version: 66.02
glider: 16
mission: 6
dive: 271
start: 1 6 108 9 51 49
data:
$ID,16
$MISSION,6
$DIVE,271
$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,-2082253.9
$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,16
$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
$GPS1,094637,6243.101,-625.451,30,2.0,33,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-54.6
$GPS2,095059,6243.101,-625.363,11,1.4,19,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.007,-0.221
$KALMAN_X,39947.5,-465.2,3588.1,97949.5,21438.4
$KALMAN_Y,77701.1,-1977.1,3871.8,40653.1,105699.4
$MHEAD_RNG_PITCHd_Wd,73.8,19469,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,128,0.00,0.00,-101.82,0.000,2,0.000,0.000,69,2401,3044
$GC,131,-0.85,-146.6,3.6,-2.8,5,157,12.15,2.60,-8.90,0.000,4,0.173,0.085,2222,3766,3416
$GC,409,-0.85,-146.6,30.3,-7.8,17,416,0.00,2.53,0.00,0.000,6,0.000,0.055,2222,2394,3417
$GC,725,-0.85,-146.6,54.8,-7.9,33,729,0.00,2.65,0.00,0.000,4,0.000,0.071,2222,983,3417
$GC,768,-0.85,-146.6,58.6,-7.8,35,772,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2404,3417
$GC,1090,-0.85,-146.6,83.2,-7.8,51,1094,0.00,2.67,0.00,0.000,4,0.000,0.068,2222,977,3417
$GC,1122,-0.85,-146.6,85.9,-8.1,52,1129,0.00,2.62,0.00,0.000,6,0.000,0.058,2222,2393,3417
$GC,1439,-0.85,-146.6,112.4,-8.2,68,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2393,3417
$GC,1747,-0.85,-146.6,136.2,-7.7,83,1751,0.00,2.65,0.00,0.000,4,0.000,0.069,2222,982,3417
$GC,1802,-0.85,-146.6,141.0,-8.9,85,1808,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2402,3417
$GC,2117,-0.85,-146.6,165.1,-7.5,101,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3417
$GC,2427,-0.85,-146.6,187.5,-7.2,116,2431,0.00,2.65,0.00,0.000,4,0.000,0.069,2222,982,3417
$GC,2482,-0.85,-146.6,191.7,-7.6,118,2488,0.00,2.60,0.00,0.000,6,0.000,0.059,2222,2401,3417
$STATE,2795,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2795,begin apogee
$GC,2801,-0.31,0.0,215.9,7.8,134,2919,0.60,0.00,115.50,0.832,6,0.109,0.000,2341,2198,2817
$STATE,2920,end apogee,CONTROL_FINISHED_OK
$STATE,2920,begin climb
$GC,2923,0.85,146.6,220.0,0.0,140,3042,1.25,0.00,113.95,0.808,6,0.094,0.000,2594,2198,2218
$GC,3349,0.86,155.9,199.0,5.7,161,3363,0.00,2.70,8.62,0.681,4,0.000,0.067,2592,792,2181
$GC,3386,0.89,190.9,196.8,5.0,162,3420,0.00,2.60,28.42,0.769,6,0.000,0.051,2592,2206,2037
$GC,3743,0.89,190.9,174.8,6.7,180,3747,0.00,2.67,0.00,0.000,4,0.000,0.076,2592,3615,2036
$GC,3769,0.89,190.9,173.1,6.9,181,3773,0.00,2.62,0.00,0.000,6,0.000,0.060,2592,2203,2036
$GC,4090,0.89,190.9,153.6,6.4,197,4095,0.00,2.67,0.00,0.000,4,0.000,0.068,2592,774,2036
$GC,4122,0.89,190.9,151.6,6.0,198,4129,0.00,2.60,0.00,0.000,6,0.000,0.051,2592,2202,2036
$GC,4438,0.89,190.9,131.8,6.6,214,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2201,2036
$GC,4750,0.91,202.4,114.1,5.7,229,4762,0.00,0.00,10.23,0.678,6,0.000,0.000,2592,2202,1991
$GC,5058,0.91,202.4,95.0,6.4,244,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2202,1990
$GC,5366,0.91,202.4,74.7,6.2,259,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2202,1990
$GC,5676,1.00,290.1,60.2,3.6,274,5749,0.15,2.72,66.70,0.732,4,0.058,0.068,2640,783,1634
$GC,5782,1.00,290.1,53.7,6.4,279,5786,0.00,2.62,0.00,0.000,6,0.000,0.052,2640,2207,1632
$GC,6102,1.00,290.1,26.9,8.8,295,6107,0.00,2.70,0.00,0.000,4,0.000,0.069,2640,775,1632
$GC,6143,1.00,290.1,24.0,7.3,297,6147,0.00,2.60,0.00,0.000,6,0.000,0.051,2640,2202,1631
$STATE,6404,end climb,SURFACE_DEPTH_REACHED
$STATE,6405,begin surface coast
$FINISH,0.6,1.014145
$STATE,6428,end surface coast,CONTROL_FINISHED_OK
$STATE,6428,begin surface
$SM_CCo,6449,152.70,0.664,2,0,509,566.15
$SM_GC,1.15,0.00,0.00,152.70,0.000,0.000,0.664,73,2398,509,-10.75,-0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2072
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,175.6,48.7
$24V_AH,23.7,47.080
$10V_AH,10.2,23.713
$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,25.600,53.450,343.425,152.700,0.000,32.649,34.531,99.621,1.250,0.000,0.000,19.172,592.208,4645.895,605.637,760.942,283.219,33.362,1005.370,0.000,747.660,0.000,7.126
$DEVICE_MAMPS,173.342,85.137,832.195,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,226.381,213.787,385.148,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15929,311
$CFSIZE,260165632,243380224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$GPS,060108,114308,6243.151,-622.249,31,1.2,31,-8.2