version: 66.02
glider: 16
mission: 6
dive: 276
start: 1 6 108 20 42 57
data:
$ID,16
$MISSION,6
$DIVE,276
$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,-2082372.8
$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,14
$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
$GPS1,203707,6244.442,-613.751,38,1.4,43,-8.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-53.1
$GPS2,204204,6244.445,-613.612,12,1.9,12,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.049,-0.216
$KALMAN_X,43272.8,-605.1,6979.3,101716.6,20327.4
$KALMAN_Y,78742.9,-1809.5,14161.5,31653.3,59768.2
$MHEAD_RNG_PITCHd_Wd,62.6,9557,-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,22,-0.85,-146.6,0.0,0.0,0,126,0.00,0.00,-101.90,0.000,2,0.000,0.000,75,2407,3078
$GC,129,-0.85,-146.6,3.7,-3.0,5,154,12.25,2.70,-7.80,0.000,4,0.177,0.080,2220,981,3417
$GC,406,-0.85,-146.6,33.3,-8.3,17,413,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2404,3418
$GC,724,-0.85,-146.6,57.5,-5.9,33,728,0.00,2.67,0.00,0.000,4,0.000,0.067,2220,982,3418
$GC,787,-0.85,-146.6,62.0,-8.0,36,791,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2399,3418
$GC,1113,-0.85,-146.6,85.9,-7.3,52,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3418
$GC,1424,-0.85,-146.6,105.5,-5.8,67,1428,0.00,2.67,0.00,0.000,4,0.000,0.068,2220,976,3418
$GC,1463,-0.85,-146.6,108.2,-6.9,69,1467,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2401,3418
$GC,1789,-0.85,-146.6,133.5,-10.4,85,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3418
$GC,2098,-0.85,-146.6,158.0,-8.0,100,2102,0.00,2.65,0.00,0.000,4,0.000,0.068,2220,975,3418
$GC,2141,-0.85,-146.6,161.0,-6.4,102,2145,0.00,2.62,0.00,0.000,6,0.000,0.060,2220,2405,3418
$GC,2468,-0.85,-146.6,186.8,-9.1,118,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3418
$GC,2777,-0.85,-146.6,213.5,-9.7,133,2781,0.00,2.67,0.00,0.000,4,0.000,0.069,2220,977,3419
$GC,2815,-0.85,-146.6,217.2,-9.3,135,2820,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2406,3418
$GC,3143,-0.85,-146.6,239.8,-7.1,151,3147,0.00,2.67,0.00,0.000,4,0.000,0.069,2221,977,3418
$GC,3169,-0.85,-146.6,241.8,-7.5,152,3173,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2403,3418
$GC,3490,-0.85,-146.6,267.7,-8.4,168,3494,0.00,2.67,0.00,0.000,4,0.000,0.070,2221,976,3418
$GC,3522,-0.85,-146.6,270.6,-8.8,169,3529,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2402,3418
$GC,3838,-0.85,-146.6,297.3,-8.3,185,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3418
$GC,4147,-0.85,-146.6,321.6,-8.0,200,4151,0.00,2.67,0.00,0.000,4,0.000,0.070,2220,977,3418
$GC,4203,-0.85,-146.6,326.2,-8.0,202,4209,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2400,3418
$STATE,4434,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4434,begin apogee
$GC,4439,-0.31,0.0,343.9,7.8,214,4560,0.60,0.00,117.50,0.910,6,0.108,0.000,2340,2197,2817
$STATE,4561,end apogee,CONTROL_FINISHED_OK
$STATE,4561,begin climb
$GC,4563,0.85,146.6,348.5,0.0,220,4686,1.17,0.00,115.93,0.893,6,0.075,0.000,2589,2197,2219
$GC,4996,0.88,180.3,327.9,5.1,241,5031,0.00,2.75,27.27,0.846,4,0.000,0.068,2589,786,2081
$GC,5064,0.88,180.3,323.9,6.1,244,5068,0.00,2.62,0.00,0.000,6,0.000,0.053,2591,2203,2080
$GC,5392,0.88,180.3,305.2,6.2,260,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2081
$GC,5700,0.88,180.3,284.6,6.8,275,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2203,2080
$GC,6009,0.88,180.3,264.4,6.2,290,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2080
$GC,6320,0.89,183.6,246.5,5.9,305,6326,0.00,0.00,4.40,0.583,6,0.000,0.000,2589,2203,2068
$GC,6628,0.90,195.1,229.1,5.7,320,6641,0.00,0.00,10.68,0.745,6,0.000,0.000,2589,2203,2020
$GC,6938,0.96,252.4,213.2,4.4,335,6986,0.15,0.00,45.50,0.816,6,0.061,0.000,2629,2203,1786
$GC,7287,0.96,252.4,184.5,9.2,352,7292,0.00,2.65,0.00,0.000,4,0.000,0.067,2630,786,1785
$GC,7326,0.96,252.4,181.0,8.8,354,7330,0.00,2.60,0.00,0.000,6,0.000,0.051,2629,2210,1784
$GC,7651,0.96,252.4,154.7,9.4,370,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2210,1784
$GC,7961,0.96,252.4,126.0,10.3,385,7966,0.00,2.67,0.00,0.000,4,0.000,0.067,2629,783,1784
$GC,7993,0.96,252.4,122.4,11.2,386,8000,0.00,2.62,0.00,0.000,6,0.000,0.051,2629,2203,1784
$GC,8311,0.96,252.4,93.9,9.1,402,8315,0.00,2.67,0.00,0.000,4,0.000,0.068,2629,778,1784
$GC,8350,0.96,252.4,89.9,10.9,404,8355,0.00,2.60,0.00,0.000,6,0.000,0.051,2629,2202,1784
$GC,8677,0.96,252.4,58.3,8.8,420,8681,0.00,2.67,0.00,0.000,4,0.000,0.077,2629,3614,1784
$GC,8703,0.96,252.4,56.0,8.9,421,8707,0.00,2.62,0.00,0.000,6,0.000,0.060,2630,2201,1784
$GC,9027,0.96,252.4,26.5,8.7,437,9031,0.00,2.67,0.00,0.000,4,0.000,0.073,2629,782,1784
$GC,9076,0.96,252.4,22.2,9.1,439,9080,0.00,2.58,0.00,0.000,6,0.000,0.052,2629,2199,1784
$GC,9397,0.96,252.4,3.1,6.7,455,9398,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2199,1784
$STATE,9416,end climb,SURFACE_DEPTH_REACHED
$STATE,9416,begin surface coast
$FINISH,0.9,1.027415
$STATE,9438,end surface coast,CONTROL_FINISHED_OK
$STATE,9438,begin surface
$SM_CCo,9459,173.20,0.669,1,0,509,566.15
$SM_GC,1.07,0.00,0.00,173.20,0.000,0.000,0.669,72,2398,509,-10.75,-0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2060
$TCM_TEMP,15.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,276.1,77.8
$24V_AH,23.7,47.662
$10V_AH,10.2,23.950
$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,25.400,74.900,321.275,173.200,0.000,32.625,39.564,132.638,2.250,0.000,0.000,12.927,852.095,7106.786,642.268,997.380,349.201,33.351,1145.405,0.000,980.994,0.000,16.650
$DEVICE_MAMPS,177.177,79.768,909.662,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,337.652,312.282,404.105,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22291,457
$CFSIZE,260165632,243195904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$GPS,060108,232458,6245.158,-608.353,28,3.1,47,-8.1