version: 66.02
glider: 16
mission: 6
dive: 414
start: 2 2 108 21 6 18
data:
$ID,16
$MISSION,6
$DIVE,414
$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,-2087164.2
$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,13
$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
$GPS1,205638,6146.000,-56.567,40,1.6,40,-5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-58.1
$GPS2,210528,6146.207,-56.026,12,2.3,31,-5.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.205,-0.085
$KALMAN_X,104489.7,-3033.3,73.8,329333.2,72387.3
$KALMAN_Y,49843.9,-2408.1,123.4,-32653.4,56575.1
$MHEAD_RNG_PITCHd_Wd,262.1,150650,-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,-146.6,0.0,0.0,0,89,0.00,0.00,-61.30,0.000,2,0.000,0.000,68,2400,3155
$GC,92,-0.85,-146.6,4.1,-6.5,3,118,12.05,2.67,-5.72,0.000,4,0.168,0.087,2220,3767,3417
$GC,164,-0.85,-146.6,15.7,-11.6,6,169,0.00,2.53,0.00,0.000,6,0.000,0.052,2220,2390,3418
$GC,486,-0.85,-146.6,51.5,-10.7,22,490,0.00,2.65,0.00,0.000,4,0.000,0.074,2220,987,3418
$GC,552,-0.85,-146.6,58.7,-10.1,25,556,0.00,2.58,0.00,0.000,6,0.000,0.058,2220,2397,3418
$GC,874,-0.85,-146.6,84.4,-7.7,41,878,0.00,2.60,0.00,0.000,4,0.000,0.077,2220,3768,3418
$GC,923,-0.85,-146.6,88.6,-9.3,43,927,0.00,2.50,0.00,0.000,6,0.000,0.053,2220,2400,3418
$GC,1240,-0.85,-146.6,118.3,-6.2,58,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,1549,-0.85,-146.6,146.3,-10.0,73,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,1859,-0.85,-146.6,175.4,-9.6,88,1864,0.00,2.65,0.00,0.000,4,0.000,0.071,2220,984,3418
$GC,1922,-0.85,-146.6,181.2,-8.5,91,1926,0.00,2.60,0.00,0.000,6,0.000,0.060,2220,2400,3418
$GC,2249,-0.85,-146.6,206.7,-7.2,107,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3419
$GC,2557,-0.85,-146.6,230.6,-8.3,122,2562,0.00,2.65,0.00,0.000,4,0.000,0.068,2220,980,3419
$GC,2624,-0.85,-146.6,236.6,-9.3,125,2629,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2404,3419
$GC,2947,-0.85,-146.6,261.4,-7.5,141,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3419
$GC,3255,-0.85,-146.6,285.4,-7.4,156,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3419
$GC,3564,-0.85,-146.6,308.1,-8.0,171,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3419
$GC,3874,-0.85,-146.6,330.3,-6.2,186,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3419
$GC,4183,-0.85,-146.6,356.1,-7.3,201,4187,0.00,2.67,0.00,0.000,4,0.000,0.072,2220,979,3420
$GC,4255,-0.85,-146.6,361.0,-7.2,204,4259,0.00,2.60,0.00,0.000,6,0.000,0.059,2220,2401,3420
$GC,4571,-0.85,-146.6,388.5,-8.8,219,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3420
$STATE,4650,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4651,begin apogee
$GC,4657,-0.31,0.0,394.4,7.2,223,4780,0.60,0.00,119.72,0.917,6,0.106,0.000,2340,2201,2817
$STATE,4781,end apogee,CONTROL_FINISHED_OK
$STATE,4781,begin climb
$GC,4784,0.85,146.6,398.7,0.0,229,4909,1.25,2.75,117.40,0.899,4,0.089,0.071,2593,782,2219
$GC,4957,0.85,146.6,393.3,6.5,237,4961,0.00,2.65,0.00,0.000,6,0.000,0.052,2593,2207,2216
$GC,5283,0.85,146.6,374.6,7.4,253,5287,0.00,2.70,0.00,0.000,4,0.000,0.082,2593,3614,2216
$GC,5333,0.85,146.6,370.1,7.9,255,5337,0.00,2.65,0.00,0.000,6,0.000,0.065,2593,2204,2216
$GC,5648,0.85,146.6,349.3,6.9,270,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2204,2216
$GC,5957,0.85,146.6,326.2,8.0,285,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2204,2217
$GC,6268,0.87,165.9,307.9,5.5,300,6287,0.00,0.00,16.42,0.811,6,0.000,0.000,2593,2204,2140
$GC,6597,0.93,221.4,289.7,4.5,316,6644,0.00,0.00,44.85,0.840,6,0.000,0.000,2593,2204,1913
$GC,6947,0.93,228.3,271.5,5.8,333,6955,0.00,0.00,6.95,0.693,6,0.000,0.000,2593,2204,1886
$GC,7255,0.93,228.3,252.1,6.8,348,7259,0.00,2.70,0.00,0.000,4,0.000,0.074,2594,783,1885
$GC,7339,0.93,228.3,245.0,8.7,352,7343,0.00,2.62,0.00,0.000,6,0.000,0.053,2593,2204,1885
$GC,7666,0.93,228.3,218.6,6.9,368,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2204,1884
$GC,7974,0.93,228.3,198.6,6.8,383,7979,0.00,2.67,0.00,0.000,4,0.000,0.068,2593,782,1884
$GC,8069,0.93,228.3,191.4,7.8,387,8074,0.00,2.60,0.00,0.000,6,0.000,0.052,2593,2203,1884
$GC,8386,1.01,297.2,173.5,4.1,402,8445,0.17,0.00,54.40,0.773,6,0.054,0.000,2642,2202,1604
$GC,8754,1.01,297.2,141.0,9.3,420,8759,0.00,2.70,0.00,0.000,4,0.000,0.068,2643,775,1602
$GC,8832,1.01,297.2,133.3,9.5,423,8839,0.00,2.60,0.00,0.000,6,0.000,0.051,2643,2199,1602
$GC,9149,1.01,297.2,107.5,6.8,439,9154,0.00,2.67,0.00,0.000,4,0.000,0.067,2643,778,1602
$GC,9193,1.01,297.2,105.0,6.2,441,9197,0.00,2.60,0.00,0.000,6,0.000,0.050,2643,2200,1602
$GC,9514,1.01,297.2,75.6,10.6,457,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2200,1602
$GC,9824,1.01,297.2,46.3,8.9,472,9828,0.00,2.67,0.00,0.000,4,0.000,0.068,2643,778,1602
$GC,9918,1.07,349.9,40.0,4.6,476,9965,0.00,2.60,41.22,0.672,6,0.000,0.050,2643,2204,1390
$GC,10279,1.07,349.9,7.6,10.4,493,10284,0.00,2.67,0.00,0.000,4,0.000,0.067,2643,782,1388
$STATE,10326,end climb,SURFACE_DEPTH_REACHED
$STATE,10326,begin surface coast
$FINISH,0.5,1.027363
$STATE,10333,end surface coast,CONTROL_FINISHED_OK
$STATE,10333,begin surface
$SM_CCo,10418,0.00,0.000,0,0,1384,351.27
$SM_GC,1.26,11.45,0.00,0.00,0.047,0.000,0.000,69,2404,1384,-10.70,0.11,351.27
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2102
$TCM_TEMP,19.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,351.5,52.3
$24V_AH,23.6,64.284
$10V_AH,10.2,34.665
$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,25.525,74.625,400.975,0.000,0.000,65.178,79.566,190.546,3.250,0.000,0.000,31.838,911.060,7913.080,481.992,1107.373,538.319,33.365,1035.421,0.000,1068.704,0.000,18.507
$DEVICE_MAMPS,167.973,87.438,916.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.109,342.390,383.480,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25371,495
$CFSIZE,260165632,235843584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,030208,000108,6149.284,-51.758,38,1.6,38,-5.0