version: 66.02
glider: 16
mission: 6
dive: 402
start: 2 1 108 2 58 43
data:
$ID,16
$MISSION,6
$DIVE,402
$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,-2086795.4
$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,15
$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
$GPS1,024046,6129.327,-152.949,73,2.7,92,-5.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-45.3
$GPS2,025753,6129.099,-152.554,17,2.4,36,-5.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.176,-0.151
$KALMAN_X,41192.5,322.3,75.8,339425.3,5897.7
$KALMAN_Y,7522.3,-1488.2,-1234.5,-21588.2,3511.7
$MHEAD_RNG_PITCHd_Wd,182.5,44689,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.85,-146.6,0.0,0.0,0,127,0.00,0.00,-98.00,0.000,2,0.000,0.000,70,2405,3374
$GC,130,-0.85,-146.6,4.4,-3.6,5,153,12.12,2.78,-0.85,0.000,4,0.171,0.087,2222,983,3418
$GC,349,-0.85,-146.6,20.3,-1.0,14,356,0.00,2.65,0.00,0.000,6,0.000,0.061,2224,2400,3420
$GC,667,-0.85,-146.6,42.0,-12.2,30,672,0.00,2.65,0.00,0.000,4,0.000,0.081,2223,3772,3420
$GC,756,-0.85,-146.6,53.8,-15.3,34,761,0.00,2.55,0.00,0.000,6,0.000,0.057,2223,2397,3420
$GC,1078,-0.85,-146.6,79.2,-7.6,50,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2396,3420
$GC,1388,-0.85,-146.6,108.7,-6.4,65,1392,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,979,3420
$GC,1477,-0.85,-146.6,113.6,-6.7,69,1481,0.00,2.65,0.00,0.000,6,0.000,0.061,2223,2401,3420
$GC,1799,-0.85,-146.6,128.7,-5.8,85,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3420
$GC,2109,-0.85,-146.6,139.1,3.2,100,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3420
$GC,2416,-0.85,-146.6,166.4,-9.9,115,2421,0.00,2.67,0.00,0.000,4,0.000,0.070,2223,983,3420
$GC,2456,-0.85,-146.6,170.0,-8.8,117,2460,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2401,3420
$GC,2783,-0.85,-146.6,196.8,-8.6,133,2787,0.00,2.65,0.00,0.000,4,0.000,0.083,2222,3771,3420
$GC,2854,-0.85,-146.6,203.5,-9.5,136,2859,0.00,2.55,0.00,0.000,6,0.000,0.058,2222,2398,3420
$GC,3171,-0.85,-146.6,230.3,-8.1,151,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2398,3420
$GC,3480,-0.85,-146.6,251.5,-7.2,166,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2398,3420
$GC,3789,-0.85,-146.6,271.8,-6.5,181,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2398,3420
$GC,4099,-0.85,-146.6,296.3,-8.5,196,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2398,3420
$GC,4407,-0.85,-146.6,322.2,-8.1,211,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2396,3420
$GC,4717,-0.85,-146.6,347.2,-9.2,226,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2396,3421
$GC,5027,-0.85,-146.6,372.8,-8.0,241,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2396,3420
$GC,5335,-0.85,-146.6,396.0,-6.9,256,5340,0.00,2.70,0.00,0.000,4,0.000,0.087,2223,3772,3421
$GC,5393,-0.85,-146.6,400.0,-7.2,258,5399,0.00,2.55,0.00,0.000,6,0.000,0.058,2223,2400,3420
$GC,5709,-0.85,-146.6,422.0,-6.9,274,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3420
$GC,6018,-0.85,-146.6,443.3,-7.1,289,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3420
$GC,6327,-0.85,-146.6,465.5,-6.6,304,6331,0.00,2.70,0.00,0.000,4,0.000,0.076,2223,983,3420
$GC,6428,-0.85,-146.6,471.6,-6.2,308,6434,0.00,2.67,0.00,0.000,6,0.000,0.066,2222,2402,3420
$GC,6743,-0.85,-146.6,490.3,-6.3,324,6747,0.00,2.67,0.00,0.000,4,0.000,0.089,2223,3768,3420
$GC,6860,-0.85,-146.6,498.6,-6.9,329,6864,0.00,2.53,0.00,0.000,6,0.000,0.060,2222,2400,3420
$GC,7176,-0.85,-146.6,517.6,-5.5,344,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3420
$GC,7484,-0.85,-146.6,534.8,-6.4,359,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3420
$GC,7795,-0.85,-146.6,556.3,-6.5,374,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3419
$GC,8103,-0.85,-146.6,573.3,-5.4,389,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3419
$GC,8412,-0.85,-146.6,595.0,-8.1,404,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3417
$GC,8722,-0.85,-146.6,616.7,-6.7,419,8727,0.00,2.72,0.00,0.000,4,0.000,0.094,2222,3772,3418
$GC,8779,-0.85,-146.6,620.8,-7.4,421,8785,0.00,2.58,0.00,0.000,6,0.000,0.063,2222,2400,3417
$GC,9095,-0.85,-146.6,641.1,-7.1,437,9099,0.00,2.72,0.00,0.000,4,0.000,0.082,2222,986,3417
$GC,9173,-0.85,-146.6,647.6,-8.4,440,9179,0.00,2.67,0.00,0.000,6,0.000,0.071,2222,2398,3416
$GC,9489,-0.85,-146.6,670.6,-6.6,456,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3416
$GC,9798,-0.85,-146.6,690.1,-6.2,471,9802,0.00,2.72,0.00,0.000,4,0.000,0.083,2222,986,3415
$GC,9849,-0.85,-146.6,693.3,-5.8,473,9853,0.00,2.70,0.00,0.000,6,0.000,0.072,2222,2400,3415
$STATE,10038,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10038,begin apogee
$GC,10045,-0.31,0.0,705.5,6.4,482,10181,0.60,0.00,127.50,1.180,6,0.117,0.000,2339,2192,2817
$STATE,10182,end apogee,CONTROL_FINISHED_OK
$STATE,10182,begin climb
$GC,10185,0.85,146.6,709.9,0.0,489,10312,1.25,0.00,123.55,1.173,6,0.101,0.000,2588,2192,2219
$GC,10616,0.85,146.6,688.9,6.3,510,10621,0.00,2.88,0.00,0.000,4,0.000,0.099,2588,3614,2217
$GC,10666,0.85,147.8,685.9,6.0,512,10670,0.00,2.72,0.00,0.000,6,0.000,0.074,2588,2204,2216
$GC,10982,0.87,173.1,668.6,5.3,527,11007,0.00,0.00,23.12,1.127,6,0.000,0.000,2588,2204,2110
$GC,11310,0.91,208.8,651.5,5.0,543,11343,0.00,0.00,30.90,1.140,6,0.000,0.000,2588,2204,1965
$GC,11639,0.91,208.8,634.0,6.2,559,11640,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,1962
$GC,11949,0.91,208.8,614.7,6.2,574,11950,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,1961
$GC,12258,0.94,229.0,597.5,5.4,589,12278,0.12,0.00,17.55,1.090,6,0.081,0.000,2616,2204,1883
$GC,12587,0.94,229.0,570.4,8.7,605,12589,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2204,1881
$GC,12896,0.94,229.0,549.1,6.6,620,12897,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2204,1880
$GC,13205,0.94,229.0,525.4,8.1,635,13206,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2204,1880
$GC,13515,0.94,229.0,502.6,7.0,650,13520,0.00,2.80,0.00,0.000,4,0.000,0.092,2617,3620,1879
$GC,13550,0.94,229.0,499.6,8.5,651,13556,0.00,2.70,0.00,0.000,6,0.000,0.068,2617,2201,1879
$GC,13865,0.94,229.0,473.7,9.1,667,13866,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2202,1879
$GC,14175,0.94,229.0,445.1,8.5,682,14179,0.00,2.72,0.00,0.000,4,0.000,0.080,2617,785,1880
$GC,14237,0.94,229.0,440.4,8.7,685,14241,0.00,2.65,0.00,0.000,6,0.000,0.059,2617,2205,1879
$GC,14563,0.94,229.0,417.6,6.7,701,14568,0.00,2.78,0.00,0.000,4,0.000,0.089,2617,3623,1879
$GC,14648,0.94,229.0,411.1,7.7,705,14653,0.00,2.70,0.00,0.000,6,0.000,0.067,2617,2202,1879
$GC,14976,0.94,229.0,385.1,8.6,721,14977,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2202,1879
$GC,15284,0.94,229.0,360.7,7.1,736,15288,0.00,2.72,0.00,0.000,4,0.000,0.076,2617,780,1879
$GC,15316,0.94,229.0,358.3,7.2,737,15322,0.00,2.65,0.00,0.000,6,0.000,0.055,2617,2205,1879
$GC,15633,0.94,229.0,335.3,7.3,753,15634,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2205,1881
$GC,15941,0.94,229.0,311.4,8.0,768,15942,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2205,1881
$GC,16252,0.94,229.0,288.6,7.4,783,16253,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2204,1882
$GC,16560,0.94,229.0,264.9,7.0,798,16562,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2205,1882
$GC,16869,0.94,229.0,241.9,7.5,813,16873,0.00,2.72,0.00,0.000,4,0.000,0.071,2617,776,1883
$GC,16931,0.94,229.0,237.0,7.6,816,16936,0.00,2.62,0.00,0.000,6,0.000,0.054,2617,2203,1883
$GC,17258,0.94,229.0,210.2,7.9,832,17259,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,1884
$GC,17566,0.94,229.0,186.7,7.5,847,17567,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,1884
$GC,17877,0.96,249.7,166.4,5.4,862,17897,0.00,0.00,18.80,0.752,6,0.000,0.000,2617,2203,1798
$GC,18205,0.96,249.7,140.6,7.3,878,18206,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,1797
$GC,18514,0.96,249.7,117.0,8.1,893,18516,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,1797
$GC,18826,0.96,249.7,91.7,8.7,908,18830,0.00,2.70,0.00,0.000,4,0.000,0.070,2617,781,1797
$GC,18870,0.96,254.4,89.0,5.9,910,18880,0.00,2.62,5.47,0.574,6,0.000,0.051,2617,2208,1778
$GC,19193,1.14,414.0,71.8,1.6,925,19321,0.17,2.80,122.12,0.706,4,0.048,0.072,2668,778,1127
$GC,19374,1.14,414.0,54.7,15.5,933,19381,0.00,2.65,0.00,0.000,6,0.000,0.051,2669,2207,1127
$STATE,19689,end climb,SURFACE_DEPTH_REACHED
$STATE,19689,begin surface coast
$FINISH,0.7,1.027369
$STATE,19709,end surface coast,CONTROL_FINISHED_OK
$STATE,19709,begin surface
$SM_CCo,19793,0.00,0.000,0,0,1124,415.29
$SM_GC,1.54,11.88,0.00,0.00,0.061,0.000,0.000,73,2404,1124,-10.69,0.11,415.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2083
$TCM_TEMP,17.10
$XPDR_PINGS,71
$ALTIM_BOTTOM_PING,675.7,38.6
$24V_AH,23.3,62.796
$10V_AH,10.1,33.949
$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,26.150,102.625,469.025,0.000,0.000,130.589,183.887,352.118,23.750,0.000,0.000,37.218,1667.128,15612.110,616.825,1924.987,985.995,33.375,1540.737,0.000,1862.661,0.000,42.482
$DEVICE_MAMPS,171.041,98.943,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,704.643,651.206,579.806,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47434,950
$CFSIZE,260165632,236249088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,010208,083028,6127.701,-142.135,56,14.5,76,-5.3