version: 66.02
glider: 16
mission: 6
dive: 242
start: 1 3 108 6 0 49
data:
$ID,16
$MISSION,6
$DIVE,242
$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,1
$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,-2081480.2
$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,17
$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
$GPS1,053937,6250.810,-602.901,42,1.8,47,-8.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-48.5
$GPS2,055959,6250.973,-602.669,15,2.1,34,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.093,-0.201
$KALMAN_X,13595.0,17.8,-153.7,147513.5,3551.8
$KALMAN_Y,50117.2,-464.2,-372.7,85502.1,11428.7
$MHEAD_RNG_PITCHd_Wd,212.9,20418,-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,21,-0.85,-146.6,0.0,0.0,0,104,0.00,0.00,-81.12,0.000,2,0.000,0.000,66,2410,2590
$GC,107,-0.85,-146.6,3.0,-2.1,4,153,12.00,2.70,-27.08,0.000,4,0.166,0.074,2221,976,3416
$GC,287,-0.85,-146.6,22.1,-12.8,12,292,0.00,2.62,0.00,0.000,6,0.000,0.055,2221,2407,3417
$GC,615,-0.85,-146.6,48.6,-7.6,28,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3417
$GC,924,-0.85,-146.6,74.2,-8.6,43,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3417
$GC,1234,-0.85,-146.6,96.2,-7.3,58,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3417
$GC,1542,-0.85,-146.6,116.4,-6.5,73,1547,0.00,2.67,0.00,0.000,4,0.000,0.066,2221,978,3417
$GC,1604,-0.85,-146.6,121.1,-8.1,76,1609,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2406,3417
$GC,1931,-0.85,-146.6,147.6,-8.1,92,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3417
$GC,2239,-0.85,-146.6,173.9,-8.7,107,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3417
$GC,2549,-0.85,-146.6,198.0,-7.7,122,2553,0.00,2.67,0.00,0.000,4,0.000,0.068,2221,979,3417
$GC,2598,-0.85,-146.6,201.9,-7.8,124,2603,0.00,2.60,0.00,0.000,6,0.000,0.060,2221,2399,3417
$GC,2915,-0.85,-146.6,226.0,-7.8,139,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3417
$GC,3222,-0.85,-146.6,249.3,-7.4,154,3227,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,979,3417
$GC,3289,-0.85,-146.6,254.5,-7.9,157,3294,0.00,2.60,0.00,0.000,6,0.000,0.060,2221,2402,3417
$GC,3610,-0.85,-146.6,279.1,-7.9,173,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3417
$GC,3919,-0.85,-146.6,301.8,-6.5,188,3923,0.00,2.67,0.00,0.000,4,0.000,0.068,2221,974,3417
$GC,3985,-0.85,-146.6,305.7,-5.9,191,3990,0.00,2.65,0.00,0.000,6,0.000,0.060,2221,2407,3417
$GC,4306,-0.85,-146.6,328.0,-6.9,207,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3417
$GC,4615,-0.85,-146.6,353.4,-8.5,222,4620,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,979,3417
$GC,4659,-0.85,-146.6,357.2,-8.7,224,4663,0.00,2.60,0.00,0.000,6,0.000,0.059,2221,2401,3417
$GC,4986,-0.85,-146.6,382.7,-7.4,240,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3417
$GC,5295,-0.85,-146.6,406.7,-7.9,255,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3418
$GC,5604,-0.85,-146.6,430.8,-7.4,270,5608,0.00,2.60,0.00,0.000,4,0.000,0.079,2221,3771,3419
$GC,5670,-0.85,-146.6,436.3,-8.4,273,5674,0.00,2.53,0.00,0.000,6,0.000,0.054,2221,2388,3419
$GC,5997,-0.85,-146.6,459.2,-6.8,289,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2388,3418
$GC,6306,-0.85,-146.6,478.1,-5.8,304,6311,0.00,2.62,0.00,0.000,4,0.000,0.073,2221,987,3419
$GC,6395,-0.85,-146.6,484.3,-7.3,308,6399,0.00,2.60,0.00,0.000,6,0.000,0.062,2221,2401,3418
$GC,6722,-0.85,-146.6,507.0,-6.6,324,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3418
$GC,7031,-0.85,-146.6,526.5,-5.9,339,7036,0.00,2.70,0.00,0.000,4,0.000,0.076,2221,986,3419
$GC,7108,-0.85,-146.6,531.7,-6.7,342,7114,0.00,2.65,0.00,0.000,6,0.000,0.066,2221,2407,3419
$GC,7424,-0.85,-146.6,553.2,-6.7,358,7428,0.00,2.72,0.00,0.000,4,0.000,0.079,2221,985,3418
$GC,7486,-0.85,-146.6,556.9,-6.4,361,7490,0.00,2.65,0.00,0.000,6,0.000,0.069,2221,2402,3418
$STATE,7603,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7603,begin apogee
$GC,7609,-0.31,0.0,563.9,5.3,367,7733,0.60,0.00,121.07,1.101,6,0.100,0.000,2343,2199,2817
$STATE,7734,end apogee,CONTROL_FINISHED_OK
$STATE,7734,begin climb
$GC,7736,0.85,146.6,563.7,0.0,373,7867,1.25,2.83,118.78,1.081,4,0.097,0.086,2590,3610,2218
$GC,7974,0.85,155.0,555.2,5.8,384,7988,0.00,2.70,8.55,0.904,6,0.000,0.071,2590,2199,2185
$GC,8311,0.86,157.9,535.2,5.9,401,8320,0.00,2.78,3.88,0.677,4,0.000,0.082,2590,782,2172
$GC,8359,0.86,157.9,532.2,6.8,403,8363,0.00,2.67,0.00,0.000,6,0.000,0.062,2590,2198,2171
$GC,8687,0.87,172.7,512.6,5.6,419,8706,0.00,0.00,13.25,0.999,6,0.000,0.000,2590,2198,2112
$GC,9015,0.87,172.7,492.2,6.3,435,9019,0.00,2.72,0.00,0.000,4,0.000,0.079,2590,779,2109
$GC,9048,0.87,172.7,490.1,6.2,436,9054,0.00,2.65,0.00,0.000,6,0.000,0.061,2590,2199,2109
$GC,9363,0.88,180.9,472.2,5.8,452,9378,0.00,2.78,7.60,0.913,4,0.000,0.077,2590,785,2079
$GC,9423,0.88,180.9,468.4,6.2,454,9429,0.00,2.65,0.00,0.000,6,0.000,0.061,2590,2204,2078
$GC,9738,0.88,180.9,450.2,6.1,470,9742,0.00,2.70,0.00,0.000,4,0.000,0.085,2590,3613,2075
$GC,9838,0.88,180.9,443.2,6.9,474,9844,0.00,2.67,0.00,0.000,6,0.000,0.067,2590,2197,2076
$GC,10153,0.88,180.9,424.0,6.6,490,10157,0.00,2.70,0.00,0.000,4,0.000,0.077,2590,784,2074
$GC,10196,0.88,180.9,420.7,7.4,492,10200,0.00,2.62,0.00,0.000,6,0.000,0.055,2590,2200,2073
$GC,10523,0.88,180.9,397.3,6.5,508,10524,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2200,2073
$GC,10832,0.88,180.9,378.3,6.1,523,10836,0.00,2.70,0.00,0.000,4,0.000,0.081,2590,3615,2073
$GC,10880,0.88,180.9,375.0,6.4,525,10885,0.00,2.65,0.00,0.000,6,0.000,0.063,2590,2200,2073
$GC,11202,0.88,180.9,354.8,6.4,541,11204,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2200,2073
$GC,11511,0.88,181.4,335.8,6.0,556,11513,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2200,2073
$GC,11820,0.88,181.4,315.7,6.5,571,11825,0.00,2.65,0.00,0.000,4,0.000,0.071,2590,783,2073
$GC,11860,0.88,181.4,312.9,7.4,573,11865,0.00,2.60,0.00,0.000,6,0.000,0.051,2590,2202,2073
$GC,12185,0.88,181.4,291.5,6.7,589,12187,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2202,2073
$GC,12495,0.88,181.4,269.6,7.1,604,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2202,2074
$GC,12805,0.88,181.4,248.7,6.4,619,12809,0.00,2.65,0.00,0.000,4,0.000,0.066,2590,782,2075
$GC,12848,0.88,181.4,245.6,6.9,621,12852,0.00,2.58,0.00,0.000,6,0.000,0.048,2590,2202,2075
$GC,13174,0.88,181.4,224.1,6.7,637,13175,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2202,2076
$GC,13484,0.88,181.4,203.0,7.1,652,13485,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2201,2077
$GC,13793,0.88,181.4,180.8,7.0,667,13794,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2202,2077
$GC,14102,0.90,194.3,161.7,5.6,682,14117,0.00,0.00,12.48,0.739,6,0.000,0.000,2590,2202,2024
$GC,14412,0.91,202.3,143.9,5.8,697,14422,0.00,0.00,7.85,0.677,6,0.000,0.000,2590,2201,1992
$GC,14722,0.91,202.3,123.5,6.9,712,14723,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2202,1992
$GC,15030,0.91,202.3,101.8,7.6,727,15031,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2201,1992
$GC,15340,0.93,221.1,80.5,5.5,742,15360,0.00,0.00,16.15,0.705,6,0.000,0.000,2590,2202,1916
$GC,15670,0.93,221.1,52.1,7.6,758,15674,0.00,2.65,0.00,0.000,4,0.000,0.065,2590,782,1914
$GC,15709,0.93,221.1,49.0,7.5,760,15713,0.00,2.58,0.00,0.000,6,0.000,0.048,2590,2201,1913
$GC,16036,1.06,341.2,35.8,2.7,776,16135,0.22,0.00,91.78,0.706,6,0.051,0.000,2652,2201,1425
$STATE,16359,end climb,SURFACE_DEPTH_REACHED
$STATE,16359,begin surface coast
$FINISH,1.0,1.025586
$STATE,16382,end surface coast,CONTROL_FINISHED_OK
$STATE,16382,begin surface
$SM_CCo,16403,140.40,0.657,3,0,509,566.15
$SM_GC,1.56,0.00,0.00,140.40,0.000,0.000,0.657,68,2408,509,-10.77,0.23,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2040
$TCM_TEMP,16.90
$XPDR_PINGS,59
$ALTIM_BOTTOM_PING,500.2,73.4
$24V_AH,23.5,42.834
$10V_AH,10.2,22.181
$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,25.675,107.100,401.375,140.400,0.000,163.188,235.052,422.477,18.750,0.000,0.000,35.001,1419.204,12917.013,713.108,1685.043,1047.832,33.366,1531.710,0.000,1632.020,0.000,28.302
$DEVICE_MAMPS,165.672,85.904,1101.412,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,579.878,546.942,541.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41109,793
$CFSIZE,260165632,244240384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,3,0
$GPS,030108,103822,6248.870,-600.449,39,2.2,58,-8.0