version: 66.02
glider: 16
mission: 6
dive: 452
start: 2 14 108 15 42 59
data:
$ID,16
$MISSION,6
$DIVE,452
$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,165
$T_MISSION,185
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,2
$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,-2088178.9
$T_RSLEEP,7
$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,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
$GPS1,153457,6132.092,-315.312,25,3.7,44,-6.2
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-63.9
$GPS2,154239,6132.226,-314.970,12,1.6,13,-6.2
$SPEED_LIMITS,0.346,0.411
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.202,-0.090
$KALMAN_X,109567.5,-3587.3,-866.2,330188.0,76350.7
$KALMAN_Y,54287.1,-2872.2,-674.1,-29543.7,60742.0
$MHEAD_RNG_PITCHd_Wd,258.1,25160,-24.3,-20.000
$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,-1.79,-244.4,0.0,0.0,0,82,0.00,0.00,-55.60,0.000,2,0.000,0.000,73,2401,2805
$GC,85,-1.79,-244.4,3.7,-2.7,3,131,10.98,2.72,-27.98,0.000,4,0.170,0.083,2012,988,3814
$GC,243,-1.79,-244.4,35.8,-27.3,10,247,0.00,2.65,0.00,0.000,6,0.000,0.062,2012,2405,3816
$GC,569,-1.79,-244.4,122.1,-25.5,26,573,0.00,2.62,0.00,0.000,4,0.000,0.080,2012,3772,3818
$GC,620,-1.79,-244.4,135.5,-25.3,28,624,0.00,2.55,0.00,0.000,6,0.000,0.059,2012,2403,3818
$GC,935,-1.79,-244.4,214.8,-24.6,43,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2402,3819
$GC,1245,-1.79,-244.4,289.5,-23.5,58,1249,0.00,2.65,0.00,0.000,4,0.000,0.084,2012,3772,3820
$GC,1291,-1.79,-244.4,299.8,-22.9,60,1296,0.00,2.58,0.00,0.000,6,0.000,0.061,2012,2396,3820
$GC,1619,-1.79,-244.4,369.7,-21.1,76,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2396,3821
$GC,1929,-1.79,-244.4,439.3,-23.1,91,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2397,3822
$GC,2237,-1.79,-244.4,510.7,-22.1,106,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2396,3822
$GC,2547,-1.79,-244.4,571.7,-18.9,121,2551,0.00,2.72,0.00,0.000,4,0.000,0.094,2012,3766,3822
$GC,2621,-1.79,-244.4,586.1,-18.9,124,2625,0.00,2.60,0.00,0.000,6,0.000,0.066,2012,2399,3822
$GC,2937,-1.79,-244.4,646.3,-19.3,139,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2399,3822
$GC,3247,-1.79,-244.4,707.5,-20.1,154,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2398,3821
$GC,3555,-1.79,-244.4,771.3,-20.6,169,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2399,3820
$GC,3864,-1.79,-244.4,835.9,-21.4,184,3869,0.00,2.75,0.00,0.000,4,0.000,0.101,2012,3765,3818
$GC,3916,-1.79,-244.4,847.0,-22.5,186,3921,0.00,2.60,0.00,0.000,6,0.000,0.071,2012,2403,3818
$GC,4233,-1.79,-244.4,913.2,-20.3,201,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2402,3816
$GC,4542,-1.79,-244.4,976.2,-20.4,216,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2402,3815
$STATE,4621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4621,begin apogee
$GC,4629,-0.31,0.0,993.2,20.5,220,4868,1.73,0.00,223.52,1.364,6,0.135,0.000,2336,2186,2817
$STATE,4869,end apogee,CONTROL_FINISHED_OK
$STATE,4869,begin climb
$GC,4872,1.79,244.4,1009.0,0.0,232,5093,2.22,2.88,208.85,1.363,4,0.075,0.081,2795,3613,1820
$GC,5166,1.81,266.8,977.3,18.8,246,5193,0.00,2.70,20.35,1.254,6,0.000,0.065,2795,2202,1729
$GC,5502,1.86,312.6,918.7,17.5,262,5544,0.00,0.00,39.90,1.289,6,0.000,0.000,2795,2202,1542
$GC,5853,1.88,333.0,853.9,18.9,279,5874,0.12,0.00,18.42,1.210,6,0.064,0.000,2825,2202,1459
$GC,6181,1.88,333.0,785.9,21.0,295,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2202,1457
$GC,6491,1.88,333.0,719.8,21.5,310,6495,0.00,2.78,0.00,0.000,4,0.000,0.087,2825,783,1456
$GC,6535,1.88,333.0,709.6,23.4,312,6539,0.00,2.67,0.00,0.000,6,0.000,0.063,2825,2199,1456
$GC,6855,1.88,333.0,639.8,22.1,328,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2199,1456
$GC,7166,1.88,333.0,571.6,22.1,343,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2199,1455
$GC,7474,1.88,333.0,502.6,22.3,358,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2199,1454
$GC,7783,1.88,333.0,434.2,22.2,373,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2199,1453
$GC,8092,1.88,333.0,366.0,21.9,388,8097,0.00,2.75,0.00,0.000,4,0.000,0.084,2825,788,1453
$GC,8156,1.88,333.0,351.4,24.2,391,8160,0.00,2.65,0.00,0.000,6,0.000,0.062,2825,2199,1452
$GC,8482,1.88,333.0,276.2,23.2,407,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2199,1451
$GC,8791,1.88,333.0,204.1,23.2,422,8796,0.00,2.72,0.00,0.000,4,0.000,0.075,2825,786,1451
$GC,8892,1.88,333.0,180.2,24.6,426,8898,0.00,2.62,0.00,0.000,6,0.000,0.054,2825,2201,1451
$GC,9210,1.88,333.0,106.3,23.7,442,9214,0.00,2.72,0.00,0.000,4,0.000,0.072,2825,781,1452
$GC,9282,1.88,333.0,88.1,23.2,445,9287,0.00,2.62,0.00,0.000,6,0.000,0.054,2825,2201,1452
$GC,9598,1.88,333.0,13.8,24.8,460,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2202,1454
$STATE,9657,end climb,SURFACE_DEPTH_REACHED
$STATE,9658,begin surface coast
$FINISH,1.5,1.027088
$STATE,9680,end surface coast,CONTROL_FINISHED_OK
$STATE,9680,begin surface
$SM_CCo,9764,0.00,0.000,0,0,1453,334.34
$SM_GC,2.25,12.50,0.00,0.00,0.055,0.000,0.000,73,2406,1453,-10.68,0.14,334.34
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2195
$TCM_TEMP,14.90
$XPDR_PINGS,46
$24V_AH,23.0,71.035
$10V_AH,10.1,38.896
$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,27.550,54.350,511.050,0.000,0.000,32.631,42.355,272.493,20.000,0.000,0.000,13.912,845.404,7276.383,567.229,999.671,543.224,0.000,1107.517,0.000,964.184,0.000,58.172
$DEVICE_MAMPS,170.274,101.244,1364.493,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,341.779,316.809,242.423,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22323,464
$CFSIZE,260165632,233054208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
$GPS,140208,182702,6132.601,-317.213,44,2.0,44,-6.2