version: 66.02
glider: 16
mission: 6
dive: 246
start: 1 3 108 22 25 13
data:
$ID,16
$MISSION,6
$DIVE,246
$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,1
$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,-2081615.5
$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,19
$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
$GPS1,221508,6245.612,-555.067,36,1.5,36,-8.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-49.6
$GPS2,222421,6245.623,-554.979,17,1.4,35,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.186,-0.120
$KALMAN_X,38109.3,-1955.0,-924.0,132568.4,37351.8
$KALMAN_Y,58461.6,-1221.5,-833.4,68501.7,19206.0
$MHEAD_RNG_PITCHd_Wd,245.3,13455,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.85,-146.6,0.0,0.0,0,114,0.00,0.00,-91.65,0.000,2,0.000,0.000,63,2411,2880
$GC,118,-0.85,-146.6,3.1,-1.7,5,153,12.18,2.72,-14.93,0.000,4,0.173,0.077,2219,977,3416
$GC,229,-0.85,-146.6,12.7,-5.9,10,234,0.00,2.60,0.00,0.000,6,0.000,0.054,2219,2398,3417
$GC,555,-0.85,-146.6,34.3,-7.4,26,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3416
$GC,866,-0.85,-146.6,56.2,-7.2,41,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3416
$GC,1174,-0.85,-146.6,80.2,-8.7,56,1178,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,982,3416
$GC,1222,-0.85,-146.6,83.6,-6.6,58,1226,0.00,2.60,0.00,0.000,6,0.000,0.054,2219,2407,3417
$GC,1544,-0.85,-146.6,105.1,-6.5,74,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2407,3416
$GC,1853,-0.85,-146.6,128.7,-8.0,89,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2407,3416
$GC,2162,-0.85,-146.6,154.8,-8.9,104,2166,0.00,2.67,0.00,0.000,4,0.000,0.067,2219,977,3416
$GC,2250,-0.85,-146.6,162.3,-8.3,108,2255,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2399,3416
$GC,2571,-0.85,-146.6,190.7,-9.1,124,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3415
$GC,2880,-0.85,-146.6,217.0,-8.6,139,2884,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,980,3416
$GC,2929,-0.85,-146.6,221.5,-9.1,141,2934,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2400,3416
$GC,3245,-0.85,-146.6,249.3,-9.0,156,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,3555,-0.85,-146.6,276.2,-8.4,171,3559,0.00,2.65,0.00,0.000,4,0.000,0.070,2219,977,3416
$GC,3649,-0.85,-146.6,284.2,-9.0,175,3653,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2399,3416
$GC,3964,-0.85,-146.6,308.8,-7.9,190,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3416
$GC,4274,-0.85,-146.6,332.9,-7.7,205,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3416
$GC,4584,-0.85,-146.6,355.9,-7.3,220,4588,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,977,3416
$GC,4638,-0.85,-146.6,360.3,-7.5,222,4645,0.00,2.60,0.00,0.000,6,0.000,0.058,2218,2400,3416
$GC,4954,-0.85,-146.6,383.3,-7.0,238,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,5263,-0.85,-146.6,404.5,-6.4,253,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$STATE,5426,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5427,begin apogee
$GC,5432,-0.31,0.0,416.8,8.1,261,5554,0.60,0.00,118.68,0.949,6,0.110,0.000,2338,2200,2818
$STATE,5554,end apogee,CONTROL_FINISHED_OK
$STATE,5554,begin climb
$GC,5557,0.85,146.6,420.6,0.0,267,5678,1.27,0.00,117.53,0.930,6,0.097,0.000,2591,2200,2219
$GC,5978,0.89,189.0,399.7,4.8,288,6018,0.00,0.00,34.97,0.890,6,0.000,0.000,2591,2199,2045
$GC,6327,0.89,189.0,377.0,6.6,305,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2199,2044
$GC,6637,0.89,189.0,357.1,6.3,320,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2200,2043
$GC,6945,0.89,189.0,338.1,6.4,335,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2199,2042
$GC,7255,0.89,189.0,317.8,6.5,350,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2199,2041
$GC,7564,0.89,189.0,297.9,6.4,365,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2200,2042
$GC,7873,0.89,189.0,277.8,6.2,380,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2199,2041
$GC,8182,0.89,189.0,258.1,6.3,395,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2200,2041
$GC,8492,0.89,189.0,238.6,6.5,410,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2199,2041
$GC,8801,0.93,221.7,221.3,5.1,425,8829,0.00,0.00,25.90,0.801,6,0.000,0.000,2591,2200,1913
$GC,9131,0.97,262.1,205.2,4.9,441,9170,0.15,0.00,32.90,0.796,6,0.062,0.000,2632,2199,1747
$GC,9480,0.97,262.1,177.4,9.2,458,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2199,1745
$GC,9788,0.97,262.1,151.9,7.9,473,9793,0.00,2.62,0.00,0.000,4,0.000,0.071,2632,786,1745
$GC,9838,0.97,262.1,148.0,8.7,475,9842,0.00,2.60,0.00,0.000,6,0.000,0.050,2632,2210,1744
$GC,10154,0.97,262.1,120.1,9.1,490,10155,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2210,1745
$GC,10463,0.98,272.6,97.5,5.7,505,10477,0.00,2.70,9.50,0.655,4,0.000,0.070,2632,782,1704
$GC,10561,0.98,272.6,94.0,6.8,509,10565,0.00,2.60,0.00,0.000,6,0.000,0.051,2632,2204,1703
$GC,10883,0.98,272.6,71.0,8.7,525,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2203,1704
$GC,11193,0.98,272.6,41.0,8.6,540,11198,0.00,2.67,0.00,0.000,4,0.000,0.071,2632,782,1703
$GC,11237,0.98,272.6,36.8,10.4,542,11241,0.00,2.60,0.00,0.000,6,0.000,0.052,2632,2208,1704
$GC,11565,0.98,272.6,4.0,11.2,558,11566,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2208,1704
$STATE,11583,end climb,SURFACE_DEPTH_REACHED
$STATE,11583,begin surface coast
$FINISH,0.9,1.013385
$STATE,11605,end surface coast,CONTROL_FINISHED_OK
$STATE,11605,begin surface
$SM_CCo,11625,174.45,0.657,2,0,509,566.15
$SM_GC,1.51,0.00,0.00,174.45,0.000,0.000,0.657,69,2407,509,-10.76,0.20,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2030
$TCM_TEMP,15.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,351.3,74.5
$24V_AH,23.7,43.434
$10V_AH,10.2,22.446
$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,25.825,48.175,339.475,174.450,0.000,65.226,85.562,212.899,3.750,0.000,0.000,37.117,993.887,9076.611,662.849,1124.256,515.416,33.376,1192.523,0.000,1087.873,0.000,18.564
$DEVICE_MAMPS,172.575,76.700,948.779,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.253,389.066,448.821,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28617,560
$CFSIZE,260165632,244137984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,2,0
$GPS,040108,014328,6244.188,-555.470,29,6.5,48,-8.0