version: 66.02
glider: 16
mission: 6
dive: 268
start: 1 6 108 5 15 55
data:
$ID,16
$MISSION,6
$DIVE,268
$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,-2082181.5
$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,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
$GPS1,051108,6241.647,-629.175,25,1.2,26,-8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-57.0
$GPS2,051503,6241.663,-629.242,10,1.8,10,-8.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.037,-0.218
$KALMAN_X,41671.2,-724.4,2312.8,94356.8,36618.0
$KALMAN_Y,72488.9,-583.8,1934.9,43724.8,97803.8
$MHEAD_RNG_PITCHd_Wd,71.3,23584,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,140,0.00,0.00,-114.43,0.000,6,0.000,0.000,74,2400,3416
$GC,143,-0.85,-146.6,5.1,-4.6,6,165,12.20,2.78,0.00,0.000,4,0.176,0.077,2220,976,3419
$GC,371,-0.85,-146.6,34.2,-6.4,16,376,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2410,3420
$GC,699,-0.85,-146.6,56.0,-6.9,32,704,0.00,2.70,0.00,0.000,4,0.000,0.069,2220,976,3420
$GC,725,-0.85,-146.6,57.9,-6.9,33,730,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2399,3420
$GC,1047,-0.85,-146.6,84.2,-9.2,49,1052,0.00,2.67,0.00,0.000,4,0.000,0.070,2220,974,3420
$GC,1080,-0.85,-146.6,87.5,-9.3,50,1087,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2397,3420
$GC,1396,-0.85,-146.6,112.6,-7.6,66,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2397,3420
$GC,1706,-0.85,-146.6,138.1,-9.2,81,1711,0.00,2.65,0.00,0.000,4,0.000,0.071,2220,982,3420
$GC,1724,-0.85,-146.6,139.9,-8.9,82,1728,0.00,2.60,0.00,0.000,6,0.000,0.059,2220,2405,3420
$GC,2050,-0.85,-146.6,155.2,-0.2,98,2054,0.00,2.58,0.00,0.000,4,0.000,0.077,2220,3773,3420
$STATE,2289,end dive,NO_VERTICAL_VELOCITY
$STATE,2289,begin apogee
$GC,2298,-0.31,0.0,155.2,0.0,109,2417,0.57,0.00,115.10,0.782,6,0.079,0.000,2343,2200,2817
$STATE,2417,end apogee,CONTROL_FINISHED_OK
$STATE,2417,begin climb
$GC,2420,0.85,146.6,155.0,0.0,115,2544,1.15,2.75,112.88,0.759,4,0.074,0.068,2588,789,2217
$GC,2796,0.85,146.6,138.4,6.1,132,2800,0.00,2.60,0.00,0.000,6,0.000,0.051,2588,2205,2217
$GC,3123,0.91,201.5,121.7,4.5,148,3173,0.00,2.78,42.62,0.732,4,0.000,0.074,2588,3613,1995
$GC,3219,0.95,238.1,117.2,5.0,152,3255,0.12,2.65,29.05,0.716,6,0.056,0.062,2627,2203,1847
$GC,3583,0.95,238.1,90.9,7.1,170,3587,0.00,2.67,0.00,0.000,4,0.000,0.071,2627,782,1845
$GC,3616,0.95,238.1,87.9,8.9,171,3622,0.00,2.60,0.00,0.000,6,0.000,0.051,2627,2208,1845
$GC,3932,0.95,238.1,62.9,7.5,187,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2208,1844
$GC,4240,0.95,238.1,38.2,10.1,202,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2208,1845
$GC,4550,0.95,238.1,12.1,8.0,217,4554,0.00,2.67,0.00,0.000,4,0.000,0.068,2627,782,1845
$GC,4593,0.95,238.1,8.6,7.8,219,4597,0.00,2.60,0.00,0.000,6,0.000,0.050,2627,2210,1844
$STATE,4691,end climb,SURFACE_DEPTH_REACHED
$STATE,4691,begin surface coast
$FINISH,0.4,1.014333
$STATE,4714,end surface coast,CONTROL_FINISHED_OK
$STATE,4714,begin surface
$SM_CCo,4734,177.32,0.664,1,0,509,566.15
$SM_GC,1.04,0.00,0.00,177.32,0.000,0.000,0.664,73,2399,509,-10.75,-0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2045
$TCM_TEMP,15.70
$XPDR_PINGS,1
$24V_AH,23.8,46.744
$10V_AH,10.2,23.592
$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,25.500,48.425,299.650,177.325,0.000,32.630,34.182,87.094,0.750,0.000,0.000,10.721,469.326,3177.739,580.230,688.514,253.806,33.358,948.486,0.000,682.277,0.000,5.244
$DEVICE_MAMPS,175.643,76.700,782.340,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,161.839,151.713,340.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9687,225
$CFSIZE,260165632,243474432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,060108,063927,6242.231,-629.149,40,2.4,60,-8.3