version: 66.02
glider: 16
mission: 6
dive: 272
start: 1 6 108 11 48 12
data:
$ID,16
$MISSION,6
$DIVE,272
$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,-2082268.8
$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
$GPS1,114308,6243.151,-622.249,31,1.2,31,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-55.1
$GPS2,114720,6243.139,-622.168,9,1.0,14,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.020,-0.220
$KALMAN_X,41200.7,-341.1,3945.5,99026.6,22292.4
$KALMAN_Y,76990.9,-2244.1,5260.4,40315.3,82313.7
$MHEAD_RNG_PITCHd_Wd,70.3,17008,-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,-146.6,0.0,0.0,0,127,0.00,0.00,-102.10,0.000,2,0.000,0.000,72,2398,3047
$GC,130,-0.85,-146.6,3.0,-2.6,5,159,12.25,2.62,-9.43,0.000,4,0.177,0.087,2220,3768,3415
$GC,412,-0.85,-146.6,30.9,-10.0,17,418,0.00,2.53,0.00,0.000,6,0.000,0.055,2220,2397,3415
$GC,727,-0.85,-146.6,53.8,-6.9,33,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3415
$GC,1038,-0.85,-146.6,77.2,-8.0,48,1042,0.00,2.65,0.00,0.000,4,0.000,0.073,2220,985,3415
$GC,1064,-0.85,-146.6,79.4,-7.8,49,1069,0.00,2.60,0.00,0.000,6,0.000,0.060,2220,2400,3415
$GC,1381,-0.85,-146.6,107.8,-8.8,64,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3415
$GC,1689,-0.85,-146.6,131.5,-7.4,79,1694,0.00,2.65,0.00,0.000,4,0.000,0.069,2220,984,3415
$GC,1751,-0.85,-146.6,136.2,-7.5,82,1755,0.00,2.60,0.00,0.000,6,0.000,0.059,2220,2400,3415
$GC,2077,-0.85,-146.6,160.7,-8.1,98,2082,0.00,2.65,0.00,0.000,4,0.000,0.070,2220,981,3415
$GC,2098,-0.85,-146.6,162.6,-8.5,99,2102,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2400,3415
$GC,2425,-0.85,-146.6,188.5,-7.6,115,2429,0.00,2.65,0.00,0.000,4,0.000,0.070,2220,983,3415
$GC,2451,-0.85,-146.6,190.7,-7.7,116,2456,0.00,2.60,0.00,0.000,6,0.000,0.060,2220,2400,3415
$GC,2767,-0.85,-146.6,215.1,-8.1,131,2771,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,977,3415
$GC,2799,-0.85,-146.6,217.7,-7.9,132,2805,0.00,2.60,0.00,0.000,6,0.000,0.060,2220,2400,3415
$STATE,2844,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2844,begin apogee
$GC,2850,-0.31,0.0,221.4,8.0,135,2969,0.60,0.00,115.57,0.831,6,0.101,0.000,2341,2198,2818
$STATE,2970,end apogee,CONTROL_FINISHED_OK
$STATE,2970,begin climb
$GC,2972,0.85,146.6,225.3,0.0,141,3096,1.25,2.70,114.00,0.814,4,0.094,0.067,2591,786,2217
$GC,3158,0.86,157.8,219.2,5.7,150,3175,0.00,2.60,10.10,0.698,6,0.000,0.052,2591,2200,2172
$GC,3483,0.87,170.2,202.1,5.7,166,3496,0.00,0.00,11.02,0.711,6,0.000,0.000,2591,2200,2123
$GC,3793,0.88,176.5,184.2,5.8,181,3806,0.00,2.70,6.72,0.643,4,0.000,0.068,2591,785,2096
$GC,3836,0.88,176.5,181.3,6.9,183,3840,0.00,2.60,0.00,0.000,6,0.000,0.051,2591,2201,2095
$GC,4162,0.88,180.8,161.5,5.9,199,4168,0.00,0.00,4.90,0.574,6,0.000,0.000,2591,2201,2080
$GC,4471,0.88,180.8,142.6,6.2,214,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2201,2079
$GC,4781,0.88,180.8,122.7,6.6,229,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2201,2079
$GC,5092,0.89,187.1,104.2,5.8,244,5100,0.00,0.00,6.78,0.622,6,0.000,0.000,2591,2201,2054
$GC,5401,0.89,187.1,84.3,6.5,259,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2201,2053
$GC,5709,0.93,227.0,68.4,4.9,274,5744,0.10,0.00,31.62,0.717,6,0.067,0.000,2619,2201,1891
$GC,6041,0.93,227.0,42.1,9.3,290,6046,0.00,2.67,0.00,0.000,4,0.000,0.068,2619,779,1889
$GC,6068,0.93,227.0,40.0,7.1,291,6073,0.00,2.60,0.00,0.000,6,0.000,0.051,2619,2203,1888
$GC,6385,0.93,227.0,18.0,6.0,306,6389,0.00,2.65,0.00,0.000,4,0.000,0.067,2619,785,1888
$GC,6424,0.93,227.0,14.9,9.2,308,6428,0.00,2.58,0.00,0.000,6,0.000,0.051,2619,2201,1888
$STATE,6603,end climb,SURFACE_DEPTH_REACHED
$STATE,6603,begin surface coast
$FINISH,0.4,1.025201
$STATE,6625,end surface coast,CONTROL_FINISHED_OK
$STATE,6625,begin surface
$SM_CCo,6646,188.57,0.667,2,0,509,566.15
$SM_GC,1.11,0.00,0.00,188.57,0.000,0.000,0.667,75,2401,509,-10.74,0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2049
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,150.8,80.2
$24V_AH,23.7,47.191
$10V_AH,10.2,23.756
$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,25.450,53.275,300.725,188.575,0.000,32.583,34.485,96.576,0.750,0.000,0.000,14.210,614.470,4843.658,617.524,756.266,279.708,33.368,1007.870,0.000,748.283,0.000,5.587
$DEVICE_MAMPS,177.177,87.438,831.428,666.523,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,231.569,219.897,385.167,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15951,318
$CFSIZE,260165632,243351552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,2,0
$GPS,060108,134323,6242.984,-620.111,11,3.3,30,-8.2