version: 66.02
glider: 16
mission: 6
dive: 417
start: 2 3 108 6 54 51
data:
$ID,16
$MISSION,6
$DIVE,417
$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,-2087213.2
$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,16
$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
$GPS1,064907,6158.217,-39.775,41,1.4,52,-4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-56.0
$GPS2,065433,6158.339,-39.577,14,1.9,14,-4.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6205.975,-43.151
$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,319.9,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.85,-146.6,0.0,0.0,0,92,0.00,0.00,-61.20,0.000,2,0.000,0.000,71,2407,2918
$GC,96,-0.85,-146.6,3.0,-3.6,3,128,12.10,2.67,-13.93,0.000,4,0.172,0.080,2219,982,3415
$GC,382,-0.85,-146.6,26.9,-8.5,16,386,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2399,3416
$GC,708,-0.85,-146.6,51.1,-7.5,32,713,0.00,2.67,0.00,0.000,4,0.000,0.070,2219,978,3416
$GC,798,-0.85,-146.6,57.2,-6.0,36,803,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2398,3416
$GC,1120,-0.85,-146.6,77.7,-6.1,52,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3416
$GC,1431,-0.85,-146.6,96.0,-6.3,67,1435,0.00,2.67,0.00,0.000,4,0.000,0.070,2220,976,3416
$GC,1463,-0.85,-146.6,98.7,-8.0,68,1469,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2404,3416
$GC,1780,-0.85,-146.6,121.9,-8.1,84,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3416
$GC,2090,-0.85,-146.6,147.2,-7.6,99,2094,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,983,3416
$GC,2145,-0.85,-146.6,151.7,-7.4,101,2151,0.00,2.60,0.00,0.000,6,0.000,0.061,2219,2400,3416
$GC,2462,-0.85,-146.6,175.7,-8.7,117,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,2769,-0.85,-146.6,204.9,-8.8,132,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,3079,-0.85,-146.6,228.9,-7.3,147,3083,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,976,3416
$GC,3119,-0.85,-146.6,232.0,-8.6,149,3123,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2401,3416
$GC,3445,-0.85,-146.6,260.1,-9.3,165,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3416
$GC,3754,-0.85,-146.6,286.4,-8.1,180,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3415
$GC,4064,-0.85,-146.6,308.0,-6.8,195,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3416
$GC,4373,-0.85,-146.6,333.1,-8.3,210,4377,0.00,2.67,0.00,0.000,4,0.000,0.074,2219,984,3416
$GC,4473,-0.85,-146.6,341.5,-7.8,214,4479,0.00,2.62,0.00,0.000,6,0.000,0.063,2219,2400,3416
$GC,4789,-0.85,-146.6,364.7,-7.3,230,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3416
$GC,5098,-0.85,-146.6,386.2,-6.9,245,5102,0.00,2.67,0.00,0.000,4,0.000,0.073,2219,979,3416
$GC,5148,-0.85,-146.6,390.0,-7.6,247,5153,0.00,2.62,0.00,0.000,6,0.000,0.064,2219,2399,3416
$GC,5464,-0.85,-146.6,413.4,-7.6,262,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3416
$GC,5773,-0.85,-146.6,436.1,-7.7,277,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3416
$GC,6083,-0.85,-146.6,461.8,-8.3,292,6087,0.00,2.67,0.00,0.000,4,0.000,0.074,2219,982,3416
$GC,6138,-0.85,-146.6,466.6,-8.7,294,6144,0.00,2.62,0.00,0.000,6,0.000,0.064,2219,2398,3416
$GC,6454,-0.85,-146.6,489.9,-7.0,310,6458,0.00,2.62,0.00,0.000,4,0.000,0.087,2219,3769,3416
$GC,6526,-0.85,-146.6,495.2,-6.7,313,6531,0.00,2.53,0.00,0.000,6,0.000,0.058,2219,2398,3416
$GC,6842,-0.85,-146.6,519.3,-7.3,328,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3416
$STATE,7128,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7128,begin apogee
$GC,7135,-0.31,0.0,537.4,6.2,342,7259,0.60,0.00,121.05,1.037,6,0.109,0.000,2338,2192,2816
$STATE,7260,end apogee,CONTROL_FINISHED_OK
$STATE,7260,begin climb
$GC,7263,0.85,146.6,542.1,0.0,348,7391,1.23,2.85,119.40,1.018,4,0.091,0.084,2588,3616,2219
$GC,7454,0.85,146.6,533.2,7.9,357,7459,0.00,2.70,0.00,0.000,6,0.000,0.068,2588,2204,2219
$GC,7776,0.87,165.8,514.6,5.5,373,7795,0.00,0.00,17.05,0.939,6,0.000,0.000,2588,2204,2141
$GC,8104,0.91,206.0,497.0,4.9,389,8145,0.00,2.80,33.35,0.981,4,0.000,0.078,2588,784,1976
$GC,8173,0.91,206.0,493.2,7.0,392,8178,0.00,2.67,0.00,0.000,6,0.000,0.058,2588,2208,1975
$GC,8495,0.94,234.0,474.9,5.2,408,8522,0.12,0.00,24.15,0.959,6,0.072,0.000,2619,2208,1862
$GC,8824,0.94,234.0,451.4,8.2,424,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2208,1860
$GC,9134,0.94,234.0,424.8,8.2,439,9135,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2208,1859
$GC,9442,0.94,234.0,401.0,7.7,454,9447,0.00,2.70,0.00,0.000,4,0.000,0.073,2619,779,1859
$GC,9482,0.94,234.0,397.8,8.5,456,9487,0.00,2.65,0.00,0.000,6,0.000,0.056,2619,2207,1858
$GC,9809,0.94,234.0,371.4,7.7,472,9810,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2207,1858
$GC,10119,0.94,234.0,349.4,7.4,487,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2207,1858
$GC,10427,0.94,234.0,326.0,7.7,502,10431,0.00,2.70,0.00,0.000,4,0.000,0.072,2619,782,1858
$GC,10466,0.94,234.0,323.0,7.8,504,10470,0.00,2.62,0.00,0.000,6,0.000,0.056,2619,2203,1857
$GC,10793,0.94,236.0,301.6,5.9,520,10794,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2203,1857
$GC,11101,0.95,243.3,283.6,5.8,535,11112,0.00,0.00,8.45,0.755,6,0.000,0.000,2619,2203,1825
$GC,11411,0.95,243.3,266.3,6.0,550,11416,0.00,2.70,0.00,0.000,4,0.000,0.083,2619,3613,1824
$GC,11446,0.95,243.3,264.0,6.6,551,11452,0.00,2.65,0.00,0.000,6,0.000,0.064,2619,2197,1824
$GC,11761,0.95,243.3,240.9,7.4,567,11766,0.00,2.67,0.00,0.000,4,0.000,0.073,2619,782,1824
$GC,11794,0.95,243.3,238.5,6.7,568,11800,0.00,2.60,0.00,0.000,6,0.000,0.054,2619,2201,1824
$GC,12111,0.95,243.3,214.0,8.1,584,12112,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2202,1824
$GC,12419,0.95,243.3,187.3,8.7,599,12423,0.00,2.67,0.00,0.000,4,0.000,0.071,2619,778,1824
$GC,12463,0.95,243.3,183.2,9.7,601,12467,0.00,2.60,0.00,0.000,6,0.000,0.053,2619,2202,1825
$GC,12784,0.95,243.3,156.1,8.8,617,12785,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2201,1824
$GC,13093,0.95,243.3,129.8,8.9,632,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2202,1824
$GC,13402,0.95,243.3,102.8,8.8,647,13403,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2201,1824
$GC,13712,0.95,243.3,76.9,8.3,662,13714,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2201,1824
$GC,14021,0.95,243.3,49.5,9.9,677,14022,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2201,1826
$GC,14332,0.95,243.3,25.5,6.7,692,14333,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2201,1825
$GC,14640,0.95,243.3,6.9,7.1,707,14641,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2201,1825
$STATE,14698,end climb,SURFACE_DEPTH_REACHED
$STATE,14699,begin surface coast
$FINISH,0.6,1.027478
$STATE,14720,end surface coast,CONTROL_FINISHED_OK
$STATE,14721,begin surface
$SM_CCo,14743,35.97,0.614,2,0,1593,300.00
$SM_GC,1.26,0.00,0.00,35.97,0.000,0.000,0.614,68,2400,1593,-10.77,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2106
$TCM_TEMP,16.80
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,451.4,94.8
$24V_AH,23.5,64.629
$10V_AH,10.2,34.856
$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,25.575,85.925,323.450,35.975,0.000,32.615,41.189,134.778,11.250,0.000,0.000,16.707,1279.388,11441.562,481.761,1466.641,450.825,0.000,1196.901,0.000,1438.934,0.000,25.118
$DEVICE_MAMPS,171.808,86.671,1036.984,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,523.269,485.052,507.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34888,711
$CFSIZE,260165632,235692032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,030208,110238,6203.505,-34.139,41,1.7,41,-4.9