version: 66.02
glider: 16
mission: 6
dive: 362
start: 1 21 108 2 32 18
data:
$ID,16
$MISSION,6
$DIVE,362
$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,-2085751.2
$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,14
$R_STBD_OVSHOOT,20
$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
$GPS1,022409,6239.088,-407.827,36,1.4,44,-7.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-56.7
$GPS2,023126,6239.035,-407.882,13,1.4,30,-7.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.216,-0.047
$KALMAN_X,48291.7,285.5,-845.6,214215.4,-4985.3
$KALMAN_Y,-46667.7,-1348.4,1009.4,159699.9,-1341.3
$MHEAD_RNG_PITCHd_Wd,150.7,55213,-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,-61.25,0.000,2,0.000,0.000,73,2408,3056
$GC,90,-0.85,-146.6,3.8,-4.9,3,116,12.10,2.62,-8.77,0.000,4,0.170,0.092,2221,3763,3416
$GC,369,-0.85,-146.6,32.6,-7.5,15,375,0.00,2.55,0.00,0.000,6,0.000,0.059,2220,2391,3417
$GC,687,-0.85,-146.6,60.7,-10.2,31,691,0.00,2.67,0.00,0.000,4,0.000,0.082,2221,3768,3417
$GC,839,-0.85,-146.6,76.5,-11.6,38,843,0.00,2.55,0.00,0.000,6,0.000,0.057,2221,2396,3418
$GC,1167,-0.85,-146.6,104.1,-7.0,54,1171,0.00,2.67,0.00,0.000,4,0.000,0.075,2221,983,3418
$GC,1211,-0.85,-146.6,107.8,-7.4,56,1215,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2397,3418
$GC,1532,-0.85,-146.6,130.9,-8.6,72,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3419
$GC,1840,-0.85,-146.6,159.7,-10.0,87,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3419
$GC,2150,-0.85,-146.6,184.2,-7.4,102,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3419
$GC,2459,-0.85,-146.6,210.9,-8.7,117,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3419
$GC,2768,-0.85,-146.6,239.9,-8.8,132,2773,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,983,3419
$GC,2875,-0.85,-146.6,249.3,-8.6,137,2880,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2400,3419
$GC,3202,-0.85,-146.6,274.6,-7.4,153,3206,0.00,2.65,0.00,0.000,4,0.000,0.087,2221,3767,3419
$GC,3279,-0.85,-146.6,282.1,-9.6,156,3283,0.00,2.58,0.00,0.000,6,0.000,0.063,2221,2394,3420
$GC,3596,-0.85,-146.6,306.4,-7.9,171,3600,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,976,3419
$GC,3680,-0.85,-146.6,313.5,-9.5,175,3684,0.00,2.67,0.00,0.000,6,0.000,0.067,2221,2400,3420
$GC,4007,-0.85,-146.6,339.5,-6.9,191,4011,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,982,3420
$GC,4073,-0.85,-146.6,344.4,-7.1,194,4077,0.00,2.65,0.00,0.000,6,0.000,0.068,2221,2400,3420
$GC,4393,-0.85,-146.6,363.7,-6.3,210,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3421
$GC,4703,-0.85,-146.6,385.8,-7.2,225,4707,0.00,2.70,0.00,0.000,4,0.000,0.093,2221,3773,3420
$GC,4809,-0.85,-146.6,394.5,-8.3,230,4814,0.00,2.60,0.00,0.000,6,0.000,0.067,2221,2396,3419
$GC,5137,-0.85,-146.6,418.3,-7.6,246,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2396,3419
$GC,5446,-0.85,-146.6,443.0,-8.0,261,5450,0.00,2.72,0.00,0.000,4,0.000,0.085,2221,985,3420
$GC,5512,-0.85,-146.6,448.6,-8.1,264,5516,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2400,3420
$GC,5834,-0.85,-146.6,472.5,-7.7,280,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,6142,-0.85,-146.6,497.1,-8.0,295,6147,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,978,3419
$GC,6192,-0.85,-146.6,501.3,-8.2,297,6197,0.00,2.70,0.00,0.000,6,0.000,0.072,2220,2400,3419
$GC,6509,-0.85,-146.6,526.2,-7.8,312,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,6817,-0.85,-146.6,549.4,-7.3,327,6821,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,982,3417
$GC,6860,-0.85,-146.6,552.8,-7.5,329,6865,0.00,2.67,0.00,0.000,6,0.000,0.073,2221,2401,3416
$GC,7183,-0.85,-146.6,576.0,-7.3,345,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3415
$GC,7491,-0.85,-146.6,598.8,-7.7,360,7495,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,982,3414
$GC,7557,-0.85,-146.6,604.1,-8.4,363,7561,0.00,2.70,0.00,0.000,6,0.000,0.074,2220,2408,3414
$GC,7878,-0.85,-146.6,628.3,-7.5,379,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2408,3413
$GC,8186,-0.85,-146.6,652.7,-7.9,394,8191,0.00,2.78,0.00,0.000,4,0.000,0.084,2221,978,3412
$GC,8252,-0.85,-146.6,658.2,-8.3,397,8257,0.00,2.67,0.00,0.000,6,0.000,0.074,2221,2400,3411
$GC,8574,-0.85,-146.6,684.4,-8.2,413,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3411
$GC,8883,-0.85,-146.6,710.8,-8.5,428,8887,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,979,3409
$GC,8938,-0.85,-146.6,715.5,-8.6,430,8944,0.00,2.67,0.00,0.000,6,0.000,0.074,2221,2399,3409
$GC,9254,-0.85,-146.6,740.1,-7.8,446,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3408
$GC,9563,-0.85,-146.6,762.8,-7.2,461,9567,0.00,2.72,0.00,0.000,4,0.000,0.082,2221,985,3408
$GC,9606,-0.85,-146.6,766.1,-7.2,463,9611,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2406,3408
$GC,9928,-0.85,-146.6,788.2,-6.9,479,9929,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3407
$STATE,9946,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9946,begin apogee
$GC,9952,-0.31,0.0,789.8,7.0,480,10079,0.60,0.00,123.50,1.239,6,0.119,0.000,2337,2195,2817
$STATE,10080,end apogee,CONTROL_FINISHED_OK
$STATE,10080,begin climb
$GC,10082,0.85,146.6,794.3,0.0,486,10210,1.23,0.00,123.38,1.206,6,0.085,0.000,2589,2195,2219
$GC,10514,0.85,150.5,774.8,5.9,507,10524,0.00,2.83,4.78,0.877,4,0.000,0.091,2589,3614,2203
$GC,10568,0.86,156.2,771.4,5.8,509,10582,0.00,2.72,6.57,0.991,6,0.000,0.072,2589,2194,2180
$GC,10905,0.89,183.8,753.3,5.2,526,10932,0.00,0.00,24.65,1.203,6,0.000,0.000,2591,2194,2067
$GC,11233,0.92,212.9,735.8,5.2,542,11261,0.00,0.00,25.70,1.198,6,0.000,0.000,2589,2194,1949
$GC,11563,0.93,227.2,717.2,5.6,558,11580,0.10,0.00,13.55,1.131,6,0.075,0.000,2615,2194,1889
$GC,11889,0.93,227.2,694.9,6.9,573,11893,0.00,2.72,0.00,0.000,4,0.000,0.088,2615,790,1888
$GC,11938,0.93,227.2,691.2,7.5,575,11942,0.00,2.65,0.00,0.000,6,0.000,0.064,2615,2203,1887
$GC,12254,0.93,227.2,669.9,7.1,590,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2203,1887
$GC,12563,0.93,227.2,647.5,7.2,605,12567,0.00,2.75,0.00,0.000,4,0.000,0.082,2615,789,1887
$GC,12602,0.93,227.2,644.4,8.1,607,12606,0.00,2.65,0.00,0.000,6,0.000,0.063,2615,2203,1887
$GC,12928,0.93,227.2,620.6,7.4,623,12929,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2203,1886
$GC,13237,0.93,227.2,598.0,7.3,638,13241,0.00,2.75,0.00,0.000,4,0.000,0.081,2615,783,1886
$GC,13276,0.93,227.2,595.0,7.6,640,13280,0.00,2.67,0.00,0.000,6,0.000,0.064,2615,2207,1886
$GC,13603,0.93,227.2,569.9,7.8,656,13604,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2207,1886
$GC,13911,0.93,227.2,544.3,8.0,671,13916,0.00,2.75,0.00,0.000,4,0.000,0.081,2615,788,1886
$GC,13961,0.93,227.2,539.7,8.9,673,13965,0.00,2.65,0.00,0.000,6,0.000,0.064,2615,2201,1886
$GC,14277,0.93,227.2,513.1,8.7,688,14278,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2201,1886
$GC,14586,0.93,227.2,485.9,9.3,703,14590,0.00,2.72,0.00,0.000,4,0.000,0.082,2615,787,1886
$GC,14640,0.93,227.2,480.3,10.3,705,14647,0.00,2.65,0.00,0.000,6,0.000,0.064,2615,2204,1886
$GC,14957,0.93,227.2,450.3,9.7,721,14958,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2204,1886
$GC,15267,0.93,227.2,421.9,8.5,736,15268,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2204,1886
$GC,15575,0.93,227.2,396.8,8.0,751,15580,0.00,2.75,0.00,0.000,4,0.000,0.082,2615,783,1886
$GC,15619,0.93,227.2,392.7,8.7,753,15624,0.00,2.65,0.00,0.000,6,0.000,0.063,2615,2203,1885
$GC,15940,0.93,227.2,370.0,6.7,769,15941,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2203,1885
$GC,16249,0.93,227.2,347.4,7.5,784,16251,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2203,1885
$GC,16559,0.93,227.2,322.3,7.6,799,16564,0.00,2.72,0.00,0.000,4,0.000,0.080,2615,788,1885
$GC,16614,0.93,227.2,317.5,7.8,801,16620,0.00,2.62,0.00,0.000,6,0.000,0.062,2615,2205,1885
$GC,16930,0.93,227.2,293.2,7.5,817,16931,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2205,1885
$GC,17240,0.93,227.2,271.7,6.7,832,17244,0.00,2.70,0.00,0.000,4,0.000,0.076,2615,785,1885
$GC,17301,0.93,227.2,267.1,6.4,835,17306,0.00,2.62,0.00,0.000,6,0.000,0.059,2615,2202,1885
$GC,17628,0.93,227.2,241.7,8.4,851,17632,0.00,2.70,0.00,0.000,4,0.000,0.075,2615,787,1885
$GC,17694,0.93,227.2,236.5,8.8,854,17699,0.00,2.62,0.00,0.000,6,0.000,0.059,2615,2206,1885
$GC,18015,0.93,227.2,211.0,8.1,870,18016,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2206,1885
$GC,18324,0.93,227.2,186.7,8.0,885,18326,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2206,1886
$GC,18635,0.93,227.2,165.2,7.3,900,18636,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2206,1887
$GC,18943,0.93,227.2,142.3,7.4,915,18945,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2206,1887
$GC,19253,0.93,227.2,121.4,6.7,930,19254,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2206,1888
$GC,19563,0.93,227.2,99.9,7.2,945,19564,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2206,1889
$GC,19872,0.99,274.9,77.8,4.7,960,19913,0.00,0.00,38.72,0.746,6,0.000,0.000,2615,2206,1696
$GC,20224,0.99,274.9,54.8,7.4,977,20228,0.00,2.70,0.00,0.000,4,0.000,0.071,2615,784,1695
$GC,20274,0.99,274.9,50.1,8.7,979,20278,0.00,2.60,0.00,0.000,6,0.000,0.054,2615,2202,1695
$GC,20591,0.99,274.9,22.6,8.4,994,20595,0.00,2.70,0.00,0.000,4,0.000,0.071,2615,779,1695
$GC,20618,0.99,274.9,19.4,10.2,995,20622,0.00,2.60,0.00,0.000,6,0.000,0.054,2615,2200,1694
$STATE,20849,end climb,SURFACE_DEPTH_REACHED
$STATE,20849,begin surface coast
$FINISH,0.8,1.013863
$STATE,20870,end surface coast,CONTROL_FINISHED_OK
$STATE,20870,begin surface
$SM_CCo,20893,21.25,0.588,2,0,1594,300.00
$SM_GC,1.87,0.00,0.00,21.25,0.000,0.000,0.588,72,2394,1594,-10.75,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2099
$TCM_TEMP,16.10
$XPDR_PINGS,112
$ALTIM_BOTTOM_PING,750.9,47.4
$24V_AH,23.2,56.724
$10V_AH,10.1,29.919
$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,25.475,145.625,360.850,21.250,0.000,32.597,38.285,215.141,34.500,0.000,0.000,30.848,1817.093,16278.227,540.082,2126.223,595.196,33.359,1565.623,0.000,2066.044,0.000,44.463
$DEVICE_MAMPS,170.274,92.807,1238.705,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,751.208,692.190,593.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50622,1007
$CFSIZE,260165632,238989312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
$GPS,210108,082208,6238.366,-407.050,27,1.3,27,-6.9