version: 66.02
glider: 16
mission: 6
dive: 403
start: 2 1 108 8 38 30
data:
$ID,16
$MISSION,6
$DIVE,403
$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,-2086850.9
$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,18
$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
$GPS1,083028,6127.701,-142.135,56,14.5,76,-5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-42.7
$GPS2,083740,6127.732,-141.945,35,2.6,54,-5.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.091,-0.202
$KALMAN_X,54219.8,1309.7,1528.7,333233.0,11571.7
$KALMAN_Y,6704.4,68.1,363.5,-26516.1,-776.7
$MHEAD_RNG_PITCHd_Wd,195.0,42714,-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,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,121,0.00,0.00,-93.00,0.000,6,0.000,0.000,72,2406,3415
$GC,124,-0.85,-146.6,2.6,-2.5,4,146,12.20,2.65,0.00,0.000,4,0.173,0.075,2223,3766,3417
$GC,399,-0.85,-146.6,50.2,-13.1,16,403,0.00,2.53,0.00,0.000,6,0.000,0.054,2222,2395,3419
$GC,719,-0.85,-146.6,82.4,-8.1,32,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2395,3419
$GC,1031,-0.85,-146.6,119.2,-14.2,47,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2395,3419
$GC,1338,-0.85,-146.6,142.7,-6.7,62,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2395,3419
$GC,1647,-0.85,-146.6,160.8,-5.0,77,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2395,3420
$GC,1957,-0.85,-146.6,187.8,-8.4,92,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2395,3420
$GC,2265,-0.85,-146.6,210.7,-7.3,107,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2395,3420
$GC,2575,-0.85,-146.6,231.7,-6.5,122,2579,0.00,2.65,0.00,0.000,4,0.000,0.083,2223,3765,3420
$GC,2637,-0.85,-146.6,236.7,-8.4,125,2641,0.00,2.53,0.00,0.000,6,0.000,0.056,2223,2395,3420
$GC,2963,-0.85,-146.6,260.5,-6.9,141,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2395,3420
$GC,3273,-0.85,-146.6,282.4,-6.9,156,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2395,3420
$GC,3583,-0.85,-146.6,304.7,-7.2,171,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2395,3420
$GC,3891,-0.85,-146.6,327.4,-7.5,186,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2395,3420
$GC,4200,-0.85,-146.6,350.0,-7.4,201,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2395,3420
$GC,4511,-0.85,-146.6,373.6,-7.7,216,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2395,3420
$GC,4819,-0.85,-146.6,398.6,-7.8,231,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2395,3421
$GC,5128,-0.85,-146.6,421.9,-7.6,246,5133,0.00,2.67,0.00,0.000,4,0.000,0.084,2223,3771,3420
$GC,5178,-0.85,-146.6,426.1,-8.5,248,5182,0.00,2.50,0.00,0.000,6,0.000,0.056,2223,2401,3420
$GC,5494,-0.85,-146.6,450.0,-7.5,263,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3420
$GC,5802,-0.85,-146.6,471.1,-6.7,278,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3420
$GC,6112,-0.85,-146.6,493.2,-7.0,293,6117,0.00,2.65,0.00,0.000,4,0.000,0.087,2222,3766,3420
$GC,6175,-0.85,-146.6,497.8,-7.3,296,6179,0.00,2.53,0.00,0.000,6,0.000,0.056,2223,2396,3420
$GC,6501,-0.85,-146.6,519.0,-6.6,312,6506,0.00,2.67,0.00,0.000,4,0.000,0.074,2223,984,3420
$GC,6579,-0.85,-146.6,524.5,-7.2,315,6586,0.00,2.62,0.00,0.000,6,0.000,0.062,2223,2404,3420
$GC,6895,-0.85,-146.6,546.0,-6.5,331,6899,0.00,2.65,0.00,0.000,4,0.000,0.088,2223,3766,3420
$GC,6980,-0.85,-146.6,552.3,-8.0,335,6984,0.00,2.53,0.00,0.000,6,0.000,0.057,2223,2400,3419
$GC,7306,-0.85,-146.6,574.3,-6.3,351,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3419
$GC,7616,-0.85,-146.6,593.5,-6.3,366,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3419
$STATE,7798,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7799,begin apogee
$GC,7806,-0.31,0.0,607.0,7.0,375,7942,0.60,0.00,126.88,1.071,6,0.114,0.000,2341,2193,2817
$STATE,7942,end apogee,CONTROL_FINISHED_OK
$STATE,7942,begin climb
$GC,7945,0.85,146.6,610.0,0.0,382,8076,1.20,2.90,121.03,1.066,4,0.075,0.088,2590,3612,2219
$GC,8129,0.85,154.9,603.6,5.8,391,8143,0.00,2.70,8.60,0.890,6,0.000,0.064,2590,2196,2184
$GC,8460,0.85,154.9,582.6,6.9,407,8465,0.00,2.72,0.00,0.000,4,0.000,0.078,2590,782,2183
$GC,8493,0.85,154.9,580.3,7.2,408,8499,0.00,2.65,0.00,0.000,6,0.000,0.059,2590,2200,2183
$GC,8810,0.88,177.4,562.1,5.4,424,8835,0.00,2.85,19.27,1.001,4,0.000,0.090,2590,3616,2093
$GC,8902,0.88,177.4,556.4,6.3,428,8906,0.00,2.70,0.00,0.000,6,0.000,0.064,2590,2196,2093
$GC,9218,0.88,179.7,538.4,5.9,443,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2196,2091
$GC,9527,0.88,179.7,519.1,6.0,458,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2196,2090
$GC,9836,0.88,179.7,500.2,6.4,473,9840,0.00,2.78,0.00,0.000,4,0.000,0.087,2590,3619,2088
$GC,9902,0.88,179.7,495.6,6.9,476,9906,0.00,2.67,0.00,0.000,6,0.000,0.063,2590,2200,2088
$GC,10224,0.89,182.9,475.5,5.9,492,10231,0.00,0.00,5.55,0.785,6,0.000,0.000,2590,2200,2071
$GC,10532,0.90,191.9,457.7,5.8,507,10546,0.00,2.80,8.93,0.879,4,0.000,0.086,2590,3616,2034
$GC,10591,0.90,191.9,453.7,6.8,509,10598,0.00,2.67,0.00,0.000,6,0.000,0.063,2590,2202,2034
$GC,10908,0.90,191.9,433.5,6.4,525,10909,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2201,2033
$GC,11216,0.90,191.9,413.9,6.3,540,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2201,2033
$GC,11525,0.90,191.9,394.5,6.0,555,11526,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2202,2033
$GC,11835,0.90,191.9,375.8,6.2,570,11837,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2202,2033
$GC,12144,0.90,191.9,356.6,6.0,585,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2201,2033
$GC,12453,0.90,195.3,337.5,5.9,600,12463,0.00,2.72,4.62,0.646,4,0.000,0.073,2590,782,2020
$GC,12493,0.90,199.0,335.1,5.9,602,12503,0.00,2.62,4.90,0.660,6,0.000,0.054,2590,2201,2005
$GC,12820,0.93,227.9,316.5,5.2,618,12847,0.12,0.00,24.65,0.859,6,0.060,0.000,2624,2201,1886
$GC,13150,0.93,227.9,293.3,7.3,634,13151,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2201,1887
$GC,13458,0.93,227.9,268.9,7.6,649,13463,0.00,2.72,0.00,0.000,4,0.000,0.083,2624,3617,1886
$GC,13507,0.93,227.9,264.5,8.8,651,13512,0.00,2.67,0.00,0.000,6,0.000,0.063,2624,2196,1886
$GC,13824,0.93,227.9,239.4,7.4,666,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2196,1886
$GC,14133,0.93,227.9,215.2,9.0,681,14134,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2196,1887
$GC,14442,0.93,227.9,190.5,7.4,696,14443,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2196,1886
$GC,14752,0.93,227.9,166.0,7.5,711,14753,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2196,1887
$GC,15060,0.93,227.9,138.9,8.8,726,15065,0.00,2.67,0.00,0.000,4,0.000,0.071,2624,778,1887
$GC,15093,0.93,227.9,135.7,9.2,727,15100,0.00,2.60,0.00,0.000,6,0.000,0.051,2624,2202,1887
$GC,15412,0.93,227.9,101.9,12.2,743,15413,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2202,1887
$GC,15718,0.93,227.9,66.2,11.8,758,15723,0.00,2.65,0.00,0.000,4,0.000,0.066,2624,784,1888
$GC,15768,0.93,227.9,60.0,11.6,760,15772,0.00,2.58,0.00,0.000,6,0.000,0.051,2624,2201,1888
$GC,16086,0.93,227.9,20.1,12.1,775,16087,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2201,1889
$STATE,16287,end climb,SURFACE_DEPTH_REACHED
$STATE,16287,begin surface coast
$FINISH,0.6,1.027359
$STATE,16311,end surface coast,CONTROL_FINISHED_OK
$STATE,16311,begin surface
$SM_CCo,16333,46.17,0.614,2,0,1594,300.00
$SM_GC,1.39,0.00,0.00,46.17,0.000,0.000,0.614,74,2401,1594,-10.75,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2072
$TCM_TEMP,17.10
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,526.4,90.2
$24V_AH,23.4,62.914
$10V_AH,10.2,34.023
$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,25.725,80.650,324.425,46.175,0.000,32.611,39.231,184.109,15.250,0.000,0.000,54.937,1387.887,12797.898,509.162,1600.332,523.203,33.370,1278.741,0.000,1531.080,0.000,29.970
$DEVICE_MAMPS,173.342,89.739,1070.732,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,577.073,547.755,454.060,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41029,786
$CFSIZE,260165632,236224512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,3,0
$GPS,010208,131327,6128.089,-134.459,50,2.2,69,-5.3