version: 66.02
glider: 16
mission: 6
dive: 286
start: 1 8 108 1 58 15
data:
$ID,16
$MISSION,6
$DIVE,286
$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,-2083546.6
$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,15
$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
$GPS1,015237,6247.774,-601.069,37,2.0,43,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-50.4
$GPS2,015723,6247.781,-601.069,13,2.6,32,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.070,0.210
$KALMAN_X,42958.1,703.5,1691.0,116996.5,-29472.6
$KALMAN_Y,59110.6,338.9,4526.5,64801.0,-79827.8
$MHEAD_RNG_PITCHd_Wd,265.5,2909,-27.3,-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,-1.74,-28.8,0.0,0.0,0,125,0.00,0.00,-97.70,0.000,6,0.000,0.000,72,2403,2935
$GC,128,-1.76,-50.6,3.6,-3.0,5,150,10.98,2.72,-2.33,0.000,4,0.171,0.083,2019,988,3026
$GC,403,-1.76,-50.6,44.6,-14.9,17,407,0.00,2.65,0.00,0.000,6,0.000,0.063,2019,2398,3026
$GC,723,-1.76,-50.6,88.8,-13.9,33,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2398,3026
$GC,1034,-1.76,-50.6,130.9,-13.1,48,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2398,3026
$GC,1342,-1.76,-50.6,172.0,-13.6,63,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2398,3026
$GC,1651,-1.76,-50.6,213.2,-13.0,78,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2398,3026
$GC,1960,-1.76,-50.6,253.5,-13.2,93,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2398,3027
$GC,2270,-1.76,-50.6,293.5,-12.7,108,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2398,3027
$GC,2578,-1.76,-50.6,333.1,-13.2,123,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2398,3027
$GC,2888,-1.76,-50.6,371.9,-12.2,138,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2398,3027
$GC,3197,-1.76,-50.6,408.0,-11.3,153,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2398,3027
$GC,3506,-1.76,-50.6,444.8,-11.2,168,3510,0.00,2.62,0.00,0.000,4,0.000,0.085,2019,3770,3028
$STATE,3643,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3643,begin apogee
$GC,3652,-0.31,0.0,463.3,13.0,174,3704,1.62,0.00,43.72,0.979,6,0.124,0.000,2337,2203,2817
$STATE,3704,end apogee,CONTROL_FINISHED_OK
$STATE,3704,begin climb
$GC,3707,1.76,50.6,465.9,0.0,177,3753,2.15,0.00,42.30,0.976,6,0.070,0.000,2793,2203,2610
$GC,4053,1.76,51.3,444.5,5.9,194,4057,0.00,2.70,0.00,0.000,4,0.000,0.077,2794,782,2609
$GC,4085,1.78,68.8,443.4,3.6,195,4107,0.00,2.62,16.00,0.912,6,0.000,0.057,2793,2208,2536
$GC,4417,1.78,70.5,422.8,5.8,211,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2208,2534
$GC,4726,1.78,70.5,402.3,6.7,226,4730,0.00,2.72,0.00,0.000,4,0.000,0.090,2793,3613,2533
$GC,4983,1.78,70.5,384.6,6.2,237,4989,0.00,2.72,0.00,0.000,6,0.000,0.074,2793,2192,2531
$GC,5298,1.78,70.5,365.2,6.1,253,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2192,2531
$GC,5608,1.78,70.5,347.3,6.2,268,5612,0.00,2.75,0.00,0.000,4,0.000,0.084,2793,3615,2529
$GC,5837,1.78,71.9,334.2,5.8,278,5842,0.00,2.70,0.00,0.000,6,0.000,0.072,2793,2198,2529
$GC,6153,1.78,71.9,315.7,6.1,293,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2198,2528
$GC,6461,1.78,71.9,296.9,6.3,308,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2198,2528
$GC,6771,1.78,71.9,276.9,6.2,323,6775,0.00,2.72,0.00,0.000,4,0.000,0.079,2793,3620,2528
$GC,7027,1.78,71.9,259.0,7.0,334,7034,0.00,2.70,0.00,0.000,6,0.000,0.069,2793,2192,2528
$GC,7343,1.78,71.9,237.8,6.4,350,7347,0.00,2.72,0.00,0.000,4,0.000,0.079,2793,3621,2528
$GC,7599,1.78,71.9,219.5,7.1,361,7606,0.00,2.67,0.00,0.000,6,0.000,0.068,2793,2200,2528
$GC,7915,1.78,71.9,198.3,6.3,377,7919,0.00,2.70,0.00,0.000,4,0.000,0.078,2793,3617,2528
$GC,8166,1.78,71.9,180.1,6.9,388,8170,0.00,2.67,0.00,0.000,6,0.000,0.068,2793,2196,2529
$GC,8487,1.78,71.9,157.1,7.2,404,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2195,2529
$GC,8798,1.78,71.9,135.0,6.5,419,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2195,2529
$GC,9106,1.79,77.4,116.0,5.2,434,9120,0.00,2.72,7.47,0.657,4,0.000,0.077,2794,3609,2500
$GC,9256,1.79,77.4,104.3,8.9,440,9262,0.00,2.65,0.00,0.000,6,0.000,0.067,2794,2199,2500
$GC,9573,1.79,77.4,80.5,8.4,456,9577,0.00,2.70,0.00,0.000,4,0.000,0.077,2793,3616,2501
$GC,9684,1.79,77.4,70.5,9.0,461,9688,0.00,2.67,0.00,0.000,6,0.000,0.067,2793,2196,2501
$GC,10007,1.79,77.4,47.1,6.3,477,10011,0.00,2.70,0.00,0.000,4,0.000,0.078,2793,3615,2501
$GC,10090,1.79,77.4,41.0,7.4,481,10095,0.00,2.67,0.00,0.000,6,0.000,0.067,2793,2190,2501
$GC,10416,1.79,77.4,16.4,8.0,497,10417,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2190,2501
$STATE,10599,end climb,SURFACE_DEPTH_REACHED
$STATE,10599,begin surface coast
$FINISH,0.5,1.014860
$STATE,10623,end surface coast,CONTROL_FINISHED_OK
$STATE,10623,begin surface
$SM_CCo,10645,283.75,0.668,1,0,509,566.15
$SM_GC,1.19,0.00,0.00,283.75,0.000,0.000,0.668,73,2398,509,-10.75,-0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2045
$TCM_TEMP,16.80
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,377.0,96.1
$24V_AH,23.6,48.681
$10V_AH,10.2,24.523
$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,26.875,59.950,109.500,283.750,0.000,32.585,33.505,108.013,7.000,0.000,0.000,33.507,980.169,8054.369,559.789,1314.118,324.070,33.352,1156.563,0.000,1269.041,0.000,20.237
$DEVICE_MAMPS,171.041,89.739,979.459,668.057,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.606,356.298,385.193,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25402,507
$CFSIZE,260165632,242810880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,080108,050138,6247.046,-603.165,32,1.8,32,-8.0