version: 66.02
glider: 16
mission: 6
dive: 415
start: 2 3 108 0 14 51
data:
$ID,16
$MISSION,6
$DIVE,415
$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,-2087180.4
$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,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
$GPS1,000108,6149.284,-51.758,38,1.6,38,-5.0
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-59.4
$GPS2,001357,6149.597,-51.006,15,1.6,15,-5.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.202,-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,260.2,156468,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,91,0.00,0.00,-65.80,0.000,2,0.000,0.000,67,2405,3018
$GC,95,-0.85,-146.6,3.5,-3.5,4,124,12.20,2.70,-9.30,0.000,4,0.170,0.076,2220,973,3416
$GC,203,-0.85,-146.6,17.7,-9.7,9,208,0.00,2.65,0.00,0.000,6,0.000,0.055,2221,2401,3417
$GC,526,-0.85,-146.6,46.6,-7.1,25,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3417
$GC,836,-0.85,-146.6,77.5,-13.0,40,840,0.00,2.67,0.00,0.000,4,0.000,0.067,2220,976,3417
$GC,875,-0.85,-146.6,81.1,-6.7,42,880,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2400,3417
$GC,1203,-0.85,-146.6,105.3,-9.1,58,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3417
$GC,1512,-0.85,-146.6,137.1,-9.2,73,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3417
$GC,1820,-0.85,-146.6,166.3,-9.5,88,1825,0.00,2.65,0.00,0.000,4,0.000,0.068,2220,980,3417
$GC,1877,-0.85,-146.6,170.9,-8.3,90,1883,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2400,3417
$GC,2192,-0.85,-146.6,194.9,-6.7,106,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3417
$GC,2502,-0.85,-146.6,212.9,-5.9,121,2506,0.00,2.65,0.00,0.000,4,0.000,0.069,2220,972,3417
$GC,2569,-0.85,-146.6,217.6,-7.4,124,2574,0.00,2.65,0.00,0.000,6,0.000,0.059,2220,2407,3417
$GC,2890,-0.85,-146.6,240.5,-7.7,140,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3417
$GC,3199,-0.85,-146.6,264.6,-7.8,155,3203,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,979,3418
$GC,3255,-0.85,-146.6,268.8,-7.8,157,3261,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2398,3417
$GC,3570,-0.85,-146.6,291.1,-7.1,173,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3417
$GC,3879,-0.85,-146.6,313.2,-6.1,188,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3417
$GC,4189,-0.85,-146.6,339.0,-7.2,203,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3418
$GC,4498,-0.85,-146.6,360.7,-9.1,218,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3418
$GC,4807,-0.85,-146.6,383.4,-7.1,233,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3418
$GC,5117,-0.85,-146.6,408.9,-9.5,248,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3418
$STATE,5382,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5382,begin apogee
$GC,5389,-0.31,0.0,430.0,8.3,261,5512,0.60,0.00,119.60,0.947,6,0.100,0.000,2341,2195,2817
$STATE,5513,end apogee,CONTROL_FINISHED_OK
$STATE,5513,begin climb
$GC,5516,0.85,146.6,434.0,0.0,267,5641,1.25,2.80,117.85,0.929,4,0.093,0.078,2592,3615,2218
$GC,5856,0.85,146.6,416.8,8.3,282,5860,0.00,2.65,0.00,0.000,6,0.000,0.064,2592,2205,2218
$GC,6172,0.87,167.8,395.3,5.4,297,6196,0.00,2.78,18.23,0.854,4,0.000,0.071,2592,786,2131
$GC,6248,0.93,224.9,392.6,4.4,300,6300,0.00,2.62,46.00,0.893,6,0.000,0.053,2592,2204,1900
$GC,6610,0.93,224.9,367.5,7.4,318,6614,0.00,2.67,0.00,0.000,4,0.000,0.067,2592,782,1898
$GC,6665,0.93,224.9,362.3,9.3,320,6672,0.00,2.60,0.00,0.000,6,0.000,0.052,2592,2202,1897
$GC,6981,0.93,224.9,340.9,7.5,336,6985,0.00,2.70,0.00,0.000,4,0.000,0.070,2592,776,1897
$GC,7021,0.94,237.4,338.8,5.7,338,7042,0.12,2.62,11.45,0.795,6,0.074,0.053,2620,2200,1849
$GC,7351,0.94,237.4,314.0,6.8,354,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2200,1848
$GC,7660,0.94,237.4,292.4,7.5,369,7665,0.00,2.67,0.00,0.000,4,0.000,0.070,2620,774,1848
$GC,7711,0.94,237.4,287.7,8.7,371,7716,0.00,2.62,0.00,0.000,6,0.000,0.052,2620,2206,1847
$GC,8027,0.94,237.4,263.3,6.8,386,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2205,1847
$GC,8336,0.94,237.4,242.2,7.2,401,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2206,1847
$GC,8646,0.94,237.4,214.0,9.7,416,8651,0.00,2.67,0.00,0.000,4,0.000,0.069,2620,783,1847
$GC,8713,0.94,237.4,207.0,11.6,419,8717,0.00,2.60,0.00,0.000,6,0.000,0.052,2620,2204,1847
$GC,9034,0.94,237.4,181.1,7.5,435,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2205,1847
$GC,9344,0.94,237.4,154.0,9.2,450,9348,0.00,2.67,0.00,0.000,4,0.000,0.067,2621,778,1846
$GC,9438,0.94,237.4,144.9,9.7,454,9442,0.00,2.60,0.00,0.000,6,0.000,0.051,2620,2204,1845
$GC,9754,0.94,237.4,116.0,8.8,469,9758,0.00,2.67,0.00,0.000,4,0.000,0.067,2620,778,1846
$GC,9804,0.94,237.4,111.3,9.1,471,9809,0.00,2.58,0.00,0.000,6,0.000,0.051,2620,2203,1846
$GC,10120,0.94,237.4,84.6,8.2,486,10121,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2202,1846
$GC,10429,0.94,237.4,60.4,7.1,501,10433,0.00,2.67,0.00,0.000,4,0.000,0.067,2620,774,1845
$GC,10492,0.94,237.4,56.2,6.9,504,10497,0.00,2.60,0.00,0.000,6,0.000,0.049,2620,2204,1846
$GC,10818,0.94,237.4,30.2,8.2,520,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2204,1846
$GC,11128,0.94,237.4,4.9,7.8,535,11132,0.00,2.65,0.00,0.000,4,0.000,0.066,2621,779,1846
$STATE,11158,end climb,SURFACE_DEPTH_REACHED
$STATE,11158,begin surface coast
$FINISH,0.8,1.027375
$STATE,11171,end surface coast,CONTROL_FINISHED_OK
$STATE,11172,begin surface
$SM_CCo,11198,37.75,0.604,2,0,1594,300.00
$SM_GC,1.33,0.00,0.00,37.75,0.000,0.000,0.604,65,2403,1594,-10.79,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2111
$TCM_TEMP,19.30
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,350.9,88.8
$24V_AH,23.6,64.400
$10V_AH,10.2,34.726
$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,25.550,80.375,313.125,37.750,0.000,100.560,118.540,303.370,4.250,0.000,0.000,15.497,990.086,8645.907,453.456,1194.181,742.406,33.369,1056.024,0.000,1170.033,0.000,18.606
$DEVICE_MAMPS,169.507,78.234,947.245,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.261,369.096,410.987,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25383,537
$CFSIZE,260165632,235802624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,030208,032351,6152.833,-46.447,36,2.4,55,-5.0