version: 66.02
glider: 16
mission: 6
dive: 410
start: 2 2 108 9 58 37
data:
$ID,16
$MISSION,6
$DIVE,410
$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,-2087029.6
$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
$GPS1,095134,6134.931,-108.955,40,2.0,40,-5.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-57.8
$GPS2,095745,6134.992,-108.774,10,2.0,10,-5.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.211,-0.066
$KALMAN_X,93372.2,-3192.7,-242.4,329713.5,73889.6
$KALMAN_Y,39369.9,-2129.4,289.8,-43407.0,52212.6
$MHEAD_RNG_PITCHd_Wd,269.6,136168,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,109,0.00,0.00,-80.38,0.000,6,0.000,0.000,74,2406,3415
$GC,112,-0.85,-146.6,5.2,-6.3,4,126,12.07,0.00,0.00,0.000,6,0.170,0.000,2221,2406,3417
$GC,439,-0.85,-146.6,49.3,-13.3,19,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3419
$GC,748,-0.85,-146.6,80.7,-8.4,34,752,0.00,2.65,0.00,0.000,4,0.000,0.066,2221,984,3420
$GC,810,-0.85,-146.6,85.9,-8.8,37,815,0.00,2.60,0.00,0.000,6,0.000,0.056,2221,2404,3419
$GC,1139,-0.85,-146.6,111.0,-6.8,53,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3419
$GC,1447,-0.85,-146.6,133.8,-7.8,68,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3419
$GC,1755,-0.85,-146.6,151.6,-6.2,83,1760,0.00,2.65,0.00,0.000,4,0.000,0.064,2221,977,3419
$GC,1822,-0.85,-146.6,158.9,-11.6,86,1826,0.00,2.60,0.00,0.000,6,0.000,0.057,2221,2400,3419
$GC,2144,-0.85,-146.6,199.5,-12.8,102,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,2452,-0.85,-146.6,226.7,-8.2,117,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,2762,-0.85,-146.6,248.4,-7.1,132,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3420
$GC,3072,-0.85,-146.6,272.2,-8.0,147,3076,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,986,3419
$GC,3111,-0.85,-146.6,275.7,-8.8,149,3115,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2405,3419
$GC,3437,-0.85,-146.6,302.1,-7.8,165,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3419
$GC,3747,-0.85,-146.6,324.2,-6.6,180,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3419
$STATE,3991,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3991,begin apogee
$GC,3998,-0.31,0.0,343.2,8.1,192,4121,0.60,0.00,119.28,0.870,6,0.104,0.000,2342,2202,2817
$STATE,4121,end apogee,CONTROL_FINISHED_OK
$STATE,4121,begin climb
$GC,4125,0.85,146.6,348.7,0.0,198,4247,1.27,0.00,117.62,0.853,6,0.104,0.000,2592,2202,2218
$GC,4543,0.92,214.2,331.8,4.2,219,4599,0.00,0.00,53.95,0.830,6,0.000,0.000,2591,2202,1942
$GC,4910,0.92,214.2,308.0,6.0,236,4914,0.00,2.65,0.00,0.000,4,0.000,0.065,2592,782,1941
$GC,4995,0.97,262.6,304.1,4.7,240,5040,0.15,2.60,38.95,0.813,6,0.064,0.050,2627,2200,1745
$GC,5369,0.97,262.6,274.3,8.1,258,5373,0.00,2.67,0.00,0.000,4,0.000,0.067,2627,779,1744
$GC,5409,0.97,262.6,270.7,8.5,260,5413,0.00,2.60,0.00,0.000,6,0.000,0.050,2627,2201,1743
$GC,5736,0.97,262.6,244.4,8.0,276,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2201,1743
$GC,6045,0.97,262.6,222.2,8.1,291,6049,0.00,2.65,0.00,0.000,4,0.000,0.066,2627,785,1743
$GC,6101,0.97,262.6,216.8,10.0,293,6107,0.00,2.58,0.00,0.000,6,0.000,0.050,2627,2201,1743
$GC,6416,0.97,262.6,186.6,9.5,309,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2202,1743
$GC,6725,0.97,262.6,161.5,7.4,324,6730,0.00,2.62,0.00,0.000,4,0.000,0.065,2627,785,1743
$GC,6793,0.97,262.6,156.2,9.4,327,6797,0.00,2.58,0.00,0.000,6,0.000,0.050,2627,2204,1743
$GC,7114,0.97,262.6,129.9,9.8,343,7118,0.00,2.65,0.00,0.000,4,0.000,0.066,2627,782,1743
$GC,7158,0.97,262.6,125.9,9.2,345,7162,0.00,2.55,0.00,0.000,6,0.000,0.048,2627,2200,1743
$GC,7479,0.97,262.6,96.3,8.7,361,7484,0.00,2.62,0.00,0.000,4,0.000,0.064,2627,785,1743
$GC,7512,0.97,262.6,92.9,10.1,362,7519,0.00,2.58,0.00,0.000,6,0.000,0.050,2627,2206,1743
$GC,7830,1.08,357.3,70.4,3.4,378,7908,0.00,0.00,73.05,0.683,6,0.000,0.000,2627,2206,1359
$GC,8220,1.08,357.3,35.3,9.5,397,8224,0.00,2.67,0.00,0.000,4,0.000,0.065,2627,779,1358
$GC,8314,1.08,357.3,25.5,9.5,401,8319,0.00,2.58,0.00,0.000,6,0.000,0.049,2627,2200,1357
$STATE,8607,end climb,SURFACE_DEPTH_REACHED
$STATE,8607,begin surface coast
$FINISH,0.7,1.016837
$STATE,8630,end surface coast,CONTROL_FINISHED_OK
$STATE,8631,begin surface
$SM_CCo,8714,0.00,0.000,0,0,1355,358.38
$SM_GC,1.19,11.57,0.00,0.00,0.058,0.000,0.000,62,2399,1355,-10.70,0.00,358.38
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2082
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,251.3,101.0
$24V_AH,23.7,63.875
$10V_AH,10.2,34.453
$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,25.675,53.075,402.850,0.000,0.000,32.586,37.953,198.494,2.250,0.000,0.000,10.894,760.342,6520.529,488.971,886.025,435.731,33.365,939.967,0.000,876.187,0.000,12.146
$DEVICE_MAMPS,170.274,66.729,869.778,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,294.164,294.111,371.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19032,416
$CFSIZE,260165632,236007424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,020208,122528,6137.160,-107.775,43,2.8,62,-5.1