version: 66.02
glider: 16
mission: 6
dive: 372
start: 1 23 108 11 10 27
data:
$ID,16
$MISSION,6
$DIVE,372
$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,-2085996.6
$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,14
$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
$GPS1,110326,6226.945,-337.978,40,1.8,40,-6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-59.3
$GPS2,110937,6226.996,-337.880,14,1.4,30,-6.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.221,-0.001
$KALMAN_X,27458.0,1500.3,881.9,258502.3,-10634.9
$KALMAN_Y,-26070.3,115.5,1597.4,114737.6,10668.5
$MHEAD_RNG_PITCHd_Wd,169.6,23232,-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,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-59.03,0.000,2,0.000,0.000,66,2408,3023
$GC,90,-0.85,-146.6,3.7,-4.9,3,120,12.27,2.67,-9.82,0.000,4,0.175,0.088,2222,3772,3417
$GC,223,-0.85,-146.6,20.7,-8.5,9,227,0.00,2.58,0.00,0.000,6,0.000,0.058,2222,2394,3418
$GC,549,-0.85,-146.6,47.2,-8.0,25,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2394,3418
$GC,858,-0.85,-146.6,72.0,-8.3,40,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2394,3418
$GC,1168,-0.85,-146.6,93.3,-6.5,55,1173,0.00,2.67,0.00,0.000,4,0.000,0.074,2222,983,3418
$GC,1213,-0.85,-146.6,96.6,-6.9,57,1217,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2402,3419
$GC,1533,-0.85,-146.6,120.5,-7.2,73,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3419
$GC,1845,-0.85,-146.6,141.9,-6.9,88,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3419
$GC,2151,-0.85,-146.6,165.6,-7.5,103,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3419
$GC,2461,-0.85,-146.6,189.4,-7.9,118,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3420
$GC,2771,-0.85,-146.6,213.1,-8.1,133,2775,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,977,3421
$GC,2837,-0.85,-146.6,218.7,-8.3,136,2841,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2403,3421
$GC,3157,-0.85,-146.6,244.3,-8.1,152,3162,0.00,2.65,0.00,0.000,4,0.000,0.085,2222,3769,3421
$GC,3252,-0.85,-146.6,252.9,-9.5,156,3256,0.00,2.55,0.00,0.000,6,0.000,0.062,2222,2402,3421
$GC,3568,-0.85,-146.6,277.0,-7.1,171,3572,0.00,2.70,0.00,0.000,4,0.000,0.077,2222,980,3421
$GC,3640,-0.85,-146.6,282.1,-7.0,174,3644,0.00,2.65,0.00,0.000,6,0.000,0.066,2222,2404,3422
$GC,3956,-0.85,-146.6,302.8,-5.9,189,3961,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,980,3422
$GC,4051,-0.85,-146.6,308.6,-6.6,193,4055,0.00,2.65,0.00,0.000,6,0.000,0.067,2222,2401,3422
$GC,4367,-0.85,-146.6,326.9,-6.4,208,4371,0.00,2.67,0.00,0.000,4,0.000,0.091,2222,3766,3422
$GC,4439,-0.85,-146.6,332.3,-7.2,211,4443,0.00,2.60,0.00,0.000,6,0.000,0.067,2222,2396,3421
$GC,4755,-0.85,-146.6,354.8,-7.2,226,4759,0.00,2.72,0.00,0.000,4,0.000,0.084,2222,983,3422
$GC,4827,-0.85,-146.6,360.4,-8.1,229,4832,0.00,2.67,0.00,0.000,6,0.000,0.071,2222,2400,3422
$GC,5142,-0.85,-146.6,383.0,-7.0,244,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3422
$GC,5452,-0.85,-146.6,406.1,-7.5,259,5453,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3422
$GC,5762,-0.85,-146.6,428.3,-7.0,274,5766,0.00,2.72,0.00,0.000,4,0.000,0.084,2221,982,3421
$GC,5818,-0.85,-146.6,432.4,-7.2,276,5824,0.00,2.70,0.00,0.000,6,0.000,0.072,2222,2406,3421
$GC,6133,-0.85,-146.6,454.8,-6.9,292,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3420
$GC,6446,-0.85,-146.6,475.5,-6.6,307,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3419
$GC,6752,-0.85,-146.6,496.4,-6.9,322,6756,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,984,3418
$GC,6802,-0.85,-146.6,500.2,-7.9,324,6806,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2404,3418
$GC,7118,-0.85,-146.6,521.5,-6.8,339,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3415
$GC,7426,-0.85,-146.6,543.8,-7.1,354,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3415
$GC,7735,-0.85,-146.6,565.1,-6.6,369,7740,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,983,3414
$GC,7785,-0.85,-146.6,568.5,-7.4,371,7789,0.00,2.67,0.00,0.000,6,0.000,0.074,2222,2401,3414
$GC,8101,-0.85,-146.6,589.1,-6.8,386,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3413
$STATE,8242,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8242,begin apogee
$GC,8250,-0.31,0.0,598.8,6.8,393,8376,0.60,0.00,122.95,1.155,6,0.122,0.000,2337,2194,2816
$STATE,8376,end apogee,CONTROL_FINISHED_OK
$STATE,8376,begin climb
$GC,8379,0.85,146.6,602.8,0.0,399,8505,1.25,0.00,121.85,1.132,6,0.099,0.000,2586,2194,2219
$GC,8810,0.86,157.8,582.8,5.7,420,8826,0.00,2.78,10.73,0.999,4,0.000,0.084,2586,785,2173
$GC,8860,0.86,157.8,579.9,6.4,421,8865,0.00,2.70,0.00,0.000,6,0.000,0.067,2586,2196,2172
$GC,9178,0.87,165.1,562.2,5.8,436,9187,0.00,0.00,7.38,0.940,6,0.000,0.000,2587,2196,2144
$GC,9486,0.90,197.6,545.3,5.1,451,9521,0.00,2.88,28.17,1.092,4,0.000,0.094,2587,3603,2011
$GC,9544,0.91,209.1,542.0,5.7,453,9560,0.00,2.72,10.93,0.995,6,0.000,0.076,2587,2205,1964
$GC,9876,0.93,225.8,523.2,5.5,470,9897,0.12,0.00,15.12,1.039,6,0.081,0.000,2615,2205,1896
$GC,10206,0.93,225.8,500.1,7.6,486,10211,0.00,2.80,0.00,0.000,4,0.000,0.090,2615,777,1894
$GC,10234,0.93,225.8,497.7,8.5,487,10238,0.00,2.72,0.00,0.000,6,0.000,0.067,2615,2206,1894
$GC,10549,0.93,225.8,474.3,7.3,502,10550,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2206,1894
$GC,10859,0.93,225.8,452.4,7.1,517,10864,0.00,2.78,0.00,0.000,4,0.000,0.086,2615,782,1893
$GC,10904,0.93,225.8,448.9,7.9,519,10908,0.00,2.70,0.00,0.000,6,0.000,0.067,2615,2204,1893
$GC,11224,0.93,225.8,423.1,8.1,535,11225,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2205,1893
$GC,11534,0.93,225.8,400.3,7.1,550,11538,0.00,2.78,0.00,0.000,4,0.000,0.085,2615,783,1893
$GC,11612,0.93,225.8,394.2,7.9,553,11618,0.00,2.70,0.00,0.000,6,0.000,0.067,2615,2206,1892
$GC,11927,0.93,225.8,370.9,7.6,569,11928,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2206,1892
$GC,12237,0.93,225.8,348.4,7.2,584,12242,0.00,2.75,0.00,0.000,4,0.000,0.084,2615,782,1892
$GC,12278,0.93,225.8,345.4,7.9,586,12282,0.00,2.67,0.00,0.000,6,0.000,0.066,2615,2201,1892
$GC,12603,0.93,225.8,321.6,7.7,602,12605,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2201,1892
$GC,12913,0.93,225.8,296.1,8.4,617,12918,0.00,2.75,0.00,0.000,4,0.000,0.081,2615,776,1891
$GC,12991,0.93,225.8,288.9,10.0,620,12997,0.00,2.67,0.00,0.000,6,0.000,0.063,2615,2203,1890
$GC,13307,0.93,225.8,261.6,8.0,636,13311,0.00,2.78,0.00,0.000,4,0.000,0.093,2615,3617,1891
$GC,13351,0.93,225.8,257.7,8.8,638,13356,0.00,2.72,0.00,0.000,6,0.000,0.074,2615,2192,1890
$GC,13671,0.93,225.8,230.4,8.9,654,13676,0.00,2.70,0.00,0.000,4,0.000,0.078,2615,779,1890
$GC,13749,0.93,225.8,222.9,9.7,657,13756,0.00,2.65,0.00,0.000,6,0.000,0.058,2615,2204,1890
$GC,14065,0.93,225.8,194.5,8.8,673,14067,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2204,1890
$GC,14374,0.93,225.8,167.5,8.6,688,14375,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2204,1890
$GC,14684,0.93,225.8,141.5,8.2,703,14685,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2204,1892
$GC,14994,0.93,225.8,115.0,8.5,718,14995,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2204,1893
$GC,15304,0.93,225.8,91.0,7.3,733,15305,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2204,1893
$GC,15612,0.93,225.8,67.6,8.1,748,15613,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2204,1895
$GC,15921,0.93,225.8,42.1,8.7,763,15926,0.00,2.70,0.00,0.000,4,0.000,0.080,2615,3616,1895
$GC,15961,0.93,225.8,38.6,8.6,765,15965,0.00,2.70,0.00,0.000,6,0.000,0.069,2615,2193,1896
$GC,16287,0.93,225.8,12.3,10.0,781,16292,0.00,2.67,0.00,0.000,4,0.000,0.074,2615,781,1896
$GC,16328,0.93,225.8,8.4,8.8,783,16333,0.00,2.60,0.00,0.000,6,0.000,0.053,2615,2205,1896
$STATE,16426,end climb,SURFACE_DEPTH_REACHED
$STATE,16427,begin surface coast
$FINISH,0.8,1.027491
$STATE,16447,end surface coast,CONTROL_FINISHED_OK
$STATE,16447,begin surface
$SM_CCo,16469,45.42,0.651,2,0,1593,300.00
$SM_GC,1.70,0.00,0.00,45.42,0.000,0.000,0.651,73,2401,1593,-10.75,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2090
$TCM_TEMP,16.40
$XPDR_PINGS,85
$ALTIM_BOTTOM_PING,551.0,57.7
$24V_AH,23.3,58.062
$10V_AH,10.1,30.777
$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,25.625,119.500,317.125,45.425,0.000,32.633,38.911,159.557,26.000,0.000,0.000,30.126,1439.202,12788.239,495.907,1681.352,491.328,33.371,1316.455,0.000,1627.007,0.000,34.430
$DEVICE_MAMPS,174.876,93.574,1155.102,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,581.390,541.912,526.162,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41166,789
$CFSIZE,260165632,238391296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,2,0
$GPS,230108,154708,6225.671,-334.571,38,1.8,38,-6.6