version: 66.02
glider: 16
mission: 6
dive: 419
start: 2 3 108 16 7 46
data:
$ID,16
$MISSION,6
$DIVE,419
$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,-2087265
$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,14
$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
$GPS1,160037,6207.974,-34.299,40,1.7,45,-4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-59.7
$GPS2,160729,6208.109,-34.289,13,2.3,32,-4.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6215.746,-37.843
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-0.85,-146.6,0.0,0.0,0,93,0.00,0.00,-60.65,0.000,2,0.000,0.000,72,2401,3060
$GC,97,-0.85,-146.6,3.5,-4.9,3,123,12.12,2.70,-8.80,0.000,4,0.171,0.079,2220,982,3416
$GC,376,-0.85,-146.6,31.1,-9.6,15,382,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2408,3417
$GC,693,-0.85,-146.6,58.9,-8.9,31,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2408,3418
$GC,1002,-0.85,-146.6,86.9,-8.5,46,1007,0.00,2.70,0.00,0.000,4,0.000,0.070,2220,976,3418
$GC,1064,-0.85,-146.6,92.6,-9.5,49,1069,0.00,2.62,0.00,0.000,6,0.000,0.060,2220,2400,3418
$GC,1393,-0.85,-146.6,121.8,-8.5,65,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,1702,-0.85,-146.6,144.5,-6.8,80,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3417
$GC,2010,-0.85,-146.6,168.7,-8.4,95,2014,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,980,3418
$GC,2053,-0.85,-146.6,172.3,-7.4,97,2058,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2401,3418
$GC,2375,-0.85,-146.6,195.9,-6.9,113,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3418
$GC,2684,-0.85,-146.6,217.4,-6.3,128,2688,0.00,2.62,0.00,0.000,4,0.000,0.082,2220,3771,3418
$GC,2727,-0.85,-146.6,221.0,-8.7,130,2732,0.00,2.53,0.00,0.000,6,0.000,0.058,2220,2398,3418
$GC,3049,-0.85,-146.6,248.2,-7.8,146,3054,0.00,2.67,0.00,0.000,4,0.000,0.075,2220,984,3418
$GC,3082,-0.85,-146.6,250.8,-7.1,147,3088,0.00,2.62,0.00,0.000,6,0.000,0.063,2220,2403,3418
$GC,3398,-0.85,-146.6,273.4,-6.7,163,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3418
$GC,3708,-0.85,-146.6,295.3,-7.4,178,3712,0.00,2.67,0.00,0.000,4,0.000,0.073,2220,983,3418
$GC,3757,-0.85,-146.6,299.3,-7.6,180,3762,0.00,2.62,0.00,0.000,6,0.000,0.063,2220,2401,3418
$GC,4073,-0.85,-146.6,321.9,-7.4,195,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3419
$GC,4383,-0.85,-146.6,346.5,-7.6,210,4387,0.00,2.67,0.00,0.000,4,0.000,0.073,2220,983,3419
$GC,4438,-0.85,-146.6,351.1,-7.9,212,4444,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2404,3419
$GC,4753,-0.85,-146.6,373.7,-7.1,228,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3419
$GC,5064,-0.85,-146.6,394.5,-6.5,243,5068,0.00,2.67,0.00,0.000,4,0.000,0.073,2220,983,3419
$GC,5137,-0.85,-146.6,399.7,-6.9,246,5142,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2400,3418
$GC,5457,-0.85,-146.6,421.3,-6.8,262,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3419
$GC,5768,-0.85,-146.6,443.8,-7.6,277,5772,0.00,2.62,0.00,0.000,4,0.000,0.086,2220,3766,3419
$GC,5817,-0.85,-146.6,447.8,-7.9,279,5821,0.00,2.53,0.00,0.000,6,0.000,0.061,2220,2401,3419
$GC,6132,-0.85,-146.6,471.0,-7.4,294,6137,0.00,2.67,0.00,0.000,4,0.000,0.078,2220,985,3419
$GC,6206,-0.85,-146.6,476.6,-7.9,297,6210,0.00,2.62,0.00,0.000,6,0.000,0.064,2220,2400,3419
$GC,6521,-0.85,-146.6,499.2,-7.2,312,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3419
$GC,6830,-0.85,-146.6,521.1,-7.2,327,6835,0.00,2.67,0.00,0.000,4,0.000,0.076,2220,984,3419
$GC,6881,-0.85,-146.6,524.6,-7.3,329,6889,0.00,2.65,0.00,0.000,6,0.000,0.065,2220,2411,3419
$GC,7205,-0.85,-146.6,547.1,-6.7,345,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2411,3419
$GC,7514,-0.85,-146.6,566.1,-6.2,360,7518,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,983,3419
$GC,7572,-0.85,-146.6,569.5,-5.9,362,7578,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2404,3418
$GC,7887,-0.85,-146.6,587.8,-5.6,378,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3418
$GC,8197,-0.85,-146.6,605.6,-5.6,393,8202,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,984,3417
$GC,8241,-0.85,-146.6,608.4,-6.7,395,8246,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2404,3417
$GC,8563,-0.85,-146.6,627.8,-5.9,411,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3417
$GC,8873,-0.85,-146.6,647.1,-6.2,426,8877,0.00,2.72,0.00,0.000,4,0.000,0.082,2220,986,3416
$GC,8918,-0.85,-146.6,650.2,-6.2,428,8922,0.00,2.67,0.00,0.000,6,0.000,0.073,2220,2399,3415
$GC,9238,-0.85,-146.6,671.8,-7.1,444,9242,0.00,2.72,0.00,0.000,4,0.000,0.083,2220,986,3414
$GC,9278,-0.85,-146.6,674.7,-7.8,446,9285,0.00,2.65,0.00,0.000,6,0.000,0.073,2220,2395,3414
$GC,9613,-0.85,-146.6,696.5,-6.1,462,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2395,3412
$GC,9922,-0.85,-146.6,714.6,-5.7,477,9926,0.00,2.72,0.00,0.000,4,0.000,0.085,2220,986,3411
$GC,9984,-0.85,-146.6,718.4,-6.1,480,9989,0.00,2.70,0.00,0.000,6,0.000,0.074,2220,2405,3411
$STATE,10309,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10309,begin apogee
$GC,10316,-0.31,0.0,738.8,6.3,496,10442,0.62,0.00,123.68,1.230,6,0.120,0.000,2341,2199,2817
$STATE,10443,end apogee,CONTROL_FINISHED_OK
$STATE,10443,begin climb
$GC,10446,0.85,146.6,742.7,0.0,502,10574,1.25,0.00,123.22,1.203,6,0.106,0.000,2588,2199,2218
$GC,10883,0.85,146.6,721.1,6.2,524,10887,0.00,2.85,0.00,0.000,4,0.000,0.100,2588,3619,2217
$GC,10967,0.85,146.6,715.5,6.9,528,10972,0.00,2.72,0.00,0.000,6,0.000,0.075,2588,2202,2217
$GC,11294,0.85,146.6,695.6,6.3,544,11295,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2203,2216
$GC,11603,0.85,146.8,676.6,6.0,559,11604,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,2214
$GC,11912,0.85,146.8,658.0,6.1,574,11914,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,2213
$GC,12221,0.85,146.8,638.8,6.4,589,12222,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,2213
$GC,12530,0.85,146.8,619.7,6.0,604,12531,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,2213
$GC,12840,0.85,146.8,600.7,6.3,619,12841,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,2211
$GC,13149,0.85,146.8,581.0,6.3,634,13153,0.00,2.80,0.00,0.000,4,0.000,0.097,2588,3613,2210
$GC,13215,0.85,146.8,576.4,6.2,637,13219,0.00,2.70,0.00,0.000,6,0.000,0.073,2588,2196,2211
$GC,13537,0.86,160.6,557.2,5.6,653,13554,0.00,0.00,11.62,1.040,6,0.000,0.000,2588,2196,2162
$GC,13866,0.87,168.7,538.1,5.8,669,13876,0.00,0.00,8.57,0.976,6,0.000,0.000,2588,2196,2128
$GC,14173,0.88,179.9,520.2,5.7,684,14186,0.00,0.00,10.75,1.001,6,0.000,0.000,2588,2196,2083
$GC,14483,0.89,189.3,501.9,5.7,699,14498,0.00,2.85,9.38,0.963,4,0.000,0.094,2588,3613,2045
$GC,14526,0.89,189.3,499.1,6.3,700,14530,0.00,2.70,0.00,0.000,6,0.000,0.070,2588,2200,2045
$GC,14848,0.91,208.8,481.0,5.5,716,14872,0.00,2.83,17.48,1.024,4,0.000,0.081,2588,791,1965
$GC,14914,0.93,222.4,477.3,5.6,719,14936,0.12,2.65,12.75,0.984,6,0.083,0.063,2614,2202,1909
$GC,15244,0.93,222.4,455.6,6.3,735,15249,0.00,2.78,0.00,0.000,4,0.000,0.091,2614,3619,1908
$GC,15279,0.93,222.4,453.2,7.0,736,15285,0.00,2.70,0.00,0.000,6,0.000,0.070,2614,2200,1908
$GC,15595,0.93,222.4,433.2,6.3,752,15599,0.00,2.72,0.00,0.000,4,0.000,0.079,2614,781,1908
$GC,15638,0.93,222.4,430.1,7.3,754,15643,0.00,2.65,0.00,0.000,6,0.000,0.059,2614,2201,1907
$GC,15960,0.93,222.4,408.0,6.8,770,15962,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2201,1907
$GC,16269,0.93,222.4,388.0,6.3,785,16270,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2201,1907
$GC,16578,0.93,222.4,368.4,6.4,800,16579,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2201,1907
$GC,16888,0.93,222.4,346.7,8.2,815,16889,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2201,1908
$GC,17197,0.93,222.4,321.8,7.7,830,17198,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2201,1909
$GC,17506,0.93,222.4,297.7,7.7,845,17507,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2201,1910
$GC,17816,0.93,222.4,274.3,7.6,860,17817,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2201,1911
$GC,18124,0.93,222.4,250.2,7.4,875,18129,0.00,2.67,0.00,0.000,4,0.000,0.070,2614,778,1911
$GC,18169,0.93,222.4,246.8,6.8,877,18173,0.00,2.62,0.00,0.000,6,0.000,0.054,2614,2203,1911
$GC,18490,0.93,222.4,224.5,7.3,893,18491,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2203,1912
$GC,18798,0.93,222.4,202.6,6.6,908,18800,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2203,1912
$GC,19108,0.93,222.4,181.6,6.5,923,19109,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2203,1913
$GC,19417,0.93,222.4,160.5,7.2,938,19421,0.00,2.67,0.00,0.000,4,0.000,0.070,2613,781,1914
$GC,19473,0.93,222.4,156.2,7.9,940,19479,0.00,2.60,0.00,0.000,6,0.000,0.054,2614,2202,1914
$GC,19789,0.93,222.4,132.7,6.7,956,19790,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2202,1915
$GC,20098,0.93,222.4,108.3,8.0,971,20099,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2202,1915
$GC,20408,0.93,222.4,85.9,7.3,986,20409,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2202,1916
$GC,20716,0.93,222.4,62.0,8.1,1001,20718,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2201,1915
$GC,21026,0.93,222.4,38.5,9.0,1016,21027,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2201,1916
$GC,21337,0.93,222.4,12.8,7.5,1031,21338,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2202,1916
$STATE,21518,end climb,SURFACE_DEPTH_REACHED
$STATE,21518,begin surface coast
$FINISH,0.6,1.014084
$STATE,21540,end surface coast,CONTROL_FINISHED_OK
$STATE,21540,begin surface
$SM_CCo,21562,45.55,0.637,1,0,1594,300.00
$SM_GC,1.29,0.00,0.00,45.55,0.000,0.000,0.637,71,2403,1594,-10.76,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2113
$TCM_TEMP,16.80
$XPDR_PINGS,86
$ALTIM_BOTTOM_PING,700.1,48.6
$24V_AH,23.3,64.880
$10V_AH,10.1,35.025
$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,25.575,129.375,317.450,45.550,0.000,32.615,36.819,191.575,27.500,0.000,0.000,33.102,1844.738,16972.938,512.273,2095.917,601.420,0.000,1525.118,0.000,2037.391,0.000,41.258
$DEVICE_MAMPS,171.041,99.710,1230.268,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,774.169,716.841,605.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53673,1041
$CFSIZE,260165632,235520000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,030208,220937,6211.747,-34.059,58,1.4,59,-4.9