version: 66.02
glider: 16
mission: 6
dive: 413
start: 2 2 108 17 59 51
data:
$ID,16
$MISSION,6
$DIVE,413
$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,-2087131.8
$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,12
$R_STBD_OVSHOOT,17
$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
$GPS1,175324,6142.783,-101.804,15,6.3,34,-5.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-60.9
$GPS2,175859,6142.886,-101.464,15,7.5,34,-5.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.206,-0.081
$KALMAN_X,98553.0,-2665.6,611.3,329568.0,68143.0
$KALMAN_Y,45540.6,-2019.0,494.0,-35272.0,54263.7
$MHEAD_RNG_PITCHd_Wd,264.1,144669,-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,-146.6,0.0,0.0,0,87,0.00,0.00,-60.97,0.000,2,0.000,0.000,67,2398,3147
$GC,90,-0.85,-146.6,4.0,-6.5,3,116,12.10,2.72,-5.75,0.000,4,0.170,0.083,2222,979,3417
$GC,172,-0.85,-146.6,16.8,-9.6,6,178,0.00,2.60,0.00,0.000,6,0.000,0.057,2221,2400,3418
$GC,488,-0.85,-146.6,41.9,-9.1,22,493,0.00,2.60,0.00,0.000,4,0.000,0.077,2221,3766,3418
$GC,544,-0.85,-146.6,45.6,-5.3,24,551,0.00,2.50,0.00,0.000,6,0.000,0.054,2221,2395,3419
$GC,860,-0.85,-146.6,68.5,-8.9,40,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2396,3418
$GC,1172,-0.85,-146.6,91.7,-7.4,55,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2396,3418
$GC,1479,-0.85,-146.6,114.7,-8.1,70,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2396,3418
$GC,1788,-0.85,-146.6,139.1,-6.5,85,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3418
$GC,2097,-0.85,-146.6,163.2,-8.4,100,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3418
$GC,2406,-0.85,-146.6,189.6,-8.7,115,2410,0.00,2.65,0.00,0.000,4,0.000,0.073,2221,985,3418
$GC,2455,-0.85,-146.6,194.1,-8.9,117,2460,0.00,2.60,0.00,0.000,6,0.000,0.059,2221,2403,3418
$GC,2772,-0.85,-146.6,219.3,-7.6,132,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3418
$GC,3080,-0.85,-146.6,242.1,-7.9,147,3084,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,978,3418
$GC,3124,-0.85,-146.6,245.9,-8.6,149,3128,0.00,2.60,0.00,0.000,6,0.000,0.060,2221,2398,3418
$GC,3445,-0.85,-146.6,269.3,-6.8,165,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3418
$GC,3754,-0.85,-146.6,289.6,-6.3,180,3758,0.00,2.65,0.00,0.000,4,0.000,0.072,2221,982,3418
$GC,3848,-0.85,-146.6,296.2,-6.8,184,3852,0.00,2.60,0.00,0.000,6,0.000,0.061,2221,2400,3419
$GC,4164,-0.85,-146.6,318.7,-6.3,199,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,4473,-0.85,-146.6,341.1,-8.7,214,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,4782,-0.85,-146.6,368.6,-8.2,229,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3420
$STATE,4944,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4945,begin apogee
$GC,4952,-0.31,0.0,380.6,7.0,237,5075,0.60,0.00,119.47,0.904,6,0.106,0.000,2341,2200,2817
$STATE,5075,end apogee,CONTROL_FINISHED_OK
$STATE,5075,begin climb
$GC,5078,0.85,146.6,384.2,0.0,243,5203,1.23,2.72,117.60,0.889,4,0.086,0.070,2590,786,2217
$GC,5293,0.85,146.6,376.2,10.3,253,5298,0.00,2.62,0.00,0.000,6,0.000,0.051,2590,2207,2216
$GC,5620,0.85,146.6,353.9,6.2,269,5624,0.00,2.70,0.00,0.000,4,0.000,0.081,2590,3615,2216
$GC,5686,0.85,146.6,348.2,8.7,272,5691,0.00,2.65,0.00,0.000,6,0.000,0.064,2590,2204,2216
$GC,6008,0.89,187.1,330.2,4.9,288,6046,0.00,0.00,33.00,0.850,6,0.000,0.000,2590,2204,2052
$GC,6356,0.91,201.2,312.1,5.6,305,6375,0.00,0.00,12.60,0.786,6,0.000,0.000,2590,2204,1996
$GC,6685,0.91,201.2,291.8,6.1,321,6689,0.00,2.70,0.00,0.000,4,0.000,0.074,2590,776,1994
$GC,6735,0.91,201.2,288.5,7.0,323,6740,0.00,2.62,0.00,0.000,6,0.000,0.052,2590,2208,1994
$GC,7051,0.91,201.2,264.9,7.8,338,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2208,1994
$GC,7360,0.93,224.5,247.1,5.4,353,7386,0.12,2.72,19.50,0.791,4,0.069,0.068,2623,783,1901
$GC,7484,0.93,224.5,238.8,7.7,358,7490,0.00,2.60,0.00,0.000,6,0.000,0.052,2623,2201,1899
$GC,7799,0.93,224.5,213.6,8.6,374,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2201,1899
$GC,8109,0.93,224.5,189.4,7.0,389,8114,0.00,2.65,0.00,0.000,4,0.000,0.067,2623,782,1898
$GC,8176,0.93,224.5,183.5,9.0,392,8180,0.00,2.60,0.00,0.000,6,0.000,0.051,2623,2207,1897
$GC,8497,0.93,224.5,159.2,6.6,408,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2208,1898
$GC,8809,0.93,224.5,134.6,8.9,423,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2207,1898
$GC,9116,0.93,224.5,113.3,7.0,438,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2208,1897
$GC,9425,0.93,224.5,87.2,9.0,453,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2207,1898
$GC,9736,0.93,224.5,61.1,7.3,468,9740,0.00,2.65,0.00,0.000,4,0.000,0.066,2623,782,1898
$GC,9791,0.94,233.8,57.1,5.7,470,9805,0.00,2.58,8.88,0.613,6,0.000,0.049,2623,2211,1863
$GC,10128,0.94,233.8,30.9,10.5,487,10130,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2210,1863
$GC,10438,0.94,233.8,2.7,8.0,502,10443,0.00,2.65,0.00,0.000,4,0.000,0.063,2623,780,1862
$STATE,10446,end climb,SURFACE_DEPTH_REACHED
$STATE,10446,begin surface coast
$FINISH,1.3,1.027358
$STATE,10454,end surface coast,CONTROL_FINISHED_OK
$STATE,10454,begin surface
$SM_CCo,10480,39.08,0.602,2,0,1594,300.00
$SM_GC,1.34,0.00,0.00,39.08,0.000,0.000,0.602,69,2399,1594,-10.76,-0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2114
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,301.0,89.5
$24V_AH,23.6,64.170
$10V_AH,10.2,34.609
$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,25.825,64.050,311.050,39.075,0.000,32.644,38.854,135.041,2.250,0.000,0.000,35.236,911.821,8015.560,466.617,1077.973,400.584,33.364,983.660,0.000,1041.868,0.000,15.359
$DEVICE_MAMPS,170.274,82.836,904.293,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.840,351.337,421.304,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25371,503
$CFSIZE,260165632,235884544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,2,0
$GPS,020208,205638,6146.000,-56.567,40,1.6,40,-5.0