version: 66.02
glider: 16
mission: 6
dive: 287
start: 1 8 108 5 7 57
data:
$ID,16
$MISSION,6
$DIVE,287
$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,-2083585.6
$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,17
$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
$GPS1,050138,6247.046,-603.165,32,1.8,32,-8.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-50.7
$GPS2,050705,6247.047,-603.166,17,2.1,36,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.055,0.214
$KALMAN_X,43530.9,-3479.1,2560.0,117889.6,-14286.4
$KALMAN_Y,58752.5,-2782.9,3733.1,67693.8,-50343.9
$MHEAD_RNG_PITCHd_Wd,312.3,1288,-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,21,-1.74,-28.8,0.0,0.0,0,124,0.00,0.00,-97.15,0.000,6,0.000,0.000,72,2398,2936
$GC,127,-1.76,-53.2,3.5,-2.6,5,149,11.05,2.72,-2.65,0.000,4,0.175,0.082,2018,985,3036
$GC,401,-1.76,-53.2,44.5,-14.9,17,406,0.00,2.65,0.00,0.000,6,0.000,0.063,2018,2405,3036
$GC,723,-1.76,-53.2,95.3,-16.1,33,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2405,3036
$GC,1033,-1.76,-53.2,142.5,-15.1,48,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2405,3036
$GC,1341,-1.76,-53.2,187.4,-13.9,63,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2405,3036
$GC,1650,-1.76,-53.2,231.2,-14.3,78,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2405,3036
$GC,1959,-1.76,-53.2,272.8,-12.9,93,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2405,3036
$GC,2269,-1.76,-53.2,312.2,-12.7,108,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2405,3036
$GC,2581,-1.76,-53.2,352.4,-13.2,123,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2405,3036
$GC,2888,-1.76,-53.2,391.4,-12.3,138,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2405,3036
$GC,3196,-1.76,-53.2,432.1,-12.8,153,3201,0.00,2.60,0.00,0.000,4,0.000,0.084,2018,3767,3037
$STATE,3240,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3240,begin apogee
$GC,3249,-0.31,0.0,437.5,11.3,155,3298,1.62,0.00,45.25,0.960,6,0.127,0.000,2341,2205,2817
$STATE,3298,end apogee,CONTROL_FINISHED_OK
$STATE,3299,begin climb
$GC,3301,1.76,53.2,440.0,0.0,157,3353,2.10,2.75,43.90,0.953,4,0.074,0.071,2794,782,2599
$GC,3449,1.76,53.2,431.9,6.3,164,3453,0.00,2.62,0.00,0.000,6,0.000,0.054,2794,2206,2598
$GC,3776,1.77,62.9,415.1,4.6,180,3787,0.00,0.00,9.40,0.832,6,0.000,0.000,2794,2206,2560
$GC,4084,1.78,69.7,398.2,5.1,195,4098,0.00,2.78,7.20,0.779,4,0.000,0.084,2794,3610,2531
$GC,4353,1.78,69.7,379.5,7.4,207,4358,0.00,2.70,0.00,0.000,6,0.000,0.071,2793,2193,2530
$GC,4679,1.78,69.7,358.4,6.4,223,4683,0.00,2.75,0.00,0.000,4,0.000,0.084,2794,3616,2530
$GC,4935,1.78,69.7,340.2,6.8,234,4942,0.00,2.67,0.00,0.000,6,0.000,0.071,2794,2202,2529
$GC,5251,1.78,69.7,319.9,6.7,250,5255,0.00,2.72,0.00,0.000,4,0.000,0.084,2794,3619,2529
$GC,5485,1.78,69.7,302.2,7.7,260,5492,0.00,2.70,0.00,0.000,6,0.000,0.071,2794,2195,2529
$GC,5801,1.78,69.7,281.5,6.7,276,5805,0.00,2.72,0.00,0.000,4,0.000,0.083,2794,3616,2528
$GC,6058,1.78,69.7,263.7,6.9,287,6064,0.00,2.70,0.00,0.000,6,0.000,0.070,2794,2191,2529
$GC,6373,1.78,69.7,243.5,6.3,303,6378,0.00,2.75,0.00,0.000,4,0.000,0.081,2794,3622,2528
$GC,6525,1.78,69.7,232.8,7.3,310,6529,0.00,2.70,0.00,0.000,6,0.000,0.068,2794,2191,2529
$GC,6851,1.78,71.8,212.5,5.7,326,6855,0.00,2.75,0.00,0.000,4,0.000,0.081,2794,3625,2528
$GC,7052,1.78,71.8,198.9,7.1,335,7056,0.00,2.67,0.00,0.000,6,0.000,0.067,2794,2202,2528
$GC,7373,1.78,71.8,178.9,6.2,351,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2202,2528
$GC,7682,1.79,75.2,160.5,5.5,366,7693,0.00,2.72,5.47,0.622,4,0.000,0.079,2794,3619,2510
$GC,7894,1.79,75.2,144.5,8.1,375,7901,0.00,2.67,0.00,0.000,6,0.000,0.067,2794,2199,2509
$GC,8210,1.79,75.2,120.2,7.5,391,8214,0.00,2.70,0.00,0.000,4,0.000,0.080,2794,3622,2510
$GC,8399,1.79,75.2,105.0,7.7,399,8406,0.00,2.67,0.00,0.000,6,0.000,0.067,2794,2196,2510
$GC,8717,1.79,75.2,83.5,6.5,415,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2196,2510
$GC,9025,1.79,75.2,59.7,8.2,430,9029,0.00,2.72,0.00,0.000,4,0.000,0.079,2794,3626,2510
$GC,9281,1.79,75.2,41.2,6.6,441,9288,0.00,2.70,0.00,0.000,6,0.000,0.067,2794,2207,2510
$GC,9598,1.79,75.2,17.7,7.7,457,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2206,2510
$STATE,9884,end climb,SURFACE_DEPTH_REACHED
$STATE,9884,begin surface coast
$FINISH,0.5,1.015140
$STATE,9906,end surface coast,CONTROL_FINISHED_OK
$STATE,9906,begin surface
$SM_CCo,9927,285.05,0.672,1,0,509,566.15
$SM_GC,1.16,0.00,0.00,285.05,0.000,0.000,0.672,74,2401,509,-10.74,0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2037
$TCM_TEMP,16.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,352.4,94.9
$24V_AH,23.6,48.777
$10V_AH,10.2,24.580
$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,26.875,65.500,111.225,285.050,0.000,32.601,34.439,143.094,4.000,0.000,0.000,38.388,940.475,7348.891,556.975,1351.570,357.047,33.375,1174.272,0.000,1301.940,0.000,18.618
$DEVICE_MAMPS,174.876,84.370,959.517,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,336.155,330.822,367.989,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22271,472
$CFSIZE,260165632,242782208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,080108,075932,6247.458,-604.094,41,1.2,41,-8.1