version: 66.02
glider: 16
mission: 6
dive: 366
start: 1 22 108 3 9 25
data:
$ID,16
$MISSION,6
$DIVE,366
$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,-2085869.2
$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,13
$R_STBD_OVSHOOT,18
$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
$GPS1,030137,6233.999,-356.802,42,2.0,42,-6.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-65.9
$GPS2,030835,6234.002,-356.861,17,2.3,36,-6.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.220,-0.026
$KALMAN_X,24912.3,-1464.4,11868.4,236332.3,-22976.2
$KALMAN_Y,-38753.9,-512.2,-602.6,143216.8,24276.2
$MHEAD_RNG_PITCHd_Wd,153.4,42131,-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,-61.30,0.000,2,0.000,0.000,73,2410,3112
$GC,91,-0.85,-146.6,4.4,-6.3,3,116,12.27,2.65,-7.07,0.000,4,0.176,0.094,2219,3765,3417
$GC,314,-0.85,-146.6,27.0,-7.6,13,318,0.00,2.55,0.00,0.000,6,0.000,0.058,2218,2395,3418
$GC,640,-0.85,-146.6,54.0,-10.3,29,644,0.00,2.67,0.00,0.000,4,0.000,0.075,2219,984,3418
$GC,695,-0.85,-146.6,59.3,-9.7,31,702,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2404,3418
$GC,1012,-0.85,-146.6,84.7,-7.4,47,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3418
$GC,1321,-0.85,-146.6,106.4,-7.2,62,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3419
$GC,1631,-0.85,-146.6,126.1,-6.0,77,1635,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,980,3419
$GC,1674,-0.85,-146.6,129.5,-7.6,79,1679,0.00,2.62,0.00,0.000,6,0.000,0.063,2219,2400,3419
$GC,1997,-0.85,-146.6,150.5,-6.5,95,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3419
$GC,2306,-0.85,-146.6,171.4,-6.8,110,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3420
$GC,2617,-0.85,-146.6,196.1,-8.5,125,2621,0.00,2.70,0.00,0.000,4,0.000,0.075,2219,977,3420
$GC,2656,-0.85,-146.6,199.7,-9.0,127,2660,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2411,3420
$GC,2988,-0.85,-146.6,227.4,-8.0,143,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2411,3420
$GC,3297,-0.85,-146.6,250.8,-7.6,158,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2411,3420
$GC,3606,-0.85,-146.6,274.1,-8.0,173,3610,0.00,2.72,0.00,0.000,4,0.000,0.076,2219,979,3420
$GC,3645,-0.85,-146.6,277.3,-8.3,175,3650,0.00,2.65,0.00,0.000,6,0.000,0.066,2219,2400,3420
$GC,3972,-0.85,-146.6,304.5,-8.5,191,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3421
$GC,4281,-0.85,-146.6,328.1,-7.4,206,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3421
$GC,4591,-0.85,-146.6,349.5,-6.7,221,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3421
$GC,4900,-0.85,-146.6,371.3,-7.4,236,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3421
$GC,5209,-0.85,-146.6,394.8,-7.8,251,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3421
$GC,5519,-0.85,-146.6,416.5,-6.9,266,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3421
$GC,5828,-0.85,-146.6,438.5,-7.2,281,5832,0.00,2.70,0.00,0.000,4,0.000,0.081,2219,986,3421
$GC,5889,-0.85,-146.6,443.1,-7.6,284,5894,0.00,2.67,0.00,0.000,6,0.000,0.071,2219,2400,3420
$GC,6216,-0.85,-146.6,467.2,-7.2,300,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3420
$GC,6525,-0.85,-146.6,489.7,-6.9,315,6529,0.00,2.72,0.00,0.000,4,0.000,0.083,2219,986,3419
$GC,6574,-0.85,-146.6,493.6,-8.1,317,6579,0.00,2.65,0.00,0.000,6,0.000,0.073,2219,2400,3419
$GC,6890,-0.85,-146.6,515.9,-6.6,332,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3418
$GC,7199,-0.85,-146.6,537.2,-7.0,347,7203,0.00,2.75,0.00,0.000,4,0.000,0.084,2219,981,3416
$GC,7242,-0.85,-146.6,540.5,-7.2,349,7247,0.00,2.70,0.00,0.000,6,0.000,0.074,2217,2407,3416
$GC,7564,-0.85,-146.6,564.3,-7.6,365,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2407,3415
$GC,7872,-0.85,-146.6,585.8,-6.5,380,7877,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,982,3414
$GC,7928,-0.85,-146.6,589.6,-6.3,382,7934,0.00,2.70,0.00,0.000,6,0.000,0.071,2219,2406,3414
$GC,8245,-0.85,-146.6,608.7,-5.9,398,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2406,3413
$GC,8553,-0.85,-146.6,627.6,-6.1,413,8557,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,982,3412
$GC,8619,-0.85,-146.6,631.9,-6.5,416,8623,0.00,2.65,0.00,0.000,6,0.000,0.071,2219,2400,3412
$GC,8941,-0.85,-146.6,651.3,-5.8,432,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3411
$GC,9249,-0.85,-146.6,671.3,-7.0,447,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3410
$GC,9558,-0.85,-146.6,692.0,-6.3,462,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3409
$STATE,9597,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9597,begin apogee
$GC,9604,-0.31,0.0,694.6,6.2,464,9730,0.62,0.00,122.65,1.180,6,0.122,0.000,2339,2199,2818
$STATE,9731,end apogee,CONTROL_FINISHED_OK
$STATE,9731,begin climb
$GC,9733,0.85,146.6,698.6,0.0,470,9864,1.20,2.85,122.03,1.146,4,0.084,0.080,2588,786,2218
$GC,9901,0.86,163.3,694.3,5.5,478,9921,0.00,2.70,15.07,1.092,6,0.000,0.064,2588,2201,2151
$GC,10233,0.87,166.2,674.2,5.9,494,10241,0.00,0.00,4.35,0.799,6,0.000,0.000,2588,2201,2139
$GC,10565,0.87,166.2,654.5,6.1,510,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2139
$GC,10873,0.87,166.2,634.9,6.6,525,10874,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2138
$GC,11182,0.87,166.2,615.0,6.3,540,11183,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2137
$GC,11492,0.87,166.2,595.4,6.3,555,11493,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2137
$GC,11802,0.87,166.2,575.5,6.7,570,11803,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2136
$GC,12110,0.87,166.2,555.1,6.7,585,12111,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2136
$GC,12419,0.87,166.2,534.7,6.4,600,12420,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2135
$GC,12729,0.87,166.2,515.1,6.2,615,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2135
$GC,13038,0.87,166.2,495.8,6.2,630,13039,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2135
$GC,13347,0.87,166.2,476.8,6.2,645,13348,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2201,2135
$GC,13657,0.87,166.2,457.9,6.4,660,13658,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2135
$GC,13966,0.88,181.5,439.7,5.6,675,13986,0.00,0.00,13.07,1.012,6,0.000,0.000,2587,2201,2077
$GC,14295,0.91,208.2,421.8,5.3,691,14321,0.00,0.00,23.62,1.039,6,0.000,0.000,2588,2201,1968
$GC,14625,0.96,248.6,405.1,4.9,707,14664,0.15,0.00,34.10,1.040,6,0.069,0.000,2624,2199,1802
$GC,14973,0.96,248.6,382.8,6.5,724,14977,0.00,2.75,0.00,0.000,4,0.000,0.081,2624,787,1801
$GC,15013,0.96,248.6,380.0,7.6,726,15018,0.00,2.67,0.00,0.000,6,0.000,0.062,2624,2203,1801
$GC,15340,0.96,248.6,357.2,7.0,742,15341,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2203,1800
$GC,15649,0.96,248.6,333.2,8.3,757,15654,0.00,2.72,0.00,0.000,4,0.000,0.080,2624,788,1800
$GC,15689,0.96,248.6,329.8,8.9,759,15693,0.00,2.65,0.00,0.000,6,0.000,0.061,2624,2202,1800
$GC,16015,0.96,248.6,299.7,9.6,775,16016,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2201,1800
$GC,16324,0.96,248.6,273.2,8.5,790,16325,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2202,1800
$GC,16634,0.96,248.6,246.1,8.9,805,16638,0.00,2.72,0.00,0.000,4,0.000,0.076,2624,781,1800
$GC,16673,0.96,248.6,242.5,9.2,807,16677,0.00,2.65,0.00,0.000,6,0.000,0.058,2624,2203,1800
$GC,16999,0.96,248.6,214.9,8.5,823,17000,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2203,1800
$GC,17309,0.96,248.6,190.5,8.0,838,17313,0.00,2.70,0.00,0.000,4,0.000,0.073,2624,783,1800
$GC,17352,0.96,248.6,186.5,9.3,840,17357,0.00,2.62,0.00,0.000,6,0.000,0.054,2624,2205,1800
$GC,17674,0.96,248.6,159.9,8.3,856,17675,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2205,1801
$GC,17984,0.96,248.6,134.0,9.2,871,17985,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2205,1802
$GC,18292,0.96,248.6,105.7,8.9,886,18294,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2205,1802
$GC,18602,0.96,248.6,80.1,8.3,901,18606,0.00,2.70,0.00,0.000,4,0.000,0.071,2624,779,1803
$GC,18651,0.96,248.6,75.4,8.5,903,18655,0.00,2.62,0.00,0.000,6,0.000,0.053,2624,2208,1803
$GC,18967,0.96,248.6,48.5,8.5,918,18969,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2208,1804
$GC,19276,0.96,248.6,21.8,8.7,933,19277,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2208,1805
$STATE,19521,end climb,SURFACE_DEPTH_REACHED
$STATE,19521,begin surface coast
$FINISH,1.1,1.027516
$STATE,19543,end surface coast,CONTROL_FINISHED_OK
$STATE,19543,begin surface
$SM_CCo,19566,35.58,0.643,2,0,1594,300.00
$SM_GC,1.71,0.00,0.00,35.58,0.000,0.000,0.643,69,2403,1594,-10.77,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2103
$TCM_TEMP,14.90
$XPDR_PINGS,89
$ALTIM_BOTTOM_PING,675.9,28.3
$24V_AH,23.3,57.280
$10V_AH,10.1,30.287
$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,25.575,86.725,334.900,35.575,0.000,32.606,37.550,192.540,28.250,0.000,0.000,36.870,1645.995,15509.113,500.168,1827.646,543.430,33.361,1366.476,0.000,1771.270,0.000,42.433
$DEVICE_MAMPS,176.410,93.574,1179.646,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,705.439,649.944,572.748,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47445,946
$CFSIZE,260165632,238751744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,2,0
$GPS,220108,083737,6232.806,-354.927,37,0.9,44,-6.8