version: 66.02
glider: 16
mission: 6
dive: 411
start: 2 2 108 12 32 19
data:
$ID,16
$MISSION,6
$DIVE,411
$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,-2087063.9
$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,16
$R_STBD_OVSHOOT,18
$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
$GPS1,122528,6137.160,-107.775,43,2.8,62,-5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-59.4
$GPS2,123129,6137.208,-107.539,13,4.0,32,-5.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.210,-0.071
$KALMAN_X,93559.6,-2747.5,-7.0,329921.7,71257.4
$KALMAN_Y,40517.9,-2098.3,379.2,-40575.7,53401.0
$MHEAD_RNG_PITCHd_Wd,268.0,137702,-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,-146.6,0.0,0.0,0,106,0.00,0.00,-79.03,0.000,6,0.000,0.000,61,2401,3416
$GC,109,-0.85,-146.6,5.4,-6.4,4,130,12.25,2.65,0.00,0.000,4,0.174,0.074,2223,3778,3419
$GC,248,-0.85,-146.6,26.4,-7.7,10,252,0.00,2.55,0.00,0.000,6,0.000,0.056,2223,2394,3419
$GC,570,-0.85,-146.6,55.6,-13.3,26,575,0.00,2.67,0.00,0.000,4,0.000,0.074,2223,978,3419
$GC,633,-0.85,-146.6,62.9,-11.5,29,638,0.00,2.60,0.00,0.000,6,0.000,0.058,2223,2398,3419
$GC,962,-0.85,-146.6,98.7,-12.6,45,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2398,3419
$GC,1271,-0.85,-146.6,134.2,-12.1,60,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2397,3419
$GC,1579,-0.85,-146.6,169.3,-8.8,75,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2397,3419
$GC,1888,-0.85,-146.6,198.1,-8.0,90,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2398,3419
$GC,2198,-0.85,-146.6,222.5,-8.1,105,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2397,3419
$GC,2507,-0.85,-146.6,252.1,-9.7,120,2512,0.00,2.65,0.00,0.000,4,0.000,0.069,2223,979,3419
$GC,2569,-0.85,-146.6,258.4,-10.5,123,2574,0.00,2.60,0.00,0.000,6,0.000,0.059,2223,2405,3419
$GC,2897,-0.85,-146.6,285.3,-6.8,139,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2405,3419
$GC,3206,-0.85,-146.6,303.9,-3.9,154,3210,0.00,2.65,0.00,0.000,4,0.000,0.070,2223,982,3419
$GC,3256,-0.85,-146.6,307.0,-6.1,156,3260,0.00,2.60,0.00,0.000,6,0.000,0.058,2223,2399,3419
$GC,3572,-0.85,-146.6,327.5,-6.0,171,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2399,3419
$GC,3881,-0.85,-146.6,350.6,-7.3,186,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3420
$GC,4191,-0.85,-146.6,369.9,-4.6,201,4196,0.00,2.65,0.00,0.000,4,0.000,0.073,2223,980,3420
$STATE,4206,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4206,begin apogee
$GC,4215,-0.31,0.0,370.9,4.5,202,4338,0.57,0.00,119.88,0.884,6,0.101,0.000,2339,2200,2817
$STATE,4338,end apogee,CONTROL_FINISHED_OK
$STATE,4339,begin climb
$GC,4341,0.85,146.6,368.7,0.0,208,4463,1.25,0.00,117.43,0.869,6,0.091,0.000,2590,2200,2219
$GC,4778,0.96,253.5,350.0,3.1,229,4869,0.15,2.70,84.32,0.851,4,0.058,0.066,2640,785,1783
$GC,4915,0.96,253.5,337.3,14.7,235,4920,0.00,2.60,0.00,0.000,6,0.000,0.050,2640,2200,1782
$GC,5232,0.96,253.5,306.1,8.5,250,5236,0.00,2.65,0.00,0.000,4,0.000,0.069,2640,785,1782
$GC,5293,0.96,253.5,300.6,9.5,253,5298,0.00,2.60,0.00,0.000,6,0.000,0.050,2640,2204,1781
$GC,5620,0.96,253.5,272.4,8.7,269,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2204,1781
$GC,5930,0.96,253.5,244.4,8.7,284,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2204,1781
$GC,6238,0.96,253.5,209.7,11.7,299,6243,0.00,2.67,0.00,0.000,4,0.000,0.067,2640,778,1781
$GC,6311,0.96,253.5,200.2,13.3,302,6315,0.00,2.58,0.00,0.000,6,0.000,0.049,2640,2201,1780
$GC,6627,0.96,253.5,166.6,11.0,317,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,1780
$GC,6936,0.96,253.5,132.4,11.0,332,6940,0.00,2.65,0.00,0.000,4,0.000,0.065,2640,779,1780
$GC,6998,0.96,253.5,126.3,9.6,335,7003,0.00,2.58,0.00,0.000,6,0.000,0.048,2640,2203,1780
$GC,7325,0.96,253.5,94.3,11.6,351,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2203,1780
$GC,7634,0.96,253.5,64.8,7.7,366,7638,0.00,2.65,0.00,0.000,4,0.000,0.066,2640,781,1780
$GC,7673,0.96,253.5,59.9,13.4,368,7678,0.00,2.55,0.00,0.000,6,0.000,0.048,2640,2200,1780
$GC,8001,0.96,253.5,31.9,7.7,384,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2200,1780
$STATE,8307,end climb,SURFACE_DEPTH_REACHED
$STATE,8307,begin surface coast
$FINISH,0.7,1.022184
$STATE,8329,end surface coast,CONTROL_FINISHED_OK
$STATE,8329,begin surface
$SM_CCo,8352,29.90,0.580,2,0,1594,300.00
$SM_GC,1.29,0.00,0.00,29.90,0.000,0.000,0.580,70,2400,1594,-10.76,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2089
$TCM_TEMP,16.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,300.8,80.0
$24V_AH,23.6,63.973
$10V_AH,10.2,34.499
$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,26.075,52.475,321.625,29.900,0.000,32.588,54.023,151.002,2.500,0.000,0.000,33.605,737.157,6297.189,447.242,880.855,399.055,33.362,887.839,0.000,847.745,0.000,15.333
$DEVICE_MAMPS,174.109,74.399,883.584,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,282.894,287.018,330.171,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19074,400
$CFSIZE,260165632,235978752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,020208,145337,6139.643,-105.876,37,1.2,49,-5.1