version: 66.02
glider: 16
mission: 6
dive: 248
start: 1 4 108 5 1 25
data:
$ID,16
$MISSION,6
$DIVE,248
$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,-2081685.1
$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,19
$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
$GPS1,044737,6243.448,-557.114,37,1.7,42,-8.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-47.6
$GPS2,050035,6243.523,-557.079,11,3.1,30,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.192,-0.109
$KALMAN_X,39024.8,-2243.0,521.9,128651.4,37271.3
$KALMAN_Y,57505.1,-1262.1,-648.6,65416.2,18653.3
$MHEAD_RNG_PITCHd_Wd,248.4,9378,-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,21,-0.85,-146.6,0.0,0.0,0,126,0.00,0.00,-102.30,0.000,2,0.000,0.000,71,2399,3142
$GC,129,-0.85,-146.6,4.1,-3.1,5,154,12.07,2.70,-5.90,0.000,4,0.170,0.078,2221,984,3418
$GC,351,-0.85,-146.6,26.2,-7.3,15,356,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2399,3418
$GC,678,-0.85,-146.6,48.4,-6.5,31,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3418
$GC,987,-0.85,-146.6,75.1,-6.3,46,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3418
$GC,1299,-0.85,-146.6,104.0,-9.4,61,1303,0.00,2.65,0.00,0.000,4,0.000,0.069,2221,985,3418
$GC,1361,-0.85,-146.6,109.7,-9.1,64,1366,0.00,2.60,0.00,0.000,6,0.000,0.060,2221,2398,3418
$GC,1688,-0.85,-146.6,133.2,-5.7,80,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3418
$GC,1997,-0.85,-146.6,155.5,-7.9,95,2001,0.00,2.65,0.00,0.000,4,0.000,0.069,2221,983,3418
$GC,2045,-0.85,-146.6,159.2,-7.6,97,2050,0.00,2.60,0.00,0.000,6,0.000,0.060,2221,2400,3418
$GC,2366,-0.85,-146.6,182.2,-6.9,113,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,2676,-0.85,-146.6,203.7,-6.9,128,2681,0.00,2.65,0.00,0.000,4,0.000,0.070,2221,985,3418
$GC,2731,-0.85,-146.6,207.7,-6.9,130,2738,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2398,3418
$GC,3048,-0.85,-146.6,228.3,-5.8,146,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3418
$GC,3357,-0.85,-146.6,244.3,-4.5,161,3361,0.00,2.65,0.00,0.000,4,0.000,0.071,2221,983,3418
$GC,3411,-0.85,-146.6,246.9,-4.7,163,3418,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2406,3419
$GC,3727,-0.85,-146.6,262.6,-5.1,179,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3418
$GC,4040,-0.85,-146.6,275.7,-3.9,194,4045,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,981,3418
$GC,4102,-0.85,-146.6,278.4,-4.4,197,4107,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2406,3418
$GC,4429,-0.85,-146.6,295.2,-6.1,213,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3418
$GC,4738,-0.85,-146.6,316.6,-7.9,228,4742,0.00,2.67,0.00,0.000,4,0.000,0.073,2221,985,3418
$GC,4870,-0.85,-146.6,327.9,-8.4,234,4875,0.00,2.60,0.00,0.000,6,0.000,0.062,2221,2400,3418
$GC,5197,-0.85,-146.6,351.6,-7.0,250,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$STATE,5402,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5402,begin apogee
$GC,5407,-0.31,0.0,367.4,7.7,260,5529,0.60,0.00,118.28,0.916,6,0.108,0.000,2341,2201,2817
$STATE,5529,end apogee,CONTROL_FINISHED_OK
$STATE,5529,begin climb
$GC,5532,0.85,146.6,371.6,0.0,266,5656,1.23,2.78,116.20,0.897,4,0.098,0.069,2589,786,2218
$GC,5689,0.86,158.3,366.7,5.7,273,5705,0.00,2.62,10.85,0.779,6,0.000,0.055,2588,2201,2170
$GC,6026,0.86,161.6,347.8,5.9,290,6035,0.00,2.75,4.05,0.569,4,0.000,0.082,2588,3614,2158
$GC,6116,0.86,163.1,342.4,6.0,294,6120,0.00,2.67,0.00,0.000,6,0.000,0.065,2588,2199,2158
$GC,6441,0.86,163.1,323.4,6.7,310,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,2158
$GC,6751,0.86,163.1,301.4,7.6,325,6755,0.00,2.67,0.00,0.000,4,0.000,0.073,2588,782,2157
$GC,6800,0.86,163.1,297.3,8.4,327,6804,0.00,2.62,0.00,0.000,6,0.000,0.055,2588,2206,2156
$GC,7121,0.86,163.1,271.9,7.3,343,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2206,2156
$GC,7431,0.86,163.1,250.7,6.2,358,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2206,2156
$GC,7739,0.86,163.1,228.8,7.2,373,7744,0.00,2.67,0.00,0.000,4,0.000,0.080,2588,3616,2156
$GC,7788,0.86,163.1,225.0,8.2,375,7793,0.00,2.65,0.00,0.000,6,0.000,0.064,2588,2198,2156
$GC,8111,0.86,163.1,199.3,7.8,391,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2198,2156
$GC,8419,0.86,163.1,174.8,8.6,406,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2197,2156
$GC,8729,0.86,163.1,145.0,10.0,421,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2198,2156
$GC,9040,0.88,178.3,129.2,5.6,436,9058,0.00,0.00,14.32,0.714,6,0.000,0.000,2588,2198,2090
$GC,9369,1.09,373.7,127.3,0.7,452,9521,0.28,0.00,149.02,0.748,6,0.048,0.000,2663,2197,1293
$GC,9818,1.09,373.7,75.1,12.2,474,9822,0.00,2.70,0.00,0.000,4,0.000,0.074,2663,778,1291
$GC,9906,1.09,373.7,62.7,13.0,478,9910,0.00,2.62,0.00,0.000,6,0.000,0.053,2663,2201,1291
$GC,10227,1.09,373.7,23.6,10.7,494,10232,0.00,2.70,0.00,0.000,4,0.000,0.075,2663,785,1291
$GC,10293,1.09,373.7,15.9,11.2,497,10298,0.00,2.60,0.00,0.000,6,0.000,0.053,2663,2203,1291
$STATE,10428,end climb,SURFACE_DEPTH_REACHED
$STATE,10428,begin surface coast
$FINISH,0.9,1.027406
$STATE,10448,end surface coast,CONTROL_FINISHED_OK
$STATE,10449,begin surface
$SM_CCo,10469,115.65,0.647,2,0,508,566.15
$SM_GC,1.37,0.00,0.00,115.65,0.000,0.000,0.647,73,2406,508,-10.75,0.17,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2062
$TCM_TEMP,17.10
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,300.5,75.4
$24V_AH,23.7,43.719
$10V_AH,10.2,22.564
$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,25.750,69.750,412.725,115.650,0.000,97.800,104.482,329.719,3.250,0.000,0.000,31.762,929.308,7967.155,651.231,1146.773,687.900,33.369,1220.356,0.000,1109.363,0.000,18.270
$DEVICE_MAMPS,170.274,82.069,915.798,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,367.638,349.194,417.878,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25424,505
$CFSIZE,260165632,244064256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,2,0
$GPS,040108,075908,6242.900,-557.705,32,1.5,32,-8.0