version: 66.02
glider: 16
mission: 6
dive: 405
start: 2 1 108 18 10 18
data:
$ID,16
$MISSION,6
$DIVE,405
$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,-2086919.1
$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,14
$R_STBD_OVSHOOT,17
$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
$GPS1,174658,6129.554,-127.057,29,2.1,48,-5.2
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-46.9
$GPS2,180925,6129.687,-126.441,16,2.0,32,-5.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.163,-0.150
$KALMAN_X,81690.7,-3887.2,-472.3,326743.8,42793.3
$KALMAN_Y,22525.7,320.4,892.7,-39529.2,12669.3
$MHEAD_RNG_PITCHd_Wd,210.0,50354,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,128,0.00,0.00,-101.40,0.000,2,0.000,0.000,67,2403,3065
$GC,131,-0.85,-146.6,3.4,-2.3,5,158,12.32,2.62,-8.55,0.000,4,0.183,0.086,2220,3769,3417
$GC,410,-0.85,-146.6,44.5,-12.2,17,416,0.00,2.53,0.00,0.000,6,0.000,0.054,2220,2397,3418
$GC,728,-0.85,-146.6,68.4,-5.2,33,732,0.00,2.65,0.00,0.000,4,0.000,0.081,2220,3767,3417
$GC,817,-0.85,-146.6,75.8,-5.7,37,822,0.00,2.50,0.00,0.000,6,0.000,0.053,2220,2401,3418
$GC,1139,-0.85,-146.6,96.9,-6.1,53,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3418
$GC,1448,-0.85,-146.6,119.7,-7.4,68,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3417
$GC,1758,-0.85,-146.6,140.8,-6.1,83,1762,0.00,2.65,0.00,0.000,4,0.000,0.070,2220,984,3417
$GC,1808,-0.85,-146.6,143.9,-6.7,85,1812,0.00,2.60,0.00,0.000,6,0.000,0.061,2220,2398,3418
$GC,2123,-0.85,-146.6,168.8,-10.9,100,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3418
$GC,2433,-0.85,-146.6,197.3,-10.9,115,2438,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,980,3418
$GC,2500,-0.85,-146.6,204.0,-9.9,118,2505,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2406,3418
$GC,2822,-0.85,-146.6,233.2,-4.8,134,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3418
$GC,3131,-0.85,-146.6,255.8,-7.1,149,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3418
$GC,3440,-0.85,-146.6,276.8,-6.6,164,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3418
$GC,3751,-0.85,-146.6,301.7,-8.7,179,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3418
$GC,4059,-0.85,-146.6,329.5,-8.7,194,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2406,3418
$GC,4368,-0.85,-146.6,350.5,-6.1,209,4373,0.00,2.67,0.00,0.000,4,0.000,0.069,2220,980,3418
$GC,4453,-0.85,-146.6,355.3,-5.6,213,4457,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2402,3419
$GC,4780,-0.85,-146.6,374.6,-6.8,229,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3419
$GC,5088,-0.85,-146.6,394.1,-6.1,244,5093,0.00,2.65,0.00,0.000,4,0.000,0.070,2220,983,3419
$GC,5132,-0.85,-146.6,397.0,-6.9,246,5136,0.00,2.60,0.00,0.000,6,0.000,0.061,2220,2400,3419
$GC,5453,-0.85,-146.6,417.9,-6.7,262,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3419
$GC,5762,-0.85,-146.6,434.7,-4.0,277,5766,0.00,2.62,0.00,0.000,4,0.000,0.081,2220,3775,3419
$GC,5828,-0.85,-146.6,439.6,-8.0,280,5833,0.00,2.53,0.00,0.000,6,0.000,0.057,2220,2398,3419
$GC,6151,-0.85,-146.6,455.9,-3.5,296,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3418
$GC,6460,-0.85,-146.6,472.8,-4.0,311,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3419
$STATE,6601,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6601,begin apogee
$GC,6608,-0.31,0.0,479.9,4.8,318,6743,0.60,0.00,124.18,0.951,6,0.104,0.000,2341,2202,2816
$STATE,6744,end apogee,CONTROL_FINISHED_OK
$STATE,6744,begin climb
$GC,6747,0.85,146.6,480.2,0.0,325,6870,1.20,0.00,118.78,0.946,6,0.086,0.000,2589,2202,2218
$GC,7180,0.86,161.1,452.9,5.6,346,7198,0.00,0.00,13.23,0.844,6,0.000,0.000,2589,2202,2159
$GC,7508,0.86,161.1,426.2,6.9,362,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,2157
$GC,7817,0.86,161.1,404.2,8.8,377,7821,0.00,2.67,0.00,0.000,4,0.000,0.074,2589,784,2157
$GC,7856,0.86,161.1,400.9,8.5,379,7861,0.00,2.60,0.00,0.000,6,0.000,0.052,2590,2201,2156
$GC,8184,0.86,161.1,378.2,6.4,395,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,2156
$GC,8492,0.88,180.7,360.8,5.5,410,8512,0.00,0.00,16.77,0.838,6,0.000,0.000,2589,2202,2080
$GC,8823,0.90,191.8,341.8,5.7,426,8835,0.00,0.00,10.62,0.781,6,0.000,0.000,2589,2202,2035
$GC,9131,0.92,215.7,324.0,5.3,441,9153,0.00,0.00,20.40,0.827,6,0.000,0.000,2589,2201,1937
$GC,9460,0.93,227.7,306.6,5.7,457,9481,0.12,2.70,11.23,0.770,4,0.064,0.066,2622,776,1887
$GC,9538,0.93,227.7,300.7,8.7,460,9542,0.00,2.60,0.00,0.000,6,0.000,0.051,2622,2202,1887
$GC,9853,0.93,227.7,275.0,8.9,475,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2202,1886
$GC,10162,0.93,227.7,252.7,7.4,490,10167,0.00,2.65,0.00,0.000,4,0.000,0.066,2622,784,1886
$GC,10203,0.93,227.7,249.4,8.1,492,10207,0.00,2.58,0.00,0.000,6,0.000,0.050,2622,2202,1885
$GC,10529,0.93,227.7,223.8,7.9,508,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2201,1886
$GC,10838,0.93,227.7,193.4,10.9,523,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2201,1886
$GC,11148,0.93,227.7,162.2,10.1,538,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2201,1886
$GC,11457,0.93,227.7,131.0,9.8,553,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2202,1886
$GC,11768,0.93,227.7,99.1,9.1,568,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2201,1886
$GC,12076,0.93,227.7,78.0,7.6,583,12081,0.00,2.65,0.00,0.000,4,0.000,0.066,2622,782,1887
$GC,12121,0.93,227.7,74.2,8.4,585,12125,0.00,2.58,0.00,0.000,6,0.000,0.048,2622,2204,1886
$GC,12442,0.93,227.7,44.5,8.7,601,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2204,1887
$GC,12752,1.02,308.1,23.6,3.8,616,12816,0.00,0.00,62.00,0.657,6,0.000,0.000,2622,2204,1560
$STATE,13080,end climb,SURFACE_DEPTH_REACHED
$STATE,13080,begin surface coast
$FINISH,0.7,1.013847
$STATE,13104,end surface coast,CONTROL_FINISHED_OK
$STATE,13104,begin surface
$SM_CCo,13126,149.90,0.629,2,0,510,566.15
$SM_GC,1.31,0.00,0.00,149.90,0.000,0.000,0.629,69,2396,510,-10.77,-0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2039
$TCM_TEMP,17.20
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,400.2,89.0
$24V_AH,23.6,63.241
$10V_AH,10.2,34.176
$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,25.825,58.275,377.200,149.900,0.000,165.103,186.016,587.919,15.750,0.000,0.000,32.293,1120.074,10353.229,654.618,1317.693,1194.618,33.367,1298.370,0.000,1278.177,0.000,21.853
$DEVICE_MAMPS,183.313,85.904,951.080,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.575,441.645,464.324,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31728,633
$CFSIZE,260165632,236138496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,3,0
$GPS,010208,215301,6130.841,-121.365,38,1.5,38,-5.2