version: 66.02
glider: 16
mission: 6
dive: 376
start: 1 24 108 5 49 7
data:
$ID,16
$MISSION,6
$DIVE,376
$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,-2086096.6
$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
$GPS1,054157,6219.835,-332.334,38,2.4,57,-6.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-56.6
$GPS2,054817,6219.847,-332.384,11,3.7,30,-6.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.184,-0.123
$KALMAN_X,16515.7,1542.5,1106.4,274004.3,-17974.2
$KALMAN_Y,-26181.2,632.4,251.2,102466.6,4369.8
$MHEAD_RNG_PITCHd_Wd,173.6,9210,-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,-60.88,0.000,2,0.000,0.000,70,2407,3041
$GC,90,-0.85,-146.6,3.5,-4.5,3,119,12.32,2.65,-9.27,0.000,4,0.178,0.092,2220,3770,3415
$GC,358,-0.85,-146.6,34.1,-11.0,15,362,0.00,2.55,0.00,0.000,6,0.000,0.058,2220,2397,3415
$GC,685,-0.85,-146.6,61.2,-5.2,31,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2397,3416
$GC,996,-0.85,-146.6,92.0,-9.9,46,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2397,3417
$GC,1303,-0.85,-146.6,120.0,-8.6,61,1307,0.00,2.70,0.00,0.000,4,0.000,0.076,2220,983,3416
$GC,1357,-0.85,-146.6,125.3,-9.9,63,1364,0.00,2.62,0.00,0.000,6,0.000,0.064,2220,2399,3417
$GC,1674,-0.85,-146.6,152.8,-8.0,79,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3417
$GC,1982,-0.85,-146.6,178.0,-8.1,94,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3417
$GC,2291,-0.85,-146.6,202.4,-6.6,109,2296,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,984,3418
$GC,2358,-0.85,-146.6,207.8,-8.6,112,2363,0.00,2.65,0.00,0.000,6,0.000,0.065,2220,2405,3418
$GC,2679,-0.85,-146.6,232.4,-7.4,128,2684,0.00,2.70,0.00,0.000,4,0.000,0.076,2220,985,3418
$GC,2734,-0.85,-146.6,236.5,-7.4,130,2740,0.00,2.62,0.00,0.000,6,0.000,0.064,2220,2400,3418
$GC,3051,-0.85,-146.6,259.7,-7.3,146,3055,0.00,2.70,0.00,0.000,4,0.000,0.076,2220,983,3418
$GC,3105,-0.85,-146.6,264.0,-7.7,148,3111,0.00,2.65,0.00,0.000,6,0.000,0.066,2221,2404,3418
$GC,3421,-0.85,-146.6,287.8,-7.7,164,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3419
$GC,3731,-0.85,-146.6,312.5,-8.2,179,3735,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,979,3420
$GC,3802,-0.85,-146.6,318.7,-8.5,182,3806,0.00,2.67,0.00,0.000,6,0.000,0.068,2220,2405,3419
$GC,4117,-0.85,-146.6,343.6,-7.8,197,4122,0.00,2.67,0.00,0.000,4,0.000,0.093,2220,3766,3420
$GC,4163,-0.85,-146.6,347.5,-8.8,199,4167,0.00,2.58,0.00,0.000,6,0.000,0.067,2220,2401,3420
$GC,4483,-0.85,-146.6,371.7,-7.5,215,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3419
$GC,4792,-0.85,-146.6,394.3,-7.3,230,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3419
$GC,5102,-0.85,-146.6,416.3,-7.2,245,5107,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,978,3418
$GC,5168,-0.85,-146.6,421.6,-8.3,248,5173,0.00,2.70,0.00,0.000,6,0.000,0.072,2220,2407,3419
$GC,5489,-0.85,-146.6,445.9,-7.7,264,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3418
$GC,5799,-0.85,-146.6,469.0,-7.1,279,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3417
$GC,6108,-0.85,-146.6,490.2,-6.9,294,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3416
$GC,6417,-0.85,-146.6,510.2,-5.7,309,6422,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,982,3415
$GC,6507,-0.85,-146.6,516.1,-7.0,313,6511,0.00,2.67,0.00,0.000,6,0.000,0.072,2220,2403,3415
$STATE,6639,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6639,begin apogee
$GC,6646,-0.31,0.0,524.4,6.3,320,6771,0.62,0.00,121.70,1.111,6,0.119,0.000,2341,2192,2817
$STATE,6771,end apogee,CONTROL_FINISHED_OK
$STATE,6771,begin climb
$GC,6775,0.85,146.6,527.3,0.0,326,6905,1.23,2.85,120.53,1.079,4,0.101,0.081,2586,785,2217
$GC,6929,0.89,190.1,523.3,4.8,333,6973,0.00,2.70,36.80,1.035,6,0.000,0.067,2586,2195,2040
$GC,7291,0.89,190.1,502.7,6.0,351,7296,0.00,2.83,0.00,0.000,4,0.000,0.097,2586,3613,2038
$GC,7318,0.89,190.1,500.8,6.5,352,7323,0.00,2.72,0.00,0.000,6,0.000,0.075,2586,2203,2038
$GC,7634,0.90,199.5,482.9,5.7,367,7648,0.00,2.83,8.55,0.922,4,0.000,0.085,2586,782,2002
$GC,7679,0.90,199.5,480.3,6.8,369,7683,0.00,2.70,0.00,0.000,6,0.000,0.066,2585,2200,2002
$GC,8004,0.90,199.5,460.1,6.2,385,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2001
$GC,8314,0.91,203.1,441.5,5.9,400,8320,0.00,0.00,4.15,0.724,6,0.000,0.000,2586,2200,1989
$GC,8624,0.92,218.7,423.4,5.6,415,8644,0.12,0.00,14.52,0.993,6,0.086,0.000,2612,2200,1924
$GC,8953,0.92,218.7,402.5,6.4,431,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2200,1923
$GC,9262,0.92,218.7,382.1,6.6,446,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2200,1922
$GC,9572,0.92,218.7,360.7,6.8,461,9573,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2200,1921
$GC,9881,0.92,218.7,339.4,6.9,476,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2200,1921
$GC,10190,0.92,218.7,319.6,6.0,491,10194,0.00,2.72,0.00,0.000,4,0.000,0.081,2612,783,1921
$GC,10240,0.92,218.7,316.2,7.0,493,10244,0.00,2.67,0.00,0.000,6,0.000,0.064,2612,2205,1920
$GC,10555,0.92,218.7,295.6,6.8,508,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2204,1920
$GC,10864,0.92,218.7,274.8,6.4,523,10869,0.00,2.75,0.00,0.000,4,0.000,0.079,2612,779,1920
$GC,10904,0.92,218.7,272.1,7.4,525,10909,0.00,2.67,0.00,0.000,6,0.000,0.064,2612,2202,1920
$GC,11231,0.92,218.7,251.8,6.4,541,11232,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2202,1920
$GC,11541,0.92,218.7,232.2,6.6,556,11545,0.00,2.72,0.00,0.000,4,0.000,0.076,2612,778,1920
$GC,11613,0.92,218.7,227.1,6.7,559,11618,0.00,2.65,0.00,0.000,6,0.000,0.061,2612,2199,1919
$GC,11928,0.92,218.7,204.9,7.3,574,11930,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2199,1919
$GC,12238,0.92,218.7,181.3,8.0,589,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2200,1920
$GC,12548,0.92,218.7,154.5,9.2,604,12549,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2199,1920
$GC,12857,0.92,218.7,129.1,7.2,619,12858,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2199,1922
$GC,13166,0.92,218.7,108.3,7.2,634,13167,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2198,1921
$GC,13476,0.92,218.7,86.9,6.5,649,13477,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2201,1922
$GC,13786,0.92,218.7,65.8,6.9,664,13790,0.00,2.67,0.00,0.000,4,0.000,0.070,2612,782,1923
$GC,13825,0.92,218.7,62.9,6.8,666,13830,0.00,2.62,0.00,0.000,6,0.000,0.055,2612,2205,1923
$GC,14153,0.92,218.7,40.5,6.7,682,14154,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2205,1923
$GC,14461,0.92,218.7,17.9,7.0,697,14462,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2205,1925
$STATE,14706,end climb,SURFACE_DEPTH_REACHED
$STATE,14706,begin surface coast
$FINISH,0.8,1.027483
$STATE,14729,end surface coast,CONTROL_FINISHED_OK
$STATE,14729,begin surface
$SM_CCo,14751,49.17,0.658,2,0,1594,300.00
$SM_GC,1.51,0.00,0.00,49.17,0.000,0.000,0.658,66,2401,1594,-10.78,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2106
$TCM_TEMP,16.40
$XPDR_PINGS,76
$ALTIM_BOTTOM_PING,450.7,82.6
$24V_AH,23.3,58.569
$10V_AH,10.1,31.074
$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,25.800,86.925,306.250,49.175,0.000,32.596,37.484,177.918,22.500,0.000,0.000,30.919,1273.080,11489.635,465.729,1488.161,477.554,33.369,1192.553,0.000,1445.733,0.000,25.079
$DEVICE_MAMPS,177.944,96.642,1110.616,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,528.620,486.789,493.553,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34786,710
$CFSIZE,260165632,238211072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,2,0
$GPS,240108,095728,6218.445,-332.197,33,4.1,52,-6.5