version: 66.02
glider: 16
mission: 6
dive: 261
start: 1 5 108 16 39 31
data:
$ID,16
$MISSION,6
$DIVE,261
$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,-2082051.2
$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,19
$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
$GPS1,160852,6244.696,-622.999,39,2.2,58,-8.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-47.0
$GPS2,163841,6244.852,-623.554,11,3.9,30,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.152,-0.161
$KALMAN_X,46796.1,-2099.6,-108.1,98075.1,36935.0
$KALMAN_Y,63471.7,-1030.1,-134.6,61159.5,26114.0
$MHEAD_RNG_PITCHd_Wd,231.6,16895,-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,22,-0.85,-146.6,0.0,0.0,0,126,0.00,0.00,-102.07,0.000,2,0.000,0.000,61,2405,2988
$GC,129,-0.85,-146.6,3.0,-2.5,5,156,12.23,2.70,-8.50,0.000,4,0.176,0.077,2219,979,3311
$GC,329,-0.85,-146.6,25.7,-4.8,14,335,0.00,2.62,-1.42,0.000,6,0.000,0.055,2219,2397,3418
$GC,652,-0.85,-146.6,49.1,-10.3,30,656,0.00,2.65,0.00,0.000,4,0.000,0.065,2219,978,3419
$GC,691,-0.85,-146.6,53.0,-9.9,32,695,0.00,2.60,0.00,0.000,6,0.000,0.057,2219,2398,3419
$GC,1017,-0.85,-146.6,90.9,-12.6,48,1021,0.00,2.65,0.00,0.000,4,0.000,0.066,2219,979,3419
$GC,1066,-0.85,-146.6,97.0,-11.1,50,1070,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2404,3419
$GC,1383,-0.85,-146.6,121.3,-7.6,65,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3419
$GC,1690,-0.85,-146.6,144.8,-8.1,80,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3419
$GC,2000,-0.85,-146.6,173.6,-9.7,95,2004,0.00,2.65,0.00,0.000,4,0.000,0.069,2219,979,3419
$GC,2077,-0.85,-146.6,180.7,-8.4,98,2083,0.00,2.60,0.00,0.000,6,0.000,0.059,2219,2402,3419
$GC,2392,-0.85,-146.6,206.1,-7.8,114,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3419
$GC,2702,-0.85,-146.6,231.9,-8.2,129,2706,0.00,2.67,0.00,0.000,4,0.000,0.069,2219,974,3418
$GC,2773,-0.85,-146.6,237.7,-8.4,132,2777,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2401,3419
$GC,3094,-0.85,-146.6,264.7,-8.5,148,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3419
$STATE,3340,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3340,begin apogee
$GC,3346,-0.31,0.0,284.3,7.7,160,3466,0.60,0.00,116.95,0.869,6,0.107,0.000,2339,2194,2817
$STATE,3467,end apogee,CONTROL_FINISHED_OK
$STATE,3467,begin climb
$GC,3469,0.85,146.6,288.0,0.0,166,3591,1.15,0.00,114.57,0.848,6,0.063,0.000,2590,2194,2219
$GC,3900,0.89,182.5,267.8,5.0,187,3935,0.00,2.72,28.85,0.805,4,0.000,0.068,2590,794,2073
$GC,4002,0.89,182.5,261.2,6.5,191,4009,0.00,2.60,0.00,0.000,6,0.000,0.052,2589,2201,2072
$GC,4318,0.94,231.8,246.4,4.7,207,4366,0.12,2.75,39.40,0.820,4,0.058,0.077,2627,3614,1871
$GC,4388,0.94,231.8,241.8,8.1,210,4393,0.00,2.67,0.00,0.000,6,0.000,0.064,2627,2204,1871
$GC,4703,0.94,231.8,217.4,7.6,225,4708,0.00,2.67,0.00,0.000,4,0.000,0.072,2627,782,1870
$GC,4735,0.94,231.8,214.8,7.7,226,4742,0.00,2.60,0.00,0.000,6,0.000,0.051,2628,2203,1870
$GC,5053,0.94,231.8,191.1,7.8,242,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2204,1869
$GC,5360,0.94,231.8,165.4,8.1,257,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2204,1869
$GC,5670,0.94,231.8,139.2,8.9,272,5674,0.00,2.67,0.00,0.000,4,0.000,0.067,2627,775,1870
$GC,5713,0.94,231.8,135.1,8.5,274,5718,0.00,2.60,0.00,0.000,6,0.000,0.050,2627,2204,1869
$GC,6034,0.94,231.8,110.2,7.4,290,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2204,1868
$GC,6344,0.94,231.8,80.9,10.4,305,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2204,1869
$GC,6653,0.94,231.8,55.0,6.6,320,6658,0.00,2.65,0.00,0.000,4,0.000,0.067,2627,783,1869
$GC,6725,0.94,231.8,48.3,10.7,323,6729,0.00,2.58,0.00,0.000,6,0.000,0.051,2627,2201,1868
$GC,7047,0.96,247.7,20.1,5.6,339,7067,0.00,0.00,13.27,0.649,6,0.000,0.000,2627,2201,1807
$STATE,7313,end climb,SURFACE_DEPTH_REACHED
$STATE,7313,begin surface coast
$FINISH,0.4,1.027423
$STATE,7334,end surface coast,CONTROL_FINISHED_OK
$STATE,7334,begin surface
$SM_CCo,7355,174.45,0.663,2,0,508,566.15
$SM_GC,0.90,0.00,0.00,174.45,0.000,0.000,0.663,75,2400,508,-10.74,0.00,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2054
$TCM_TEMP,17.00
$XPDR_PINGS,96
$ALTIM_BOTTOM_PING,201.5,92.8
$24V_AH,23.7,45.829
$10V_AH,10.2,23.296
$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,25.625,53.675,313.050,174.450,0.000,163.088,185.233,1032.539,25.000,0.000,0.000,31.626,664.388,5668.166,618.151,831.533,1557.114,33.363,1038.643,0.000,801.616,0.000,8.869
$DEVICE_MAMPS,176.410,77.467,869.011,663.455,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,258.876,239.249,355.938,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15948,353
$CFSIZE,260165632,243572736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$GPS,050108,184626,6244.205,-624.945,40,1.6,40,-8.2