version: 66.02
glider: 16
mission: 6
dive: 278
start: 1 7 108 2 1 30
data:
$ID,16
$MISSION,6
$DIVE,278
$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,-2082423.1
$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
$GPS1,015507,6245.555,-605.042,24,1.9,24,-8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-53.4
$GPS2,020038,6245.549,-604.964,36,1.6,36,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.116,-0.188
$KALMAN_X,55708.6,-1005.4,3993.6,100299.5,51566.3
$KALMAN_Y,91097.6,-2744.1,9363.8,27095.5,86470.1
$MHEAD_RNG_PITCHd_Wd,15.6,3532,-26.5,-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,-1.69,-30.5,0.0,0.0,0,125,0.00,0.00,-96.72,0.000,6,0.000,0.000,71,2401,2944
$GC,127,-1.72,-53.8,3.7,-2.9,5,150,11.00,2.70,-2.38,0.000,4,0.171,0.079,2026,987,3039
$GC,403,-1.72,-53.8,48.8,-13.7,17,407,0.00,2.62,0.00,0.000,6,0.000,0.058,2026,2398,3040
$GC,723,-1.72,-53.8,96.9,-17.4,33,728,0.00,2.62,0.00,0.000,4,0.000,0.077,2026,3775,3040
$GC,772,-1.72,-53.8,104.8,-15.9,35,776,0.00,2.55,0.00,0.000,6,0.000,0.055,2026,2395,3040
$GC,1094,-1.72,-53.8,145.5,-12.5,51,1098,0.00,2.62,0.00,0.000,4,0.000,0.075,2026,3771,3039
$GC,1143,-1.72,-53.8,153.2,-14.1,53,1147,0.00,2.53,0.00,0.000,6,0.000,0.054,2026,2397,3040
$GC,1464,-1.72,-53.8,196.2,-13.1,69,1468,0.00,2.60,0.00,0.000,4,0.000,0.075,2026,3769,3040
$GC,1553,-1.72,-53.8,210.2,-15.5,73,1557,0.00,2.50,0.00,0.000,6,0.000,0.054,2026,2401,3040
$GC,1873,-1.72,-53.8,259.6,-14.8,89,1877,0.00,2.60,0.00,0.000,4,0.000,0.074,2026,3771,3040
$GC,1922,-1.72,-53.8,267.3,-15.1,91,1926,0.00,2.50,0.00,0.000,6,0.000,0.051,2026,2398,3040
$GC,2243,-1.72,-53.8,308.1,-12.5,107,2248,0.00,2.62,0.00,0.000,4,0.000,0.076,2026,3776,3039
$GC,2305,-1.72,-53.8,317.0,-14.0,110,2309,0.00,2.53,0.00,0.000,6,0.000,0.056,2026,2397,3040
$GC,2632,-1.72,-53.8,361.5,-14.6,126,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2397,3040
$STATE,2897,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2897,begin apogee
$GC,2902,-0.31,0.0,397.7,13.3,139,2952,1.62,0.00,45.35,0.935,6,0.132,0.000,2336,2196,2817
$STATE,2952,end apogee,CONTROL_FINISHED_OK
$STATE,2953,begin climb
$GC,2955,1.72,53.8,400.2,0.0,141,3008,2.08,2.67,44.12,0.923,4,0.070,0.061,2786,788,2596
$GC,3171,1.72,55.4,391.2,5.8,151,3177,0.00,2.58,0.00,0.000,6,0.000,0.045,2786,2205,2596
$GC,3486,1.72,55.4,366.0,7.0,167,3491,0.00,2.65,0.00,0.000,4,0.000,0.071,2786,3613,2596
$GC,3594,1.73,69.2,360.2,4.2,172,3615,0.00,2.62,13.75,0.834,6,0.000,0.060,2786,2201,2533
$GC,3924,1.73,69.2,336.2,7.0,188,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2201,2533
$GC,4233,1.73,69.2,316.1,6.5,203,4237,0.00,2.65,0.00,0.000,4,0.000,0.072,2786,3614,2532
$GC,4350,1.73,69.2,307.1,8.4,208,4354,0.00,2.60,0.00,0.000,6,0.000,0.051,2786,2192,2533
$GC,4665,1.73,69.2,283.6,7.6,223,4669,0.00,2.67,0.00,0.000,4,0.000,0.067,2786,3618,2532
$GC,4749,1.73,69.2,277.1,7.6,227,4753,0.00,2.62,0.00,0.000,6,0.000,0.060,2786,2199,2532
$GC,5074,1.73,69.2,252.5,8.1,243,5079,0.00,2.67,0.00,0.000,4,0.000,0.071,2786,3619,2532
$GC,5152,1.73,69.2,245.4,8.6,246,5158,0.00,2.65,0.00,0.000,6,0.000,0.061,2786,2192,2532
$GC,5468,1.73,69.2,218.1,9.7,262,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2192,2532
$GC,5777,1.75,81.3,200.9,4.4,277,5793,0.00,2.65,11.07,0.731,4,0.000,0.064,2786,781,2484
$GC,5893,1.75,81.3,194.9,6.4,281,5897,0.00,2.55,0.00,0.000,6,0.000,0.045,2786,2200,2483
$GC,6215,1.75,81.3,173.0,6.0,297,6219,0.00,2.65,0.00,0.000,4,0.000,0.071,2786,3621,2484
$GC,6354,1.75,81.3,162.4,8.0,303,6358,0.00,2.65,0.00,0.000,6,0.000,0.062,2786,2194,2484
$GC,6670,1.75,81.3,140.3,7.6,318,6675,0.00,2.67,0.00,0.000,4,0.000,0.072,2786,3614,2483
$GC,6777,1.75,81.3,130.9,8.0,323,6782,0.00,2.62,0.00,0.000,6,0.000,0.061,2786,2203,2484
$GC,7104,1.75,81.3,101.0,9.7,339,7108,0.00,2.67,0.00,0.000,4,0.000,0.072,2786,3621,2484
$GC,7279,1.75,81.3,82.0,11.3,347,7283,0.00,2.65,0.00,0.000,6,0.000,0.061,2784,2194,2483
$GC,7607,1.75,81.3,54.7,8.0,363,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2194,2484
$GC,7915,1.75,81.3,29.5,7.0,378,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2194,2483
$GC,8223,1.75,81.3,6.0,9.2,393,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2193,2484
$STATE,8283,end climb,SURFACE_DEPTH_REACHED
$STATE,8283,begin surface coast
$FINISH,0.6,1.027430
$STATE,8305,end surface coast,CONTROL_FINISHED_OK
$STATE,8305,begin surface
$SM_CCo,8326,280.52,0.653,5,0,508,566.15
$SM_GC,1.09,0.00,0.00,280.52,0.000,0.000,0.653,73,2409,508,-10.75,0.25,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2031
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,300.3,105.7
$24V_AH,23.7,47.878
$10V_AH,10.2,24.047
$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,26.725,79.300,114.300,280.525,0.000,32.631,48.685,134.356,2.250,0.000,0.000,36.357,796.006,6167.321,578.399,1083.225,351.299,33.356,1093.803,0.000,1041.677,0.000,15.407
$DEVICE_MAMPS,171.041,79.001,934.973,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,284.153,277.208,328.429,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19180,397
$CFSIZE,260165632,243134464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,5,0
$GPS,070108,042658,6246.083,-603.916,39,2.7,58,-8.1