version: 66.02
glider: 16
mission: 6
dive: 249
start: 1 4 108 8 4 38
data:
$ID,16
$MISSION,6
$DIVE,249
$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,-2081701.5
$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,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
$GPS1,075908,6242.900,-557.705,32,1.5,32,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-48.8
$GPS2,080345,6242.924,-557.713,15,1.3,15,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.199,-0.096
$KALMAN_X,40592.9,-2193.3,939.9,126060.8,39139.0
$KALMAN_Y,57106.0,-610.8,-327.4,63731.3,16527.6
$MHEAD_RNG_PITCHd_Wd,252.3,8230,-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,-146.6,0.0,0.0,0,125,0.00,0.00,-101.50,0.000,2,0.000,0.000,72,2407,3123
$GC,128,-0.85,-146.6,3.9,-3.3,5,153,12.18,2.70,-6.65,0.000,4,0.174,0.081,2221,990,3417
$GC,351,-0.85,-146.6,35.9,-11.1,15,355,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2404,3417
$GC,677,-0.85,-146.6,66.9,-7.1,31,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,986,-0.85,-146.6,91.4,-6.8,46,990,0.00,2.67,0.00,0.000,4,0.000,0.070,2220,982,3418
$GC,1035,-0.85,-146.6,94.6,-5.9,48,1040,0.00,2.65,0.00,0.000,6,0.000,0.060,2221,2404,3418
$GC,1351,-0.85,-146.6,124.3,-8.9,63,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,1660,-0.85,-146.6,148.7,-6.7,78,1664,0.00,2.67,0.00,0.000,4,0.000,0.070,2221,980,3418
$GC,1722,-0.85,-146.6,153.1,-7.3,81,1726,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2401,3418
$GC,2047,-0.85,-146.6,171.5,-6.5,97,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3418
$GC,2357,-0.85,-146.6,195.1,-7.8,112,2361,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,976,3418
$GC,2412,-0.85,-146.6,198.7,-5.9,114,2418,0.00,2.65,0.00,0.000,6,0.000,0.062,2221,2404,3418
$GC,2726,-0.85,-146.6,217.6,-6.5,130,2731,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,980,3418
$GC,2781,-0.85,-146.6,221.2,-5.7,132,2787,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2404,3418
$GC,3097,-0.85,-146.6,237.3,-5.3,148,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3418
$GC,3406,-0.85,-146.6,252.9,-5.1,163,3410,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,981,3418
$GC,3483,-0.85,-146.6,256.5,-4.5,166,3489,0.00,2.60,0.00,0.000,6,0.000,0.062,2221,2400,3418
$GC,3799,-0.85,-146.6,272.9,-5.4,182,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,4107,-0.85,-146.6,292.4,-6.9,197,4112,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,976,3418
$GC,4151,-0.85,-146.6,295.6,-7.5,199,4155,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2400,3418
$GC,4478,-0.85,-146.6,319.7,-7.1,215,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3418
$GC,4787,-0.85,-146.6,341.1,-7.2,230,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$STATE,4847,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4847,begin apogee
$GC,4853,-0.31,0.0,346.1,8.1,233,4974,0.60,0.00,118.20,0.897,6,0.104,0.000,2341,2197,2817
$STATE,4975,end apogee,CONTROL_FINISHED_OK
$STATE,4975,begin climb
$GC,4977,0.85,146.6,349.0,0.0,239,5098,1.23,0.00,116.50,0.881,6,0.091,0.000,2588,2197,2219
$GC,5399,0.85,149.2,328.1,5.9,260,5408,0.00,2.75,3.75,0.529,4,0.000,0.081,2588,3622,2208
$GC,5481,0.85,149.2,322.5,7.3,263,5487,0.00,2.67,0.00,0.000,6,0.000,0.066,2589,2197,2208
$GC,5796,0.86,161.6,303.6,5.7,279,5817,0.00,2.78,11.18,0.772,4,0.000,0.080,2589,3621,2157
$GC,5840,0.87,169.7,301.3,5.8,281,5854,0.00,2.67,8.18,0.726,6,0.000,0.064,2589,2200,2124
$GC,6170,0.87,169.7,280.0,6.3,297,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,2124
$GC,6479,0.88,179.8,261.3,5.7,312,6491,0.00,0.00,9.30,0.737,6,0.000,0.000,2589,2200,2083
$GC,6789,0.89,183.8,242.9,5.9,327,6799,0.00,2.67,5.22,0.628,4,0.000,0.071,2589,784,2066
$GC,6838,0.89,183.8,239.7,7.0,329,6842,0.00,2.62,0.00,0.000,6,0.000,0.053,2589,2208,2066
$GC,7153,0.89,184.1,218.5,6.0,344,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2208,2065
$GC,7462,0.90,199.9,201.1,5.6,359,7482,0.00,0.00,14.02,0.752,6,0.000,0.000,2589,2207,2000
$GC,7792,0.90,199.9,179.2,7.0,375,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2208,1999
$GC,8101,0.90,199.9,158.0,7.1,390,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2208,1999
$GC,8411,0.90,199.9,138.5,7.2,405,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2209,1999
$GC,8720,0.97,259.7,121.0,4.4,420,8770,0.15,0.00,46.78,0.745,6,0.068,0.000,2629,2208,1757
$GC,9070,0.97,259.7,91.5,9.2,437,9075,0.00,2.70,0.00,0.000,4,0.000,0.071,2629,779,1756
$GC,9119,0.97,259.7,86.8,8.9,439,9124,0.00,2.60,0.00,0.000,6,0.000,0.051,2629,2203,1755
$GC,9442,1.02,301.8,71.3,4.8,455,9484,0.00,2.75,32.92,0.702,4,0.000,0.067,2629,782,1585
$GC,9530,1.10,375.5,66.1,4.0,459,9593,0.00,2.62,56.22,0.706,6,0.000,0.053,2629,2204,1285
$GC,9905,1.10,375.5,28.1,13.6,477,9909,0.00,2.75,0.00,0.000,4,0.000,0.080,2629,780,1285
$GC,9953,1.10,375.5,22.2,11.4,479,9958,0.00,2.60,0.00,0.000,6,0.000,0.052,2629,2201,1284
$STATE,10254,end climb,SURFACE_DEPTH_REACHED
$STATE,10254,begin surface coast
$FINISH,0.8,1.001763
$STATE,10274,end surface coast,CONTROL_FINISHED_OK
$STATE,10274,begin surface
$SM_CCo,10295,112.95,0.647,2,0,508,566.15
$SM_GC,1.28,0.00,0.00,112.95,0.000,0.000,0.647,72,2405,508,-10.75,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2075
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,275.3,79.8
$24V_AH,23.7,43.847
$10V_AH,10.2,22.618
$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,25.525,70.100,422.275,112.950,0.000,32.613,35.185,114.867,2.250,0.000,0.000,15.808,905.812,7726.451,672.459,1081.498,320.152,33.383,1221.547,0.000,1060.730,0.000,16.664
$DEVICE_MAMPS,174.109,80.535,896.623,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.672,343.548,416.168,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25334,495
$CFSIZE,260165632,244027392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,2,0
$GPS,040108,105932,6241.995,-558.321,40,1.8,40,-8.0