version: 66.02
glider: 16
mission: 6
dive: 360
start: 1 20 108 13 2 40
data:
$ID,16
$MISSION,6
$DIVE,360
$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,-2085687.4
$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,15
$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
$GPS1,125058,6241.742,-413.371,42,3.5,61,-7.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-53.0
$GPS2,130147,6241.731,-413.319,38,3.5,57,-7.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.221,0.005
$KALMAN_X,57863.6,-104.0,-265.5,199756.6,-2177.8
$KALMAN_Y,-46234.6,801.0,2229.7,160766.3,-6832.0
$MHEAD_RNG_PITCHd_Wd,150.0,62017,-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,-61.60,0.000,2,0.000,0.000,72,2400,3073
$GC,89,-0.85,-146.6,4.4,-6.4,3,115,12.15,2.65,-7.85,0.000,4,0.172,0.094,2222,3768,3416
$GC,368,-0.85,-146.6,36.9,-7.0,15,374,0.00,2.55,0.00,0.000,6,0.000,0.058,2222,2395,3417
$GC,685,-0.85,-146.6,59.1,-8.1,31,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2394,3417
$GC,993,-0.85,-146.6,87.1,-10.2,46,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2394,3417
$GC,1302,-0.85,-146.6,114.9,-8.4,61,1307,0.00,2.67,0.00,0.000,4,0.000,0.084,2222,3769,3418
$GC,1358,-0.85,-146.6,119.8,-8.7,63,1364,0.00,2.55,0.00,0.000,6,0.000,0.059,2222,2397,3419
$GC,1674,-0.85,-146.6,145.2,-8.0,79,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3419
$GC,1983,-0.85,-146.6,170.7,-8.4,94,1988,0.00,2.70,0.00,0.000,4,0.000,0.076,2222,976,3419
$GC,2033,-0.85,-146.6,175.0,-8.9,96,2038,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2398,3419
$GC,2349,-0.85,-146.6,201.4,-7.8,111,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3419
$GC,2659,-0.85,-146.6,226.1,-7.9,126,2664,0.00,2.70,0.00,0.000,4,0.000,0.076,2222,980,3420
$GC,2827,-0.85,-146.6,240.4,-9.3,133,2833,0.00,2.65,0.00,0.000,6,0.000,0.067,2222,2401,3420
$GC,3142,-0.85,-146.6,266.6,-7.8,149,3146,0.00,2.67,0.00,0.000,4,0.000,0.090,2222,3772,3419
$GC,3214,-0.85,-146.6,272.9,-9.0,152,3219,0.00,2.58,0.00,0.000,6,0.000,0.065,2222,2400,3419
$GC,3530,-0.85,-146.6,296.0,-7.1,167,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3420
$GC,3839,-0.85,-146.6,321.0,-8.8,182,3843,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,982,3419
$GC,3950,-0.85,-146.6,330.5,-8.2,187,3955,0.00,2.70,0.00,0.000,6,0.000,0.069,2222,2407,3420
$GC,4271,-0.85,-146.6,357.7,-9.0,203,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3419
$GC,4581,-0.85,-146.6,381.9,-7.3,218,4586,0.00,2.67,0.00,0.000,4,0.000,0.095,2222,3769,3419
$GC,4647,-0.85,-146.6,387.4,-8.2,221,4652,0.00,2.60,0.00,0.000,6,0.000,0.068,2222,2396,3419
$GC,4968,-0.85,-146.6,410.2,-7.0,237,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2396,3419
$GC,5278,-0.85,-146.6,431.3,-7.1,252,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2396,3419
$GC,5587,-0.85,-146.6,452.8,-6.8,267,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2395,3419
$GC,5897,-0.85,-146.6,475.0,-7.3,282,5901,0.00,2.72,0.00,0.000,4,0.000,0.086,2222,983,3418
$GC,5947,-0.85,-146.6,478.9,-7.9,284,5951,0.00,2.70,0.00,0.000,6,0.000,0.072,2222,2403,3418
$GC,6262,-0.85,-146.6,502.0,-7.1,299,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3417
$GC,6571,-0.85,-146.6,523.4,-6.7,314,6576,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,982,3416
$GC,6611,-0.85,-146.6,526.2,-7.1,316,6616,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2404,3417
$GC,6938,-0.85,-146.6,548.7,-7.0,332,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3415
$GC,7247,-0.85,-146.6,570.1,-6.8,347,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3414
$GC,7557,-0.85,-146.6,590.8,-6.5,362,7561,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,983,3413
$GC,7612,-0.85,-146.6,594.7,-7.1,364,7618,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2408,3413
$GC,7927,-0.85,-146.6,615.1,-6.4,380,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2408,3412
$GC,8237,-0.85,-146.6,634.9,-6.3,395,8242,0.00,2.75,0.00,0.000,4,0.000,0.083,2222,981,3412
$GC,8281,-0.85,-146.6,638.2,-6.9,397,8286,0.00,2.67,0.00,0.000,6,0.000,0.073,2222,2401,3411
$GC,8602,-0.85,-146.6,658.9,-6.4,413,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3410
$GC,8912,-0.85,-146.6,679.4,-6.8,428,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3409
$GC,9221,-0.85,-146.6,699.9,-6.6,443,9226,0.00,2.72,0.00,0.000,4,0.000,0.083,2222,985,3409
$GC,9259,-0.85,-146.6,702.7,-7.3,444,9265,0.00,2.67,0.00,0.000,6,0.000,0.074,2222,2403,3409
$GC,9575,-0.85,-146.6,724.0,-6.9,460,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3408
$GC,9884,-0.85,-146.6,745.8,-7.1,475,9885,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3408
$GC,10193,-0.85,-146.6,768.6,-7.5,490,10197,0.00,2.75,0.00,0.000,4,0.000,0.082,2222,976,3407
$GC,10248,-0.85,-146.6,772.9,-8.1,492,10255,0.00,2.67,0.00,0.000,6,0.000,0.070,2222,2400,3407
$GC,10564,-0.85,-146.6,797.1,-7.6,508,10565,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3407
$GC,10873,-0.85,-146.6,819.7,-7.2,523,10874,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3406
$GC,11183,-0.85,-146.6,841.4,-6.9,538,11187,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,985,3406
$GC,11222,-0.85,-146.6,844.3,-8.0,540,11226,0.00,2.67,0.00,0.000,6,0.000,0.070,2222,2403,3406
$STATE,11340,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11340,begin apogee
$GC,11347,-0.31,0.0,852.6,6.8,546,11474,0.60,0.00,124.28,1.282,6,0.123,0.000,2337,2191,2817
$STATE,11475,end apogee,CONTROL_FINISHED_OK
$STATE,11475,begin climb
$GC,11478,0.85,146.6,857.3,0.0,552,11610,1.23,2.90,124.38,1.247,4,0.084,0.092,2589,3607,2218
$GC,11654,0.85,146.6,852.0,6.2,560,11661,0.00,2.70,0.00,0.000,6,0.000,0.072,2589,2200,2218
$GC,11971,0.88,174.5,835.7,5.2,576,11998,0.00,0.00,24.77,1.238,6,0.000,0.000,2589,2200,2105
$GC,12299,0.90,200.4,818.3,5.3,592,12324,0.00,0.00,23.15,1.231,6,0.000,0.000,2589,2200,1999
$GC,12629,0.95,237.7,801.4,5.0,608,12669,0.12,0.00,32.95,1.262,6,0.068,0.000,2621,2200,1847
$GC,12978,0.95,237.7,778.4,6.4,625,12982,0.00,2.75,0.00,0.000,4,0.000,0.086,2621,785,1846
$GC,13027,0.95,237.7,775.0,6.8,627,13031,0.00,2.65,0.00,0.000,6,0.000,0.062,2621,2203,1845
$GC,13343,0.95,237.7,754.1,7.0,642,13348,0.00,2.75,0.00,0.000,4,0.000,0.081,2621,788,1845
$GC,13382,0.95,237.7,751.0,7.7,644,13387,0.00,2.65,0.00,0.000,6,0.000,0.062,2621,2208,1845
$GC,13708,0.95,237.7,727.0,7.3,660,13712,0.00,2.75,0.00,0.000,4,0.000,0.081,2621,787,1845
$GC,13741,0.95,237.7,724.4,7.9,661,13747,0.00,2.65,0.00,0.000,6,0.000,0.061,2621,2201,1844
$GC,14056,0.95,237.7,700.8,7.6,677,14060,0.00,2.75,0.00,0.000,4,0.000,0.081,2621,785,1844
$GC,14099,0.95,237.7,697.3,8.9,679,14104,0.00,2.65,0.00,0.000,6,0.000,0.061,2621,2202,1844
$GC,14421,0.95,237.7,672.6,7.7,695,14425,0.00,2.75,0.00,0.000,4,0.000,0.081,2621,784,1844
$GC,14464,0.95,237.7,668.9,8.4,697,14469,0.00,2.65,0.00,0.000,6,0.000,0.061,2621,2202,1844
$GC,14785,0.95,237.7,645.6,7.3,713,14790,0.00,2.72,0.00,0.000,4,0.000,0.081,2621,788,1844
$GC,14819,0.95,237.7,643.1,7.1,714,14825,0.00,2.62,0.00,0.000,6,0.000,0.061,2621,2200,1843
$GC,15134,0.95,237.7,620.2,7.4,730,15135,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2199,1844
$GC,15443,0.95,237.7,597.0,7.4,745,15448,0.00,2.72,0.00,0.000,4,0.000,0.081,2621,788,1843
$GC,15494,0.95,237.7,593.0,7.7,747,15498,0.00,2.62,0.00,0.000,6,0.000,0.061,2621,2200,1844
$GC,15809,0.95,237.7,569.6,7.5,762,15810,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2200,1844
$GC,16118,0.95,237.7,546.2,7.4,777,16123,0.00,2.72,0.00,0.000,4,0.000,0.081,2621,784,1843
$GC,16174,0.95,237.7,541.8,7.9,779,16180,0.00,2.65,0.00,0.000,6,0.000,0.061,2620,2206,1844
$GC,16489,0.95,237.7,519.5,6.7,795,16493,0.00,2.75,0.00,0.000,4,0.000,0.081,2621,784,1844
$GC,16516,0.96,249.8,517.6,5.7,796,16532,0.00,2.65,10.77,1.026,6,0.000,0.060,2620,2206,1798
$GC,16853,0.96,249.8,494.9,6.4,813,16858,0.00,2.75,0.00,0.000,4,0.000,0.081,2621,788,1798
$GC,16893,0.96,255.6,492.0,5.8,815,16907,0.00,2.65,6.75,0.920,6,0.000,0.061,2620,2206,1774
$GC,17224,0.97,259.0,471.7,5.9,831,17231,0.00,0.00,4.57,0.788,6,0.000,0.000,2620,2206,1761
$GC,17534,0.97,259.0,452.9,6.1,846,17539,0.00,2.72,0.00,0.000,4,0.000,0.080,2621,787,1760
$GC,17567,0.98,266.6,450.7,5.8,847,17581,0.00,2.65,8.05,0.936,6,0.000,0.061,2621,2203,1729
$GC,17904,0.98,266.6,429.9,6.4,864,17905,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2203,1729
$GC,18213,0.98,266.6,409.9,6.5,879,18217,0.00,2.75,0.00,0.000,4,0.000,0.080,2620,781,1728
$GC,18245,0.98,266.6,407.7,6.8,880,18251,0.00,2.65,0.00,0.000,6,0.000,0.061,2621,2203,1728
$GC,18561,0.98,266.6,386.1,7.1,896,18565,0.00,2.72,0.00,0.000,4,0.000,0.079,2620,782,1728
$GC,18600,0.98,266.6,383.2,8.0,898,18605,0.00,2.62,0.00,0.000,6,0.000,0.061,2621,2200,1728
$GC,18927,0.98,266.6,360.4,6.8,914,18928,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2200,1728
$GC,19235,0.98,266.6,337.6,7.8,929,19240,0.00,2.72,0.00,0.000,4,0.000,0.078,2621,784,1728
$GC,19268,0.98,266.6,334.6,9.3,930,19275,0.00,2.62,0.00,0.000,6,0.000,0.059,2621,2204,1728
$GC,19584,0.98,266.6,305.5,9.6,946,19588,0.00,2.70,0.00,0.000,4,0.000,0.077,2621,787,1728
$GC,19639,0.98,266.6,299.1,11.7,948,19645,0.00,2.62,0.00,0.000,6,0.000,0.059,2620,2199,1728
$GC,19955,0.98,266.6,266.3,11.2,964,19956,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2200,1728
$GC,20264,0.98,266.6,228.9,12.8,979,20265,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2199,1728
$GC,20573,0.98,266.6,190.7,11.8,994,20574,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2200,1729
$GC,20883,0.98,266.6,153.4,12.1,1009,20887,0.00,2.67,0.00,0.000,4,0.000,0.075,2621,786,1729
$GC,20945,0.98,266.6,145.2,13.8,1012,20949,0.00,2.62,0.00,0.000,6,0.000,0.054,2621,2209,1730
$GC,21271,0.98,266.6,106.3,11.1,1028,21275,0.00,2.70,0.00,0.000,4,0.000,0.072,2621,784,1730
$GC,21321,0.98,266.6,100.0,15.7,1030,21325,0.00,2.62,0.00,0.000,6,0.000,0.054,2620,2209,1730
$GC,21636,0.98,266.6,68.0,9.9,1045,21641,0.00,2.70,0.00,0.000,4,0.000,0.071,2621,785,1730
$GC,21713,0.98,266.6,61.8,6.6,1048,21720,0.00,2.60,0.00,0.000,6,0.000,0.054,2621,2202,1730
$GC,22030,1.08,363.6,49.8,3.3,1064,22110,0.12,0.00,76.55,0.747,6,0.054,0.000,2656,2202,1333
$GC,22420,1.08,363.6,4.0,13.6,1083,22425,0.00,2.70,0.00,0.000,4,0.000,0.070,2656,782,1332
$STATE,22435,end climb,SURFACE_DEPTH_REACHED
$STATE,22435,begin surface coast
$FINISH,1.2,1.027530
$STATE,22441,end surface coast,CONTROL_FINISHED_OK
$STATE,22442,begin surface
$SM_CCo,22527,0.00,0.000,0,0,1330,364.52
$SM_GC,1.64,11.65,0.00,0.00,0.051,0.000,0.000,76,2401,1330,-10.69,0.03,364.52
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2117
$TCM_TEMP,18.50
$XPDR_PINGS,126
$ALTIM_BOTTOM_PING,825.6,36.0
$24V_AH,23.2,56.420
$10V_AH,10.1,29.719
$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,25.875,183.400,436.225,0.000,0.000,65.203,70.752,267.764,39.250,0.000,0.000,58.115,1937.339,17584.311,616.994,2292.728,737.227,33.368,1734.746,0.000,2192.400,0.000,55.133
$DEVICE_MAMPS,171.808,95.108,1281.657,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,808.000,744.229,586.319,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53665,1084
$CFSIZE,260165632,239112192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,200108,191908,6241.079,-410.184,27,1.9,27,-7.0