version: 66.02
glider: 16
mission: 6
dive: 282
start: 1 7 108 13 17 19
data:
$ID,16
$MISSION,6
$DIVE,282
$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,-2082538.5
$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,16
$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
$GPS1,130745,6247.399,-600.408,39,2.4,58,-8.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-58.9
$GPS2,131629,6247.396,-600.285,16,2.4,35,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.131,-0.178
$KALMAN_X,56615.0,-1725.5,32.8,108212.0,36630.7
$KALMAN_Y,89737.3,-2990.5,39.8,41459.3,54794.9
$MHEAD_RNG_PITCHd_Wd,279.3,3504,-26.7,-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,-1.70,-30.0,0.0,0.0,0,125,0.00,0.00,-96.65,0.000,6,0.000,0.000,71,2403,2939
$GC,128,-1.73,-52.9,3.8,-3.0,5,149,11.15,2.72,-2.42,0.000,4,0.173,0.083,2025,988,3035
$GC,190,-1.73,-52.9,13.8,-14.4,8,195,0.00,2.67,0.00,0.000,6,0.000,0.064,2025,2398,3035
$GC,516,-1.73,-52.9,60.7,-13.9,24,520,0.00,2.62,0.00,0.000,4,0.000,0.081,2025,3770,3035
$GC,601,-1.73,-52.9,73.4,-15.7,28,605,0.00,2.55,0.00,0.000,6,0.000,0.059,2025,2401,3035
$GC,928,-1.73,-52.9,118.7,-13.4,44,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2401,3035
$GC,1236,-1.73,-52.9,160.0,-13.4,59,1240,0.00,2.65,0.00,0.000,4,0.000,0.081,2025,3773,3035
$GC,1285,-1.73,-52.9,167.2,-14.6,61,1289,0.00,2.55,0.00,0.000,6,0.000,0.061,2025,2401,3035
$GC,1600,-1.73,-52.9,213.9,-15.0,76,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2402,3036
$GC,1910,-1.73,-52.9,258.3,-14.6,91,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2401,3035
$GC,2220,-1.73,-52.9,301.3,-12.8,106,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2402,3036
$GC,2528,-1.73,-52.9,343.1,-13.7,121,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2401,3036
$GC,2838,-1.73,-52.9,383.4,-12.9,136,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2402,3036
$GC,3147,-1.73,-52.9,420.5,-12.2,151,3151,0.00,2.65,0.00,0.000,4,0.000,0.085,2025,3770,3036
$GC,3280,-1.73,-52.9,438.0,-11.5,157,3284,0.00,2.55,0.00,0.000,6,0.000,0.061,2025,2401,3036
$STATE,3564,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3564,begin apogee
$GC,3570,-0.31,0.0,468.0,10.5,171,3620,1.62,0.00,45.50,0.987,6,0.127,0.000,2339,2202,2817
$STATE,3621,end apogee,CONTROL_FINISHED_OK
$STATE,3621,begin climb
$GC,3623,1.73,52.9,470.1,0.0,173,3675,2.05,2.85,43.85,0.977,4,0.069,0.087,2788,3621,2600
$GC,3781,1.73,52.9,460.4,7.2,180,3785,0.00,2.72,0.00,0.000,6,0.000,0.071,2788,2202,2598
$GC,4103,1.73,58.0,441.6,5.3,196,4113,0.00,2.75,5.68,0.746,4,0.000,0.078,2788,784,2580
$GC,4367,1.75,74.1,427.9,3.9,208,4388,0.00,2.65,14.15,0.910,6,0.000,0.061,2789,2200,2515
$GC,4697,1.76,78.8,410.6,5.4,224,4708,0.00,2.80,5.57,0.752,4,0.000,0.093,2788,3615,2494
$GC,4961,1.76,78.8,391.3,6.8,236,4966,0.00,2.72,0.00,0.000,6,0.000,0.075,2788,2196,2493
$GC,5287,1.76,78.8,367.7,7.3,252,5291,0.00,2.78,0.00,0.000,4,0.000,0.090,2788,3616,2491
$GC,5543,1.76,78.8,347.9,7.1,263,5550,0.00,2.70,0.00,0.000,6,0.000,0.073,2788,2202,2489
$GC,5859,1.76,78.8,326.7,6.8,279,5863,0.00,2.75,0.00,0.000,4,0.000,0.087,2788,3619,2489
$GC,6117,1.76,78.8,306.4,8.0,290,6123,0.00,2.70,0.00,0.000,6,0.000,0.071,2788,2192,2489
$GC,6432,1.76,78.8,281.4,7.8,306,6436,0.00,2.78,0.00,0.000,4,0.000,0.085,2788,3625,2488
$GC,6689,1.76,78.8,259.3,8.5,317,6695,0.00,2.70,0.00,0.000,6,0.000,0.070,2788,2196,2489
$GC,7005,1.76,78.8,235.2,7.6,333,7009,0.00,2.72,0.00,0.000,4,0.000,0.083,2788,3619,2488
$GC,7160,1.76,78.8,223.3,8.1,340,7165,0.00,2.67,0.00,0.000,6,0.000,0.067,2788,2198,2488
$GC,7482,1.76,78.8,200.0,7.2,356,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2197,2489
$GC,7791,1.76,78.8,176.9,6.8,371,7795,0.00,2.72,0.00,0.000,4,0.000,0.081,2788,3622,2489
$GC,7991,1.76,78.8,163.1,7.7,380,7996,0.00,2.67,0.00,0.000,6,0.000,0.067,2788,2200,2489
$GC,8319,1.76,78.8,137.5,6.7,396,8324,0.00,2.72,0.00,0.000,4,0.000,0.081,2788,3622,2490
$GC,8495,1.76,78.8,125.0,7.9,404,8499,0.00,2.67,0.00,0.000,6,0.000,0.066,2788,2199,2490
$GC,8822,1.76,78.8,101.6,6.8,420,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2199,2490
$GC,9130,1.76,78.8,78.0,7.0,435,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2199,2491
$GC,9439,1.76,78.8,54.8,7.6,450,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2199,2491
$GC,9750,1.76,78.8,31.3,7.6,465,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2199,2491
$GC,10059,1.76,78.8,6.6,8.4,480,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2198,2491
$STATE,10118,end climb,SURFACE_DEPTH_REACHED
$STATE,10118,begin surface coast
$FINISH,0.6,1.027421
$STATE,10140,end surface coast,CONTROL_FINISHED_OK
$STATE,10140,begin surface
$SM_CCo,10161,283.67,0.667,2,0,509,566.15
$SM_GC,1.28,0.00,0.00,283.67,0.000,0.000,0.667,70,2403,509,-10.76,0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2063
$TCM_TEMP,16.90
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,400.8,76.6
$24V_AH,23.6,48.272
$10V_AH,10.2,24.269
$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,27.100,70.850,114.750,283.675,0.000,66.674,70.526,204.767,8.750,0.000,0.000,36.308,960.490,7626.935,561.398,1342.802,496.162,33.357,1175.784,0.000,1288.944,0.000,21.817
$DEVICE_MAMPS,173.342,92.807,987.129,666.523,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,345.856,339.047,374.907,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25433,484
$CFSIZE,260165632,242962432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,070108,161307,6247.821,-601.695,56,1.9,56,-8.0