version: 66.02
glider: 16
mission: 6
dive: 377
start: 1 24 108 10 3 51
data:
$ID,16
$MISSION,6
$DIVE,377
$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,-2086134.6
$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,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
$GPS1,095728,6218.445,-332.197,33,4.1,52,-6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-57.2
$GPS2,100259,6218.463,-332.196,15,4.8,34,-6.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.165,-0.148
$KALMAN_X,14041.8,662.6,207.4,278407.0,-17181.6
$KALMAN_Y,-22806.2,-984.9,-456.5,98823.1,10699.5
$MHEAD_RNG_PITCHd_Wd,170.1,6688,-12.5,-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,-0.91,-119.4,0.0,0.0,0,86,0.00,0.00,-61.00,0.000,2,0.000,0.000,65,2403,3065
$GC,90,-0.94,-143.4,3.7,-5.2,3,116,12.27,2.65,-8.25,0.000,4,0.179,0.091,2202,3769,3403
$GC,355,-0.94,-143.4,37.0,-9.8,15,359,0.00,2.55,0.00,0.000,6,0.000,0.058,2203,2397,3403
$GC,681,-0.94,-143.4,64.9,-7.4,31,685,0.00,2.70,0.00,0.000,4,0.000,0.074,2202,977,3403
$GC,753,-0.94,-143.4,70.0,-7.2,34,757,0.00,2.62,0.00,0.000,6,0.000,0.061,2203,2398,3402
$GC,1071,-0.94,-143.4,93.6,-7.8,49,1075,0.00,2.67,0.00,0.000,4,0.000,0.072,2203,983,3403
$GC,1142,-0.94,-143.4,99.3,-7.7,52,1147,0.00,2.62,0.00,0.000,6,0.000,0.061,2203,2400,3404
$GC,1458,-0.94,-143.4,125.1,-8.3,67,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2400,3405
$GC,1768,-0.94,-143.4,152.7,-9.1,82,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2400,3405
$GC,2076,-0.94,-143.4,181.5,-9.2,97,2081,0.00,2.70,0.00,0.000,4,0.000,0.074,2203,976,3405
$GC,2166,-0.94,-143.4,190.2,-9.2,101,2170,0.00,2.65,0.00,0.000,6,0.000,0.063,2203,2400,3405
$GC,2486,-0.94,-143.4,219.1,-9.1,117,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2400,3405
$GC,2795,-0.94,-143.4,248.1,-8.6,132,2800,0.00,2.65,0.00,0.000,4,0.000,0.086,2203,3769,3406
$GC,2835,-0.94,-143.4,251.5,-8.3,134,2839,0.00,2.55,0.00,0.000,6,0.000,0.061,2203,2401,3406
$GC,3161,-0.94,-143.4,278.8,-7.9,150,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2401,3406
$GC,3470,-0.94,-143.4,303.0,-7.5,165,3475,0.00,2.72,0.00,0.000,4,0.000,0.080,2203,979,3406
$GC,3533,-0.94,-143.4,308.0,-8.1,168,3538,0.00,2.67,0.00,0.000,6,0.000,0.067,2203,2401,3407
$GC,3860,-0.94,-143.4,334.0,-8.0,184,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2401,3407
$GC,4168,-0.94,-143.4,358.2,-7.7,199,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2401,3407
$GC,4478,-0.94,-143.4,381.5,-7.8,214,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2401,3406
$GC,4787,-0.94,-143.4,405.8,-7.8,229,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2401,3406
$GC,5097,-0.94,-143.4,428.6,-7.5,244,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2401,3405
$GC,5406,-0.94,-143.4,452.1,-7.5,259,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2400,3404
$GC,5715,-0.94,-143.4,475.9,-7.5,274,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2401,3403
$GC,6024,-0.94,-143.4,500.3,-7.9,289,6028,0.00,2.72,0.00,0.000,4,0.000,0.084,2203,986,3403
$GC,6109,-0.94,-143.4,507.3,-8.3,293,6113,0.00,2.70,0.00,0.000,6,0.000,0.075,2203,2404,3403
$STATE,6268,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6268,begin apogee
$GC,6274,-0.31,0.0,520.6,8.5,301,6397,0.70,0.00,119.95,1.090,6,0.121,0.000,2337,2199,2817
$STATE,6398,end apogee,CONTROL_FINISHED_OK
$STATE,6398,begin climb
$GC,6401,0.94,143.4,524.7,0.0,307,6531,1.40,2.90,118.25,1.066,4,0.104,0.094,2611,3613,2231
$GC,6570,0.94,143.4,519.2,7.7,315,6577,0.00,2.75,0.00,0.000,6,0.000,0.074,2611,2200,2230
$GC,6886,0.94,143.4,498.6,6.5,331,6890,0.00,2.78,0.00,0.000,4,0.000,0.087,2611,781,2229
$GC,6930,0.94,143.4,495.5,7.6,333,6935,0.00,2.70,0.00,0.000,6,0.000,0.067,2611,2202,2229
$GC,7250,0.94,143.4,473.8,6.9,349,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2202,2228
$GC,7560,0.94,143.4,453.5,6.4,364,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2202,2227
$GC,7870,0.94,143.4,433.0,6.6,379,7874,0.00,2.83,0.00,0.000,4,0.000,0.097,2611,3619,2225
$GC,7913,0.94,143.4,429.8,7.1,381,7918,0.00,2.75,0.00,0.000,6,0.000,0.076,2611,2197,2225
$GC,8235,0.95,155.3,410.8,5.6,397,8250,0.00,2.88,10.25,0.943,4,0.000,0.096,2612,3613,2182
$GC,8290,0.95,155.3,407.3,6.3,398,8296,0.00,2.75,0.00,0.000,6,0.000,0.077,2611,2198,2182
$GC,8605,0.95,155.3,388.5,6.1,414,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2197,2181
$GC,8914,0.95,155.3,366.9,7.7,429,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2197,2180
$GC,9224,0.95,155.3,344.0,7.9,444,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2197,2179
$GC,9533,0.95,155.3,320.7,7.4,459,9534,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2197,2179
$GC,9842,0.95,155.3,296.3,7.7,474,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2197,2179
$GC,10152,0.95,155.3,273.8,7.1,489,10157,0.00,2.83,0.00,0.000,4,0.000,0.094,2611,3620,2179
$GC,10236,0.95,155.3,267.4,7.8,493,10240,0.00,2.72,0.00,0.000,6,0.000,0.076,2611,2199,2179
$GC,10562,0.96,164.7,246.9,5.7,509,10576,0.00,2.83,8.73,0.830,4,0.000,0.092,2611,3616,2144
$GC,10623,0.96,164.7,242.9,6.7,511,10629,0.00,2.72,0.00,0.000,6,0.000,0.074,2611,2200,2144
$GC,10938,0.96,168.2,224.2,5.9,527,10947,0.00,2.83,4.18,0.640,4,0.000,0.091,2611,3619,2131
$GC,11010,0.96,168.2,219.7,6.8,530,11015,0.00,2.72,0.00,0.000,6,0.000,0.073,2611,2199,2131
$GC,11332,0.96,168.2,200.5,6.2,546,11337,0.00,2.80,0.00,0.000,4,0.000,0.089,2611,3618,2131
$GC,11365,0.96,168.2,198.2,6.1,547,11372,0.00,2.72,0.00,0.000,6,0.000,0.071,2611,2192,2131
$GC,11681,0.98,182.1,180.7,5.5,563,11700,0.00,0.00,12.98,0.810,6,0.000,0.000,2611,2192,2074
$GC,12010,0.98,182.1,160.7,6.4,579,12011,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2192,2074
$GC,12321,0.98,182.1,141.0,6.0,594,12322,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2192,2074
$GC,12629,0.98,182.1,120.1,6.4,609,12630,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2192,2074
$GC,12938,0.98,182.1,97.2,7.9,624,12940,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2192,2074
$GC,13247,0.98,182.1,76.5,6.5,639,13248,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2192,2075
$GC,13556,0.98,182.1,55.8,7.2,654,13557,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2192,2077
$GC,13866,0.98,182.1,37.3,6.5,669,13867,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2192,2077
$GC,14176,0.98,182.1,17.6,7.4,684,14177,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2192,2077
$STATE,14399,end climb,SURFACE_DEPTH_REACHED
$STATE,14399,begin surface coast
$FINISH,0.8,1.026864
$STATE,14421,end surface coast,CONTROL_FINISHED_OK
$STATE,14421,begin surface
$SM_CCo,14444,71.10,0.672,2,0,1594,300.00
$SM_GC,1.47,0.00,0.00,71.10,0.000,0.000,0.672,69,2412,1594,-10.77,0.34,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2102
$TCM_TEMP,14.90
$XPDR_PINGS,74
$ALTIM_BOTTOM_PING,450.5,79.6
$24V_AH,23.4,58.677
$10V_AH,10.1,31.143
$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,25.650,82.525,274.325,71.100,0.000,32.586,33.097,132.647,22.000,0.000,0.000,37.356,1249.138,11257.372,474.677,1459.566,420.508,33.361,1168.133,0.000,1413.448,0.000,25.072
$DEVICE_MAMPS,178.711,97.409,1089.907,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,519.284,476.977,500.328,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34881,696
$CFSIZE,260165632,238170112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,2,0
$GPS,240108,140725,6217.640,-329.802,35,1.2,52,-6.5