version: 66.02
glider: 16
mission: 6
dive: 374
start: 1 23 108 20 51 6
data:
$ID,16
$MISSION,6
$DIVE,374
$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,-2086049.9
$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,14
$R_STBD_OVSHOOT,19
$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
$GPS1,203637,6223.109,-333.408,57,1.2,57,-6.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-63.2
$GPS2,205014,6223.204,-333.380,30,1.2,36,-6.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.113,-0.190
$KALMAN_X,22736.6,-561.5,1041.1,269094.2,-10136.1
$KALMAN_Y,-28326.5,-1884.9,-20.2,113629.6,6834.3
$MHEAD_RNG_PITCHd_Wd,175.7,15470,-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,-146.6,0.0,0.0,0,86,0.00,0.00,-61.00,0.000,2,0.000,0.000,71,2410,3061
$GC,90,-0.85,-146.6,3.6,-4.5,3,116,12.30,2.62,-8.52,0.000,4,0.177,0.089,2221,3765,3416
$GC,363,-0.85,-146.6,30.9,-9.4,15,367,0.00,2.55,0.00,0.000,6,0.000,0.059,2221,2399,3417
$GC,680,-0.85,-146.6,55.2,-8.4,30,684,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,977,3417
$GC,729,-0.85,-146.6,59.2,-8.2,32,734,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2397,3417
$GC,1045,-0.85,-146.6,86.6,-9.5,47,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3418
$GC,1354,-0.85,-146.6,117.7,-7.9,62,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3417
$GC,1664,-0.85,-146.6,143.9,-9.5,77,1668,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,977,3418
$GC,1742,-0.85,-146.6,151.5,-9.6,80,1748,0.00,2.62,0.00,0.000,6,0.000,0.062,2221,2400,3417
$GC,2059,-0.85,-146.6,175.9,-7.1,96,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,2369,-0.85,-146.6,201.0,-8.3,111,2374,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,982,3418
$GC,2431,-0.85,-146.6,206.6,-8.9,114,2436,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2407,3418
$GC,2759,-0.85,-146.6,234.2,-8.0,130,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3418
$GC,3067,-0.85,-146.6,255.8,-7.7,145,3071,0.00,2.62,0.00,0.000,4,0.000,0.084,2221,3768,3419
$GC,3106,-0.85,-146.6,258.8,-8.0,147,3111,0.00,2.58,0.00,0.000,6,0.000,0.063,2221,2395,3419
$GC,3433,-0.85,-146.6,282.6,-6.6,163,3437,0.00,2.70,0.00,0.000,4,0.000,0.080,2221,983,3419
$GC,3521,-0.85,-146.6,288.6,-6.5,167,3526,0.00,2.65,0.00,0.000,6,0.000,0.067,2221,2404,3419
$GC,3843,-0.85,-146.6,310.4,-6.4,183,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3420
$GC,4152,-0.85,-146.6,332.3,-7.6,198,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3420
$GC,4461,-0.85,-146.6,354.1,-7.1,213,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3420
$GC,4770,-0.85,-146.6,374.4,-6.7,228,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3420
$GC,5081,-0.85,-146.6,393.9,-6.0,243,5085,0.00,2.67,0.00,0.000,4,0.000,0.093,2219,3766,3420
$GC,5124,-0.85,-146.6,396.8,-6.3,245,5129,0.00,2.58,0.00,0.000,6,0.000,0.068,2221,2403,3420
$GC,5446,-0.85,-146.6,414.4,-5.3,261,5450,0.00,2.78,0.00,0.000,4,0.000,0.087,2221,980,3420
$GC,5502,-0.85,-146.6,417.5,-5.9,263,5508,0.00,2.70,0.00,0.000,6,0.000,0.071,2221,2404,3420
$GC,5818,-0.85,-146.6,433.4,-5.0,279,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3419
$GC,6128,-0.85,-146.6,450.1,-5.7,294,6132,0.00,2.75,0.00,0.000,4,0.000,0.085,2221,983,3418
$GC,6185,-0.85,-146.6,453.9,-7.1,296,6191,0.00,2.70,0.00,0.000,6,0.000,0.073,2221,2407,3418
$GC,6500,-0.85,-146.6,474.0,-6.6,312,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3417
$GC,6810,-0.85,-146.6,493.6,-6.0,327,6815,0.00,2.75,0.00,0.000,4,0.000,0.087,2221,983,3415
$GC,6888,-0.85,-146.6,498.6,-6.3,330,6894,0.00,2.67,0.00,0.000,6,0.000,0.075,2221,2398,3415
$GC,7204,-0.85,-146.6,520.4,-7.5,346,7208,0.00,2.78,0.00,0.000,4,0.000,0.087,2221,977,3414
$GC,7259,-0.85,-146.6,524.7,-7.6,348,7265,0.00,2.72,0.00,0.000,6,0.000,0.074,2221,2406,3414
$GC,7574,-0.85,-146.6,544.6,-6.7,364,7579,0.00,2.78,0.00,0.000,4,0.000,0.087,2221,983,3412
$GC,7618,-0.85,-146.6,547.6,-7.1,366,7622,0.00,2.70,0.00,0.000,6,0.000,0.074,2221,2407,3412
$STATE,7730,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7730,begin apogee
$GC,7737,-0.31,0.0,555.6,7.2,372,7863,0.60,0.00,122.35,1.124,6,0.117,0.000,2337,2198,2817
$STATE,7864,end apogee,CONTROL_FINISHED_OK
$STATE,7864,begin climb
$GC,7866,0.85,146.6,560.2,0.0,378,7995,1.27,2.88,121.10,1.098,4,0.104,0.083,2588,787,2218
$GC,8052,0.88,177.0,555.2,5.2,387,8084,0.00,2.70,26.02,1.045,6,0.000,0.067,2588,2199,2095
$GC,8393,0.88,177.0,532.9,6.4,404,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,2093
$GC,8702,0.88,180.6,513.9,5.9,419,8708,0.00,0.00,4.35,0.753,6,0.000,0.000,2588,2199,2080
$GC,9012,0.88,180.6,494.5,6.2,434,9016,0.00,2.75,0.00,0.000,4,0.000,0.085,2588,786,2078
$GC,9044,0.88,180.6,492.2,6.6,435,9051,0.00,2.67,0.00,0.000,6,0.000,0.067,2589,2203,2078
$GC,9360,0.88,180.6,471.1,6.8,451,9365,0.00,2.78,0.00,0.000,4,0.000,0.084,2588,782,2078
$GC,9393,0.88,180.6,468.6,7.7,452,9399,0.00,2.70,0.00,0.000,6,0.000,0.067,2588,2206,2078
$GC,9708,0.88,180.6,448.5,6.1,468,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2206,2078
$GC,10018,0.88,181.3,429.9,6.0,483,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2206,2078
$GC,10328,0.89,183.9,411.7,5.9,498,10334,0.00,0.00,3.92,0.705,6,0.000,0.000,2588,2206,2067
$GC,10636,0.90,193.3,394.0,5.7,513,10648,0.00,0.00,9.40,0.936,6,0.000,0.000,2588,2206,2029
$GC,10946,0.90,200.7,376.0,5.8,528,10955,0.00,0.00,7.65,0.888,6,0.000,0.000,2588,2206,1998
$GC,11256,0.93,226.4,358.7,5.3,543,11280,0.12,0.00,22.02,0.987,6,0.083,0.000,2617,2206,1894
$GC,11584,0.93,226.4,333.9,8.1,559,11589,0.00,2.75,0.00,0.000,4,0.000,0.083,2617,786,1893
$GC,11639,0.93,226.4,328.9,8.5,561,11645,0.00,2.67,0.00,0.000,6,0.000,0.064,2616,2199,1892
$GC,11956,0.93,226.4,304.2,8.0,577,11957,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2199,1892
$GC,12264,0.93,226.4,280.1,7.9,592,12269,0.00,2.80,0.00,0.000,4,0.000,0.094,2616,3617,1892
$GC,12303,0.93,226.4,276.5,9.4,594,12308,0.00,2.72,0.00,0.000,6,0.000,0.076,2617,2204,1891
$GC,12630,0.93,226.4,250.3,7.6,610,12631,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2204,1891
$GC,12938,0.93,226.4,224.5,8.5,625,12939,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2204,1891
$GC,13248,0.93,226.4,201.1,7.0,640,13249,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2204,1891
$GC,13558,0.93,226.4,179.1,7.3,655,13562,0.00,2.75,0.00,0.000,4,0.000,0.085,2617,3613,1891
$GC,13590,0.93,226.4,176.2,8.8,656,13596,0.00,2.70,0.00,0.000,6,0.000,0.070,2617,2196,1892
$GC,13905,0.93,226.4,151.7,8.0,672,13906,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2196,1892
$GC,14216,0.93,226.4,125.9,8.0,687,14217,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2196,1893
$GC,14524,0.93,226.4,97.7,8.8,702,14525,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2196,1894
$GC,14835,0.93,226.4,70.8,7.4,717,14836,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2196,1896
$GC,15144,0.93,226.4,47.1,7.8,732,15148,0.00,2.70,0.00,0.000,4,0.000,0.075,2617,777,1896
$GC,15176,0.93,226.4,44.1,8.5,733,15183,0.00,2.62,0.00,0.000,6,0.000,0.057,2617,2203,1896
$GC,15494,0.93,226.4,20.4,7.5,749,15495,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,1897
$STATE,15737,end climb,SURFACE_DEPTH_REACHED
$STATE,15737,begin surface coast
$FINISH,0.7,1.027508
$STATE,15759,end surface coast,CONTROL_FINISHED_OK
$STATE,15759,begin surface
$SM_CCo,15782,47.10,0.657,2,0,1594,300.00
$SM_GC,1.76,0.00,0.00,47.10,0.000,0.000,0.657,76,2408,1594,-10.73,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2112
$TCM_TEMP,16.00
$XPDR_PINGS,78
$ALTIM_BOTTOM_PING,500.3,65.3
$24V_AH,23.3,58.323
$10V_AH,10.1,30.931
$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,25.775,103.325,316.825,47.100,0.000,100.348,295.973,157.602,23.500,0.000,0.000,36.456,1365.900,12400.946,498.824,1588.735,804.954,33.367,1270.001,0.000,1536.729,0.000,28.280
$DEVICE_MAMPS,177.177,93.574,1124.422,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,565.671,521.716,493.562,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37945,762
$CFSIZE,260165632,238301184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,2,0
$GPS,240108,011625,6222.234,-332.265,43,1.2,43,-6.6