version: 66.02
glider: 16
mission: 6
dive: 369
start: 1 22 108 19 59 57
data:
$ID,16
$MISSION,6
$DIVE,369
$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,-2085916.8
$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,10
$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
$GPS1,194938,6229.068,-348.509,53,1.4,54,-6.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-59.3
$GPS2,195903,6229.062,-348.370,13,1.6,13,-6.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.164,-0.149
$KALMAN_X,15003.5,1508.9,15300.0,247258.1,-20808.1
$KALMAN_Y,-37449.8,-544.5,812.0,131372.7,7493.6
$MHEAD_RNG_PITCHd_Wd,155.4,30483,-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,-61.03,0.000,2,0.000,0.000,67,2404,3093
$GC,90,-0.85,-146.6,4.2,-5.7,3,115,12.10,2.65,-7.30,0.000,4,0.170,0.094,2219,3766,3417
$GC,255,-0.85,-146.6,31.2,-11.4,10,259,0.00,2.58,0.00,0.000,6,0.000,0.058,2219,2390,3418
$GC,571,-0.85,-146.6,55.1,-9.3,25,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2390,3418
$GC,881,-0.85,-146.6,81.5,-8.6,40,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2390,3418
$GC,1189,-0.85,-146.6,106.9,-8.0,55,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2390,3418
$GC,1499,-0.85,-146.6,131.2,-7.4,70,1504,0.00,2.67,0.00,0.000,4,0.000,0.076,2219,980,3419
$GC,1594,-0.85,-146.6,138.7,-8.3,74,1598,0.00,2.62,0.00,0.000,6,0.000,0.063,2219,2398,3419
$GC,1909,-0.85,-146.6,162.5,-7.5,89,1914,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,978,3419
$GC,1982,-0.85,-146.6,168.4,-8.2,92,1987,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2399,3420
$GC,2298,-0.85,-146.6,194.3,-8.5,107,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3420
$GC,2607,-0.85,-146.6,219.9,-7.9,122,2611,0.00,2.70,0.00,0.000,4,0.000,0.076,2219,982,3420
$GC,2656,-0.85,-146.6,224.1,-8.3,124,2660,0.00,2.65,0.00,0.000,6,0.000,0.065,2219,2400,3420
$GC,2971,-0.85,-146.6,249.2,-7.6,139,2976,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,975,3420
$GC,3040,-0.85,-146.6,254.5,-8.6,142,3044,0.00,2.67,0.00,0.000,6,0.000,0.066,2219,2398,3420
$GC,3360,-0.85,-146.6,280.8,-8.3,158,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3420
$GC,3669,-0.85,-146.6,306.2,-7.6,173,3674,0.00,2.72,0.00,0.000,4,0.000,0.078,2219,977,3420
$GC,3799,-0.85,-146.6,315.5,-7.2,179,3804,0.00,2.65,0.00,0.000,6,0.000,0.067,2219,2400,3420
$GC,4125,-0.85,-146.6,338.3,-7.5,195,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3420
$GC,4435,-0.85,-146.6,360.7,-7.7,210,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3420
$GC,4745,-0.85,-146.6,381.6,-6.6,225,4749,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,983,3420
$GC,4799,-0.85,-146.6,385.7,-7.6,227,4806,0.00,2.67,0.00,0.000,6,0.000,0.070,2219,2404,3421
$GC,5115,-0.85,-146.6,410.8,-7.9,243,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3420
$GC,5425,-0.85,-146.6,435.4,-8.1,258,5429,0.00,2.75,0.00,0.000,4,0.000,0.082,2219,978,3418
$GC,5474,-0.85,-146.6,439.7,-8.6,260,5479,0.00,2.67,0.00,0.000,6,0.000,0.071,2219,2401,3419
$GC,5790,-0.85,-146.6,465.0,-8.0,275,5794,0.00,2.72,0.00,0.000,4,0.000,0.097,2219,3775,3418
$GC,5845,-0.85,-146.6,470.1,-9.0,277,5851,0.00,2.60,0.00,0.000,6,0.000,0.070,2219,2400,3419
$GC,6160,-0.85,-146.6,495.2,-7.7,293,6165,0.00,2.75,0.00,0.000,4,0.000,0.087,2220,979,3418
$GC,6210,-0.85,-146.6,499.4,-7.8,295,6215,0.00,2.67,0.00,0.000,6,0.000,0.071,2219,2400,3418
$GC,6526,-0.85,-146.6,523.9,-7.9,310,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3417
$GC,6835,-0.85,-146.6,547.7,-7.5,325,6839,0.00,2.75,0.00,0.000,4,0.000,0.084,2219,978,3415
$GC,6901,-0.85,-146.6,552.7,-7.8,328,6906,0.00,2.70,0.00,0.000,6,0.000,0.072,2218,2400,3415
$GC,7226,-0.85,-146.6,575.7,-7.2,344,7227,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3414
$GC,7531,-0.85,-146.6,598.0,-7.8,359,7535,0.00,2.75,0.00,0.000,4,0.000,0.084,2219,981,3413
$GC,7571,-0.85,-146.6,601.3,-8.1,361,7576,0.00,2.70,0.00,0.000,6,0.000,0.073,2219,2401,3413
$GC,7898,-0.85,-146.6,625.0,-7.5,377,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3412
$STATE,7979,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7979,begin apogee
$GC,7985,-0.31,0.0,631.2,7.4,381,8112,0.62,0.00,123.20,1.181,6,0.120,0.000,2340,2194,2818
$STATE,8112,end apogee,CONTROL_FINISHED_OK
$STATE,8112,begin climb
$GC,8116,0.85,146.6,635.4,0.0,387,8247,1.20,2.83,122.18,1.154,4,0.081,0.082,2588,797,2219
$GC,8271,0.87,166.8,631.5,5.4,394,8295,0.00,2.67,18.48,1.068,6,0.000,0.064,2588,2200,2136
$GC,8613,0.88,182.2,612.2,5.6,411,8634,0.00,2.90,13.57,1.052,4,0.000,0.096,2588,3619,2074
$GC,8667,0.88,182.2,608.6,6.2,413,8672,0.00,2.75,0.00,0.000,6,0.000,0.074,2588,2204,2073
$GC,8985,0.89,182.9,589.9,6.0,428,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,2073
$GC,9293,0.89,182.9,571.0,6.2,443,9297,0.00,2.78,0.00,0.000,4,0.000,0.087,2588,787,2072
$GC,9325,0.89,182.9,568.8,6.5,444,9331,0.00,2.65,0.00,0.000,6,0.000,0.064,2588,2200,2072
$GC,9641,0.89,182.9,549.0,6.5,460,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,2072
$GC,9951,0.89,182.9,529.8,6.3,475,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,2072
$GC,10261,0.89,182.9,510.7,6.1,490,10265,0.00,2.75,0.00,0.000,4,0.000,0.083,2588,785,2072
$GC,10300,0.89,182.9,508.1,7.2,492,10304,0.00,2.67,0.00,0.000,6,0.000,0.064,2588,2202,2071
$GC,10626,0.89,186.3,488.5,5.9,508,10633,0.00,0.00,4.72,0.811,6,0.000,0.000,2588,2202,2057
$GC,10935,0.89,186.3,470.1,6.1,523,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,2057
$GC,11244,0.89,186.3,451.5,6.1,538,11245,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,2056
$GC,11554,0.89,189.2,433.6,5.9,553,11563,0.00,2.75,4.07,0.733,4,0.000,0.082,2588,785,2044
$GC,11587,0.89,189.2,431.3,7.0,554,11591,0.00,2.65,0.00,0.000,6,0.000,0.064,2588,2200,2044
$GC,11902,0.89,189.4,412.0,6.0,569,11904,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,2044
$GC,12212,0.90,191.8,393.3,5.9,584,12220,0.00,0.00,4.00,0.710,6,0.000,0.000,2588,2200,2034
$GC,12543,0.90,191.8,373.5,6.0,600,12547,0.00,2.75,0.00,0.000,4,0.000,0.082,2588,784,2033
$GC,12587,0.90,191.8,370.5,6.4,602,12591,0.00,2.67,0.00,0.000,6,0.000,0.064,2588,2202,2033
$GC,12908,0.90,200.8,351.3,5.8,618,12919,0.00,0.00,8.85,0.907,6,0.000,0.000,2588,2201,1998
$GC,13217,0.91,203.1,332.8,5.9,633,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,1997
$GC,13526,0.95,243.1,315.7,4.9,648,13568,0.12,2.83,35.40,0.979,4,0.071,0.080,2619,781,1825
$GC,13597,0.95,243.1,311.2,7.8,651,13601,0.00,2.70,0.00,0.000,6,0.000,0.063,2619,2202,1824
$GC,13917,0.95,243.1,288.2,8.2,667,13918,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2202,1824
$GC,14227,0.95,243.1,259.4,9.6,682,14232,0.00,2.75,0.00,0.000,4,0.000,0.079,2619,781,1824
$GC,14259,0.95,243.1,256.1,10.0,683,14265,0.00,2.67,0.00,0.000,6,0.000,0.061,2619,2205,1823
$GC,14575,0.95,243.1,228.0,8.4,699,14579,0.00,2.75,0.00,0.000,4,0.000,0.078,2619,778,1823
$GC,14631,0.95,243.1,223.2,8.8,701,14637,0.00,2.65,0.00,0.000,6,0.000,0.060,2619,2201,1823
$GC,14947,0.95,243.1,197.8,7.7,717,14952,0.00,2.72,0.00,0.000,4,0.000,0.077,2619,780,1823
$GC,14986,0.95,243.1,194.5,7.5,719,14991,0.00,2.67,0.00,0.000,6,0.000,0.061,2619,2208,1823
$GC,15312,0.95,243.1,168.1,8.3,735,15313,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2208,1824
$GC,15623,0.95,243.1,143.2,7.4,750,15627,0.00,2.72,0.00,0.000,4,0.000,0.076,2619,784,1823
$GC,15655,0.95,243.1,140.7,7.2,751,15662,0.00,2.65,0.00,0.000,6,0.000,0.060,2619,2208,1824
$GC,15972,0.95,243.1,115.6,8.6,767,15974,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2208,1825
$GC,16281,0.95,243.1,89.0,8.5,782,16286,0.00,2.72,0.00,0.000,4,0.000,0.074,2619,779,1825
$GC,16314,0.95,243.1,85.9,9.0,783,16321,0.00,2.65,0.00,0.000,6,0.000,0.058,2619,2206,1826
$GC,16630,0.95,243.1,59.7,7.2,799,16634,0.00,2.72,0.00,0.000,4,0.000,0.073,2619,776,1826
$GC,16663,1.01,295.4,57.9,4.6,800,16712,0.00,2.62,42.25,0.757,6,0.000,0.057,2619,2206,1611
$GC,17022,1.01,295.4,29.5,8.6,818,17026,0.00,2.72,0.00,0.000,4,0.000,0.073,2619,781,1610
$GC,17061,1.01,295.4,25.6,9.9,820,17066,0.00,2.65,0.00,0.000,6,0.000,0.055,2619,2208,1610
$STATE,17324,end climb,SURFACE_DEPTH_REACHED
$STATE,17324,begin surface coast
$FINISH,0.9,1.027483
$STATE,17346,end surface coast,CONTROL_FINISHED_OK
$STATE,17346,begin surface
$SM_CCo,17369,3.60,0.471,0,0,1593,300.00
$SM_GC,2.32,0.00,0.00,3.60,0.000,0.000,0.471,76,2400,1593,-10.74,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2119
$TCM_TEMP,15.90
$XPDR_PINGS,105
$ALTIM_BOTTOM_PING,575.7,64.3
$24V_AH,23.3,57.682
$10V_AH,10.1,30.540
$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,25.550,141.300,376.725,3.600,0.000,65.292,79.820,226.456,31.250,0.000,0.000,13.433,1514.140,13501.057,496.275,1770.316,659.124,33.331,1391.620,0.000,1729.424,0.000,36.072
$DEVICE_MAMPS,170.274,97.409,1181.180,470.938,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,617.390,571.866,521.034,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41135,834
$CFSIZE,260165632,238563328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,230108,005038,6228.806,-343.924,32,1.6,32,-6.7