version: 66.02
glider: 16
mission: 6
dive: 269
start: 1 6 108 6 44 48
data:
$ID,16
$MISSION,6
$DIVE,269
$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,-2082198.5
$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,13
$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
$GPS1,063927,6242.231,-629.149,40,2.4,60,-8.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-56.8
$GPS2,064356,6242.259,-629.141,11,2.0,16,-8.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.010,-0.221
$KALMAN_X,40310.9,-556.3,2594.6,95352.1,26188.0
$KALMAN_Y,75183.8,-641.3,1987.2,42146.1,104054.1
$MHEAD_RNG_PITCHd_Wd,73.7,23027,-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,23,-0.85,-146.6,0.0,0.0,0,140,0.00,0.00,-114.72,0.000,6,0.000,0.000,72,2400,3417
$GC,143,-0.85,-146.6,3.0,-2.4,5,164,12.18,2.65,0.00,0.000,4,0.175,0.073,2222,3773,3420
$GC,417,-0.85,-146.6,37.9,-7.8,17,421,0.00,2.53,0.00,0.000,6,0.000,0.055,2222,2398,3421
$GC,738,-0.85,-146.6,58.9,-5.8,33,742,0.00,2.62,0.00,0.000,4,0.000,0.076,2222,3773,3421
$GC,781,-0.85,-146.6,63.1,-10.2,35,785,0.00,2.53,0.00,0.000,6,0.000,0.056,2222,2398,3422
$GC,1103,-0.85,-146.6,90.1,-7.9,51,1107,0.00,2.65,0.00,0.000,4,0.000,0.072,2222,986,3421
$GC,1152,-0.85,-146.6,94.5,-8.7,53,1156,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2402,3421
$GC,1473,-0.85,-146.6,119.3,-8.5,69,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3421
$GC,1784,-0.85,-146.6,143.4,-6.7,84,1788,0.00,2.60,0.00,0.000,4,0.000,0.080,2222,3768,3421
$GC,2040,-0.85,-146.6,143.6,0.8,95,2047,0.00,2.47,0.00,0.000,6,0.000,0.054,2222,2397,3421
$STATE,2354,end dive,NO_VERTICAL_VELOCITY
$STATE,2354,begin apogee
$GC,2360,-0.31,0.0,143.9,0.0,111,2480,0.60,0.00,115.25,0.773,6,0.107,0.000,2342,2203,2817
$STATE,2480,end apogee,CONTROL_FINISHED_OK
$STATE,2481,begin climb
$GC,2483,0.85,146.6,143.9,0.0,117,2608,1.20,2.78,112.68,0.755,4,0.092,0.067,2588,785,2217
$GC,2631,0.85,146.6,139.0,6.6,124,2636,0.00,2.62,0.00,0.000,6,0.000,0.051,2588,2205,2217
$GC,2958,0.85,148.5,121.4,5.9,140,2962,0.00,2.67,0.00,0.000,4,0.000,0.077,2588,3613,2217
$GC,3047,0.86,156.8,116.3,5.8,144,3064,0.00,2.62,9.38,0.651,6,0.000,0.061,2588,2202,2176
$GC,3374,0.86,159.8,97.7,5.9,160,3383,0.00,2.72,3.67,0.463,4,0.000,0.069,2588,762,2165
$GC,3401,0.86,159.8,95.5,7.3,161,3405,0.00,2.62,0.00,0.000,6,0.000,0.050,2588,2202,2165
$GC,3728,0.91,203.5,78.3,4.8,177,3771,0.00,2.72,34.50,0.709,4,0.000,0.074,2588,3614,1987
$GC,3799,0.91,203.5,74.1,6.6,180,3804,0.00,2.65,0.00,0.000,6,0.000,0.061,2588,2200,1987
$GC,4120,0.91,203.5,53.0,6.6,196,4125,0.00,2.67,0.00,0.000,4,0.000,0.071,2588,779,1986
$GC,4183,0.95,238.4,49.5,5.0,199,4218,0.12,2.60,27.77,0.686,6,0.066,0.050,2619,2208,1844
$GC,4535,0.95,238.4,20.4,8.8,216,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2208,1843
$STATE,4780,end climb,SURFACE_DEPTH_REACHED
$STATE,4780,begin surface coast
$FINISH,0.6,1.027428
$STATE,4802,end surface coast,CONTROL_FINISHED_OK
$STATE,4802,begin surface
$SM_CCo,4822,177.95,0.661,2,0,509,566.15
$SM_GC,0.99,0.00,0.00,177.95,0.000,0.000,0.661,73,2405,509,-10.75,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026078
$HUMID,2051
$TCM_TEMP,16.80
$XPDR_PINGS,2
$24V_AH,23.8,46.849
$10V_AH,10.2,23.632
$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,25.475,48.075,303.250,177.950,0.000,32.661,38.667,93.939,0.500,0.000,0.000,16.347,474.563,3255.191,592.354,693.457,280.894,33.353,957.111,0.000,684.180,0.000,0.930
$DEVICE_MAMPS,174.876,79.768,773.136,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,161.944,157.621,394.069,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9670,229
$CFSIZE,260165632,243449856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,060108,080923,6242.737,-627.974,9,3.4,28,-8.3