version: 66.02
glider: 16
mission: 6
dive: 277
start: 1 6 108 23 34 32
data:
$ID,16
$MISSION,6
$DIVE,277
$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,-2082386.1
$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,15
$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
$GPS1,232458,6245.158,-608.353,28,3.1,47,-8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-50.9
$GPS2,233339,6245.169,-608.090,12,1.4,12,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.097,-0.199
$KALMAN_X,48978.5,-495.0,6464.8,101276.9,28532.6
$KALMAN_Y,83289.2,-2074.7,14023.6,28856.0,56166.8
$MHEAD_RNG_PITCHd_Wd,44.5,5229,-17.3,-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,22,-1.15,-68.5,0.0,0.0,0,127,0.00,0.00,-103.38,0.000,6,0.000,0.000,71,2400,3098
$GC,130,-1.22,-128.7,3.0,-2.5,5,155,11.82,2.72,-6.07,0.000,4,0.179,0.079,2140,980,3343
$GC,407,-1.22,-128.7,39.5,-10.7,17,412,0.00,2.60,0.00,0.000,6,0.000,0.058,2140,2398,3344
$GC,729,-1.22,-128.7,75.9,-12.2,33,734,0.00,2.60,0.00,0.000,4,0.000,0.077,2140,3768,3344
$GC,769,-1.22,-128.7,81.3,-14.6,35,773,0.00,2.50,0.00,0.000,6,0.000,0.055,2140,2398,3344
$GC,1095,-1.22,-128.7,127.0,-12.1,51,1099,0.00,2.65,0.00,0.000,4,0.000,0.071,2140,985,3344
$GC,1127,-1.22,-128.7,131.1,-11.8,52,1134,0.00,2.62,0.00,0.000,6,0.000,0.061,2140,2407,3344
$GC,1443,-1.22,-128.7,170.7,-12.5,68,1447,0.00,2.60,0.00,0.000,4,0.000,0.079,2140,3769,3345
$GC,1505,-1.22,-128.7,178.6,-12.7,71,1509,0.00,2.50,0.00,0.000,6,0.000,0.056,2140,2400,3344
$GC,1831,-1.22,-128.7,220.3,-12.5,87,1836,0.00,2.67,0.00,0.000,4,0.000,0.072,2140,979,3344
$GC,1858,-1.22,-128.7,223.8,-12.3,88,1862,0.00,2.62,0.00,0.000,6,0.000,0.061,2140,2403,3344
$GC,2179,-1.22,-128.7,262.9,-12.6,104,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2403,3344
$GC,2493,-1.22,-128.7,300.1,-11.7,119,2498,0.00,2.60,0.00,0.000,4,0.000,0.081,2140,3768,3344
$GC,2515,-1.22,-128.7,303.7,-13.1,120,2519,0.00,2.53,0.00,0.000,6,0.000,0.058,2140,2400,3344
$GC,2842,-1.22,-128.7,341.7,-10.8,136,2846,0.00,2.67,0.00,0.000,4,0.000,0.074,2140,977,3344
$GC,2868,-1.22,-128.7,344.3,-10.0,137,2872,0.00,2.62,0.00,0.000,6,0.000,0.061,2140,2404,3344
$GC,3190,-1.22,-128.7,381.7,-11.6,153,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2405,3344
$STATE,3228,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3229,begin apogee
$GC,3234,-0.31,0.0,386.5,11.6,155,3342,1.00,0.00,104.03,0.937,6,0.105,0.000,2341,2200,2817
$STATE,3342,end apogee,CONTROL_FINISHED_OK
$STATE,3342,begin climb
$GC,3345,1.22,128.7,390.7,0.0,160,3456,1.60,2.80,101.85,0.920,4,0.084,0.077,2673,3615,2292
$GC,3486,1.22,128.7,384.8,8.1,167,3490,0.00,2.65,0.00,0.000,6,0.000,0.061,2673,2204,2291
$GC,3800,1.22,128.7,356.9,9.0,182,3805,0.00,2.70,0.00,0.000,4,0.000,0.071,2673,774,2290
$GC,3856,1.22,128.7,351.5,10.7,184,3862,0.00,2.62,0.00,0.000,6,0.000,0.051,2673,2205,2290
$GC,4171,1.22,128.7,320.2,9.6,200,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2205,2290
$GC,4480,1.22,128.7,294.4,8.4,215,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2205,2290
$GC,4790,1.22,128.7,268.6,8.8,230,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2205,2290
$GC,5099,1.22,128.7,245.9,8.3,245,5103,0.00,2.67,0.00,0.000,4,0.000,0.078,2673,3616,2289
$GC,5154,1.22,128.7,241.2,8.5,247,5160,0.00,2.62,0.00,0.000,6,0.000,0.061,2673,2197,2290
$GC,5469,1.22,128.7,218.0,7.8,263,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,2289
$GC,5779,1.23,139.5,199.9,5.4,278,5794,0.00,2.75,9.98,0.724,4,0.000,0.075,2673,3625,2247
$GC,5863,1.23,139.5,195.0,6.6,281,5867,0.00,2.67,0.00,0.000,6,0.000,0.062,2673,2198,2247
$GC,6189,1.25,154.9,180.3,5.1,297,6210,0.00,2.72,13.50,0.740,4,0.000,0.067,2673,784,2184
$GC,6265,1.25,154.9,174.9,7.0,300,6270,0.00,2.58,0.00,0.000,6,0.000,0.050,2673,2202,2184
$GC,6586,1.25,154.9,146.2,9.1,316,6591,0.00,2.67,0.00,0.000,4,0.000,0.074,2673,3623,2184
$GC,6642,1.25,154.9,140.1,10.8,318,6648,0.00,2.62,0.00,0.000,6,0.000,0.059,2673,2201,2184
$GC,6957,1.25,154.9,110.3,7.5,334,6962,0.00,2.67,0.00,0.000,4,0.000,0.074,2673,3614,2184
$GC,7023,1.25,154.9,104.4,8.8,337,7028,0.00,2.62,0.00,0.000,6,0.000,0.059,2673,2199,2184
$GC,7351,1.25,154.9,71.6,10.8,353,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2199,2183
$GC,7660,1.25,154.9,39.0,8.8,368,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2199,2184
$GC,7969,1.25,154.9,12.1,7.0,383,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2199,2184
$STATE,8092,end climb,SURFACE_DEPTH_REACHED
$STATE,8092,begin surface coast
$FINISH,0.5,1.013076
$STATE,8113,end surface coast,CONTROL_FINISHED_OK
$STATE,8113,begin surface
$SM_CCo,8134,230.88,0.666,2,0,509,566.15
$SM_GC,1.03,0.00,0.00,230.88,0.000,0.000,0.666,72,2400,509,-10.75,-0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2058
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,300.1,95.4
$24V_AH,23.7,47.784
$10V_AH,10.2,23.998
$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,26.200,74.675,229.350,230.875,0.000,65.254,67.947,229.945,2.250,0.000,0.000,12.756,749.408,6138.800,605.353,916.019,499.671,33.358,1080.662,0.000,898.211,0.000,15.374
$DEVICE_MAMPS,178.711,81.302,937.274,665.756,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,280.436,265.277,319.844,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19125,390
$CFSIZE,260165632,243171328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,2,0
$GPS,070108,015507,6245.555,-605.042,24,1.9,24,-8.1