version: 66.02
glider: 16
mission: 6
dive: 267
start: 1 6 108 3 56 25
data:
$ID,16
$MISSION,6
$DIVE,267
$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,-2082170.1
$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,14
$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
$GPS1,035107,6241.232,-628.466,22,1.6,23,-8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-57.8
$GPS2,035533,6241.239,-628.602,16,1.7,16,-8.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.070,-0.210
$KALMAN_X,42898.7,-854.0,2132.2,94006.5,45831.2
$KALMAN_Y,69691.9,-733.5,1837.0,45980.1,85542.6
$MHEAD_RNG_PITCHd_Wd,69.0,23477,-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,22,-0.85,-146.6,0.0,0.0,0,143,0.00,0.00,-114.10,0.000,6,0.000,0.000,70,2400,3416
$GC,146,-0.85,-146.6,6.5,-6.1,6,167,12.18,2.62,0.00,0.000,4,0.175,0.071,2221,3767,3419
$GC,313,-0.85,-146.6,30.6,-8.3,13,317,0.00,2.53,0.00,0.000,6,0.000,0.055,2221,2398,3420
$GC,636,-0.85,-146.6,53.5,-7.7,29,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3420
$GC,944,-0.85,-146.6,74.8,-7.1,44,948,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,979,3420
$GC,987,-0.85,-146.6,77.8,-6.2,46,991,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2399,3420
$GC,1314,-0.85,-146.6,98.9,-8.1,62,1319,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,977,3420
$GC,1347,-0.85,-146.6,102.0,-9.3,63,1354,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2398,3420
$GC,1664,-0.85,-146.6,127.7,-9.0,79,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3420
$GC,1972,-0.85,-146.6,151.1,-4.6,94,1976,0.00,2.60,0.00,0.000,4,0.000,0.081,2221,3768,3420
$GC,1989,-0.85,-146.6,151.0,-0.1,95,1993,0.00,2.50,0.00,0.000,6,0.000,0.051,2221,2390,3420
$STATE,2292,end dive,NO_VERTICAL_VELOCITY
$STATE,2292,begin apogee
$GC,2297,-0.31,0.0,151.1,0.0,110,2416,0.57,0.00,115.03,0.780,6,0.083,0.000,2343,2200,2817
$STATE,2416,end apogee,CONTROL_FINISHED_OK
$STATE,2416,begin climb
$GC,2419,0.85,146.6,151.1,0.0,116,2541,1.20,2.78,112.72,0.758,4,0.081,0.076,2590,3610,2219
$GC,2703,1.02,308.6,141.5,1.6,129,2833,0.20,2.62,122.75,0.743,6,0.044,0.061,2647,2206,1558
$GC,3143,1.02,308.6,103.6,9.4,150,3147,0.00,2.70,0.00,0.000,4,0.000,0.072,2647,785,1556
$GC,3214,1.02,308.6,96.9,9.4,153,3218,0.00,2.60,0.00,0.000,6,0.000,0.051,2647,2204,1556
$GC,3536,1.02,308.6,67.2,8.7,169,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2204,1556
$GC,3846,1.02,308.6,41.0,8.8,184,3851,0.00,2.70,0.00,0.000,4,0.000,0.072,2647,782,1556
$GC,3913,1.02,308.6,33.8,10.5,187,3917,0.00,2.60,0.00,0.000,6,0.000,0.051,2647,2204,1555
$GC,4234,1.02,308.6,3.5,9.9,203,4238,0.00,2.67,0.00,0.000,4,0.000,0.068,2647,785,1555
$STATE,4249,end climb,SURFACE_DEPTH_REACHED
$STATE,4249,begin surface coast
$FINISH,1.0,1.027419
$STATE,4254,end surface coast,CONTROL_FINISHED_OK
$STATE,4254,begin surface
$SM_CCo,4277,139.80,0.666,1,0,509,566.15
$SM_GC,1.02,0.00,0.00,139.80,0.000,0.000,0.666,75,2398,509,-10.74,-0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2050
$TCM_TEMP,19.00
$XPDR_PINGS,1
$24V_AH,23.8,46.638
$10V_AH,10.2,23.555
$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,25.725,42.825,350.500,139.800,0.000,32.631,44.845,97.954,0.500,0.000,0.000,16.296,415.130,2857.083,581.353,580.318,272.413,33.358,906.535,0.000,573.092,0.000,2.554
$DEVICE_MAMPS,174.876,80.535,780.039,665.756,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,149.348,137.658,309.550,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9638,204
$CFSIZE,260165632,243507200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,060108,051108,6241.647,-629.175,25,1.2,26,-8.3