version: 66.02
glider: 16
mission: 6
dive: 416
start: 2 3 108 3 29 46
data:
$ID,16
$MISSION,6
$DIVE,416
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,315
$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,-2087195.9
$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,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
$GPS1,032351,6152.833,-46.447,36,2.4,55,-5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-62.9
$GPS2,032927,6152.990,-46.139,12,1.6,12,-5.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6200.626,-49.722
$TGT_RADIUS,1852.000
$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,320.0,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.85,-146.6,0.0,0.0,0,87,0.00,0.00,-56.30,0.000,2,0.000,0.000,64,2403,2995
$GC,90,-0.85,-146.6,3.4,-3.9,3,120,12.18,2.75,-10.55,0.000,4,0.172,0.080,2219,976,3417
$GC,373,-0.85,-146.6,29.2,-8.3,15,379,0.00,2.60,0.00,0.000,6,0.000,0.056,2220,2403,3418
$GC,690,-0.85,-146.6,57.3,-10.3,31,694,0.00,2.67,0.00,0.000,4,0.000,0.067,2220,972,3418
$GC,745,-0.85,-146.6,62.5,-9.3,33,752,0.00,2.60,0.00,0.000,6,0.000,0.057,2220,2397,3418
$GC,1062,-0.85,-146.6,93.6,-9.2,49,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2397,3418
$GC,1370,-0.85,-146.6,119.4,-7.7,64,1374,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,979,3418
$GC,1425,-0.85,-146.6,124.6,-9.6,66,1431,0.00,2.60,0.00,0.000,6,0.000,0.058,2220,2405,3418
$GC,1741,-0.85,-146.6,153.6,-8.7,82,1746,0.00,2.67,0.00,0.000,4,0.000,0.068,2220,974,3419
$GC,1859,-0.85,-146.6,164.4,-9.3,87,1863,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2400,3419
$GC,2175,-0.85,-146.6,191.3,-8.1,102,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3420
$GC,2484,-0.85,-146.6,217.3,-8.8,117,2488,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,976,3420
$GC,2529,-0.85,-146.6,221.4,-9.1,119,2533,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2400,3419
$GC,2850,-0.85,-146.6,249.2,-8.5,135,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3419
$GC,3159,-0.85,-146.6,275.6,-8.7,150,3164,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,974,3420
$GC,3204,-0.85,-146.6,279.7,-9.4,152,3208,0.00,2.62,0.00,0.000,6,0.000,0.060,2220,2405,3420
$GC,3525,-0.85,-146.6,309.5,-9.8,168,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3420
$GC,3834,-0.85,-146.6,334.6,-7.1,183,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2406,3420
$GC,4143,-0.85,-146.6,357.1,-8.0,198,4147,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,976,3420
$GC,4176,-0.85,-146.6,360.1,-9.9,199,4182,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2400,3420
$GC,4492,-0.85,-146.6,381.6,-7.3,215,4496,0.00,2.67,0.00,0.000,4,0.000,0.074,2220,980,3420
$GC,4586,-0.85,-146.6,385.2,-4.4,219,4591,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2399,3420
$GC,4902,-0.85,-146.6,405.4,-7.6,234,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3420
$GC,5212,-0.85,-146.6,424.0,-6.9,249,5217,0.00,2.67,0.00,0.000,4,0.000,0.073,2220,979,3420
$GC,5304,-0.85,-146.6,429.6,-5.7,253,5308,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2400,3420
$GC,5625,-0.85,-146.6,452.8,-8.3,269,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3420
$STATE,5767,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5767,begin apogee
$GC,5774,-0.31,0.0,464.2,7.6,276,5898,0.60,0.00,120.60,0.969,6,0.104,0.000,2341,2197,2817
$STATE,5898,end apogee,CONTROL_FINISHED_OK
$STATE,5898,begin climb
$GC,5902,0.85,146.6,468.7,0.0,282,6031,1.17,2.78,118.47,0.957,4,0.071,0.071,2591,786,2218
$GC,6082,0.89,185.5,466.9,4.9,291,6121,0.00,2.62,32.45,0.915,6,0.000,0.054,2591,2199,2059
$GC,6450,0.89,185.5,445.0,7.1,309,6454,0.00,2.70,0.00,0.000,4,0.000,0.073,2591,784,2058
$GC,6517,0.91,206.5,440.7,5.4,312,6542,0.00,2.62,17.90,0.880,6,0.000,0.054,2591,2203,1975
$GC,6864,0.96,254.6,422.4,4.7,329,6906,0.12,0.00,39.78,0.920,6,0.061,0.000,2622,2203,1778
$GC,7214,0.96,254.6,394.6,7.4,346,7219,0.00,2.67,0.00,0.000,4,0.000,0.072,2622,788,1776
$GC,7270,0.96,254.6,389.4,9.6,348,7276,0.00,2.60,0.00,0.000,6,0.000,0.054,2622,2200,1775
$GC,7586,1.05,330.1,369.0,3.9,364,7652,0.00,2.75,59.95,0.898,4,0.000,0.074,2624,788,1470
$GC,7687,1.05,330.1,363.9,7.4,369,7691,0.00,2.62,0.00,0.000,6,0.000,0.053,2622,2200,1469
$GC,8013,1.05,330.1,335.8,7.8,385,8017,0.00,2.70,0.00,0.000,4,0.000,0.075,2623,787,1469
$GC,8075,1.05,330.1,328.8,12.1,388,8080,0.00,2.60,0.00,0.000,6,0.000,0.053,2623,2200,1469
$GC,8402,1.05,330.1,297.4,9.7,404,8406,0.00,2.70,0.00,0.000,4,0.000,0.073,2623,782,1469
$GC,8457,1.05,330.1,291.6,10.7,406,8463,0.00,2.60,0.00,0.000,6,0.000,0.053,2622,2200,1468
$GC,8775,1.05,330.1,262.5,9.2,422,8779,0.00,2.67,0.00,0.000,4,0.000,0.073,2623,786,1468
$GC,8830,1.05,330.1,256.9,10.1,424,8836,0.00,2.60,0.00,0.000,6,0.000,0.053,2623,2202,1467
$GC,9145,1.05,330.1,228.1,8.8,440,9149,0.00,2.67,0.00,0.000,4,0.000,0.071,2623,782,1468
$GC,9185,1.05,330.1,224.6,9.3,442,9189,0.00,2.60,0.00,0.000,6,0.000,0.052,2623,2200,1468
$GC,9511,1.05,330.1,197.1,8.3,458,9516,0.00,2.67,0.00,0.000,4,0.000,0.072,2623,786,1468
$GC,9555,1.05,330.1,193.2,9.1,460,9560,0.00,2.60,0.00,0.000,6,0.000,0.052,2623,2204,1467
$GC,9878,1.05,330.1,165.8,8.2,476,9882,0.00,2.67,0.00,0.000,4,0.000,0.071,2622,785,1468
$GC,9927,1.05,330.1,161.4,9.4,478,9932,0.00,2.58,0.00,0.000,6,0.000,0.052,2622,2199,1468
$GC,10243,1.05,330.1,131.4,9.8,493,10248,0.00,2.67,0.00,0.000,4,0.000,0.070,2622,779,1468
$GC,10289,1.05,330.1,127.1,10.0,495,10293,0.00,2.60,0.00,0.000,6,0.000,0.051,2623,2206,1467
$GC,10609,1.05,330.1,101.4,7.7,511,10614,0.00,2.67,0.00,0.000,4,0.000,0.071,2622,786,1468
$GC,10650,1.05,330.1,98.0,9.5,513,10654,0.00,2.58,0.00,0.000,6,0.000,0.051,2622,2200,1468
$GC,10977,1.05,330.1,71.4,8.3,529,10982,0.00,2.67,0.00,0.000,4,0.000,0.070,2623,781,1468
$GC,11017,1.05,330.1,67.9,8.5,531,11022,0.00,2.60,0.00,0.000,6,0.000,0.051,2622,2207,1468
$GC,11345,1.05,330.1,38.1,9.3,547,11349,0.00,2.67,0.00,0.000,4,0.000,0.071,2624,777,1468
$GC,11389,1.05,330.1,33.4,10.4,549,11394,0.00,2.60,0.00,0.000,6,0.000,0.053,2623,2203,1468
$GC,11711,1.05,330.1,6.3,8.4,565,11712,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2203,1468
$STATE,11771,end climb,SURFACE_DEPTH_REACHED
$STATE,11772,begin surface coast
$FINISH,0.7,1.027479
$STATE,11792,end surface coast,CONTROL_FINISHED_OK
$STATE,11792,begin surface
$SM_CCo,11875,0.00,0.000,0,0,1466,331.40
$SM_GC,1.25,11.50,0.00,0.00,0.058,0.000,0.000,73,2406,1466,-10.68,0.17,331.40
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2118
$TCM_TEMP,16.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,425.3,48.1
$24V_AH,23.5,64.517
$10V_AH,10.2,34.787
$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,25.575,122.550,389.150,0.000,0.000,32.637,43.140,143.623,4.500,0.000,0.000,14.881,1084.791,8832.784,483.478,1364.873,449.837,0.000,1191.209,0.000,1334.040,0.000,23.366
$DEVICE_MAMPS,171.808,79.768,969.488,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.675,387.525,423.186,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28546,569
$CFSIZE,260165632,235749376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,030208,064907,6158.217,-39.775,41,1.4,52,-4.9