version: 66.02
glider: 16
mission: 6
dive: 363
start: 1 21 108 8 29 28
data:
$ID,16
$MISSION,6
$DIVE,363
$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,-2085783.5
$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,16
$R_STBD_OVSHOOT,17
$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
$GPS1,082208,6238.366,-407.050,27,1.3,27,-6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-62.6
$GPS2,082838,6238.367,-407.167,14,1.3,31,-6.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.166,-0.146
$KALMAN_X,40618.9,-514.8,1067.9,221428.6,-14399.6
$KALMAN_Y,-47309.7,1058.3,-412.9,158084.8,-1839.3
$MHEAD_RNG_PITCHd_Wd,150.4,53851,-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,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,88,0.00,0.00,-61.10,0.000,2,0.000,0.000,72,2395,3071
$GC,92,-0.85,-146.6,4.0,-5.6,3,118,12.10,2.67,-8.23,0.000,4,0.170,0.092,2220,3769,3417
$GC,371,-0.85,-146.6,35.8,-8.4,15,377,0.00,2.55,0.00,0.000,6,0.000,0.061,2220,2403,3417
$GC,688,-0.85,-146.6,62.2,-7.8,31,692,0.00,2.65,0.00,0.000,4,0.000,0.082,2220,3766,3417
$GC,788,-0.85,-146.6,69.5,-7.2,35,795,0.00,2.55,0.00,0.000,6,0.000,0.060,2220,2397,3417
$GC,1104,-0.85,-146.6,90.5,-6.4,51,1108,0.00,2.67,0.00,0.000,4,0.000,0.075,2220,982,3417
$GC,1147,-0.85,-146.6,94.3,-8.9,53,1152,0.00,2.62,0.00,0.000,6,0.000,0.063,2219,2401,3417
$GC,1470,-0.85,-146.6,125.9,-9.7,69,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3417
$GC,1778,-0.85,-146.6,152.0,-8.0,84,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3418
$GC,2088,-0.85,-146.6,175.9,-7.4,99,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3418
$GC,2397,-0.85,-146.6,203.2,-9.0,114,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3418
$GC,2706,-0.85,-146.6,228.3,-7.4,129,2710,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,979,3419
$GC,2760,-0.85,-146.6,232.5,-7.9,131,2767,0.00,2.65,0.00,0.000,6,0.000,0.064,2220,2403,3419
$GC,3077,-0.85,-146.6,256.0,-6.7,147,3081,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,980,3419
$GC,3131,-0.85,-146.6,260.0,-7.4,149,3137,0.00,2.65,0.00,0.000,6,0.000,0.065,2220,2404,3419
$GC,3447,-0.85,-146.6,284.0,-8.3,165,3451,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,977,3419
$GC,3486,-0.85,-146.6,287.2,-8.6,167,3491,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2403,3420
$GC,3813,-0.85,-146.6,313.6,-7.8,183,3818,0.00,2.67,0.00,0.000,4,0.000,0.091,2220,3768,3419
$GC,3869,-0.85,-146.6,318.4,-8.6,185,3875,0.00,2.58,0.00,0.000,6,0.000,0.066,2220,2396,3419
$GC,4186,-0.85,-146.6,341.4,-7.6,201,4190,0.00,2.72,0.00,0.000,4,0.000,0.082,2221,977,3420
$GC,4280,-0.85,-146.6,349.2,-7.6,205,4284,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2398,3420
$GC,4597,-0.85,-146.6,375.2,-8.7,220,4601,0.00,2.70,0.00,0.000,4,0.000,0.081,2220,982,3420
$GC,4646,-0.85,-146.6,380.0,-9.4,222,4650,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2406,3420
$GC,4961,-0.85,-146.6,408.9,-8.8,237,4962,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2406,3420
$GC,5271,-0.85,-146.6,435.3,-7.7,252,5276,0.00,2.75,0.00,0.000,4,0.000,0.081,2220,980,3419
$GC,5327,-0.85,-146.6,440.1,-8.3,254,5333,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2404,3419
$GC,5642,-0.85,-146.6,464.4,-7.4,270,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3419
$GC,5952,-0.85,-146.6,484.8,-5.8,285,5957,0.00,2.75,0.00,0.000,4,0.000,0.081,2220,980,3419
$GC,6024,-0.85,-146.6,489.1,-5.7,288,6029,0.00,2.70,0.00,0.000,6,0.000,0.070,2220,2411,3419
$GC,6340,-0.85,-146.6,506.3,-5.2,303,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2411,3418
$GC,6650,-0.85,-146.6,521.3,-4.9,318,6654,0.00,2.75,0.00,0.000,4,0.000,0.083,2220,982,3417
$GC,6722,-0.85,-146.6,525.6,-6.0,321,6726,0.00,2.67,0.00,0.000,6,0.000,0.073,2220,2400,3417
$GC,7038,-0.85,-146.6,544.3,-6.1,336,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3416
$GC,7348,-0.85,-146.6,563.6,-6.5,351,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3414
$GC,7657,-0.85,-146.6,584.3,-7.0,366,7661,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,979,3414
$GC,7706,-0.85,-146.6,588.1,-7.2,368,7711,0.00,2.67,0.00,0.000,6,0.000,0.073,2220,2398,3414
$GC,8022,-0.85,-146.6,609.6,-6.8,383,8027,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,977,3412
$GC,8066,-0.85,-146.6,612.8,-7.1,385,8070,0.00,2.67,0.00,0.000,6,0.000,0.072,2220,2400,3412
$GC,8388,-0.85,-146.6,633.4,-6.5,401,8389,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3411
$GC,8697,-0.85,-146.6,652.9,-6.2,416,8701,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,982,3410
$GC,8752,-0.85,-146.6,656.6,-7.1,418,8758,0.00,2.67,0.00,0.000,6,0.000,0.074,2220,2400,3410
$GC,9068,-0.85,-146.6,676.9,-6.5,434,9069,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3408
$GC,9376,-0.85,-146.6,696.9,-6.3,449,9381,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,980,3408
$GC,9420,-0.85,-146.6,699.9,-7.2,451,9426,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2407,3408
$GC,9747,-0.85,-146.6,720.7,-6.3,467,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3407
$GC,10056,-0.85,-146.6,741.3,-6.7,482,10060,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,981,3407
$GC,10111,-0.85,-146.6,745.1,-7.4,484,10117,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2401,3408
$GC,10427,-0.85,-146.6,767.2,-6.6,500,10428,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3406
$STATE,10713,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10713,begin apogee
$GC,10719,-0.31,0.0,787.6,7.1,514,10846,0.60,0.00,123.30,1.239,6,0.117,0.000,2336,2193,2817
$STATE,10846,end apogee,CONTROL_FINISHED_OK
$STATE,10846,begin climb
$GC,10849,0.85,146.6,791.6,0.0,520,10977,1.27,0.00,123.97,1.201,6,0.100,0.000,2589,2192,2219
$GC,11287,0.85,153.8,771.0,5.8,542,11301,0.00,2.88,7.62,1.035,4,0.000,0.094,2589,3603,2189
$GC,11331,0.87,169.8,768.3,5.6,544,11353,0.00,2.72,15.15,1.152,6,0.000,0.073,2588,2194,2123
$GC,11662,0.87,170.5,748.7,6.0,560,11664,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2194,2122
$GC,11971,0.87,170.5,730.0,6.2,575,11972,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2194,2121
$GC,12280,0.87,170.5,711.3,6.2,590,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2194,2121
$GC,12590,0.87,170.5,692.4,6.1,605,12591,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2194,2120
$GC,12899,0.87,170.8,673.7,6.0,620,12900,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2194,2119
$GC,13208,0.87,170.8,654.0,6.5,635,13209,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2194,2120
$GC,13518,0.87,170.8,634.0,6.5,650,13522,0.00,2.80,0.00,0.000,4,0.000,0.093,2589,3612,2119
$GC,13551,0.87,170.8,631.7,7.2,651,13558,0.00,2.70,0.00,0.000,6,0.000,0.072,2589,2197,2119
$GC,13867,0.87,170.8,611.0,6.4,667,13868,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2197,2119
$GC,14177,0.87,170.8,591.5,6.2,682,14178,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2197,2119
$GC,14485,0.88,176.6,572.4,5.8,697,14494,0.00,0.00,6.45,0.951,6,0.000,0.000,2589,2197,2097
$GC,14795,0.90,193.0,554.5,5.6,712,14814,0.00,0.00,15.43,1.091,6,0.000,0.000,2589,2197,2030
$GC,15125,0.92,215.8,536.7,5.4,728,15147,0.00,0.00,20.02,1.104,6,0.000,0.000,2589,2197,1937
$GC,15453,0.96,249.9,519.4,5.1,744,15488,0.15,2.80,29.27,1.114,4,0.076,0.085,2628,789,1798
$GC,15522,0.96,249.9,514.7,7.6,747,15526,0.00,2.65,0.00,0.000,6,0.000,0.062,2628,2198,1797
$GC,15843,0.96,249.9,491.8,7.2,763,15844,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2199,1797
$GC,16151,0.96,249.9,468.0,7.9,778,16156,0.00,2.75,0.00,0.000,4,0.000,0.084,2628,788,1797
$GC,16213,0.96,249.9,462.6,9.2,781,16218,0.00,2.65,0.00,0.000,6,0.000,0.063,2628,2202,1796
$GC,16541,0.96,249.9,433.3,9.2,797,16545,0.00,2.75,0.00,0.000,4,0.000,0.082,2628,787,1796
$GC,16584,0.96,249.9,428.7,10.1,799,16588,0.00,2.65,0.00,0.000,6,0.000,0.062,2628,2199,1796
$GC,16906,0.96,249.9,398.1,9.5,815,16910,0.00,2.78,0.00,0.000,4,0.000,0.094,2628,3610,1796
$GC,16961,0.96,249.9,392.5,9.1,817,16967,0.00,2.72,0.00,0.000,6,0.000,0.075,2628,2196,1796
$GC,17276,0.96,249.9,364.7,8.4,833,17277,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2196,1796
$GC,17586,0.96,249.9,337.4,9.0,848,17590,0.00,2.72,0.00,0.000,4,0.000,0.083,2629,778,1796
$GC,17625,0.96,249.9,333.6,10.7,850,17630,0.00,2.65,0.00,0.000,6,0.000,0.061,2628,2202,1796
$GC,17951,0.96,249.9,306.5,7.9,866,17953,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2201,1795
$GC,18261,0.96,249.9,283.1,7.9,881,18262,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2202,1796
$GC,18570,0.96,249.9,256.8,8.4,896,18574,0.00,2.72,0.00,0.000,4,0.000,0.089,2628,3613,1795
$GC,18614,0.96,249.9,252.8,9.4,898,18618,0.00,2.70,0.00,0.000,6,0.000,0.072,2628,2199,1796
$GC,18935,0.96,249.9,228.5,7.7,914,18939,0.00,2.78,0.00,0.000,4,0.000,0.085,2628,3623,1795
$GC,18984,0.96,249.9,224.0,9.6,916,18988,0.00,2.70,0.00,0.000,6,0.000,0.070,2628,2200,1795
$GC,19300,0.96,249.9,197.8,8.7,931,19301,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2200,1796
$GC,19610,0.96,249.9,170.7,9.1,946,19614,0.00,2.70,0.00,0.000,4,0.000,0.076,2628,783,1796
$GC,19642,0.96,249.9,167.7,8.8,947,19648,0.00,2.62,0.00,0.000,6,0.000,0.054,2628,2209,1796
$GC,19958,0.96,249.9,138.7,9.6,963,19959,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2209,1798
$GC,20267,0.96,249.9,111.3,7.6,978,20268,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2208,1799
$GC,20579,0.96,249.9,88.0,8.7,993,20580,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2208,1799
$GC,20886,0.96,249.9,59.6,9.1,1008,20887,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2208,1800
$GC,21195,0.96,249.9,32.0,8.6,1023,21196,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2209,1801
$GC,21505,0.96,249.9,7.3,9.1,1038,21506,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2209,1801
$STATE,21563,end climb,SURFACE_DEPTH_REACHED
$STATE,21563,begin surface coast
$FINISH,0.9,1.013608
$STATE,21586,end surface coast,CONTROL_FINISHED_OK
$STATE,21586,begin surface
$SM_CCo,21607,36.97,0.620,3,0,1594,300.00
$SM_GC,1.93,0.00,0.00,36.97,0.000,0.000,0.620,74,2400,1594,-10.75,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2087
$TCM_TEMP,15.00
$XPDR_PINGS,111
$ALTIM_BOTTOM_PING,751.4,45.3
$24V_AH,23.2,56.864
$10V_AH,10.1,30.012
$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,25.500,146.475,341.225,36.975,0.000,32.651,34.651,175.977,34.250,0.000,0.000,31.650,1856.992,16960.744,569.513,2102.509,556.989,33.353,1584.577,0.000,2043.571,0.000,44.462
$DEVICE_MAMPS,170.274,93.574,1238.705,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,779.494,715.667,588.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53670,1042
$CFSIZE,260165632,238919680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,3,0
$GPS,210108,143138,6237.417,-403.118,32,0.9,32,-6.9