version: 66.02
glider: 16
mission: 6
dive: 404
start: 2 1 108 13 33 24
data:
$ID,16
$MISSION,6
$DIVE,404
$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,566.1524
$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,-2086886.2
$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,15
$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
$GPS1,131327,6128.089,-134.459,50,2.2,69,-5.3
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,2
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-53.5
$GPS2,133234,6128.113,-133.722,34,2.0,34,-5.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.151,-0.162
$KALMAN_X,68335.1,183.1,-1240.1,330329.5,28529.8
$KALMAN_Y,12748.4,2164.3,112.2,-33767.7,3110.5
$MHEAD_RNG_PITCHd_Wd,204.1,45219,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-59.65,0.000,2,0.000,0.000,71,2404,3106
$GC,90,-0.85,-146.6,3.3,-4.5,3,115,12.12,2.62,-7.57,0.000,4,0.173,0.087,2221,3773,3417
$GC,367,-0.85,-146.6,35.2,-9.9,15,372,0.00,2.53,0.00,0.000,6,0.000,0.052,2220,2400,3418
$GC,685,-0.85,-146.6,55.7,-5.1,30,689,0.00,2.67,0.00,0.000,4,0.000,0.083,2220,3772,3417
$GC,747,-0.85,-146.6,58.6,-5.3,33,751,0.00,2.55,0.00,0.000,6,0.000,0.054,2220,2393,3417
$GC,1075,-0.85,-146.6,77.4,-3.9,49,1079,0.00,2.67,0.00,0.000,4,0.000,0.072,2220,977,3418
$GC,1152,-0.85,-146.6,79.5,-3.7,52,1159,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2400,3418
$GC,1468,-0.85,-146.6,97.6,-8.0,68,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,1778,-0.85,-146.6,128.5,-13.7,83,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,2086,-0.85,-146.6,152.1,-7.9,98,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,2395,-0.85,-146.6,172.4,-8.5,113,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,2705,-0.85,-146.6,198.2,-7.7,128,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,3014,-0.85,-146.6,224.3,-9.0,143,3018,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,982,3418
$GC,3063,-0.85,-146.6,228.1,-6.9,145,3068,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2400,3418
$GC,3379,-0.85,-146.6,252.1,-7.7,160,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,3688,-0.85,-146.6,279.0,-8.6,175,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,3997,-0.85,-146.6,302.6,-7.6,190,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,4310,-0.85,-146.6,326.3,-7.7,205,4314,0.00,2.62,0.00,0.000,4,0.000,0.084,2221,3772,3419
$GC,4381,-0.85,-146.6,332.7,-8.2,208,4386,0.00,2.50,0.00,0.000,6,0.000,0.056,2221,2399,3419
$GC,4697,-0.85,-146.6,356.4,-7.7,223,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3419
$GC,5007,-0.85,-146.6,380.9,-7.9,238,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3420
$GC,5315,-0.85,-146.6,403.6,-7.2,253,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2396,3420
$GC,5625,-0.85,-146.6,428.1,-8.3,268,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3420
$GC,5935,-0.85,-146.6,452.8,-7.7,283,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2396,3420
$GC,6248,-0.85,-146.6,475.8,-7.4,298,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3420
$GC,6552,-0.85,-146.6,497.3,-6.9,313,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3420
$GC,6863,-0.85,-146.6,519.0,-6.2,328,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2395,3420
$STATE,7148,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7148,begin apogee
$GC,7155,-0.31,0.0,539.5,7.7,342,7291,0.60,0.00,125.53,0.997,6,0.110,0.000,2340,2194,2817
$STATE,7292,end apogee,CONTROL_FINISHED_OK
$STATE,7292,begin climb
$GC,7294,0.85,146.6,544.2,0.0,349,7418,1.23,0.00,119.68,1.000,6,0.096,0.000,2589,2194,2219
$GC,7727,0.85,146.6,517.7,7.3,370,7731,0.00,2.67,0.00,0.000,4,0.000,0.070,2589,782,2217
$GC,7776,0.85,146.6,514.3,6.4,372,7781,0.00,2.62,0.00,0.000,6,0.000,0.053,2589,2200,2216
$GC,8093,0.85,151.3,494.4,5.9,387,8100,0.00,0.00,5.20,0.726,6,0.000,0.000,2589,2200,2200
$GC,8401,0.85,151.3,473.1,6.7,402,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,2199
$GC,8710,0.85,151.3,451.3,7.6,417,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,2199
$GC,9022,0.85,151.3,426.1,8.8,432,9023,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,2198
$GC,9329,0.85,151.3,399.1,8.6,447,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,2198
$GC,9638,0.85,151.3,376.8,6.9,462,9642,0.00,2.72,0.00,0.000,4,0.000,0.083,2589,3619,2198
$GC,9678,0.85,151.3,373.9,7.7,464,9683,0.00,2.65,0.00,0.000,6,0.000,0.061,2589,2200,2197
$GC,10004,0.85,153.1,353.1,6.0,480,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2198
$GC,10314,0.86,157.2,335.2,5.9,495,10322,0.00,0.00,6.28,0.725,6,0.000,0.000,2589,2200,2175
$GC,10624,0.86,160.9,317.0,5.9,510,10630,0.00,0.00,4.90,0.653,6,0.000,0.000,2589,2200,2160
$GC,10932,0.87,167.6,299.2,5.8,525,10946,0.00,2.78,7.20,0.722,4,0.000,0.081,2589,3613,2134
$GC,10976,0.87,167.6,296.3,7.2,527,10981,0.00,2.65,0.00,0.000,6,0.000,0.061,2589,2199,2134
$GC,11304,0.87,167.6,275.4,6.6,543,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2133
$GC,11612,0.92,210.0,258.8,4.8,558,11652,0.00,0.00,34.78,0.824,6,0.000,0.000,2589,2199,1959
$GC,11963,0.92,218.0,240.5,5.8,575,11973,0.10,0.00,7.53,0.699,6,0.070,0.000,2618,2199,1928
$GC,12271,0.92,218.0,213.7,8.9,590,12275,0.00,2.67,0.00,0.000,4,0.000,0.072,2617,784,1927
$GC,12314,0.92,218.0,210.2,7.4,592,12319,0.00,2.60,0.00,0.000,6,0.000,0.053,2617,2201,1927
$GC,12636,0.92,218.0,177.9,9.9,608,12637,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2201,1927
$GC,12945,0.92,218.0,147.0,8.3,623,12950,0.00,2.67,0.00,0.000,4,0.000,0.067,2617,778,1927
$GC,12989,0.92,218.0,143.2,8.1,625,12994,0.00,2.60,0.00,0.000,6,0.000,0.051,2617,2204,1927
$GC,13311,0.92,218.0,113.7,7.4,641,13313,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2204,1927
$GC,13620,0.93,220.0,94.4,5.9,656,13621,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2205,1928
$GC,13929,0.93,220.0,65.3,12.3,671,13930,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2204,1927
$GC,14239,0.93,220.0,34.7,6.3,686,14240,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2205,1927
$GC,14549,0.93,220.0,11.6,7.8,701,14553,0.00,2.65,0.00,0.000,4,0.000,0.064,2617,778,1928
$GC,14621,0.93,220.0,5.0,8.9,704,14625,0.00,2.60,0.00,0.000,6,0.000,0.051,2617,2205,1927
$STATE,14769,end climb,SURFACE_DEPTH_REACHED
$STATE,14769,begin surface coast
$FINISH,0.6,1.025577
$STATE,14894,end surface coast,CONTROL_FINISHED_OK
$STATE,14894,begin surface
$SM_CCo,14917,199.95,0.633,2,0,509,566.15
$SM_GC,1.39,0.00,0.00,199.95,0.000,0.000,0.633,70,2399,509,-10.76,0.00,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2017
$TCM_TEMP,17.20
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,475.8,73.7
$24V_AH,23.5,63.070
$10V_AH,10.2,34.101
$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,25.625,58.725,311.075,199.950,0.000,163.067,256.109,322.588,5.750,0.000,0.000,34.704,1263.059,11950.965,621.464,1440.536,1000.541,33.383,1295.181,0.000,1393.024,0.000,29.635
$DEVICE_MAMPS,172.575,86.671,1000.168,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,513.282,504.057,510.746,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34802,717
$CFSIZE,260165632,236171264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,3,0
$GPS,010208,174658,6129.554,-127.057,29,2.1,48,-5.2