version: 66.02
glider: 16
mission: 6
dive: 408
start: 2 2 108 4 43 17
data:
$ID,16
$MISSION,6
$DIVE,408
$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,-2086984.4
$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
$GPS1,043337,6132.652,-112.974,30,1.5,30,-5.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-53.5
$GPS2,044226,6132.678,-112.663,14,1.6,31,-5.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.159,-0.154
$KALMAN_X,96179.4,-3775.5,-3056.2,326911.1,73462.6
$KALMAN_Y,40837.4,-2587.6,-1732.7,-46649.7,51913.9
$MHEAD_RNG_PITCHd_Wd,218.2,61201,-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,25,-0.85,-146.6,0.0,0.0,0,88,0.00,0.00,-60.97,0.000,2,0.000,0.000,63,2398,3169
$GC,91,-0.85,-146.6,4.1,-6.4,3,114,12.12,2.67,-5.22,0.000,4,0.170,0.088,2221,3772,3417
$GC,366,-0.85,-146.6,41.5,-6.7,15,371,0.00,2.53,0.00,0.000,6,0.000,0.054,2221,2398,3418
$GC,688,-0.85,-146.6,71.2,-7.2,31,692,0.00,2.62,0.00,0.000,4,0.000,0.078,2222,3770,3418
$GC,783,-0.85,-146.6,77.1,-6.3,35,787,0.00,2.50,0.00,0.000,6,0.000,0.052,2221,2400,3418
$GC,1099,-0.85,-146.6,94.9,-5.2,50,1103,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,981,3419
$GC,1162,-0.85,-146.6,97.7,-4.6,53,1166,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2399,3418
$GC,1489,-0.85,-146.6,118.3,-6.8,69,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3418
$GC,1797,-0.85,-146.6,135.4,-6.7,84,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3418
$GC,2107,-0.85,-146.6,158.8,-5.0,99,2112,0.00,2.65,0.00,0.000,4,0.000,0.066,2221,977,3418
$GC,2148,-0.85,-146.6,161.5,-7.7,101,2152,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2400,3418
$GC,2474,-0.85,-146.6,194.7,-9.2,117,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3418
$GC,2784,-0.85,-146.6,222.7,-6.9,132,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,3092,-0.85,-146.6,247.1,-9.3,147,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3419
$GC,3402,-0.85,-146.6,266.8,-5.6,162,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,3711,-0.85,-146.6,288.4,-7.6,177,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,4020,-0.85,-146.6,315.0,-6.8,192,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$STATE,4307,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4307,begin apogee
$GC,4313,-0.31,0.0,334.4,5.6,206,4436,0.60,0.00,119.62,0.859,6,0.104,0.000,2342,2200,2817
$STATE,4437,end apogee,CONTROL_FINISHED_OK
$STATE,4437,begin climb
$GC,4441,0.85,146.6,338.5,0.0,212,4563,1.20,0.00,116.70,0.844,6,0.091,0.000,2589,2199,2219
$GC,4872,0.86,163.0,316.6,5.6,233,4894,0.00,2.70,14.25,0.762,4,0.000,0.067,2589,786,2153
$GC,4934,0.89,187.4,313.1,5.3,235,4961,0.00,2.60,21.02,0.788,6,0.000,0.052,2589,2204,2052
$GC,5270,0.89,187.4,291.0,8.2,252,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2205,2051
$GC,5580,0.89,187.4,272.5,7.0,267,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,2051
$GC,5890,0.89,187.4,251.7,6.2,282,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,2051
$GC,6198,0.89,187.4,231.1,6.5,297,6202,0.00,2.65,0.00,0.000,4,0.000,0.066,2589,782,2051
$GC,6230,0.89,187.4,228.9,6.4,298,6237,0.00,2.60,0.00,0.000,6,0.000,0.051,2589,2203,2050
$GC,6547,0.89,187.4,206.9,7.5,314,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2050
$GC,6856,0.97,258.1,188.2,4.1,329,6916,0.15,0.00,56.10,0.755,6,0.061,0.000,2631,2203,1764
$GC,7225,0.97,258.1,158.6,6.8,347,7229,0.00,2.65,0.00,0.000,4,0.000,0.067,2631,784,1762
$GC,7265,0.98,274.1,156.5,5.6,349,7286,0.00,2.60,13.82,0.683,6,0.000,0.050,2631,2208,1698
$GC,7596,1.04,322.4,137.4,4.7,365,7640,0.00,2.72,38.33,0.714,4,0.000,0.065,2631,780,1501
$GC,7679,1.04,322.4,132.6,8.3,369,7684,0.00,2.60,0.00,0.000,6,0.000,0.050,2632,2201,1499
$GC,8001,1.04,322.4,107.1,8.9,385,8006,0.00,2.67,0.00,0.000,4,0.000,0.067,2631,781,1499
$GC,8046,1.04,322.4,102.5,10.0,387,8050,0.00,2.60,0.00,0.000,6,0.000,0.050,2631,2206,1499
$GC,8367,1.04,322.4,73.1,9.8,403,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2206,1499
$GC,8678,1.04,322.4,39.9,10.0,418,8683,0.00,2.67,0.00,0.000,4,0.000,0.068,2631,781,1498
$GC,8751,1.04,322.4,35.4,6.1,421,8755,0.00,2.58,0.00,0.000,6,0.000,0.049,2631,2203,1498
$GC,9067,1.04,322.4,4.9,12.1,436,9071,0.00,2.65,0.00,0.000,4,0.000,0.067,2631,786,1498
$STATE,9091,end climb,SURFACE_DEPTH_REACHED
$STATE,9091,begin surface coast
$FINISH,1.0,1.027355
$STATE,9098,end surface coast,CONTROL_FINISHED_OK
$STATE,9098,begin surface
$SM_CCo,9184,0.00,0.000,0,0,1495,324.04
$SM_GC,1.44,11.48,0.00,0.00,0.054,0.000,0.000,72,2396,1495,-10.69,-0.11,324.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2088
$TCM_TEMP,19.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,250.2,93.4
$24V_AH,23.7,63.652
$10V_AH,10.2,34.356
$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,25.550,58.525,379.850,0.000,0.000,65.200,64.961,207.232,2.250,0.000,0.000,31.778,801.510,6957.680,446.966,994.889,516.775,33.368,942.124,0.000,960.518,0.000,12.119
$DEVICE_MAMPS,170.274,88.205,859.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,306.601,308.892,392.078,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22244,437
$CFSIZE,260165632,236064768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,020208,071729,6133.133,-110.075,14,4.1,33,-5.1