version: 66.02
glider: 16
mission: 6
dive: 407
start: 2 2 108 1 46 8
data:
$ID,16
$MISSION,6
$DIVE,407
$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,300
$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,-2086952
$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,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
$GPS1,013255,6131.947,-116.855,28,1.6,45,-5.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-53.2
$GPS2,014516,6132.040,-116.398,13,1.8,14,-5.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.151,-0.162
$KALMAN_X,90655.0,-1841.2,-1470.4,325663.2,55539.7
$KALMAN_Y,37735.8,-2160.6,-1014.3,-45889.8,41374.4
$MHEAD_RNG_PITCHd_Wd,216.1,58424,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,127,0.00,0.00,-100.82,0.000,2,0.000,0.000,64,2407,3119
$GC,131,-0.85,-146.6,3.8,-3.1,5,156,12.12,2.65,-6.35,0.000,4,0.172,0.091,2219,3766,3417
$GC,409,-0.85,-146.6,42.9,-9.9,17,413,0.00,2.53,0.00,0.000,6,0.000,0.054,2219,2396,3419
$GC,726,-0.85,-146.6,78.4,-10.1,32,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2395,3419
$GC,1034,-0.85,-146.6,107.7,-7.5,47,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2395,3419
$GC,1343,-0.85,-146.6,129.1,-7.0,62,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2396,3419
$GC,1653,-0.85,-146.6,151.8,-7.0,77,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2395,3419
$GC,1964,-0.85,-146.6,175.8,-8.2,92,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2395,3419
$GC,2271,-0.85,-146.6,199.9,-7.5,107,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2396,3419
$GC,2581,-0.85,-146.6,224.3,-8.2,122,2585,0.00,2.65,0.00,0.000,4,0.000,0.071,2219,982,3419
$GC,2636,-0.85,-146.6,229.2,-8.4,124,2642,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2401,3419
$GC,2951,-0.85,-146.6,255.4,-7.7,140,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2402,3418
$GC,3262,-0.85,-146.6,278.8,-7.4,155,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3419
$GC,3570,-0.85,-146.6,302.8,-7.8,170,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3419
$GC,3884,-0.85,-146.6,325.6,-8.1,185,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2402,3419
$GC,4189,-0.85,-146.6,349.0,-7.4,200,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3419
$GC,4498,-0.85,-146.6,373.3,-8.0,215,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3419
$STATE,4516,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4517,begin apogee
$GC,4523,-0.31,0.0,374.7,8.1,216,4647,0.60,0.00,120.03,0.883,6,0.105,0.000,2339,2197,2817
$STATE,4647,end apogee,CONTROL_FINISHED_OK
$STATE,4647,begin climb
$GC,4651,0.85,146.6,377.4,0.0,222,4773,1.25,0.00,118.00,0.867,6,0.089,0.000,2593,2197,2219
$GC,5068,0.86,161.4,355.6,5.6,243,5087,0.00,0.00,13.05,0.775,6,0.000,0.000,2594,2197,2159
$GC,5398,0.87,171.7,337.2,5.7,259,5410,0.00,0.00,9.90,0.747,6,0.000,0.000,2593,2196,2117
$GC,5706,0.87,171.7,318.7,6.4,274,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2196,2116
$GC,6016,0.91,203.8,299.5,5.1,289,6045,0.00,0.00,27.12,0.806,6,0.000,0.000,2593,2196,1984
$GC,6363,0.92,216.8,276.4,5.6,306,6380,0.00,0.00,11.38,0.739,6,0.000,0.000,2593,2197,1932
$GC,6690,0.92,217.5,257.0,6.0,322,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2197,1932
$GC,6999,0.92,217.5,237.1,6.7,337,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2196,1932
$GC,7309,0.92,217.5,216.1,7.5,352,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2196,1932
$GC,7618,0.92,217.5,191.5,8.4,367,7622,0.00,2.60,0.00,0.000,4,0.000,0.067,2593,788,1931
$GC,7667,0.92,217.5,187.2,9.0,369,7672,0.00,2.58,0.00,0.000,6,0.000,0.050,2593,2202,1930
$GC,7984,0.92,217.5,162.9,8.6,384,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2202,1930
$GC,8292,0.92,217.5,137.6,8.8,399,8297,0.00,2.65,0.00,0.000,4,0.000,0.066,2593,784,1930
$GC,8325,0.92,217.5,134.7,8.2,400,8332,0.00,2.58,0.00,0.000,6,0.000,0.051,2593,2202,1930
$GC,8644,1.01,296.1,127.3,3.8,416,8709,0.17,0.00,62.28,0.716,6,0.052,0.000,2646,2201,1609
$GC,9012,1.01,296.1,102.6,7.6,434,9017,0.00,2.65,0.00,0.000,4,0.000,0.064,2646,784,1608
$GC,9052,1.01,296.1,98.8,10.3,436,9057,0.00,2.60,0.00,0.000,6,0.000,0.050,2646,2207,1608
$GC,9380,1.01,296.1,67.3,10.3,452,9385,0.00,2.65,0.00,0.000,4,0.000,0.066,2646,789,1607
$GC,9420,1.01,296.1,62.0,12.6,454,9425,0.00,2.58,0.00,0.000,6,0.000,0.049,2646,2202,1607
$GC,9747,1.01,296.1,21.7,12.4,470,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2202,1607
$STATE,9930,end climb,SURFACE_DEPTH_REACHED
$STATE,9930,begin surface coast
$FINISH,0.7,1.027848
$STATE,9954,end surface coast,CONTROL_FINISHED_OK
$STATE,9954,begin surface
$SM_CCo,9977,3.97,0.445,0,0,1594,300.00
$SM_GC,2.07,0.00,0.00,3.97,0.000,0.000,0.445,65,2398,1594,-10.79,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2085
$TCM_TEMP,17.40
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,325.6,58.8
$24V_AH,23.6,63.547
$10V_AH,10.2,34.304
$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,25.775,32.075,361.750,3.975,0.000,65.287,76.869,413.763,7.500,0.000,0.000,14.101,850.206,7701.805,493.439,940.571,743.505,33.368,948.238,0.000,926.330,0.000,16.899
$DEVICE_MAMPS,171.808,91.273,882.817,444.860,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,337.477,342.426,388.634,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22333,480
$CFSIZE,260165632,236089344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,020208,043337,6132.652,-112.974,30,1.5,30,-5.1