version: 66.02
glider: 16
mission: 6
dive: 273
start: 1 6 108 13 49 15
data:
$ID,16
$MISSION,6
$DIVE,273
$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,-2082312.4
$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,17
$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
$GPS1,134323,6242.984,-620.111,11,3.3,30,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-46.8
$GPS2,134825,6242.965,-620.068,33,1.9,43,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.028,-0.220
$KALMAN_X,41494.8,-386.8,4590.5,99986.8,22083.6
$KALMAN_Y,76068.4,-2544.3,7295.9,39188.9,74107.7
$MHEAD_RNG_PITCHd_Wd,66.2,15628,-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,23,-0.85,-146.6,0.0,0.0,0,127,0.00,0.00,-101.25,0.000,2,0.000,0.000,74,2402,3040
$GC,130,-0.85,-146.6,3.4,-2.7,5,159,12.23,2.70,-9.38,0.000,4,0.177,0.081,2219,979,3416
$GC,406,-0.85,-146.6,25.9,-8.4,17,411,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2406,3416
$GC,722,-0.85,-146.6,50.9,-8.8,32,726,0.00,2.67,0.00,0.000,4,0.000,0.067,2219,980,3416
$GC,753,-0.85,-146.6,53.3,-7.2,33,760,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2412,3416
$GC,1071,-0.85,-146.6,75.3,-7.3,49,1076,0.00,2.67,0.00,0.000,4,0.000,0.067,2219,983,3417
$GC,1098,-0.85,-146.6,77.4,-7.3,50,1103,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2401,3416
$GC,1414,-0.85,-146.6,99.6,-6.4,65,1418,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,983,3416
$GC,1463,-0.85,-146.6,102.9,-6.8,67,1468,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2400,3416
$GC,1780,-0.85,-146.6,124.7,-6.9,82,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,2088,-0.85,-146.6,146.5,-7.5,97,2093,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,983,3416
$GC,2128,-0.85,-146.6,149.5,-8.4,99,2133,0.00,2.60,0.00,0.000,6,0.000,0.060,2219,2405,3416
$GC,2460,-0.85,-146.6,177.6,-8.4,115,2464,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,983,3416
$GC,2503,-0.85,-146.6,181.2,-8.0,117,2507,0.00,2.60,0.00,0.000,6,0.000,0.059,2219,2400,3416
$GC,2830,-0.85,-146.6,207.0,-7.9,133,2834,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,983,3416
$GC,2869,-0.85,-146.6,209.9,-7.4,135,2873,0.00,2.60,0.00,0.000,6,0.000,0.059,2219,2400,3416
$GC,3195,-0.85,-146.6,235.5,-7.9,151,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$STATE,3213,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3213,begin apogee
$GC,3219,-0.31,0.0,237.0,7.7,152,3338,0.60,0.00,115.80,0.845,6,0.107,0.000,2339,2198,2817
$STATE,3338,end apogee,CONTROL_FINISHED_OK
$STATE,3338,begin climb
$GC,3341,0.85,146.6,241.2,0.0,158,3463,1.23,0.00,114.70,0.824,6,0.097,0.000,2588,2197,2219
$GC,3772,0.89,186.4,221.7,4.9,179,3806,0.00,0.00,31.95,0.785,6,0.000,0.000,2588,2197,2056
$GC,4124,0.90,200.7,201.9,5.6,196,4142,0.00,0.00,12.23,0.730,6,0.000,0.000,2588,2197,1998
$GC,4451,0.90,200.7,182.2,6.1,212,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2197,1998
$GC,4760,0.90,200.7,163.3,6.1,227,4765,0.00,2.65,0.00,0.000,4,0.000,0.069,2588,781,1998
$GC,4806,0.90,200.7,160.4,6.4,229,4810,0.00,2.60,0.00,0.000,6,0.000,0.052,2588,2202,1997
$GC,5127,0.91,209.7,140.9,5.8,245,5137,0.00,0.00,8.45,0.670,6,0.000,0.000,2588,2202,1962
$GC,5437,0.91,209.7,122.4,6.2,260,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,1961
$GC,5746,0.93,219.4,107.5,5.7,275,5761,0.12,2.67,9.07,0.665,4,0.071,0.067,2619,782,1921
$GC,5789,0.93,219.4,104.7,6.5,277,5794,0.00,2.60,0.00,0.000,6,0.000,0.051,2619,2200,1920
$GC,6116,0.93,219.4,81.6,7.4,293,6120,0.00,2.65,0.00,0.000,4,0.000,0.074,2619,3613,1920
$GC,6137,0.93,219.4,79.9,7.9,294,6141,0.00,2.62,0.00,0.000,6,0.000,0.059,2619,2197,1920
$GC,6458,0.93,219.4,51.9,7.4,310,6463,0.00,2.65,0.00,0.000,4,0.000,0.069,2619,781,1920
$GC,6502,0.93,219.4,48.4,8.6,312,6506,0.00,2.60,0.00,0.000,6,0.000,0.051,2619,2208,1920
$GC,6830,0.93,219.4,23.1,7.1,328,6834,0.00,2.65,0.00,0.000,4,0.000,0.066,2619,786,1920
$GC,6856,0.98,265.2,21.7,4.7,329,6897,0.00,2.58,35.72,0.688,6,0.000,0.051,2619,2203,1735
$STATE,7169,end climb,SURFACE_DEPTH_REACHED
$STATE,7170,begin surface coast
$FINISH,0.5,1.021832
$STATE,7213,end surface coast,CONTROL_FINISHED_OK
$STATE,7214,begin surface
$SM_CCo,7235,168.40,0.663,2,0,508,566.15
$SM_GC,0.99,0.00,0.00,168.40,0.000,0.000,0.663,71,2401,508,-10.76,0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2063
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,175.8,70.7
$24V_AH,23.7,47.307
$10V_AH,10.2,23.802
$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,25.875,63.900,327.925,168.400,0.000,32.588,34.232,116.444,1.000,0.000,0.000,42.990,663.378,5279.649,630.548,847.187,306.742,33.361,1051.669,0.000,808.495,0.000,7.193
$DEVICE_MAMPS,177.177,81.302,845.234,663.455,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,255.298,239.157,407.505,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16001,347
$CFSIZE,260165632,243322880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,2,0
$GPS,060108,155407,6243.141,-618.986,38,1.8,43,-8.2