218,982,3418
$GC,1717,-0.85,-146.6,138.1,-8.7,81,1721,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2407,3418
$GC,2043,-0.85,-146.6,162.0,-6.2,97,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2407,3418
$GC,2352,-0.85,-146.6,180.3,-6.7,112,2356,0.00,2.67,0.00,0.000,4,0.000,0.071,2218,980,3418
$GC,2423,-0.85,-146.6,185.7,-6.7,115,2427,0.00,2.60,0.00,0.000,6,0.000,0.060,2219,2400,3418
$GC,2739,-0.85,-146.6,208.5,-8.6,130,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2400,3418
$GC,3048,-0.85,-146.6,234.6,-9.0,145,3052,0.00,2.65,0.00,0.000,4,0.000,0.071,2218,981,3418
$GC,3091,-0.85,-146.6,238.9,-9.4,147,3095,0.00,2.60,0.00,0.000,6,0.000,0.061,2218,2399,3418
$GC,3418,-0.85,-146.6,270.4,-8.4,163,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2399,3418
$GC,3727,-0.85,-146.6,294.6,-7.7,178,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3418
$STATE,3870,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3870,begin apogee
$GC,3876,-0.31,0.0,306.5,8.1,185,3995,0.60,0.00,116.78,0.887,6,0.114,0.000,2337,2198,2817
$STATE,3996,end apogee,CONTROL_FINISHED_OK
$STATE,3996,begin climb
$GC,3999,0.85,146.6,310.6,0.0,191,4118,1.20,0.00,115.12,0.873,6,0.067,0.000,2593,2198,2219
$GC,4421,0.90,199.0,291.4,4.6,212,4465,0.00,0.00,41.80,0.843,6,0.000,0.000,2593,2198,2005
$GC,4771,0.92,215.8,273.0,5.5,229,4792,0.00,2.70,14.35,0.782,4,0.000,0.068,2593,786,1936
$GC,4843,0.92,215.8,268.1,7.3,232,4848,0.00,2.60,0.00,0.000,6,0.000,0.052,2593,2200,1936
$GC,5164,0.92,215.8,244.4,7.6,248,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2200,1935
$GC,5473,0.92,215.8,222.1,6.9,263,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2200,1935
$GC,5782,0.92,215.8,198.6,7.8,278,5786,0.00,2.65,0.00,0.000,4,0.000,0.068,2592,782,1935
$GC,5827,0.92,215.8,194.9,8.1,280,5831,0.00,2.60,0.00,0.000,6,0.000,0.053,2593,2203,1934
$GC,6147,0.92,215.8,173.4,7.8,296,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2203,1935
$GC,6456,0.92,215.8,152.9,7.1,311,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2203,1935
$GC,6765,0.92,215.8,135.1,6.1,326,6770,0.00,2.65,0.00,0.000,4,0.000,0.068,2593,786,1935
$GC,6816,0.92,215.8,132.0,6.3,328,6820,0.00,2.58,0.00,0.000,6,0.000,0.052,2593,2202,1934
$GC,7131,1.36,622.6,118.6,-5.1,343,7405,0.47,2.80,263.08,0.744,4,0.038,0.073,2716,786,509
$GC,7489,1.36,622.6,81.4,19.7,360,7493,0.00,2.60,0.00,0.000,6,0.000,0.051,2716,2201,508
$GC,7809,1.36,622.6,23.4,19.0,376,7814,0.00,2.72,0.00,0.000,4,0.000,0.076,2716,785,508
$STATE,7941,end climb,SURFACE_DEPTH_REACHED
$STATE,7941,begin surface coast
$FINISH,0.6,1.027404
$STATE,7955,end surface coast,CONTROL_FINISHED_OK
$STATE,7955,begin surface
$SM_CCo,8039,0.00,0.000,0,0,506,566.89
$SM_GC,1.16,11.80,0.00,0.00,0.050,0.000,0.000,75,2405,506,-10.68,0.14,566.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2084
$TCM_TEMP,19.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,275.3,39.8
$24V_AH,23.7,44.241
$10V_AH,10.2,22.766
$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,25.825,48.450,551.125,0.000,0.000,32.591,39.589,103.756,2.250,0.000,0.000,32.134,696.832,5800.070,628.766,912.145,292.909,33.369,1094.693,0.000,879.513,0.000,16.538
$DEVICE_MAMPS,160.303,81.302,887.419,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,273.601,263.772,347.385,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19123,382
$CFSIZE,260165632,243949568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,040108,183137,6242.739,-604.723,35,1.3,41,-8.0