version: 66.02
glider: 16
mission: 6
dive: 409
start: 2 2 108 7 28 1
data:
$ID,16
$MISSION,6
$DIVE,409
$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,-2087018.1
$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,17
$R_STBD_OVSHOOT,14
$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
$GPS1,071729,6133.133,-110.075,14,4.1,33,-5.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-57.9
$GPS2,072711,6133.186,-109.788,13,5.3,32,-5.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.213,-0.060
$KALMAN_X,94737.7,-4001.9,-1685.7,329727.8,73263.9
$KALMAN_Y,39458.0,-2252.6,-303.7,-46105.7,49016.2
$MHEAD_RNG_PITCHd_Wd,271.0,134996,-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,-146.6,0.0,0.0,0,92,0.00,0.00,-66.18,0.000,2,0.000,0.000,71,2398,3186
$GC,96,-0.85,-146.6,4.0,-4.2,4,119,12.07,2.62,-5.03,0.000,4,0.170,0.087,2221,3770,3417
$GC,175,-0.85,-146.6,16.0,-8.3,7,179,0.00,2.53,0.00,0.000,6,0.000,0.054,2219,2398,3418
$GC,491,-0.85,-146.6,47.1,-9.8,22,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3418
$GC,800,-0.85,-146.6,72.3,-8.2,37,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3418
$GC,1111,-0.85,-146.6,102.5,-9.3,52,1115,0.00,2.65,0.00,0.000,4,0.000,0.071,2221,986,3418
$GC,1166,-0.85,-146.6,107.3,-9.0,54,1172,0.00,2.58,0.00,0.000,6,0.000,0.060,2221,2401,3419
$GC,1482,-0.85,-146.6,130.5,-6.2,70,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3418
$GC,1792,-0.85,-146.6,150.5,-7.6,85,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3418
$GC,2100,-0.85,-146.6,174.3,-7.5,100,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,2410,-0.85,-146.6,196.0,-5.8,115,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3418
$GC,2718,-0.85,-146.6,223.7,-10.4,130,2723,0.00,2.65,0.00,0.000,4,0.000,0.070,2221,986,3418
$GC,2787,-0.85,-146.6,229.0,-8.8,133,2791,0.00,2.58,0.00,0.000,6,0.000,0.059,2221,2404,3418
$GC,3108,-0.85,-146.6,260.0,-9.5,149,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,3417,-0.85,-146.6,285.3,-7.3,164,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,3726,-0.85,-146.6,310.1,-6.2,179,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$STATE,3889,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3889,begin apogee
$GC,3896,-0.31,0.0,322.2,7.8,187,4019,0.57,0.00,119.22,0.848,6,0.101,0.000,2338,2201,2817
$STATE,4019,end apogee,CONTROL_FINISHED_OK
$STATE,4019,begin climb
$GC,4022,0.85,146.6,326.6,0.0,193,4144,1.25,0.00,117.20,0.833,6,0.088,0.000,2590,2201,2219
$GC,4442,0.86,160.1,308.3,5.6,214,4456,0.00,0.00,12.20,0.740,6,0.000,0.000,2591,2201,2164
$GC,4751,0.86,160.1,292.3,6.2,229,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2201,2163
$GC,5062,0.87,169.4,275.7,5.7,244,5073,0.00,0.00,9.05,0.707,6,0.000,0.000,2590,2201,2126
$GC,5370,0.87,169.4,258.1,6.1,259,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2201,2125
$GC,5679,0.90,192.7,241.9,5.4,274,5701,0.00,0.00,19.83,0.758,6,0.000,0.000,2590,2201,2032
$GC,6008,0.92,218.8,225.0,5.3,290,6037,0.00,2.75,21.75,0.757,4,0.000,0.066,2590,786,1924
$GC,6067,1.03,316.1,223.0,3.3,292,6149,0.20,2.60,76.10,0.775,6,0.061,0.052,2639,2202,1528
$GC,6459,1.04,320.9,194.5,5.9,311,6470,0.00,2.70,5.50,0.583,4,0.000,0.070,2640,789,1507
$GC,6522,1.04,320.9,188.9,7.1,314,6526,0.00,2.60,0.00,0.000,6,0.000,0.052,2638,2204,1506
$GC,6848,1.04,320.9,153.1,11.2,330,6852,0.00,2.67,0.00,0.000,4,0.000,0.069,2639,789,1506
$GC,6892,1.04,320.9,148.2,11.3,332,6897,0.00,2.60,0.00,0.000,6,0.000,0.052,2639,2206,1506
$GC,7214,1.04,320.9,116.1,9.3,348,7218,0.00,2.67,0.00,0.000,4,0.000,0.068,2639,785,1506
$GC,7280,1.04,320.9,110.2,8.7,351,7284,0.00,2.60,0.00,0.000,6,0.000,0.051,2640,2205,1505
$GC,7602,1.04,320.9,90.0,9.7,367,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2205,1506
$GC,7912,1.04,320.9,54.3,11.1,382,7916,0.00,2.67,0.00,0.000,4,0.000,0.069,2639,785,1506
$GC,8006,1.09,366.0,47.3,4.8,386,8046,0.00,2.58,34.85,0.665,6,0.000,0.051,2640,2201,1325
$GC,8369,1.09,366.0,9.6,7.9,404,8374,0.00,2.67,0.00,0.000,4,0.000,0.070,2640,789,1323
$STATE,8445,end climb,SURFACE_DEPTH_REACHED
$STATE,8445,begin surface coast
$FINISH,0.9,1.027364
$STATE,8455,end surface coast,CONTROL_FINISHED_OK
$STATE,8455,begin surface
$SM_CCo,8540,0.00,0.000,0,0,1321,366.72
$SM_GC,1.35,11.62,0.00,0.00,0.058,0.000,0.000,75,2405,1321,-10.68,0.14,366.72
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2095
$TCM_TEMP,17.30
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,250.3,81.3
$24V_AH,23.7,63.767
$10V_AH,10.2,34.405
$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,25.725,48.125,415.700,0.000,0.000,65.261,70.467,253.365,3.000,0.000,0.000,33.116,746.090,6445.872,467.267,906.875,560.979,33.364,929.429,0.000,875.248,0.000,15.042
$DEVICE_MAMPS,170.274,86.671,847.535,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,289.604,289.582,362.850,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19027,408
$CFSIZE,260165632,236040192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,020208,095134,6134.931,-108.955,40,2.0,40,-5.1