version: 66.02
glider: 16
mission: 6
dive: 279
start: 1 7 108 4 36 19
data:
$ID,16
$MISSION,6
$DIVE,279
$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,-2082457
$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,18
$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
$GPS1,042658,6246.083,-603.916,39,2.7,58,-8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-51.8
$GPS2,043529,6246.095,-603.805,13,3.3,32,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,-0.123,-0.184
$KALMAN_X,56339.7,-1829.8,2365.2,103166.0,50549.4
$KALMAN_Y,90433.0,-3148.1,6328.3,32234.7,78813.5
$MHEAD_RNG_PITCHd_Wd,356.2,2545,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.74,-28.8,0.0,0.0,0,126,0.00,0.00,-96.32,0.000,6,0.000,0.000,72,2410,2934
$GC,128,-1.76,-53.4,3.4,-2.6,5,151,10.93,2.72,-2.67,0.000,4,0.171,0.077,2016,979,3037
$GC,296,-1.76,-53.4,31.0,-15.6,12,301,0.00,2.62,0.00,0.000,6,0.000,0.058,2016,2403,3037
$GC,619,-1.76,-53.4,89.0,-19.0,28,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2403,3037
$GC,927,-1.76,-53.4,134.8,-13.4,43,932,0.00,2.60,0.00,0.000,4,0.000,0.077,2016,3768,3037
$GC,1012,-1.76,-53.4,148.7,-17.7,47,1017,0.00,2.55,0.00,0.000,6,0.000,0.058,2016,2395,3037
$GC,1339,-1.76,-53.4,198.8,-13.7,63,1343,0.00,2.62,0.00,0.000,4,0.000,0.078,2016,3769,3037
$GC,1405,-1.76,-53.4,208.3,-15.0,66,1409,0.00,2.55,0.00,0.000,6,0.000,0.058,2016,2393,3037
$GC,1725,-1.76,-53.4,255.1,-16.1,82,1729,0.00,2.62,0.00,0.000,4,0.000,0.077,2016,3768,3036
$GC,1763,-1.76,-53.4,261.3,-16.5,84,1768,0.00,2.53,0.00,0.000,6,0.000,0.056,2016,2398,3037
$GC,2090,-1.76,-53.4,308.9,-13.5,100,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2397,3037
$GC,2400,-1.76,-53.4,351.5,-13.6,115,2404,0.00,2.60,0.00,0.000,4,0.000,0.071,2016,3773,3037
$GC,2443,-1.76,-53.4,357.9,-13.9,117,2447,0.00,2.53,0.00,0.000,6,0.000,0.056,2016,2398,3037
$GC,2770,-1.76,-53.4,400.5,-13.3,133,2774,0.00,2.65,0.00,0.000,4,0.000,0.071,2016,988,3037
$GC,2791,-1.76,-53.4,403.7,-14.1,134,2795,0.00,2.58,0.00,0.000,6,0.000,0.058,2016,2398,3037
$STATE,2909,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2909,begin apogee
$GC,2915,-0.31,0.0,420.5,14.2,140,2964,1.67,0.00,44.95,0.949,6,0.129,0.000,2337,2198,2817
$STATE,2965,end apogee,CONTROL_FINISHED_OK
$STATE,2965,begin climb
$GC,2968,1.76,53.4,423.2,0.0,142,3020,2.12,2.67,43.83,0.941,4,0.078,0.064,2793,791,2598
$GC,3216,1.77,56.6,412.5,5.5,153,3227,0.00,2.60,4.32,0.625,6,0.000,0.051,2793,2204,2585
$GC,3537,1.78,70.2,397.9,4.1,169,3558,0.00,2.78,12.27,0.844,4,0.000,0.079,2791,3610,2530
$GC,3619,1.78,70.2,393.2,6.8,172,3626,0.00,2.65,0.00,0.000,6,0.000,0.062,2793,2203,2530
$GC,3935,1.78,70.2,372.0,6.9,188,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2203,2529
$GC,4244,1.78,70.2,348.8,8.4,203,4248,0.00,2.67,0.00,0.000,4,0.000,0.071,2793,782,2529
$GC,4293,1.78,70.2,344.4,8.9,205,4297,0.00,2.60,0.00,0.000,6,0.000,0.051,2793,2206,2529
$GC,4615,1.78,70.2,315.9,9.4,221,4619,0.00,2.67,0.00,0.000,4,0.000,0.080,2793,3616,2529
$GC,4796,1.78,70.2,299.0,9.2,229,4800,0.00,2.65,0.00,0.000,6,0.000,0.064,2793,2193,2529
$GC,5115,1.78,70.2,274.1,6.7,245,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2193,2529
$GC,5425,1.78,70.2,254.4,6.3,260,5430,0.00,2.67,0.00,0.000,4,0.000,0.076,2793,3615,2529
$GC,5646,1.79,81.2,243.2,4.5,270,5661,0.00,2.62,10.38,0.754,6,0.000,0.061,2793,2199,2485
$GC,5972,1.81,96.3,232.4,3.9,285,5991,0.00,0.00,13.27,0.771,6,0.000,0.000,2793,2199,2424
$GC,6301,1.82,104.4,220.4,4.9,301,6315,0.00,2.72,8.15,0.706,4,0.000,0.076,2793,3606,2391
$GC,6424,1.82,104.4,209.1,10.8,306,6429,0.00,2.62,0.00,0.000,6,0.000,0.062,2793,2201,2391
$GC,6739,1.82,104.4,179.6,9.1,321,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2201,2390
$GC,7049,1.82,104.4,150.0,10.3,336,7053,0.00,2.67,0.00,0.000,4,0.000,0.074,2792,3617,2390
$GC,7255,1.82,104.4,125.7,11.9,345,7259,0.00,2.65,0.00,0.000,6,0.000,0.064,2793,2188,2391
$GC,7577,1.82,104.4,97.3,9.7,361,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2188,2390
$GC,7886,1.82,104.4,64.8,9.8,376,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2189,2390
$GC,8197,1.82,107.3,36.6,5.6,391,8203,0.00,0.00,4.18,0.495,6,0.000,0.000,2793,2188,2379
$GC,8506,1.82,107.3,7.4,11.4,406,8510,0.00,2.72,0.00,0.000,4,0.000,0.076,2793,3622,2379
$STATE,8558,end climb,SURFACE_DEPTH_REACHED
$STATE,8558,begin surface coast
$FINISH,0.9,1.027420
$STATE,8568,end surface coast,CONTROL_FINISHED_OK
$STATE,8568,begin surface
$SM_CCo,8592,260.45,0.658,3,0,509,566.15
$SM_GC,1.18,0.00,0.00,260.45,0.000,0.000,0.658,71,2404,509,-10.75,0.11,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2025
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,376.2,51.6
$24V_AH,23.6,47.979
$10V_AH,10.2,24.098
$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,27.050,73.875,141.350,260.450,0.000,65.232,76.837,187.732,3.250,0.000,0.000,33.291,823.234,6448.532,569.167,1070.246,476.617,33.349,1085.997,0.000,1025.608,0.000,23.075
$DEVICE_MAMPS,171.041,79.768,948.779,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,295.291,285.903,307.807,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19062,409
$CFSIZE,260165632,243093504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,3,0
$GPS,070108,070531,6247.101,-602.888,33,1.9,49,-8.0