version: 66.02
glider: 16
mission: 6
dive: 418
start: 2 3 108 11 8 33
data:
$ID,16
$MISSION,6
$DIVE,418
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,315
$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,-2087231.2
$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
$GPS1,110238,6203.505,-34.139,41,1.7,41,-4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-58.5
$GPS2,110814,6203.588,-34.162,12,1.7,17,-4.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6211.224,-37.725
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.202,-0.090
$KALMAN_X,109567.5,-3587.3,-866.2,330188.0,76350.7
$KALMAN_Y,54287.1,-2872.2,-674.1,-29543.7,60742.0
$MHEAD_RNG_PITCHd_Wd,319.9,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.85,-146.6,0.0,0.0,0,91,0.00,0.00,-61.15,0.000,2,0.000,0.000,67,2401,3079
$GC,94,-0.85,-146.6,3.9,-6.1,3,121,12.35,2.70,-7.80,0.000,4,0.179,0.081,2220,982,3417
$GC,375,-0.85,-146.6,34.3,-7.3,15,381,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2407,3418
$GC,692,-0.85,-146.6,66.0,-10.7,31,696,0.00,2.70,0.00,0.000,4,0.000,0.069,2220,974,3418
$GC,800,-0.85,-146.6,77.5,-8.3,36,805,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2400,3418
$GC,1128,-0.85,-146.6,105.7,-8.9,52,1133,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,983,3418
$GC,1155,-0.85,-146.6,108.3,-8.8,53,1160,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2401,3418
$GC,1472,-0.85,-146.6,137.7,-9.4,68,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3418
$GC,1780,-0.85,-146.6,164.5,-7.9,83,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3418
$GC,2089,-0.85,-146.6,187.4,-7.2,98,2094,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,982,3418
$GC,2133,-0.85,-146.6,190.6,-6.5,100,2138,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2405,3418
$GC,2456,-0.85,-146.6,210.9,-6.3,116,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3418
$GC,2764,-0.85,-146.6,229.3,-6.3,131,2769,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,977,3419
$GC,2804,-0.85,-146.6,231.9,-6.8,133,2809,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2399,3418
$GC,3131,-0.85,-146.6,253.4,-6.8,149,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2399,3418
$GC,3439,-0.85,-146.6,274.7,-6.6,164,3444,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,980,3418
$GC,3472,-0.85,-146.6,276.8,-6.8,165,3478,0.00,2.60,0.00,0.000,6,0.000,0.062,2220,2400,3418
$GC,3789,-0.85,-146.6,296.0,-5.9,181,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,4097,-0.85,-146.6,314.9,-6.9,196,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3418
$GC,4407,-0.85,-146.6,337.5,-7.7,211,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3418
$GC,4716,-0.85,-146.6,360.7,-7.5,226,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3418
$GC,5025,-0.85,-146.6,382.4,-6.5,241,5029,0.00,2.67,0.00,0.000,4,0.000,0.074,2220,976,3418
$GC,5070,-0.85,-146.6,385.8,-7.8,243,5075,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2401,3418
$GC,5392,-0.85,-146.6,405.9,-6.1,259,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3418
$GC,5703,-0.85,-146.6,426.1,-6.8,274,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3418
$GC,6010,-0.85,-146.6,449.2,-7.8,289,6014,0.00,2.67,0.00,0.000,4,0.000,0.074,2220,982,3419
$GC,6050,-0.85,-146.6,452.7,-9.0,291,6055,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2404,3419
$GC,6377,-0.85,-146.6,480.2,-8.3,307,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3419
$GC,6687,-0.85,-146.6,502.3,-7.2,322,6691,0.00,2.67,0.00,0.000,4,0.000,0.074,2220,983,3419
$GC,6798,-0.85,-146.6,510.1,-7.3,327,6803,0.00,2.60,0.00,0.000,6,0.000,0.063,2220,2403,3419
$GC,7119,-0.85,-146.6,532.3,-6.7,343,7124,0.00,2.70,0.00,0.000,4,0.000,0.076,2220,979,3417
$GC,7193,-0.85,-146.6,537.2,-7.3,346,7197,0.00,2.65,0.00,0.000,6,0.000,0.064,2220,2400,3418
$GC,7508,-0.85,-146.6,556.7,-6.3,361,7513,0.00,2.70,0.00,0.000,4,0.000,0.077,2220,983,3419
$GC,7535,-0.85,-146.6,558.6,-6.9,362,7540,0.00,2.65,0.00,0.000,6,0.000,0.067,2220,2401,3419
$GC,7852,-0.85,-146.6,579.9,-7.1,377,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3418
$GC,8160,-0.85,-146.6,600.7,-6.8,392,8165,0.00,2.72,0.00,0.000,4,0.000,0.083,2220,979,3418
$GC,8187,-0.85,-146.6,602.7,-7.2,393,8192,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2401,3418
$STATE,8356,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8356,begin apogee
$GC,8364,-0.31,0.0,614.7,6.9,401,8490,0.60,0.00,123.00,1.122,6,0.115,0.000,2337,2191,2817
$STATE,8491,end apogee,CONTROL_FINISHED_OK
$STATE,8491,begin climb
$GC,8494,0.85,146.6,618.0,0.0,407,8624,1.27,2.85,121.12,1.095,4,0.105,0.081,2589,783,2218
$GC,8662,0.85,146.6,612.2,6.1,415,8667,0.00,2.70,0.00,0.000,6,0.000,0.065,2589,2203,2217
$GC,8989,0.85,150.9,592.7,5.9,431,8996,0.00,0.00,4.97,0.788,6,0.000,0.000,2589,2203,2201
$GC,9298,0.85,150.9,572.9,6.3,446,9302,0.00,2.80,0.00,0.000,4,0.000,0.098,2588,3616,2198
$GC,9348,0.85,150.9,569.5,6.4,448,9353,0.00,2.70,0.00,0.000,6,0.000,0.074,2589,2205,2198
$GC,9664,0.87,166.5,551.9,5.6,463,9683,0.00,0.00,13.70,1.021,6,0.000,0.000,2589,2205,2138
$GC,9993,0.87,172.3,534.0,5.8,479,10001,0.00,0.00,6.22,0.877,6,0.000,0.000,2589,2205,2114
$GC,10303,0.88,173.5,516.0,6.0,494,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2205,2112
$GC,10611,0.88,173.5,494.1,7.5,509,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2205,2111
$GC,10921,0.89,188.8,475.3,5.6,524,10942,0.00,2.80,14.38,0.999,4,0.000,0.081,2589,786,2046
$GC,11038,0.90,194.0,468.3,5.9,529,11049,0.00,2.65,5.85,0.831,6,0.000,0.062,2589,2200,2025
$GC,11359,0.93,223.8,450.2,5.2,544,11387,0.12,0.00,25.62,1.017,6,0.077,0.000,2618,2200,1904
$GC,11689,0.93,223.8,426.6,7.6,560,11690,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2200,1901
$GC,11997,0.93,223.8,402.0,8.2,575,12002,0.00,2.72,0.00,0.000,4,0.000,0.087,2618,3614,1902
$GC,12041,0.93,223.8,398.1,8.9,577,12046,0.00,2.70,0.00,0.000,6,0.000,0.067,2618,2193,1902
$GC,12363,0.93,223.8,371.0,8.4,593,12368,0.00,2.67,0.00,0.000,4,0.000,0.075,2618,785,1902
$GC,12407,0.93,223.8,367.1,8.6,595,12411,0.00,2.62,0.00,0.000,6,0.000,0.054,2618,2204,1902
$GC,12728,0.93,223.8,341.6,7.6,611,12729,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2205,1902
$GC,13038,0.93,223.8,319.8,7.2,626,13039,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2204,1903
$GC,13346,0.93,223.8,296.8,7.8,641,13348,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2204,1904
$GC,13656,0.93,223.8,274.1,6.9,656,13657,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2205,1904
$GC,13966,0.93,223.8,252.4,7.3,671,13967,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2205,1905
$GC,14274,0.93,223.8,228.3,7.7,686,14279,0.00,2.67,0.00,0.000,4,0.000,0.069,2618,780,1905
$GC,14313,0.93,223.8,224.9,8.0,688,14318,0.00,2.62,0.00,0.000,6,0.000,0.054,2618,2204,1905
$GC,14640,0.93,223.8,199.0,7.7,704,14641,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2204,1906
$GC,14949,0.93,223.8,175.0,7.8,719,14950,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2205,1906
$GC,15258,0.93,223.8,151.1,7.6,734,15259,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2204,1907
$GC,15568,0.93,223.8,126.1,8.2,749,15570,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2205,1908
$GC,15878,0.93,223.8,102.4,7.3,764,15880,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2204,1908
$GC,16186,0.93,223.8,81.5,6.6,779,16187,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2205,1908
$GC,16496,0.93,223.8,60.7,6.9,794,16497,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2204,1908
$GC,16805,0.93,223.8,39.4,7.3,809,16806,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2205,1908
$GC,17114,0.93,223.8,17.3,7.3,824,17115,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2205,1909
$STATE,17338,end climb,SURFACE_DEPTH_REACHED
$STATE,17338,begin surface coast
$FINISH,0.6,1.015792
$STATE,17361,end surface coast,CONTROL_FINISHED_OK
$STATE,17362,begin surface
$SM_CCo,17385,46.80,0.634,2,0,1594,300.00
$SM_GC,1.73,0.00,0.00,46.80,0.000,0.000,0.634,73,2401,1594,-10.75,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2122
$TCM_TEMP,16.50
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,525.4,98.5
$24V_AH,23.4,64.748
$10V_AH,10.2,34.932
$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,26.025,97.150,314.875,46.800,0.000,32.587,33.616,145.712,19.250,0.000,0.000,17.328,1499.083,13621.433,496.357,1680.696,485.171,0.000,1307.393,0.000,1645.456,0.000,29.997
$DEVICE_MAMPS,178.711,98.176,1122.121,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,617.930,573.743,529.851,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41115,836
$CFSIZE,260165632,235622400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,2,0
$GPS,030208,160037,6207.974,-34.299,40,1.7,45,-4.9