version: 66.02
glider: 16
mission: 6
dive: 406
start: 2 1 108 22 22 7
data:
$ID,16
$MISSION,6
$DIVE,406
$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,-2086937.2
$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
$GPS1,215301,6130.841,-121.365,38,1.5,38,-5.2
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-51.7
$GPS2,222115,6131.051,-120.463,17,1.8,17,-5.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.160,-0.153
$KALMAN_X,90258.6,-3425.1,-2247.1,324784.5,56696.7
$KALMAN_Y,33200.4,-1510.0,-998.0,-43918.1,30749.7
$MHEAD_RNG_PITCHd_Wd,213.9,55022,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,129,0.00,0.00,-100.95,0.000,2,0.000,0.000,65,2400,3061
$GC,132,-0.85,-146.6,3.5,-2.5,5,158,12.10,2.62,-8.20,0.000,4,0.170,0.091,2219,3768,3415
$GC,411,-0.85,-146.6,34.4,-9.5,17,418,0.00,2.53,0.00,0.000,6,0.000,0.053,2219,2396,3416
$GC,729,-0.85,-146.6,61.8,-9.8,33,733,0.00,2.65,0.00,0.000,4,0.000,0.078,2219,3773,3416
$GC,824,-0.85,-146.6,72.6,-13.5,37,828,0.00,2.53,0.00,0.000,6,0.000,0.054,2219,2398,3417
$GC,1141,-0.85,-146.6,100.3,-8.3,52,1145,0.00,2.65,0.00,0.000,4,0.000,0.070,2219,983,3417
$GC,1185,-0.85,-146.6,103.3,-6.3,54,1189,0.00,2.60,0.00,0.000,6,0.000,0.061,2219,2398,3416
$GC,1507,-0.85,-146.6,125.4,-7.5,70,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3416
$GC,1815,-0.85,-146.6,149.7,-7.2,85,1820,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,974,3416
$GC,1860,-0.85,-146.6,153.4,-8.5,87,1864,0.00,2.60,0.00,0.000,6,0.000,0.060,2219,2400,3416
$GC,2187,-0.85,-146.6,185.7,-11.2,103,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,2495,-0.85,-146.6,211.0,-8.2,118,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,2804,-0.85,-146.6,235.0,-7.2,133,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,3115,-0.85,-146.6,258.5,-7.5,148,3119,0.00,2.65,0.00,0.000,4,0.000,0.068,2219,982,3416
$GC,3169,-0.85,-146.6,263.0,-7.4,150,3176,0.00,2.60,0.00,0.000,6,0.000,0.060,2219,2403,3416
$GC,3485,-0.85,-146.6,288.0,-8.5,166,3490,0.00,2.60,0.00,0.000,4,0.000,0.081,2219,3768,3415
$GC,3536,-0.85,-146.6,292.6,-8.6,168,3540,0.00,2.50,0.00,0.000,6,0.000,0.056,2219,2400,3417
$GC,3851,-0.85,-146.6,319.9,-8.8,183,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,4162,-0.85,-146.6,347.1,-8.8,198,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,4470,-0.85,-146.6,373.2,-8.3,213,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,4779,-0.85,-146.6,396.0,-7.0,228,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3417
$STATE,5066,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5066,begin apogee
$GC,5073,-0.31,0.0,417.2,7.4,242,5197,0.60,0.00,120.25,0.918,6,0.104,0.000,2339,2192,2817
$STATE,5197,end apogee,CONTROL_FINISHED_OK
$STATE,5198,begin climb
$GC,5200,0.85,146.6,421.5,0.0,248,5329,1.25,2.75,117.95,0.907,4,0.094,0.069,2589,792,2217
$GC,5363,0.85,146.6,414.7,7.0,256,5367,0.00,2.62,0.00,0.000,6,0.000,0.052,2589,2204,2217
$GC,5680,0.87,164.5,396.9,5.5,271,5702,0.00,2.78,15.82,0.824,4,0.000,0.081,2589,3618,2146
$GC,5741,0.87,164.5,391.4,8.7,273,5747,0.00,2.65,0.00,0.000,6,0.000,0.058,2589,2204,2146
$GC,6056,0.87,164.6,372.7,6.0,289,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2204,2146
$GC,6366,0.87,164.6,353.2,6.2,304,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,2145
$GC,6675,0.87,164.6,332.8,6.2,319,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2204,2145
$GC,6984,0.91,205.9,316.4,4.9,334,7024,0.00,0.00,34.05,0.835,6,0.000,0.000,2589,2204,1976
$GC,7335,0.91,205.9,297.5,6.0,351,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,1975
$GC,7643,0.91,207.9,279.7,5.9,366,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,1975
$GC,7952,0.91,207.9,261.6,6.0,381,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2204,1975
$GC,8262,0.91,207.9,241.6,6.5,396,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,1975
$GC,8571,0.91,207.9,220.2,7.1,411,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,1975
$GC,8882,0.94,235.4,202.3,5.2,426,8912,0.12,2.75,24.20,0.753,4,0.064,0.072,2623,784,1857
$GC,8987,0.94,235.4,192.7,10.1,431,8992,0.00,2.60,0.00,0.000,6,0.000,0.051,2623,2203,1855
$GC,9313,0.94,235.4,160.3,7.8,447,9314,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2203,1855
$GC,9624,0.94,235.4,135.7,8.2,462,9625,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2203,1854
$GC,9932,0.94,235.4,110.1,8.2,477,9936,0.00,2.65,0.00,0.000,4,0.000,0.064,2623,782,1855
$GC,9981,0.94,235.4,106.7,6.1,479,9986,0.00,2.58,0.00,0.000,6,0.000,0.050,2623,2205,1854
$GC,10298,0.94,235.4,80.5,8.7,494,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2205,1855
$GC,10607,0.94,235.4,49.4,9.3,509,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2205,1855
$GC,10916,1.10,376.6,32.3,2.1,524,11029,0.12,2.72,106.38,0.663,4,0.051,0.068,2665,785,1280
$GC,11085,1.10,376.6,13.2,15.2,532,11090,0.00,2.60,0.00,0.000,6,0.000,0.050,2665,2196,1278
$STATE,11199,end climb,SURFACE_DEPTH_REACHED
$STATE,11199,begin surface coast
$FINISH,0.7,1.014205
$STATE,11220,end surface coast,CONTROL_FINISHED_OK
$STATE,11220,begin surface
$SM_CCo,11242,111.47,0.611,2,0,509,566.15
$SM_GC,1.24,0.00,0.00,111.47,0.000,0.000,0.611,65,2405,509,-10.78,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2050
$TCM_TEMP,17.30
$XPDR_PINGS,112
$ALTIM_BOTTOM_PING,325.5,100.9
$24V_AH,23.6,63.430
$10V_AH,10.2,34.249
$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,25.975,58.650,418.650,111.475,0.000,163.095,193.021,885.485,30.250,0.000,0.000,17.513,964.968,8768.248,643.278,1152.069,1535.222,33.373,1226.239,0.000,1129.744,0.000,17.026
$DEVICE_MAMPS,169.507,90.506,918.099,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,382.041,380.360,421.330,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25362,539
$CFSIZE,260165632,236072960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$GPS,020208,013255,6131.947,-116.855,28,1.6,45,-5.1