version: 66.02
glider: 16
mission: 6
dive: 451
start: 2 14 108 12 48 45
data:
$ID,16
$MISSION,6
$DIVE,451
$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,-2088164.4
$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
$GPS1,123708,6130.735,-314.042,29,1.8,29,-6.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-62.4
$GPS2,124829,6130.891,-313.660,11,3.3,30,-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,264.1,25636,-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,25,-1.79,-244.4,0.0,0.0,0,67,0.00,0.00,-40.92,0.000,2,0.000,0.000,63,2403,2667
$GC,71,-1.79,-244.4,3.2,-4.8,2,124,11.15,2.70,-35.40,0.000,4,0.174,0.079,2013,982,3813
$GC,252,-1.79,-244.4,36.8,-23.3,10,257,0.00,2.65,0.00,0.000,6,0.000,0.061,2013,2398,3814
$GC,568,-1.79,-244.4,114.6,-24.5,25,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2398,3814
$GC,877,-1.79,-244.4,187.0,-23.7,40,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2398,3814
$GC,1187,-1.79,-244.4,259.7,-23.4,55,1192,0.00,2.65,0.00,0.000,4,0.000,0.082,2014,3771,3814
$GC,1265,-1.79,-244.4,278.6,-23.6,58,1271,0.00,2.58,0.00,0.000,6,0.000,0.062,2013,2396,3815
$GC,1582,-1.79,-244.4,354.7,-23.2,74,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2395,3815
$GC,1892,-1.79,-244.4,425.3,-21.8,89,1897,0.00,2.70,0.00,0.000,4,0.000,0.086,2013,3774,3817
$GC,1959,-1.79,-244.4,440.7,-21.3,92,1963,0.00,2.58,0.00,0.000,6,0.000,0.063,2014,2393,3817
$GC,2281,-1.79,-244.4,508.0,-20.8,108,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2390,3817
$GC,2589,-1.79,-244.4,571.2,-20.5,123,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2391,3817
$GC,2899,-1.79,-244.4,634.8,-20.5,138,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2391,3816
$GC,3208,-1.79,-244.4,699.0,-20.7,153,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2391,3815
$GC,3517,-1.79,-244.4,762.9,-20.4,168,3521,0.00,2.75,0.00,0.000,4,0.000,0.098,2014,3766,3814
$GC,3567,-1.79,-244.4,773.6,-21.5,170,3572,0.00,2.60,0.00,0.000,6,0.000,0.070,2014,2400,3813
$GC,3884,-1.79,-244.4,836.8,-19.8,185,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2398,3813
$GC,4192,-1.79,-244.4,898.6,-20.1,200,4196,0.00,2.72,0.00,0.000,4,0.000,0.096,2014,3766,3811
$GC,4238,-1.79,-244.4,907.8,-20.6,202,4243,0.00,2.60,0.00,0.000,6,0.000,0.067,2013,2394,3811
$GC,4560,-1.79,-244.4,971.5,-19.4,218,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2393,3809
$STATE,4660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4660,begin apogee
$GC,4668,-0.31,0.0,991.0,18.8,223,4896,1.75,0.00,218.35,1.367,6,0.140,0.000,2339,2189,2816
$STATE,4897,end apogee,CONTROL_FINISHED_OK
$STATE,4897,begin climb
$GC,4900,1.79,244.4,1001.9,0.0,234,5120,2.17,2.92,210.05,1.351,4,0.077,0.085,2797,3613,1820
$GC,5156,1.81,263.7,974.3,18.9,247,5180,0.00,2.72,18.15,1.222,6,0.000,0.067,2798,2198,1741
$GC,5504,1.84,296.0,910.3,18.2,264,5535,0.00,0.00,28.38,1.256,6,0.000,0.000,2798,2198,1609
$GC,5832,1.87,323.1,849.3,18.5,280,5858,0.00,0.00,24.10,1.221,6,0.000,0.000,2798,2197,1499
$GC,6163,1.89,342.4,788.0,18.9,296,6184,0.10,0.00,17.70,1.174,6,0.068,0.000,2824,2197,1421
$GC,6490,1.89,342.4,720.4,20.7,312,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2197,1419
$GC,6800,1.89,342.4,656.7,20.5,327,6804,0.00,2.78,0.00,0.000,4,0.000,0.089,2824,789,1417
$GC,6862,1.89,342.4,643.5,21.0,330,6867,0.00,2.65,0.00,0.000,6,0.000,0.063,2824,2201,1417
$GC,7190,1.89,342.4,575.7,21.1,346,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2201,1417
$GC,7499,1.89,342.4,511.9,20.6,361,7504,0.00,2.75,0.00,0.000,4,0.000,0.084,2824,789,1416
$GC,7578,1.89,342.4,495.2,21.1,364,7584,0.00,2.65,0.00,0.000,6,0.000,0.064,2824,2199,1416
$GC,7893,1.89,342.4,428.7,20.8,380,7898,0.00,2.75,0.00,0.000,4,0.000,0.084,2824,786,1414
$GC,7926,1.89,342.4,421.4,21.5,381,7932,0.00,2.65,0.00,0.000,6,0.000,0.061,2824,2200,1414
$GC,8243,1.89,342.4,354.3,22.2,397,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2199,1414
$GC,8551,1.89,342.4,287.3,22.2,412,8556,0.00,2.72,0.00,0.000,4,0.000,0.079,2824,786,1414
$GC,8641,1.89,342.4,266.2,22.8,416,8645,0.00,2.62,0.00,0.000,6,0.000,0.058,2824,2201,1413
$GC,8962,1.89,342.4,193.5,22.8,432,8967,0.00,2.70,0.00,0.000,4,0.000,0.076,2824,786,1414
$GC,9028,1.89,342.4,177.5,23.2,435,9033,0.00,2.62,0.00,0.000,6,0.000,0.055,2824,2207,1414
$GC,9350,1.89,342.4,104.7,22.5,451,9354,0.00,2.70,0.00,0.000,4,0.000,0.073,2824,787,1414
$GC,9445,1.89,342.4,82.5,22.8,455,9450,0.00,2.60,0.00,0.000,6,0.000,0.053,2824,2202,1414
$GC,9761,1.89,342.4,10.5,22.7,470,9766,0.00,2.67,0.00,0.000,4,0.000,0.068,2824,786,1416
$STATE,9799,end climb,SURFACE_DEPTH_REACHED
$STATE,9799,begin surface coast
$FINISH,1.5,1.022100
$STATE,9804,end surface coast,CONTROL_FINISHED_OK
$STATE,9805,begin surface
$SM_CCo,9892,0.00,0.000,0,0,1414,343.67
$SM_GC,2.35,12.62,0.00,0.00,0.061,0.000,0.000,74,2401,1414,-10.69,0.03,343.67
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2182
$TCM_TEMP,18.90
$XPDR_PINGS,44
$24V_AH,23.1,70.820
$10V_AH,10.1,38.847
$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,27.800,70.450,516.725,0.000,0.000,65.228,76.178,299.316,19.500,0.000,0.000,31.077,871.497,7370.280,617.341,1027.367,670.122,0.000,1139.536,0.000,977.185,0.000,56.135
$DEVICE_MAMPS,174.109,98.176,1366.794,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.986,322.240,249.311,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22276,472
$CFSIZE,260165632,233082880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,140208,153457,6132.092,-315.312,25,3.7,44,-6.2