version: 66.02
glider: 16
mission: 6
dive: 365
start: 1 21 108 20 59 13
data:
$ID,16
$MISSION,6
$DIVE,365
$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,-2085831.8
$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,15
$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
$GPS1,204456,6236.251,-400.390,39,1.7,39,-6.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-65.5
$GPS2,205821,6236.197,-400.575,14,1.7,14,-6.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.155,-0.158
$KALMAN_X,31939.2,197.9,4600.6,231633.1,-18678.4
$KALMAN_Y,-40484.0,-569.4,168.3,148269.8,7037.7
$MHEAD_RNG_PITCHd_Wd,153.0,47288,-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,-61.40,0.000,2,0.000,0.000,72,2399,3110
$GC,90,-0.85,-146.6,4.2,-6.0,3,115,12.20,2.67,-7.07,0.000,4,0.173,0.095,2219,3772,3418
$GC,368,-0.85,-146.6,36.0,-8.9,15,372,0.00,2.58,0.00,0.000,6,0.000,0.059,2219,2396,3417
$GC,684,-0.85,-146.6,63.3,-9.8,30,688,0.00,2.67,0.00,0.000,4,0.000,0.083,2219,3769,3419
$GC,779,-0.85,-146.6,71.6,-8.5,34,783,0.00,2.55,0.00,0.000,6,0.000,0.060,2219,2400,3419
$GC,1094,-0.85,-146.6,97.2,-6.6,49,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3419
$GC,1404,-0.85,-146.6,117.2,-5.3,64,1408,0.00,2.70,0.00,0.000,4,0.000,0.077,2219,984,3420
$GC,1453,-0.85,-146.6,120.3,-6.7,66,1457,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2407,3420
$GC,1770,-0.85,-146.6,142.9,-6.6,81,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2407,3420
$GC,2078,-0.85,-146.6,162.3,-6.8,96,2083,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,983,3420
$GC,2127,-0.85,-146.6,165.8,-6.9,98,2132,0.00,2.62,0.00,0.000,6,0.000,0.064,2219,2400,3420
$GC,2443,-0.85,-146.6,187.9,-7.1,113,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3420
$GC,2752,-0.85,-146.6,210.0,-7.1,128,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3420
$GC,3062,-0.85,-146.6,230.1,-6.3,143,3066,0.00,2.70,0.00,0.000,4,0.000,0.075,2219,980,3421
$GC,3134,-0.85,-146.6,235.1,-7.1,146,3138,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2404,3421
$GC,3450,-0.85,-146.6,255.5,-6.3,161,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3421
$GC,3762,-0.85,-146.6,276.1,-7.1,176,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3421
$GC,4068,-0.85,-146.6,299.3,-7.7,191,4073,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,977,3421
$GC,4112,-0.85,-146.6,302.8,-7.8,193,4117,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2403,3421
$GC,4434,-0.85,-146.6,324.1,-6.4,209,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3421
$GC,4742,-0.85,-146.6,346.4,-7.8,224,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3421
$GC,5052,-0.85,-146.6,372.7,-8.7,239,5056,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,983,3421
$GC,5130,-0.85,-146.6,379.5,-8.6,242,5136,0.00,2.67,0.00,0.000,6,0.000,0.069,2219,2398,3421
$GC,5445,-0.85,-146.6,403.6,-7.2,258,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3421
$GC,5754,-0.85,-146.6,423.6,-6.2,273,5758,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,984,3421
$GC,5826,-0.85,-146.6,428.0,-6.0,276,5831,0.00,2.70,0.00,0.000,6,0.000,0.070,2219,2408,3421
$GC,6142,-0.85,-146.6,447.5,-6.2,291,6146,0.00,2.75,0.00,0.000,4,0.000,0.082,2219,983,3421
$GC,6186,-0.85,-146.6,450.3,-6.4,293,6191,0.00,2.70,0.00,0.000,6,0.000,0.071,2219,2407,3421
$GC,6508,-0.85,-146.6,469.3,-5.9,309,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2406,3420
$GC,6816,-0.85,-146.6,487.9,-6.1,324,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2406,3420
$GC,7126,-0.85,-146.6,505.0,-5.2,339,7131,0.00,2.75,0.00,0.000,4,0.000,0.084,2219,985,3420
$GC,7188,-0.85,-146.6,508.6,-6.4,342,7193,0.00,2.70,0.00,0.000,6,0.000,0.074,2219,2410,3419
$GC,7514,-0.85,-146.6,527.8,-6.1,358,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2410,3417
$GC,7826,-0.85,-146.6,545.9,-5.8,373,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2410,3416
$GC,8133,-0.85,-146.6,564.1,-5.9,388,8138,0.00,2.75,0.00,0.000,4,0.000,0.084,2219,986,3415
$GC,8182,-0.85,-146.6,567.3,-6.3,390,8187,0.00,2.67,0.00,0.000,6,0.000,0.074,2219,2403,3415
$GC,8498,-0.85,-146.6,586.3,-6.0,405,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3414
$GC,8807,-0.85,-146.6,605.9,-6.4,420,8808,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3413
$GC,9117,-0.85,-146.6,625.5,-6.6,435,9122,0.00,2.75,0.00,0.000,4,0.000,0.085,2219,982,3412
$GC,9184,-0.85,-146.6,630.3,-7.6,438,9188,0.00,2.70,0.00,0.000,6,0.000,0.073,2219,2404,3412
$GC,9504,-0.85,-146.6,651.8,-6.9,454,9505,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3411
$GC,9813,-0.85,-146.6,672.8,-6.7,469,9818,0.00,2.72,0.00,0.000,4,0.000,0.085,2219,986,3410
$GC,9869,-0.85,-146.6,676.6,-7.0,471,9876,0.00,2.67,0.00,0.000,6,0.000,0.073,2219,2398,3410
$GC,10185,-0.85,-146.6,697.1,-6.9,487,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3409
$GC,10494,-0.85,-146.6,718.6,-6.9,502,10495,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3409
$STATE,10739,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10739,begin apogee
$GC,10746,-0.31,0.0,734.6,6.4,514,10873,0.62,0.00,123.15,1.203,6,0.118,0.000,2341,2190,2817
$STATE,10873,end apogee,CONTROL_FINISHED_OK
$STATE,10874,begin climb
$GC,10876,0.85,146.6,738.8,0.0,520,11007,1.23,2.83,122.18,1.171,4,0.096,0.083,2588,798,2218
$GC,11060,0.85,146.6,732.6,6.1,528,11066,0.00,2.67,0.00,0.000,6,0.000,0.067,2588,2201,2217
$GC,11376,0.85,146.6,713.8,6.1,544,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2217
$GC,11685,0.85,151.9,695.2,5.9,559,11692,0.00,0.00,5.47,0.912,6,0.000,0.000,2588,2201,2197
$GC,11995,0.85,151.9,676.6,6.2,574,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2202,2197
$GC,12303,0.85,151.9,657.9,6.3,589,12308,0.00,2.78,0.00,0.000,4,0.000,0.096,2587,3613,2197
$GC,12343,0.85,151.9,655.3,6.9,591,12348,0.00,2.72,0.00,0.000,6,0.000,0.075,2587,2202,2196
$GC,12670,0.85,151.9,635.2,6.1,607,12671,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,2196
$GC,12980,0.86,156.9,617.1,5.9,622,12988,0.00,0.00,5.90,0.924,6,0.000,0.000,2588,2202,2177
$GC,13288,0.87,165.9,599.4,5.8,637,13299,0.00,0.00,9.27,1.035,6,0.000,0.000,2588,2202,2140
$GC,13597,0.88,174.5,581.7,5.8,652,13608,0.00,0.00,8.82,1.015,6,0.000,0.000,2587,2202,2105
$GC,13906,0.88,175.3,563.3,6.0,667,13907,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2105
$GC,14217,0.88,175.3,543.0,6.7,682,14219,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2103
$GC,14524,0.88,175.3,520.7,7.4,697,14526,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2103
$GC,14834,0.88,175.3,498.2,7.1,712,14835,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2103
$GC,15144,0.88,175.3,476.3,6.9,727,15145,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,2103
$GC,15452,0.88,175.3,455.2,6.6,742,15453,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2103
$GC,15761,0.88,175.3,434.5,6.6,757,15763,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2102
$GC,16072,0.90,193.7,416.2,5.5,772,16091,0.00,0.00,17.00,1.019,6,0.000,0.000,2588,2201,2027
$GC,16400,0.95,245.7,400.7,4.6,788,16446,0.15,0.00,43.55,1.052,6,0.076,0.000,2622,2201,1815
$GC,16749,0.95,245.7,377.8,6.8,805,16751,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2201,1812
$GC,17059,0.95,245.7,356.6,7.1,820,17061,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2201,1811
$GC,17368,0.95,245.7,333.5,7.4,835,17372,0.00,2.75,0.00,0.000,4,0.000,0.086,2622,782,1812
$GC,17439,0.95,245.7,327.8,7.7,838,17444,0.00,2.67,0.00,0.000,6,0.000,0.064,2622,2201,1811
$GC,17756,0.95,245.7,303.9,7.6,853,17760,0.00,2.75,0.00,0.000,4,0.000,0.083,2622,781,1811
$GC,17795,0.95,245.7,300.6,8.8,855,17799,0.00,2.67,0.00,0.000,6,0.000,0.063,2622,2206,1811
$GC,18121,0.95,245.7,270.3,10.0,871,18122,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2206,1811
$GC,18431,0.95,245.7,241.5,9.1,886,18432,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2206,1811
$GC,18739,0.95,245.7,217.1,7.3,901,18741,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2206,1811
$GC,19050,0.95,245.7,195.3,6.9,916,19051,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2206,1811
$GC,19359,0.95,245.7,172.8,8.1,931,19363,0.00,2.72,0.00,0.000,4,0.000,0.076,2622,781,1812
$GC,19398,0.95,245.7,169.2,9.5,933,19402,0.00,2.65,0.00,0.000,6,0.000,0.058,2622,2207,1812
$GC,19724,0.95,245.7,145.5,6.4,949,19725,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2208,1813
$GC,20034,0.95,245.7,124.5,6.7,964,20035,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2207,1814
$GC,20343,0.95,245.7,100.4,8.1,979,20347,0.00,2.70,0.00,0.000,4,0.000,0.073,2622,782,1815
$GC,20398,0.95,245.7,95.4,9.2,981,20404,0.00,2.62,0.00,0.000,6,0.000,0.056,2622,2210,1815
$GC,20714,0.95,245.7,68.5,8.6,997,20715,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2210,1816
$GC,21024,0.95,245.7,44.2,7.5,1012,21025,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2210,1817
$GC,21332,0.95,245.7,20.3,8.6,1027,21337,0.00,2.70,0.00,0.000,4,0.000,0.072,2622,783,1818
$GC,21377,0.95,245.7,16.6,8.2,1029,21381,0.00,2.60,0.00,0.000,6,0.000,0.055,2622,2201,1818
$STATE,21572,end climb,SURFACE_DEPTH_REACHED
$STATE,21572,begin surface coast
$FINISH,0.9,1.002887
$STATE,21595,end surface coast,CONTROL_FINISHED_OK
$STATE,21595,begin surface
$SM_CCo,21617,37.03,0.642,2,0,1593,300.00
$SM_GC,1.97,0.00,0.00,37.03,0.000,0.000,0.642,74,2409,1593,-10.75,0.25,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2107
$TCM_TEMP,16.20
$XPDR_PINGS,102
$ALTIM_BOTTOM_PING,700.2,44.1
$24V_AH,23.3,57.149
$10V_AH,10.1,30.203
$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,25.600,108.550,335.350,37.025,0.000,97.860,117.340,322.750,31.500,0.000,0.000,14.093,1830.920,17224.576,512.602,2040.844,857.904,33.350,1488.028,0.000,2004.907,0.000,41.203
$DEVICE_MAMPS,173.342,95.875,1203.423,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,773.772,715.043,606.991,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53841,1040
$CFSIZE,260165632,238784512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,2,0
$GPS,220108,030137,6233.999,-356.802,42,2.0,42,-6.8