version: 66.02
glider: 16
mission: 6
dive: 380
start: 1 24 108 23 11 8
data:
$ID,16
$MISSION,6
$DIVE,380
$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,566.1524
$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,-2086183.2
$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,12
$R_STBD_OVSHOOT,16
$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
$GPS1,225127,6214.907,-326.691,32,2.8,51,-6.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-55.0
$GPS2,231014,6215.174,-326.863,13,1.5,13,-6.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.140,-0.172
$KALMAN_X,5350.9,1516.6,1164.9,289988.9,-24023.5
$KALMAN_Y,-24222.6,-918.2,-562.3,94224.9,4371.4
$MHEAD_RNG_PITCHd_Wd,152.8,156251,-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,-60.53,0.000,2,0.000,0.000,63,2404,3010
$GC,89,-0.85,-146.6,3.1,-3.8,3,115,12.25,0.00,-11.32,0.000,6,0.174,0.000,2221,2404,3416
$GC,437,-0.85,-146.6,32.6,-7.5,20,442,0.00,2.70,0.00,0.000,4,0.000,0.071,2220,980,3417
$GC,487,-0.85,-146.6,37.6,-9.8,22,492,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2399,3417
$GC,804,-0.85,-146.6,64.4,-8.8,37,808,0.00,2.65,0.00,0.000,4,0.000,0.082,2221,3769,3417
$GC,858,-0.85,-146.6,70.6,-10.7,39,865,0.00,2.55,0.00,0.000,6,0.000,0.058,2220,2395,3418
$GC,1174,-0.85,-146.6,97.0,-9.7,55,1179,0.00,2.67,0.00,0.000,4,0.000,0.074,2221,982,3417
$GC,1237,-0.85,-146.6,103.8,-11.2,58,1241,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2399,3418
$GC,1565,-0.85,-146.6,135.1,-8.0,74,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3418
$GC,1873,-0.85,-146.6,162.1,-9.5,89,1877,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,982,3418
$GC,1912,-0.85,-146.6,165.8,-10.0,91,1917,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2398,3418
$GC,2239,-0.85,-146.6,194.7,-8.5,107,2243,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,977,3418
$GC,2301,-0.85,-146.6,200.3,-8.8,110,2306,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2407,3418
$GC,2629,-0.85,-146.6,227.4,-8.7,126,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3418
$GC,2937,-0.85,-146.6,252.6,-7.3,141,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3419
$GC,3246,-0.85,-146.6,274.7,-7.3,156,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3418
$GC,3557,-0.85,-146.6,295.1,-5.8,171,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3418
$GC,3865,-0.85,-146.6,314.2,-6.4,186,3869,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,983,3418
$GC,3994,-0.85,-146.6,322.9,-7.0,192,3998,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2404,3419
$GC,4321,-0.85,-146.6,344.6,-6.7,208,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3419
$GC,4629,-0.85,-146.6,366.5,-7.0,223,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3419
$GC,4938,-0.85,-146.6,390.0,-7.9,238,4943,0.00,2.72,0.00,0.000,4,0.000,0.080,2221,984,3419
$GC,5057,-0.85,-146.6,399.2,-8.5,243,5061,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2398,3419
$GC,5372,-0.85,-146.6,424.9,-8.4,258,5380,0.00,2.70,0.00,0.000,4,0.000,0.095,2221,3772,3418
$GC,5430,-0.85,-146.6,430.1,-8.7,260,5435,0.00,2.60,0.00,0.000,6,0.000,0.068,2221,2397,3418
$GC,5746,-0.85,-146.6,457.3,-8.8,275,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2397,3417
$GC,6055,-0.85,-146.6,480.6,-6.9,290,6059,0.00,2.72,0.00,0.000,4,0.000,0.085,2220,986,3416
$GC,6150,-0.85,-146.6,487.7,-7.3,294,6154,0.00,2.70,0.00,0.000,6,0.000,0.071,2220,2407,3416
$GC,6465,-0.85,-146.6,511.3,-7.7,309,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2406,3416
$STATE,6731,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6731,begin apogee
$GC,6738,-0.31,0.0,532.3,8.4,322,6864,0.62,0.00,122.15,1.102,6,0.120,0.000,2341,2200,2818
$STATE,6864,end apogee,CONTROL_FINISHED_OK
$STATE,6864,begin climb
$GC,6867,0.85,146.6,535.9,0.0,328,6995,1.25,2.80,120.38,1.088,4,0.100,0.081,2589,788,2218
$GC,7223,0.91,205.4,529.4,4.4,344,7277,0.00,2.67,48.47,1.067,6,0.000,0.064,2589,2202,1978
$GC,7608,0.95,240.4,510.6,5.0,363,7640,0.15,0.00,29.80,1.047,6,0.073,0.000,2624,2201,1836
$GC,7936,0.95,240.4,486.7,7.5,379,7940,0.00,2.75,0.00,0.000,4,0.000,0.082,2624,788,1834
$GC,7968,0.95,240.4,483.9,8.6,380,7975,0.00,2.65,0.00,0.000,6,0.000,0.065,2624,2204,1834
$GC,8284,0.95,240.4,459.9,7.7,396,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2204,1832
$GC,8594,0.95,240.4,433.9,8.3,411,8598,0.00,2.78,0.00,0.000,4,0.000,0.094,2624,3612,1832
$GC,8615,0.95,240.4,431.9,8.3,412,8620,0.00,2.72,0.00,0.000,6,0.000,0.075,2624,2203,1832
$GC,8936,0.95,240.4,403.9,8.7,428,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2203,1831
$GC,9246,0.95,240.4,377.9,8.2,443,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2203,1831
$GC,9555,0.95,240.4,352.7,7.9,458,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2203,1830
$GC,9864,0.95,240.4,329.2,7.3,473,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2203,1830
$GC,10174,0.95,240.4,304.7,7.8,488,10175,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2203,1829
$GC,10483,0.95,240.4,279.3,8.5,503,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2203,1829
$GC,10792,0.95,240.4,254.3,8.1,518,10796,0.00,2.75,0.00,0.000,4,0.000,0.090,2624,3613,1829
$GC,10842,0.95,240.4,250.0,8.2,520,10846,0.00,2.72,0.00,0.000,6,0.000,0.075,2624,2193,1829
$GC,11157,0.95,240.4,226.2,7.5,535,11158,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2194,1829
$GC,11466,0.95,240.4,199.3,8.7,550,11471,0.00,2.70,0.00,0.000,4,0.000,0.080,2624,785,1828
$GC,11499,0.95,240.4,196.1,9.6,551,11505,0.00,2.60,0.00,0.000,6,0.000,0.054,2624,2208,1828
$GC,11815,0.95,240.4,165.8,9.5,567,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2207,1828
$GC,12124,0.95,240.4,134.5,8.0,582,12129,0.00,2.67,0.00,0.000,4,0.000,0.076,2623,3617,1829
$GC,12169,1.08,365.8,133.6,2.6,584,12272,0.00,2.70,97.03,0.812,6,0.000,0.070,2624,2199,1325
$GC,12594,1.08,365.8,106.7,7.3,605,12599,0.10,2.72,0.00,0.000,4,0.063,0.074,2656,780,1324
$GC,12661,1.08,365.8,98.9,12.3,608,12665,0.00,2.62,0.00,0.000,6,0.000,0.051,2656,2206,1323
$GC,12982,1.08,365.8,60.9,10.6,624,12983,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2206,1324
$GC,13291,1.08,365.8,32.4,8.3,639,13295,0.00,2.70,0.00,0.000,4,0.000,0.070,2656,781,1324
$GC,13363,1.08,365.8,24.9,10.0,642,13368,0.00,2.62,0.00,0.000,6,0.000,0.054,2656,2205,1324
$STATE,13573,end climb,SURFACE_DEPTH_REACHED
$STATE,13573,begin surface coast
$FINISH,0.5,1.027491
$STATE,13595,end surface coast,CONTROL_FINISHED_OK
$STATE,13595,begin surface
$SM_CCo,13618,118.15,0.690,1,0,509,566.15
$SM_GC,1.09,0.00,0.00,118.15,0.000,0.000,0.690,67,2407,509,-10.78,0.20,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2080
$TCM_TEMP,15.90
$XPDR_PINGS,66
$ALTIM_BOTTOM_PING,500.4,41.6
$24V_AH,23.3,59.131
$10V_AH,10.1,31.366
$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,26.075,91.950,417.825,118.150,0.000,165.682,257.264,328.335,21.000,0.000,0.000,13.042,1185.159,10630.896,607.606,1447.701,1004.142,33.363,1343.565,0.000,1413.617,0.000,35.893
$DEVICE_MAMPS,174.109,95.108,1102.179,689.533,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,481.837,446.057,445.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31748,653
$CFSIZE,260165632,238018560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,250108,030148,6214.504,-323.834,42,4.8,61,-6.4