version: 66.02
glider: 16
mission: 6
dive: 375
start: 1 24 108 1 26 37
data:
$ID,16
$MISSION,6
$DIVE,375
$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,-2086065.1
$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
$GPS1,011625,6222.234,-332.265,43,1.2,43,-6.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.7
$GPS2,012545,6222.249,-332.332,14,1.5,14,-6.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.096,-0.199
$KALMAN_X,20465.3,928.0,14.9,271803.3,-10133.0
$KALMAN_Y,-25101.3,49.3,-1044.5,107681.6,11946.0
$MHEAD_RNG_PITCHd_Wd,178.1,13574,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,104,0.00,0.00,-74.90,0.000,6,0.000,0.000,76,2411,3416
$GC,107,-0.85,-146.6,5.7,-6.6,4,129,12.20,2.67,0.00,0.000,4,0.174,0.077,2221,3773,3419
$GC,332,-0.85,-146.6,35.9,-9.0,14,337,0.00,2.55,0.00,0.000,6,0.000,0.060,2221,2399,3419
$GC,660,-0.85,-146.6,62.2,-7.8,30,664,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,976,3420
$GC,754,-0.85,-146.6,70.2,-8.6,34,758,0.00,2.65,0.00,0.000,6,0.000,0.062,2221,2404,3421
$GC,1070,-0.85,-146.6,94.9,-7.5,49,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3420
$GC,1380,-0.85,-146.6,116.7,-6.8,64,1384,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,976,3420
$GC,1465,-0.85,-146.6,122.6,-6.9,68,1469,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2402,3420
$GC,1793,-0.85,-146.6,144.1,-6.2,84,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3421
$GC,2101,-0.85,-146.6,164.8,-7.2,99,2105,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,974,3421
$GC,2150,-0.85,-146.6,168.6,-7.5,101,2154,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2403,3421
$GC,2466,-0.85,-146.6,191.1,-7.2,116,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3421
$GC,2776,-0.85,-146.6,213.7,-6.9,131,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3421
$GC,3084,-0.85,-146.6,235.2,-7.0,146,3089,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,982,3422
$GC,3139,-0.85,-146.6,239.1,-7.1,148,3145,0.00,2.62,0.00,0.000,6,0.000,0.065,2221,2401,3422
$GC,3456,-0.85,-146.6,260.8,-7.3,164,3460,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,981,3422
$GC,3517,-0.85,-146.6,265.6,-8.0,167,3522,0.00,2.65,0.00,0.000,6,0.000,0.067,2221,2398,3422
$GC,3844,-0.85,-146.6,290.5,-7.6,183,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3422
$GC,4152,-0.85,-146.6,313.1,-7.0,198,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3424
$GC,4461,-0.85,-146.6,332.6,-6.2,213,4466,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,980,3423
$GC,4579,-0.85,-146.6,340.5,-6.8,218,4583,0.00,2.67,0.00,0.000,6,0.000,0.070,2221,2400,3423
$GC,4894,-0.85,-146.6,360.3,-6.7,233,4898,0.00,2.72,0.00,0.000,4,0.000,0.082,2221,978,3422
$GC,4971,-0.85,-146.6,365.9,-7.6,236,4977,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2400,3423
$GC,5288,-0.85,-146.6,389.9,-8.0,252,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3422
$GC,5596,-0.85,-146.6,414.1,-7.4,267,5600,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,980,3421
$GC,5651,-0.85,-146.6,418.5,-8.0,269,5657,0.00,2.67,0.00,0.000,6,0.000,0.073,2221,2399,3421
$GC,5967,-0.85,-146.6,442.2,-7.5,285,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3421
$GC,6276,-0.85,-146.6,464.9,-7.0,300,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3419
$GC,6585,-0.85,-146.6,487.6,-7.0,315,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3419
$GC,6895,-0.85,-146.6,508.7,-6.6,330,6899,0.00,2.75,0.00,0.000,4,0.000,0.086,2221,984,3417
$GC,6961,-0.85,-146.6,513.8,-7.4,333,6966,0.00,2.67,0.00,0.000,6,0.000,0.074,2221,2403,3417
$GC,7283,-0.85,-146.6,534.9,-5.9,349,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3416
$STATE,7382,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7382,begin apogee
$GC,7389,-0.31,0.0,542.0,7.1,354,7515,0.60,0.00,122.90,1.114,6,0.120,0.000,2337,2198,2817
$STATE,7515,end apogee,CONTROL_FINISHED_OK
$STATE,7516,begin climb
$GC,7518,0.85,146.6,545.9,0.0,360,7648,1.23,2.83,121.43,1.088,4,0.087,0.081,2587,779,2218
$GC,7698,0.85,146.6,539.8,6.1,369,7703,0.00,2.72,0.00,0.000,6,0.000,0.067,2588,2198,2216
$GC,8019,0.88,176.8,522.4,5.2,385,8052,0.00,2.95,25.58,1.045,4,0.000,0.097,2587,3619,2096
$GC,8081,0.88,176.8,519.1,6.0,388,8086,0.00,2.78,0.00,0.000,6,0.000,0.077,2588,2202,2096
$GC,8408,0.92,211.5,500.9,5.1,404,8440,0.10,0.00,29.50,1.054,6,0.074,0.000,2614,2203,1954
$GC,8737,0.92,211.5,478.5,7.3,420,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2203,1952
$GC,9047,0.92,211.5,457.2,6.8,435,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2203,1951
$GC,9355,0.92,211.5,434.8,7.6,450,9360,0.00,2.78,0.00,0.000,4,0.000,0.090,2614,785,1950
$GC,9389,0.92,211.5,432.2,7.6,451,9395,0.00,2.70,0.00,0.000,6,0.000,0.068,2614,2206,1950
$GC,9705,0.92,211.5,409.8,6.7,467,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2206,1950
$GC,10013,0.92,211.5,389.8,6.2,482,10018,0.00,2.78,0.00,0.000,4,0.000,0.085,2614,784,1949
$GC,10052,0.92,211.5,387.3,6.4,484,10057,0.00,2.70,0.00,0.000,6,0.000,0.067,2614,2206,1948
$GC,10379,0.92,211.5,367.0,6.2,500,10383,0.00,2.78,0.00,0.000,4,0.000,0.085,2614,784,1947
$GC,10441,0.92,211.5,362.7,6.7,503,10446,0.00,2.67,0.00,0.000,6,0.000,0.067,2614,2204,1947
$GC,10767,0.92,211.5,337.7,8.2,519,10768,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2204,1947
$GC,11077,0.92,211.5,311.6,8.5,534,11081,0.00,2.75,0.00,0.000,4,0.000,0.083,2614,784,1947
$GC,11133,0.92,211.5,306.5,8.6,536,11139,0.00,2.67,0.00,0.000,6,0.000,0.066,2614,2203,1947
$GC,11449,0.92,211.5,280.2,7.7,552,11453,0.00,2.75,0.00,0.000,4,0.000,0.081,2614,780,1947
$GC,11498,0.92,211.5,276.1,8.4,554,11503,0.00,2.67,0.00,0.000,6,0.000,0.065,2614,2199,1946
$GC,11814,0.92,211.5,251.6,8.0,569,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2199,1946
$GC,12123,0.92,211.5,228.5,7.4,584,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2199,1946
$GC,12433,0.92,211.5,207.7,7.1,599,12437,0.00,2.70,0.00,0.000,4,0.000,0.076,2614,779,1946
$GC,12487,0.92,211.5,203.2,7.8,601,12493,0.00,2.65,0.00,0.000,6,0.000,0.059,2614,2206,1946
$GC,12803,0.92,211.5,177.8,8.5,617,12804,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2206,1946
$GC,13112,0.92,211.5,153.3,8.0,632,13116,0.00,2.70,0.00,0.000,4,0.000,0.074,2614,782,1946
$GC,13145,0.92,211.5,150.5,8.3,633,13151,0.00,2.62,0.00,0.000,6,0.000,0.055,2614,2206,1946
$GC,13461,0.92,211.5,126.9,6.9,649,13462,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2206,1947
$GC,13771,0.92,211.5,104.5,6.8,664,13776,0.00,2.72,0.00,0.000,4,0.000,0.084,2614,3620,1948
$GC,13812,0.92,211.5,101.6,7.5,666,13817,0.00,2.70,0.00,0.000,6,0.000,0.067,2614,2192,1949
$GC,14138,0.92,211.5,78.7,7.5,682,14140,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2192,1950
$GC,14448,0.92,211.5,54.3,8.4,697,14449,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2192,1951
$GC,14758,0.92,211.5,28.0,9.0,712,14762,0.00,2.75,0.00,0.000,4,0.000,0.083,2615,3615,1952
$GC,14797,0.92,211.5,24.2,9.6,714,14802,0.00,2.67,0.00,0.000,6,0.000,0.067,2614,2196,1952
$STATE,15122,end climb,SURFACE_DEPTH_REACHED
$STATE,15122,begin surface coast
$FINISH,0.6,1.027597
$STATE,15145,end surface coast,CONTROL_FINISHED_OK
$STATE,15145,begin surface
$SM_CCo,15168,51.33,0.678,1,0,1593,300.00
$SM_GC,1.41,0.00,0.00,51.33,0.000,0.000,0.678,71,2405,1593,-10.75,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2098
$TCM_TEMP,16.20
$XPDR_PINGS,80
$ALTIM_BOTTOM_PING,525.6,26.2
$24V_AH,23.4,58.450
$10V_AH,10.1,31.004
$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,25.675,114.500,299.400,51.325,0.000,65.296,71.589,239.184,24.250,0.000,0.000,14.571,1328.216,11773.554,503.249,1559.580,624.360,33.366,1266.772,0.000,1527.217,0.000,29.795
$DEVICE_MAMPS,174.109,97.409,1113.684,678.028,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,542.310,501.008,505.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38008,731
$CFSIZE,260165632,238247936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,240108,054157,6219.835,-332.334,38,2.4,57,-6.5