version: 66.02
glider: 16
mission: 6
dive: 260
start: 1 5 108 14 1 40
data:
$ID,16
$MISSION,6
$DIVE,260
$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,-2082019
$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,17
$R_STBD_OVSHOOT,16
$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
$GPS1,133408,6244.793,-619.396,41,1.6,41,-8.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-51.1
$GPS2,140050,6245.020,-619.989,32,1.8,32,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.184,-0.123
$KALMAN_X,47733.1,-1941.2,-70.1,100081.9,37219.6
$KALMAN_Y,61535.6,-864.9,-151.8,63254.0,20145.0
$MHEAD_RNG_PITCHd_Wd,244.6,13923,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,126,0.00,0.00,-100.18,0.000,2,0.000,0.000,69,2405,2961
$GC,129,-0.85,-146.6,3.2,-2.7,5,158,10.15,2.70,-10.98,0.000,4,0.187,0.079,1870,982,3416
$GC,360,-0.85,-146.6,74.3,-32.9,15,371,1.88,2.65,0.00,0.000,6,0.135,0.064,2222,2397,3417
$GC,681,-0.85,-146.6,108.0,-9.0,31,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3418
$GC,990,-0.85,-146.6,128.2,-5.3,46,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3418
$GC,1299,-0.85,-146.6,147.2,-7.0,61,1303,0.00,2.65,0.00,0.000,4,0.000,0.068,2222,983,3418
$GC,1392,-0.85,-146.6,154.9,-8.6,65,1396,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2403,3417
$GC,1714,-0.85,-146.6,179.6,-6.7,81,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3418
$GC,2024,-0.85,-146.6,200.9,-8.5,96,2029,0.00,2.65,0.00,0.000,4,0.000,0.069,2221,983,3418
$GC,2113,-0.85,-146.6,208.1,-7.7,100,2117,0.00,2.60,0.00,0.000,6,0.000,0.059,2222,2400,3417
$GC,2440,-0.85,-146.6,235.3,-8.6,116,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3417
$GC,2750,-0.85,-146.6,266.4,-7.8,131,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3418
$GC,3058,-0.85,-146.6,290.8,-7.9,146,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3417
$STATE,3242,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3242,begin apogee
$GC,3247,-0.31,0.0,305.0,7.6,155,3367,0.57,0.00,116.78,0.890,6,0.103,0.000,2337,2197,2817
$STATE,3368,end apogee,CONTROL_FINISHED_OK
$STATE,3368,begin climb
$GC,3371,0.85,146.6,309.6,0.0,161,3493,1.23,0.00,115.18,0.871,6,0.095,0.000,2588,2197,2218
$GC,3805,0.85,146.6,290.3,6.1,182,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2197,2217
$GC,4111,0.85,146.6,270.7,6.3,197,4116,0.00,2.65,0.00,0.000,4,0.000,0.068,2588,784,2217
$GC,4155,0.85,146.6,267.8,6.1,199,4159,0.00,2.60,0.00,0.000,6,0.000,0.051,2588,2205,2217
$GC,4482,0.96,255.0,250.8,3.0,215,4572,0.15,2.78,83.47,0.841,4,0.058,0.077,2636,3609,1775
$GC,4609,0.96,255.0,242.5,8.2,221,4613,0.00,2.67,0.00,0.000,6,0.000,0.064,2636,2200,1776
$GC,4934,0.96,255.0,218.0,7.2,237,4939,0.00,2.67,0.00,0.000,4,0.000,0.072,2635,782,1775
$GC,4973,0.96,255.0,214.9,7.7,239,4978,0.00,2.60,0.00,0.000,6,0.000,0.050,2636,2205,1775
$GC,5300,0.96,255.0,184.6,10.0,255,5304,0.00,2.67,0.00,0.000,4,0.000,0.068,2635,780,1775
$GC,5343,0.96,255.0,180.3,10.1,257,5347,0.00,2.60,0.00,0.000,6,0.000,0.051,2635,2203,1775
$GC,5670,0.96,255.0,152.8,8.9,273,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2203,1775
$GC,5982,0.96,255.0,126.4,9.0,288,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2203,1775
$GC,6289,0.96,255.0,95.1,10.8,303,6293,0.00,2.67,0.00,0.000,4,0.000,0.067,2636,773,1775
$GC,6328,0.96,255.0,90.6,11.3,305,6332,0.00,2.60,0.00,0.000,6,0.000,0.049,2635,2203,1775
$GC,6654,0.96,255.0,59.3,8.7,321,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2203,1775
$GC,6963,0.96,255.0,30.7,11.3,336,6968,0.00,2.67,0.00,0.000,4,0.000,0.067,2636,774,1775
$GC,6995,0.96,255.0,27.8,9.3,337,7002,0.00,2.62,0.00,0.000,6,0.000,0.050,2635,2203,1775
$GC,7313,0.96,255.0,2.2,10.7,353,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2203,1774
$STATE,7329,end climb,SURFACE_DEPTH_REACHED
$STATE,7330,begin surface coast
$FINISH,0.5,1.027349
$STATE,7351,end surface coast,CONTROL_FINISHED_OK
$STATE,7352,begin surface
$SM_CCo,7372,165.07,0.677,0,0,509,566.15
$SM_GC,1.03,0.00,0.00,165.07,0.000,0.000,0.677,65,2403,509,-10.79,0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2057
$TCM_TEMP,16.80
$XPDR_PINGS,76
$ALTIM_BOTTOM_PING,226.4,87.1
$24V_AH,23.7,45.642
$10V_AH,10.2,23.235
$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,25.300,48.425,315.425,165.075,0.000,163.097,183.962,863.470,20.250,0.000,0.000,31.996,664.867,5698.818,588.835,826.801,1370.464,33.366,1011.018,0.000,794.248,0.000,10.482
$DEVICE_MAMPS,187.148,79.001,889.720,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,260.230,240.623,318.127,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15982,355
$CFSIZE,260165632,243617792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,050108,160852,6244.696,-622.999,39,2.2,58,-8.2