version: 66.02
glider: 16
mission: 6
dive: 370
start: 1 23 108 1 0 14
data:
$ID,16
$MISSION,6
$DIVE,370
$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,-2085929.6
$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,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
$GPS1,005038,6228.806,-343.924,32,1.6,32,-6.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-62.9
$GPS2,005921,6228.840,-344.045,12,1.6,12,-6.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.144,-0.168
$KALMAN_X,26986.5,-434.6,4914.6,251447.5,-10998.1
$KALMAN_Y,-37429.2,-481.7,5036.6,126660.7,1777.4
$MHEAD_RNG_PITCHd_Wd,161.4,28349,-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,-60.92,0.000,2,0.000,0.000,74,2400,3030
$GC,90,-0.85,-146.6,3.6,-4.2,3,120,12.18,2.72,-9.88,0.000,4,0.174,0.094,2219,3768,3416
$GC,284,-0.85,-146.6,24.8,-7.7,11,290,0.00,2.55,0.00,0.000,6,0.000,0.060,2219,2399,3417
$GC,599,-0.85,-146.6,51.0,-7.2,27,604,0.00,2.70,0.00,0.000,4,0.000,0.076,2219,980,3418
$GC,644,-0.85,-146.6,54.6,-7.9,29,649,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2401,3418
$GC,966,-0.85,-146.6,80.6,-9.3,45,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3419
$GC,1277,-0.85,-146.6,107.9,-8.9,60,1281,0.00,2.70,0.00,0.000,4,0.000,0.073,2219,978,3418
$GC,1320,-0.85,-146.6,112.1,-8.9,62,1324,0.00,2.65,0.00,0.000,6,0.000,0.062,2219,2404,3418
$GC,1642,-0.85,-146.6,139.6,-8.7,78,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3419
$GC,1950,-0.85,-146.6,165.9,-8.1,93,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3420
$GC,2260,-0.85,-146.6,193.6,-9.3,108,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3420
$GC,2570,-0.85,-146.6,220.3,-8.0,123,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3420
$GC,2878,-0.85,-146.6,244.4,-7.8,138,2882,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,980,3420
$GC,2962,-0.85,-146.6,251.1,-7.6,142,2967,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2404,3421
$GC,3288,-0.85,-146.6,274.2,-7.0,158,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3420
$GC,3598,-0.85,-146.6,297.6,-8.0,173,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3421
$GC,3908,-0.85,-146.6,322.4,-8.2,188,3912,0.00,2.75,0.00,0.000,4,0.000,0.080,2219,974,3420
$GC,3996,-0.85,-146.6,329.7,-7.8,192,4001,0.00,2.70,0.00,0.000,6,0.000,0.070,2219,2407,3421
$GC,4317,-0.85,-146.6,354.9,-7.5,208,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2407,3421
$GC,4627,-0.85,-146.6,378.7,-8.4,223,4632,0.00,2.75,0.00,0.000,4,0.000,0.081,2218,979,3421
$GC,4677,-0.85,-146.6,383.1,-8.7,225,4681,0.00,2.67,0.00,0.000,6,0.000,0.071,2219,2401,3420
$GC,4992,-0.85,-146.6,409.5,-8.3,240,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3420
$GC,5302,-0.85,-146.6,435.4,-8.2,255,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3420
$GC,5611,-0.85,-146.6,459.1,-7.2,270,5615,0.00,2.75,0.00,0.000,4,0.000,0.083,2219,978,3419
$GC,5672,-0.85,-146.6,463.4,-6.9,273,5677,0.00,2.70,0.00,0.000,6,0.000,0.073,2219,2401,3419
$GC,5999,-0.85,-146.6,485.7,-6.3,289,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3419
$GC,6308,-0.85,-146.6,506.4,-7.0,304,6312,0.00,2.75,0.00,0.000,4,0.000,0.084,2219,982,3417
$GC,6362,-0.85,-146.6,510.5,-7.5,306,6369,0.00,2.70,0.00,0.000,6,0.000,0.074,2219,2410,3417
$GC,6679,-0.85,-146.6,533.6,-7.3,322,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2410,3416
$GC,6987,-0.85,-146.6,556.1,-7.2,337,6992,0.00,2.78,0.00,0.000,4,0.000,0.084,2219,980,3415
$GC,7060,-0.85,-146.6,561.4,-7.3,340,7064,0.00,2.70,0.00,0.000,6,0.000,0.074,2219,2403,3415
$GC,7375,-0.85,-146.6,582.6,-6.4,355,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3414
$GC,7684,-0.85,-146.6,603.1,-7.2,370,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3413
$STATE,7847,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7847,begin apogee
$GC,7854,-0.31,0.0,614.8,6.9,378,7980,0.62,0.00,123.22,1.167,6,0.123,0.000,2339,2197,2817
$STATE,7981,end apogee,CONTROL_FINISHED_OK
$STATE,7981,begin climb
$GC,7984,0.85,146.6,619.0,0.0,384,8112,1.27,0.00,121.80,1.145,6,0.108,0.000,2588,2197,2219
$GC,8422,0.85,146.6,598.8,6.3,406,8427,0.00,2.83,0.00,0.000,4,0.000,0.097,2588,3614,2217
$GC,8466,0.85,149.0,596.1,5.9,408,8471,0.00,2.72,0.00,0.000,6,0.000,0.075,2588,2202,2217
$GC,8787,0.87,165.1,578.2,5.6,424,8806,0.00,0.00,16.38,1.072,6,0.000,0.000,2588,2202,2144
$GC,9116,0.87,165.1,558.6,6.1,440,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,2143
$GC,9425,0.87,165.1,539.6,6.1,455,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,2142
$GC,9734,0.87,165.1,520.2,6.4,470,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,2142
$GC,10044,0.87,165.1,499.7,7.0,485,10045,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,2142
$GC,10353,0.87,165.1,476.4,8.0,500,10357,0.00,2.75,0.00,0.000,4,0.000,0.089,2588,786,2141
$GC,10392,0.87,165.1,473.2,8.9,502,10396,0.00,2.65,0.00,0.000,6,0.000,0.067,2588,2195,2140
$GC,10718,0.87,165.1,448.3,7.7,518,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2195,2140
$GC,11027,0.87,165.1,424.8,8.0,533,11028,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2195,2140
$GC,11336,0.87,165.1,399.6,8.3,548,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2195,2139
$GC,11646,0.87,165.1,374.5,7.9,563,11650,0.00,2.72,0.00,0.000,4,0.000,0.084,2588,785,2139
$GC,11685,0.87,165.1,371.2,8.4,565,11689,0.00,2.65,0.00,0.000,6,0.000,0.065,2588,2200,2139
$GC,12011,0.87,165.1,347.2,6.7,581,12016,0.00,2.80,0.00,0.000,4,0.000,0.097,2588,3614,2139
$GC,12038,0.87,165.1,345.1,7.7,582,12042,0.00,2.72,0.00,0.000,6,0.000,0.077,2588,2200,2139
$GC,12354,0.87,165.1,323.8,6.4,597,12355,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,2139
$GC,12663,0.87,165.1,305.1,6.0,612,12664,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,2139
$GC,12972,0.88,175.1,287.4,5.7,627,12983,0.00,0.00,8.90,0.870,6,0.000,0.000,2588,2200,2102
$GC,13282,0.92,214.0,272.3,4.9,642,13324,0.10,2.85,32.42,0.946,4,0.080,0.082,2613,785,1942
$GC,13348,0.92,214.0,268.2,6.7,645,13352,0.00,2.67,0.00,0.000,6,0.000,0.064,2612,2200,1942
$GC,13675,0.92,214.0,247.2,6.3,661,13679,0.00,2.80,0.00,0.000,4,0.000,0.094,2613,3619,1942
$GC,13718,0.92,214.0,243.8,7.3,663,13723,0.00,2.75,0.00,0.000,6,0.000,0.076,2613,2194,1942
$GC,14039,0.92,214.0,223.1,6.2,679,14043,0.00,2.80,0.00,0.000,4,0.000,0.091,2613,3622,1942
$GC,14083,0.92,214.0,220.0,7.2,681,14088,0.00,2.72,0.00,0.000,6,0.000,0.074,2613,2200,1942
$GC,14404,0.92,214.0,199.2,6.6,697,14405,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2200,1942
$GC,14713,0.92,214.0,180.0,6.3,712,14714,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2200,1942
$GC,15023,0.92,214.0,161.4,6.1,727,15028,0.00,2.70,0.00,0.000,4,0.000,0.078,2613,782,1942
$GC,15079,0.92,214.0,157.4,6.7,729,15085,0.00,2.62,0.00,0.000,6,0.000,0.057,2613,2202,1942
$GC,15396,0.92,214.0,136.3,6.9,745,15397,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2202,1943
$GC,15705,0.92,214.0,114.3,7.0,760,15706,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2202,1944
$GC,16013,0.92,214.0,93.1,7.1,775,16014,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2202,1945
$GC,16322,0.92,214.0,70.3,8.5,790,16324,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2202,1946
$GC,16632,0.92,214.0,43.8,8.5,805,16634,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2204,1947
$GC,16941,0.92,214.0,28.9,6.5,820,16945,0.00,2.70,0.00,0.000,4,0.000,0.072,2613,777,1947
$GC,16973,0.92,214.0,25.9,8.2,821,16980,0.00,2.62,0.00,0.000,6,0.000,0.054,2613,2205,1947
$STATE,17266,end climb,SURFACE_DEPTH_REACHED
$STATE,17266,begin surface coast
$FINISH,0.8,1.027469
$STATE,17289,end surface coast,CONTROL_FINISHED_OK
$STATE,17290,begin surface
$SM_CCo,17312,55.12,0.667,2,0,1594,300.00
$SM_GC,1.79,0.00,0.00,55.12,0.000,0.000,0.667,72,2408,1594,-10.75,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2096
$TCM_TEMP,16.20
$XPDR_PINGS,90
$ALTIM_BOTTOM_PING,550.1,74.6
$24V_AH,23.3,57.809
$10V_AH,10.1,30.618
$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,25.700,98.500,302.725,55.125,0.000,65.259,108.667,165.902,27.250,0.000,0.000,12.239,1483.510,13662.775,486.748,1669.571,600.987,33.342,1300.951,0.000,1638.816,0.000,34.491
$DEVICE_MAMPS,174.109,97.409,1167.374,667.290,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,620.657,574.562,543.338,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41127,837
$CFSIZE,260165632,238514176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
$GPS,230108,055128,6227.053,-341.224,40,2.4,59,-6.7