version: 66.02
glider: 16
mission: 6
dive: 364
start: 1 21 108 14 39 1
data:
$ID,16
$MISSION,6
$DIVE,364
$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,-2085817
$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,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
$GPS1,143138,6237.417,-403.118,32,0.9,32,-6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-65.7
$GPS2,143811,6237.404,-403.124,13,5.4,32,-6.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.182,-0.126
$KALMAN_X,36034.0,1260.9,2526.0,226307.9,-16913.7
$KALMAN_Y,-46506.2,826.8,2289.9,153023.2,-9670.1
$MHEAD_RNG_PITCHd_Wd,152.4,50374,-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,-61.25,0.000,2,0.000,0.000,74,2399,3088
$GC,92,-0.85,-146.6,4.1,-5.5,3,117,12.20,2.67,-7.72,0.000,4,0.174,0.093,2220,3772,3416
$GC,370,-0.85,-146.6,32.0,-8.8,15,377,0.00,2.55,0.00,0.000,6,0.000,0.058,2220,2397,3417
$GC,686,-0.85,-146.6,56.6,-8.4,31,690,0.00,2.67,0.00,0.000,4,0.000,0.083,2220,3772,3418
$GC,771,-0.85,-146.6,64.4,-9.7,35,776,0.00,2.58,0.00,0.000,6,0.000,0.060,2220,2395,3418
$GC,1099,-0.85,-146.6,87.1,-5.6,51,1104,0.00,2.70,0.00,0.000,4,0.000,0.077,2220,983,3418
$GC,1163,-0.85,-146.6,91.6,-7.3,54,1168,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2400,3418
$GC,1491,-0.85,-146.6,116.2,-6.8,70,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3418
$GC,1801,-0.85,-146.6,143.5,-9.0,85,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3418
$GC,2108,-0.85,-146.6,168.0,-8.1,100,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3418
$GC,2418,-0.85,-146.6,195.6,-9.1,115,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3418
$GC,2727,-0.85,-146.6,219.2,-7.8,130,2731,0.00,2.67,0.00,0.000,4,0.000,0.074,2220,983,3419
$GC,2811,-0.85,-146.6,226.1,-8.3,134,2815,0.00,2.65,0.00,0.000,6,0.000,0.064,2220,2404,3419
$GC,3140,-0.85,-146.6,251.6,-7.8,150,3144,0.00,2.65,0.00,0.000,4,0.000,0.086,2220,3772,3420
$GC,3201,-0.85,-146.6,257.1,-9.0,153,3206,0.00,2.58,0.00,0.000,6,0.000,0.062,2220,2397,3420
$GC,3528,-0.85,-146.6,283.7,-8.1,169,3532,0.00,2.70,0.00,0.000,4,0.000,0.078,2220,982,3420
$GC,3611,-0.85,-146.6,291.4,-9.1,173,3616,0.00,2.65,0.00,0.000,6,0.000,0.067,2220,2400,3420
$GC,3938,-0.85,-146.6,320.2,-8.4,189,3942,0.00,2.67,0.00,0.000,4,0.000,0.090,2220,3772,3420
$GC,3982,-0.85,-146.6,324.1,-8.9,191,3986,0.00,2.58,0.00,0.000,6,0.000,0.066,2220,2400,3420
$GC,4302,-0.85,-146.6,348.8,-7.4,207,4307,0.00,2.72,0.00,0.000,4,0.000,0.083,2220,983,3420
$GC,4387,-0.85,-146.6,355.1,-7.3,211,4391,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2403,3420
$GC,4714,-0.85,-146.6,375.6,-6.2,227,4719,0.00,2.70,0.00,0.000,4,0.000,0.094,2220,3771,3420
$GC,4821,-0.85,-146.6,383.9,-7.7,232,4826,0.00,2.60,0.00,0.000,6,0.000,0.069,2220,2400,3420
$GC,5149,-0.85,-146.6,407.9,-7.5,248,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3420
$GC,5457,-0.85,-146.6,432.2,-8.0,263,5462,0.00,2.75,0.00,0.000,4,0.000,0.087,2220,979,3420
$GC,5529,-0.85,-146.6,438.0,-7.9,266,5533,0.00,2.70,0.00,0.000,6,0.000,0.074,2220,2405,3420
$GC,5845,-0.85,-146.6,460.6,-6.8,281,5850,0.00,2.78,0.00,0.000,4,0.000,0.085,2221,977,3420
$GC,5884,-0.85,-146.6,463.4,-6.8,283,5889,0.00,2.70,0.00,0.000,6,0.000,0.073,2220,2404,3419
$GC,6210,-0.85,-146.6,486.0,-7.0,299,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3419
$GC,6520,-0.85,-146.6,507.4,-6.9,314,6525,0.00,2.75,0.00,0.000,4,0.000,0.086,2220,985,3418
$GC,6564,-0.85,-146.6,510.8,-7.4,316,6569,0.00,2.65,0.00,0.000,6,0.000,0.074,2220,2403,3417
$GC,6885,-0.85,-146.6,532.5,-6.9,332,6889,0.00,2.75,0.00,0.000,4,0.000,0.085,2220,984,3416
$GC,6940,-0.85,-146.6,536.4,-7.3,334,6946,0.00,2.70,0.00,0.000,6,0.000,0.074,2220,2405,3416
$GC,7256,-0.85,-146.6,558.7,-7.1,350,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3415
$GC,7565,-0.85,-146.6,579.3,-6.6,365,7569,0.00,2.75,0.00,0.000,4,0.000,0.085,2220,984,3414
$GC,7636,-0.85,-146.6,584.6,-7.5,368,7641,0.00,2.67,0.00,0.000,6,0.000,0.074,2220,2400,3414
$GC,7952,-0.85,-146.6,605.4,-6.5,383,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3412
$GC,8261,-0.85,-146.6,626.7,-7.0,398,8266,0.00,2.75,0.00,0.000,4,0.000,0.085,2220,982,3411
$GC,8317,-0.85,-146.6,630.9,-7.2,400,8324,0.00,2.70,0.00,0.000,6,0.000,0.074,2220,2405,3411
$GC,8633,-0.85,-146.6,652.8,-6.8,416,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3410
$GC,8944,-0.85,-146.6,673.7,-6.5,431,8948,0.00,2.75,0.00,0.000,4,0.000,0.085,2218,985,3410
$GC,9005,-0.85,-146.6,677.9,-6.7,434,9010,0.00,2.67,0.00,0.000,6,0.000,0.074,2220,2400,3409
$GC,9332,-0.85,-146.6,699.3,-6.6,450,9333,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3408
$GC,9642,-0.85,-146.6,719.4,-6.5,465,9646,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,982,3408
$GC,9698,-0.85,-146.6,723.2,-6.5,467,9704,0.00,2.70,0.00,0.000,6,0.000,0.072,2220,2404,3408
$GC,10013,-0.85,-146.6,744.9,-7.0,483,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3407
$GC,10324,-0.85,-146.6,764.4,-5.7,498,10328,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,984,3407
$GC,10435,-0.85,-146.6,764.5,0.1,503,10439,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2400,3406
$STATE,10650,end dive,NO_VERTICAL_VELOCITY
$STATE,10650,begin apogee
$GC,10657,-0.31,0.0,764.5,0.0,514,10783,0.60,0.00,123.03,1.223,6,0.104,0.000,2340,2195,2817
$STATE,10784,end apogee,CONTROL_FINISHED_OK
$STATE,10784,begin climb
$GC,10787,0.85,146.6,764.5,0.0,520,10918,1.20,2.90,122.70,1.190,4,0.080,0.088,2590,3607,2219
$GC,11083,0.85,149.3,751.6,5.9,533,11092,0.00,2.70,3.80,0.751,6,0.000,0.071,2590,2205,2208
$GC,11420,0.86,158.2,731.8,5.8,550,11431,0.00,0.00,9.35,1.072,6,0.000,0.000,2590,2205,2171
$GC,11730,0.86,158.2,713.4,6.1,565,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2205,2169
$GC,12038,0.86,158.2,694.4,6.2,580,12040,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2205,2169
$GC,12348,0.86,160.3,675.6,5.9,595,12349,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2205,2168
$GC,12658,0.87,172.3,657.6,5.7,610,12677,0.00,0.00,12.75,1.114,6,0.000,0.000,2590,2205,2114
$GC,12987,0.89,186.0,638.1,5.6,626,13002,0.00,0.00,13.25,1.112,6,0.000,0.000,2590,2205,2058
$GC,13312,0.89,186.0,618.4,6.1,641,13314,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2205,2056
$GC,13622,0.89,186.0,599.7,6.0,656,13624,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2205,2057
$GC,13931,0.89,186.0,580.9,6.1,671,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2205,2057
$GC,14241,0.90,195.7,562.6,5.7,686,14255,0.00,2.83,9.45,1.030,4,0.000,0.087,2589,787,2018
$GC,14279,0.90,200.0,560.3,5.9,687,14290,0.00,2.67,5.20,0.862,6,0.000,0.064,2590,2198,2001
$GC,14606,0.91,205.3,541.2,5.9,703,14614,0.00,0.00,6.18,0.915,6,0.000,0.000,2590,2198,1980
$GC,14915,0.93,221.2,523.6,5.6,718,14934,0.00,0.00,14.73,1.067,6,0.000,0.000,2590,2198,1915
$GC,15244,0.94,236.8,505.1,5.6,734,15264,0.12,0.00,14.73,1.052,6,0.075,0.000,2620,2198,1851
$GC,15573,0.94,236.8,483.4,6.5,750,15578,0.00,2.75,0.00,0.000,4,0.000,0.082,2619,783,1850
$GC,15617,0.94,236.8,480.2,7.6,752,15622,0.00,2.67,0.00,0.000,6,0.000,0.064,2619,2203,1850
$GC,15938,0.94,236.8,459.2,6.4,768,15939,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2203,1850
$GC,16247,0.94,236.8,439.4,6.5,783,16252,0.00,2.75,0.00,0.000,4,0.000,0.082,2620,781,1849
$GC,16293,0.94,236.8,436.2,6.9,785,16298,0.00,2.67,0.00,0.000,6,0.000,0.063,2620,2206,1849
$GC,16614,0.94,236.8,411.8,8.0,801,16616,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2205,1849
$GC,16924,0.94,236.8,386.8,8.2,816,16928,0.00,2.75,0.00,0.000,4,0.000,0.082,2619,778,1849
$GC,16974,0.94,236.8,382.5,9.7,818,16978,0.00,2.67,0.00,0.000,6,0.000,0.063,2619,2203,1849
$GC,17289,0.94,236.8,359.4,6.9,833,17290,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2203,1849
$GC,17598,0.94,236.8,338.3,7.3,848,17599,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2203,1849
$GC,17908,0.94,236.8,315.7,7.1,863,17909,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2203,1849
$GC,18217,0.94,236.8,295.4,6.1,878,18218,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2203,1849
$GC,18526,0.94,236.8,276.1,6.6,893,18531,0.00,2.72,0.00,0.000,4,0.000,0.077,2619,781,1849
$GC,18553,0.94,236.8,274.0,7.3,894,18557,0.00,2.65,0.00,0.000,6,0.000,0.058,2620,2207,1848
$GC,18869,0.94,236.8,251.0,7.7,909,18873,0.00,2.72,0.00,0.000,4,0.000,0.075,2619,783,1849
$GC,18930,0.94,236.8,245.9,7.9,912,18935,0.00,2.65,0.00,0.000,6,0.000,0.058,2619,2207,1849
$GC,19258,0.94,236.8,216.8,8.9,928,19262,0.00,2.72,0.00,0.000,4,0.000,0.074,2619,778,1849
$GC,19301,0.94,236.8,212.9,8.0,930,19306,0.00,2.62,0.00,0.000,6,0.000,0.055,2619,2203,1849
$GC,19623,0.94,236.8,183.9,9.2,946,19624,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2203,1849
$GC,19933,0.94,236.8,156.3,8.7,961,19934,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2203,1850
$GC,20243,0.94,236.8,128.5,8.8,976,20244,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2203,1850
$GC,20551,0.94,236.8,103.4,8.2,991,20555,0.00,2.70,0.00,0.000,4,0.000,0.082,2619,3611,1852
$GC,20583,0.94,236.8,100.3,9.2,992,20590,0.00,2.67,0.00,0.000,6,0.000,0.065,2620,2192,1852
$GC,20901,0.94,236.8,74.7,8.0,1008,20905,0.00,2.67,0.00,0.000,4,0.000,0.074,2619,785,1853
$GC,20940,0.94,236.8,71.4,6.6,1010,20945,0.00,2.62,0.00,0.000,6,0.000,0.054,2619,2207,1853
$GC,21268,0.94,236.8,44.8,8.1,1026,21269,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2207,1854
$GC,21577,0.94,236.8,17.4,9.0,1041,21578,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2207,1855
$STATE,21781,end climb,SURFACE_DEPTH_REACHED
$STATE,21781,begin surface coast
$FINISH,1.0,1.018166
$STATE,21802,end surface coast,CONTROL_FINISHED_OK
$STATE,21802,begin surface
$SM_CCo,21824,42.22,0.650,2,0,1595,300.00
$SM_GC,1.99,0.00,0.00,42.22,0.000,0.000,0.650,74,2398,1595,-10.75,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2085
$TCM_TEMP,16.20
$XPDR_PINGS,113
$24V_AH,23.2,57.001
$10V_AH,10.1,30.107
$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,25.500,151.450,335.150,42.225,0.000,32.586,35.892,175.003,35.000,0.000,0.000,32.887,1905.824,17025.611,537.287,2237.855,559.949,33.350,1617.223,0.000,2169.504,0.000,47.095
$DEVICE_MAMPS,174.109,94.341,1223.365,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,782.892,724.659,603.570,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53669,1052
$CFSIZE,260165632,238841856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,2,1
$GPS,210108,204456,6236.251,-400.390,39,1.7,39,-6.9