version: 66.02
glider: 16
mission: 6
dive: 412
start: 2 2 108 15 4 25
data:
$ID,16
$MISSION,6
$DIVE,412
$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,-2087095.9
$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
$GPS1,145337,6139.643,-105.876,37,1.2,49,-5.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-54.5
$GPS2,150335,6139.817,-105.444,11,2.4,30,-5.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,-0.077
$KALMAN_X,94792.7,-2578.2,577.1,329774.1,70705.3
$KALMAN_Y,42304.2,-1983.2,659.8,-37924.8,55425.3
$MHEAD_RNG_PITCHd_Wd,266.1,140215,-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,-146.6,0.0,0.0,0,86,0.00,0.00,-58.35,0.000,2,0.000,0.000,69,2401,3060
$GC,90,-0.85,-146.6,3.4,-4.7,3,113,12.05,0.00,-8.60,0.000,6,0.169,0.000,2219,2401,3415
$GC,423,-0.85,-146.6,42.0,-10.6,19,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3417
$GC,730,-0.85,-146.6,69.1,-6.8,34,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3417
$GC,1039,-0.85,-146.6,93.6,-7.2,49,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3417
$GC,1349,-0.85,-146.6,118.8,-10.7,64,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3416
$GC,1658,-0.85,-146.6,148.2,-8.8,79,1662,0.00,2.67,0.00,0.000,4,0.000,0.069,2219,977,3417
$GC,1735,-0.85,-146.6,154.0,-7.2,82,1741,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2401,3417
$GC,2051,-0.85,-146.6,184.9,-11.0,98,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3417
$GC,2360,-0.85,-146.6,214.3,-9.1,113,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3417
$GC,2669,-0.85,-146.6,239.7,-8.0,128,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2401,3417
$GC,2979,-0.85,-146.6,261.7,-7.1,143,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3417
$GC,3288,-0.85,-146.6,284.0,-6.9,158,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3417
$GC,3597,-0.85,-146.6,305.8,-6.6,173,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3417
$GC,3906,-0.85,-146.6,326.8,-7.4,188,3911,0.00,2.65,0.00,0.000,4,0.000,0.069,2219,982,3417
$GC,4029,-0.85,-146.6,336.1,-6.6,193,4035,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2403,3417
$GC,4345,-0.85,-146.6,362.0,-8.7,209,4349,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,976,3418
$GC,4407,-0.85,-146.6,367.8,-9.5,212,4412,0.00,2.60,0.00,0.000,6,0.000,0.059,2219,2398,3418
$STATE,4628,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4629,begin apogee
$GC,4635,-0.31,0.0,387.1,9.5,223,4758,0.60,0.00,119.60,0.896,6,0.106,0.000,2339,2198,2817
$STATE,4759,end apogee,CONTROL_FINISHED_OK
$STATE,4759,begin climb
$GC,4762,0.85,146.6,386.8,0.0,229,4888,1.23,2.80,117.15,0.883,4,0.093,0.079,2589,3610,2219
$GC,5096,0.85,146.6,370.0,7.7,244,5100,0.00,2.65,0.00,0.000,6,0.000,0.063,2588,2203,2218
$GC,5412,0.91,200.8,352.8,4.5,259,5462,0.00,2.80,43.62,0.856,4,0.000,0.075,2589,785,1997
$GC,5531,0.91,200.8,344.7,6.4,264,5535,0.00,2.62,0.00,0.000,6,0.000,0.051,2588,2207,1995
$GC,5847,0.91,200.8,326.5,6.0,279,5851,0.00,2.70,0.00,0.000,4,0.000,0.069,2588,779,1995
$GC,5931,0.91,200.8,320.4,7.4,283,5935,0.00,2.62,0.00,0.000,6,0.000,0.052,2589,2207,1995
$GC,6257,0.91,207.6,299.6,5.8,299,6266,0.00,0.00,6.68,0.690,6,0.000,0.000,2588,2207,1970
$GC,6567,0.93,223.4,281.3,5.6,314,6589,0.12,2.72,14.10,0.775,4,0.065,0.069,2621,780,1905
$GC,6646,0.93,223.4,275.1,8.2,317,6650,0.00,2.60,0.00,0.000,6,0.000,0.050,2621,2201,1904
$GC,6961,0.93,223.4,251.1,8.3,332,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2201,1904
$GC,7271,0.93,223.4,220.2,10.5,347,7276,0.00,2.67,0.00,0.000,4,0.000,0.067,2621,774,1904
$GC,7304,0.93,223.4,217.0,9.8,348,7310,0.00,2.60,0.00,0.000,6,0.000,0.050,2621,2205,1904
$GC,7621,0.93,223.4,188.7,8.6,364,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2205,1904
$GC,7929,0.93,223.4,163.4,8.1,379,7934,0.00,2.67,0.00,0.000,4,0.000,0.067,2621,772,1904
$GC,7973,0.93,223.4,159.4,8.3,381,7978,0.00,2.60,0.00,0.000,6,0.000,0.049,2621,2208,1904
$GC,8296,0.93,223.4,135.5,8.0,397,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2207,1904
$GC,8605,0.93,223.4,110.2,9.2,412,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2207,1904
$GC,8914,0.93,223.4,87.3,8.1,427,8918,0.00,2.67,0.00,0.000,4,0.000,0.068,2621,779,1904
$GC,8946,0.93,223.4,83.9,10.0,428,8952,0.00,2.58,0.00,0.000,6,0.000,0.049,2621,2204,1904
$GC,9264,0.93,223.4,58.1,9.4,444,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2204,1904
$GC,9571,0.93,223.4,33.5,6.2,459,9576,0.00,2.65,0.00,0.000,4,0.000,0.066,2621,780,1904
$GC,9615,0.93,223.4,29.7,9.7,461,9619,0.00,2.58,0.00,0.000,6,0.000,0.049,2621,2203,1904
$GC,9937,0.93,223.4,4.1,7.7,477,9938,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2203,1904
$STATE,9975,end climb,SURFACE_DEPTH_REACHED
$STATE,9975,begin surface coast
$FINISH,0.8,1.027362
$STATE,9996,end surface coast,CONTROL_FINISHED_OK
$STATE,9996,begin surface
$SM_CCo,10019,42.12,0.623,1,0,1594,300.00
$SM_GC,1.42,0.00,0.00,42.12,0.000,0.000,0.623,68,2398,1594,-10.77,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2113
$TCM_TEMP,17.40
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,300.3,95.7
$24V_AH,23.6,64.075
$10V_AH,10.2,34.555
$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,25.500,59.075,301.150,42.125,0.000,65.187,166.788,162.608,3.250,0.000,0.000,31.371,882.481,7693.124,422.491,1075.950,598.893,33.362,953.335,0.000,1040.891,0.000,15.368
$DEVICE_MAMPS,168.740,79.001,895.856,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.882,340.295,400.675,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22225,480
$CFSIZE,260165632,235925504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,020208,175324,6142.783,-101.804,15,6.3,34,-5.1