version: 66.02
glider: 16
mission: 6
dive: 373
start: 1 23 108 15 54 1
data:
$ID,16
$MISSION,6
$DIVE,373
$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,-2086012.8
$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,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
$GPS1,154708,6225.671,-334.571,38,1.8,38,-6.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-59.8
$GPS2,155309,6225.671,-334.596,15,1.9,15,-6.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.145,-0.167
$KALMAN_X,26524.1,212.3,-324.1,264813.2,-6848.7
$KALMAN_Y,-25608.8,-1572.2,-1649.9,116800.4,15559.1
$MHEAD_RNG_PITCHd_Wd,175.3,20156,-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,23,-0.85,-146.6,0.0,0.0,0,85,0.00,0.00,-60.60,0.000,2,0.000,0.000,71,2403,3043
$GC,89,-0.85,-146.6,3.4,-4.2,3,118,12.20,2.65,-9.45,0.000,4,0.174,0.091,2219,3772,3416
$GC,288,-0.85,-146.6,25.7,-13.9,12,292,0.00,2.58,0.00,0.000,6,0.000,0.060,2219,2396,3416
$GC,615,-0.85,-146.6,48.7,-7.6,28,619,0.00,2.70,0.00,0.000,4,0.000,0.075,2219,980,3417
$GC,686,-0.85,-146.6,54.8,-7.8,31,691,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2398,3417
$GC,1003,-0.85,-146.6,78.1,-7.0,46,1007,0.00,2.65,0.00,0.000,4,0.000,0.082,2219,3772,3417
$GC,1065,-0.85,-146.6,82.8,-7.3,49,1069,0.00,2.58,0.00,0.000,6,0.000,0.059,2219,2394,3417
$GC,1392,-0.85,-146.6,106.3,-7.5,65,1396,0.00,2.70,0.00,0.000,4,0.000,0.075,2219,974,3417
$GC,1477,-0.85,-146.6,112.6,-7.0,69,1481,0.00,2.67,0.00,0.000,6,0.000,0.062,2219,2407,3418
$GC,1805,-0.85,-146.6,136.0,-6.9,85,1809,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,979,3417
$GC,1855,-0.85,-146.6,139.3,-6.6,87,1859,0.00,2.65,0.00,0.000,6,0.000,0.062,2219,2400,3418
$GC,2170,-0.85,-146.6,162.6,-7.9,102,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2400,3418
$GC,2479,-0.85,-146.6,187.4,-8.0,117,2483,0.00,2.70,0.00,0.000,4,0.000,0.074,2218,977,3418
$GC,2568,-0.85,-146.6,194.8,-8.5,121,2573,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2399,3418
$GC,2889,-0.85,-146.6,220.9,-7.5,137,2893,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,976,3419
$GC,2938,-0.85,-146.6,224.6,-7.2,139,2943,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2404,3418
$GC,3260,-0.85,-146.6,246.7,-7.2,155,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3419
$GC,3568,-0.85,-146.6,267.9,-6.8,170,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3420
$GC,3878,-0.85,-146.6,285.2,-5.3,185,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3420
$GC,4187,-0.85,-146.6,303.0,-6.3,200,4192,0.00,2.72,0.00,0.000,4,0.000,0.080,2219,982,3420
$GC,4276,-0.85,-146.6,309.0,-6.6,204,4281,0.00,2.67,0.00,0.000,6,0.000,0.069,2219,2404,3420
$GC,4597,-0.85,-146.6,329.0,-6.4,220,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3420
$GC,4907,-0.85,-146.6,348.7,-6.6,235,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3421
$GC,5215,-0.85,-146.6,368.5,-6.5,250,5220,0.00,2.75,0.00,0.000,4,0.000,0.082,2219,977,3420
$GC,5323,-0.85,-146.6,375.6,-7.1,255,5327,0.00,2.70,0.00,0.000,6,0.000,0.073,2219,2401,3420
$GC,5649,-0.85,-146.6,397.2,-7.0,271,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3420
$GC,5958,-0.85,-146.6,418.2,-6.8,286,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3419
$GC,6268,-0.85,-146.6,438.4,-6.7,301,6273,0.00,2.75,0.00,0.000,4,0.000,0.084,2219,980,3418
$GC,6314,-0.85,-146.6,441.7,-7.9,303,6319,0.00,2.70,0.00,0.000,6,0.000,0.074,2219,2398,3417
$GC,6634,-0.85,-146.6,463.5,-6.8,319,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2397,3416
$GC,6944,-0.85,-146.6,485.3,-7.2,334,6949,0.00,2.75,0.00,0.000,4,0.000,0.085,2219,982,3414
$GC,6994,-0.85,-146.6,489.2,-7.5,336,6999,0.00,2.70,0.00,0.000,6,0.000,0.074,2219,2407,3414
$GC,7310,-0.85,-146.6,510.7,-6.8,351,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2407,3414
$GC,7620,-0.85,-146.6,531.7,-6.7,366,7625,0.00,2.75,0.00,0.000,4,0.000,0.084,2219,983,3413
$GC,7675,-0.85,-146.6,535.8,-7.6,368,7682,0.00,2.65,0.00,0.000,6,0.000,0.074,2219,2389,3412
$GC,7990,-0.85,-146.6,556.8,-6.1,384,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2389,3411
$STATE,8153,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8153,begin apogee
$GC,8160,-0.31,0.0,567.9,6.6,392,8286,0.62,0.00,122.28,1.137,6,0.124,0.000,2338,2197,2817
$STATE,8286,end apogee,CONTROL_FINISHED_OK
$STATE,8287,begin climb
$GC,8289,0.85,146.6,572.6,0.0,398,8415,1.23,0.00,121.35,1.114,6,0.090,0.000,2588,2197,2219
$GC,8721,0.86,155.4,552.4,5.8,419,8735,0.00,2.80,8.50,0.946,4,0.000,0.083,2588,795,2183
$GC,8788,0.86,155.4,548.3,6.6,422,8792,0.00,2.67,0.00,0.000,6,0.000,0.067,2588,2200,2183
$GC,9114,0.87,169.6,530.4,5.6,438,9135,0.00,2.88,12.98,1.022,4,0.000,0.097,2588,3603,2125
$GC,9169,0.87,169.6,526.8,6.8,440,9174,0.00,2.72,0.00,0.000,6,0.000,0.076,2588,2203,2125
$GC,9484,0.87,169.6,506.9,6.4,455,9486,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2203,2124
$GC,9794,0.87,169.6,486.7,6.6,470,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2203,2124
$GC,10104,0.88,180.6,467.7,5.7,485,10116,0.00,0.00,10.45,0.976,6,0.000,0.000,2588,2203,2080
$GC,10412,0.90,194.2,450.5,5.6,500,10431,0.00,0.00,12.68,0.995,6,0.000,0.000,2587,2203,2025
$GC,10741,0.91,209.5,432.1,5.6,516,10763,0.00,2.88,13.90,0.996,4,0.000,0.098,2588,3611,1962
$GC,10786,0.91,209.5,429.3,6.3,518,10791,0.00,2.78,0.00,0.000,6,0.000,0.078,2588,2194,1962
$GC,11112,0.94,236.8,411.6,5.3,534,11139,0.12,0.00,23.80,1.022,6,0.075,0.000,2617,2194,1851
$GC,11442,0.94,236.8,387.6,7.7,550,11443,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2194,1849
$GC,11751,0.94,236.8,363.1,7.9,565,11752,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2194,1848
$GC,12060,0.94,236.8,340.8,7.0,580,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2194,1848
$GC,12370,0.94,236.8,319.2,6.9,595,12374,0.00,2.83,0.00,0.000,4,0.000,0.097,2617,3614,1848
$GC,12413,0.94,236.8,315.9,7.5,597,12418,0.00,2.75,0.00,0.000,6,0.000,0.080,2617,2194,1848
$GC,12734,0.94,236.8,294.3,6.9,613,12736,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2194,1847
$GC,13045,0.95,240.6,275.6,5.9,628,13054,0.00,2.75,4.28,0.678,4,0.000,0.085,2617,784,1836
$GC,13093,0.95,240.6,272.5,6.7,630,13098,0.00,2.67,0.00,0.000,6,0.000,0.064,2617,2200,1835
$GC,13409,0.95,240.6,252.7,6.6,645,13410,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2200,1836
$GC,13719,0.95,240.6,232.5,6.5,660,13720,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2200,1836
$GC,14027,0.95,240.6,213.0,6.4,675,14028,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2199,1836
$GC,14337,0.95,240.6,191.5,7.8,690,14338,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2200,1836
$GC,14647,0.95,240.6,167.2,7.9,705,14651,0.00,2.72,0.00,0.000,4,0.000,0.087,2617,3613,1836
$GC,14701,0.95,240.6,162.7,7.9,707,14708,0.00,2.70,0.00,0.000,6,0.000,0.070,2617,2194,1836
$GC,15017,0.95,240.6,139.4,7.4,723,15018,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2194,1836
$GC,15329,0.95,240.6,116.1,7.1,738,15330,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2195,1836
$GC,15636,0.95,240.6,92.1,8.1,753,15637,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2194,1838
$GC,15945,0.95,240.6,65.0,9.1,768,15946,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2194,1840
$GC,16255,0.95,240.6,39.6,7.6,783,16256,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2194,1840
$GC,16564,0.95,240.6,16.5,7.3,798,16565,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2194,1840
$STATE,16767,end climb,SURFACE_DEPTH_REACHED
$STATE,16767,begin surface coast
$FINISH,0.7,1.027508
$STATE,16789,end surface coast,CONTROL_FINISHED_OK
$STATE,16789,begin surface
$SM_CCo,16811,39.40,0.644,2,0,1595,300.00
$SM_GC,1.50,0.00,0.00,39.40,0.000,0.000,0.644,73,2406,1595,-10.75,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2098
$TCM_TEMP,16.40
$XPDR_PINGS,84
$ALTIM_BOTTOM_PING,550.3,26.4
$24V_AH,23.3,58.188
$10V_AH,10.1,30.853
$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,25.750,98.275,330.200,39.400,0.000,32.655,35.633,173.520,25.750,0.000,0.000,15.492,1448.960,13124.123,497.746,1660.175,495.510,33.360,1306.261,0.000,1627.101,0.000,34.679
$DEVICE_MAMPS,174.109,98.176,1136.694,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,605.715,554.933,536.467,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41181,809
$CFSIZE,260165632,238346240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
$GPS,230108,203637,6223.109,-333.408,57,1.2,57,-6.6