version: 66.02
glider: 16
mission: 6
dive: 270
start: 1 6 108 8 18 25
data:
$ID,16
$MISSION,6
$DIVE,270
$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,-2082234.1
$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,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
$GPS1,080923,6242.737,-627.974,9,3.4,28,-8.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-54.5
$GPS2,081735,6242.777,-627.846,15,4.3,34,-8.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.001,-0.221
$KALMAN_X,39566.3,-549.8,3167.5,96653.7,20083.0
$KALMAN_Y,76959.9,-1291.5,2744.9,41229.9,103958.2
$MHEAD_RNG_PITCHd_Wd,74.8,21634,-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,23,-0.85,-146.6,0.0,0.0,0,144,0.00,0.00,-114.93,0.000,6,0.000,0.000,71,2405,3416
$GC,147,-0.85,-146.6,6.4,-6.0,6,169,12.20,2.62,0.00,0.000,4,0.175,0.070,2222,3773,3419
$GC,421,-0.85,-146.6,41.6,-7.7,18,426,0.00,2.53,0.00,0.000,6,0.000,0.054,2222,2398,3420
$GC,742,-0.85,-146.6,64.8,-7.4,34,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3420
$GC,1054,-0.85,-146.6,92.2,-9.0,49,1058,0.00,2.65,0.00,0.000,4,0.000,0.071,2222,983,3420
$GC,1097,-0.85,-146.6,96.3,-8.6,51,1101,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,2402,3420
$GC,1424,-0.85,-146.6,121.1,-7.4,67,1428,0.00,2.67,0.00,0.000,4,0.000,0.069,2222,977,3420
$GC,1456,-0.85,-146.6,123.7,-7.4,68,1463,0.00,2.62,0.00,0.000,6,0.000,0.057,2222,2413,3420
$GC,1774,-0.85,-146.6,149.2,-8.5,84,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2413,3420
$GC,2081,-0.85,-146.6,174.4,-8.4,99,2085,0.00,2.67,0.00,0.000,4,0.000,0.070,2222,982,3420
$STATE,2122,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2122,begin apogee
$GC,2130,-0.31,0.0,177.9,8.1,101,2249,0.55,0.00,115.38,0.802,6,0.103,0.000,2336,2206,2817
$STATE,2250,end apogee,CONTROL_FINISHED_OK
$STATE,2250,begin climb
$GC,2252,0.85,146.6,182.9,0.0,107,2371,1.25,0.00,114.12,0.776,6,0.091,0.000,2589,2206,2219
$GC,2675,0.89,183.0,164.5,5.0,128,2707,0.00,0.00,29.15,0.739,6,0.000,0.000,2589,2206,2071
$GC,3006,0.89,183.0,144.6,7.1,144,3010,0.00,2.67,0.00,0.000,4,0.000,0.067,2589,784,2071
$GC,3049,0.89,183.0,141.8,6.5,146,3053,0.00,2.58,0.00,0.000,6,0.000,0.049,2589,2204,2070
$GC,3376,0.93,225.5,123.5,4.8,162,3417,0.12,0.00,33.95,0.729,6,0.067,0.000,2621,2204,1896
$GC,3727,0.93,225.5,97.5,7.2,179,3732,0.00,2.67,0.00,0.000,4,0.000,0.067,2621,777,1894
$GC,3760,0.93,225.5,94.6,8.6,180,3766,0.00,2.62,0.00,0.000,6,0.000,0.049,2621,2202,1894
$GC,4076,0.93,225.5,69.5,8.0,196,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2202,1894
$GC,4387,0.93,225.5,47.0,7.8,211,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2201,1894
$GC,4694,0.93,225.5,24.1,6.9,226,4699,0.00,2.65,0.00,0.000,4,0.000,0.067,2621,785,1894
$GC,4722,0.95,243.6,22.5,5.5,227,4741,0.00,2.58,14.75,0.652,6,0.000,0.049,2621,2201,1824
$STATE,5000,end climb,SURFACE_DEPTH_REACHED
$STATE,5000,begin surface coast
$FINISH,0.4,1.027424
$STATE,5022,end surface coast,CONTROL_FINISHED_OK
$STATE,5022,begin surface
$SM_CCo,5043,176.07,0.670,1,0,508,566.15
$SM_GC,0.96,0.00,0.00,176.07,0.000,0.000,0.670,70,2399,508,-10.77,-0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2060
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,150.9,36.8
$24V_AH,23.8,46.966
$10V_AH,10.2,23.671
$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,25.725,36.800,307.350,176.075,0.000,65.301,70.218,179.018,0.750,0.000,0.000,35.050,471.599,3612.571,627.839,600.063,417.744,33.354,920.884,0.000,574.853,0.000,5.471
$DEVICE_MAMPS,174.876,71.331,802.282,669.591,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,176.741,164.807,340.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9726,242
$CFSIZE,260165632,243429376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,060108,094637,6243.101,-625.451,30,2.0,33,-8.2