version: 66.02
glider: 16
mission: 6
dive: 338
start: 1 15 108 2 55 12
data:
$ID,16
$MISSION,6
$DIVE,338
$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,-2085062.6
$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,14
$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
$GPS1,023837,6246.209,-600.554,39,1.3,39,-8.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-44.9
$GPS2,025420,6246.096,-600.621,17,1.3,34,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.182,0.126
$KALMAN_X,94280.4,-2115.5,-809.6,71493.0,37106.5
$KALMAN_Y,-11638.8,2009.9,804.9,134496.7,-36826.0
$MHEAD_RNG_PITCHd_Wd,96.9,89479,-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,-146.6,0.0,0.0,0,127,0.00,0.00,-101.97,0.000,2,0.000,0.000,64,2406,3031
$GC,130,-0.85,-146.6,3.1,-2.5,5,160,12.20,2.72,-9.82,0.000,4,0.171,0.079,2221,980,3417
$GC,227,-0.85,-146.6,15.9,-12.9,9,231,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2402,3417
$GC,545,-0.85,-146.6,39.3,-8.5,24,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3418
$GC,852,-0.85,-146.6,67.0,-8.8,39,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3418
$GC,1161,-0.85,-146.6,86.5,-6.1,54,1166,0.00,2.67,0.00,0.000,4,0.000,0.069,2221,978,3418
$GC,1202,-0.85,-146.6,88.7,-5.5,56,1207,0.00,2.62,0.00,0.000,6,0.000,0.062,2221,2403,3418
$GC,1529,-0.85,-146.6,115.1,-8.9,72,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3418
$GC,1838,-0.85,-146.6,139.4,-7.7,87,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3418
$GC,2147,-0.85,-146.6,165.7,-8.0,102,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3418
$GC,2456,-0.85,-146.6,186.2,-5.0,117,2461,0.00,2.67,0.00,0.000,4,0.000,0.073,2221,980,3418
$GC,2506,-0.85,-146.6,188.5,-5.2,119,2511,0.00,2.62,0.00,0.000,6,0.000,0.063,2221,2401,3418
$GC,2822,-0.85,-146.6,209.7,-6.7,134,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3418
$GC,3131,-0.85,-146.6,230.4,-6.6,149,3135,0.00,2.67,0.00,0.000,4,0.000,0.074,2221,980,3417
$GC,3163,-0.85,-146.6,232.6,-7.0,150,3169,0.00,2.62,0.00,0.000,6,0.000,0.064,2221,2400,3417
$GC,3479,-0.85,-146.6,252.1,-6.4,166,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3418
$GC,3790,-0.85,-146.6,275.1,-7.9,181,3795,0.00,2.67,0.00,0.000,4,0.000,0.074,2221,982,3418
$GC,3817,-0.85,-146.6,277.6,-8.1,182,3822,0.00,2.62,0.00,0.000,6,0.000,0.064,2221,2405,3418
$GC,4139,-0.85,-146.6,305.2,-8.7,198,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,4448,-0.85,-146.6,331.9,-8.5,213,4452,0.00,2.70,0.00,0.000,4,0.000,0.076,2220,976,3418
$GC,4502,-0.85,-146.6,336.9,-9.0,215,4509,0.00,2.62,0.00,0.000,6,0.000,0.065,2221,2398,3418
$GC,4819,-0.85,-146.6,363.0,-7.3,231,4823,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,973,3418
$GC,4845,-0.85,-146.6,365.0,-7.0,232,4850,0.00,2.65,0.00,0.000,6,0.000,0.066,2219,2401,3418
$GC,5162,-0.85,-146.6,387.4,-7.5,247,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3418
$GC,5471,-0.85,-146.6,408.7,-6.4,262,5475,0.00,2.62,0.00,0.000,4,0.000,0.086,2221,3769,3418
$GC,5503,-0.85,-146.6,411.1,-7.3,263,5509,0.00,2.55,0.00,0.000,6,0.000,0.063,2221,2397,3418
$STATE,5713,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5713,begin apogee
$GC,5720,-0.31,0.0,425.1,6.6,274,5843,0.60,0.00,119.88,0.961,6,0.110,0.000,2340,2201,2817
$STATE,5843,end apogee,CONTROL_FINISHED_OK
$STATE,5843,begin climb
$GC,5846,0.85,146.6,429.0,0.0,280,5973,1.17,2.83,117.12,0.947,4,0.073,0.085,2589,3610,2218
$GC,6001,0.85,146.6,422.9,6.4,287,6005,0.00,2.70,0.00,0.000,6,0.000,0.068,2589,2204,2218
$GC,6317,0.85,146.6,401.7,7.0,302,6321,0.00,2.72,0.00,0.000,4,0.000,0.077,2589,781,2217
$GC,6383,0.85,146.6,397.0,7.1,305,6387,0.00,2.65,0.00,0.000,6,0.000,0.057,2589,2208,2216
$GC,6704,0.85,146.9,375.2,6.0,321,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2207,2217
$GC,7014,0.88,175.7,361.3,5.2,336,7043,0.00,2.78,23.70,0.905,4,0.000,0.085,2589,3618,2099
$GC,7089,0.88,175.7,355.8,7.9,339,7093,0.00,2.72,0.00,0.000,6,0.000,0.069,2589,2193,2100
$GC,7405,0.91,205.6,336.0,5.2,354,7435,0.00,2.75,24.98,0.891,4,0.000,0.076,2589,782,1977
$GC,7458,0.92,213.7,333.2,5.8,356,7472,0.00,2.65,7.97,0.762,6,0.000,0.058,2589,2200,1945
$GC,7794,0.95,238.8,315.2,5.3,373,7818,0.12,0.00,21.33,0.858,6,0.064,0.000,2622,2199,1842
$GC,8123,0.95,238.8,293.1,6.6,389,8128,0.00,2.70,0.00,0.000,4,0.000,0.076,2622,782,1842
$GC,8151,0.95,238.8,291.1,7.3,390,8155,0.00,2.62,0.00,0.000,6,0.000,0.055,2622,2202,1841
$GC,8466,0.95,238.8,266.9,7.6,405,8471,0.00,2.70,0.00,0.000,4,0.000,0.083,2622,3621,1840
$GC,8493,0.95,238.8,264.6,8.9,406,8497,0.00,2.70,0.00,0.000,6,0.000,0.068,2622,2194,1841
$GC,8814,0.95,238.8,237.5,8.7,422,8819,0.00,2.67,0.00,0.000,4,0.000,0.075,2622,782,1841
$GC,8876,0.95,238.8,231.9,9.1,425,8880,0.00,2.62,0.00,0.000,6,0.000,0.055,2622,2204,1840
$GC,9202,0.95,238.8,207.2,8.1,441,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2204,1840
$GC,9512,0.95,238.8,178.0,9.0,456,9516,0.00,2.70,0.00,0.000,4,0.000,0.072,2622,778,1840
$GC,9544,0.95,238.8,175.1,8.7,457,9550,0.00,2.62,0.00,0.000,6,0.000,0.053,2622,2207,1840
$GC,9860,0.95,238.8,145.9,9.6,473,9864,0.00,2.70,0.00,0.000,4,0.000,0.072,2622,781,1840
$GC,9893,0.95,238.8,142.8,9.1,474,9899,0.00,2.60,0.00,0.000,6,0.000,0.054,2623,2203,1840
$GC,10210,0.95,238.8,112.9,9.6,490,10211,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2202,1840
$GC,10518,0.95,238.8,87.4,7.5,505,10522,0.00,2.67,0.00,0.000,4,0.000,0.071,2622,781,1840
$GC,10557,0.95,238.8,84.3,8.2,507,10562,0.00,2.60,0.00,0.000,6,0.000,0.054,2622,2198,1840
$GC,10884,0.95,238.8,57.2,8.8,523,10885,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2198,1840
$GC,11193,0.95,238.8,27.4,9.0,538,11197,0.00,2.70,0.00,0.000,4,0.000,0.074,2622,778,1840
$GC,11237,0.95,238.8,23.7,7.8,540,11242,0.00,2.60,0.00,0.000,6,0.000,0.054,2623,2201,1840
$STATE,11515,end climb,SURFACE_DEPTH_REACHED
$STATE,11515,begin surface coast
$FINISH,0.6,1.028489
$STATE,11537,end surface coast,CONTROL_FINISHED_OK
$STATE,11537,begin surface
$SM_CCo,11559,34.78,0.642,1,0,1593,300.00
$SM_GC,1.30,0.00,0.00,34.78,0.000,0.000,0.642,73,2401,1593,-10.75,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2117
$TCM_TEMP,16.60
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,326.6,107.9
$24V_AH,23.6,53.249
$10V_AH,10.2,27.627
$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,25.250,102.175,314.975,34.775,0.000,97.864,106.877,482.180,4.000,0.000,0.000,34.097,1017.701,8945.058,496.873,1203.218,888.513,33.361,1109.417,0.000,1161.677,0.000,18.741
$DEVICE_MAMPS,171.041,85.904,961.051,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.248,381.930,435.052,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28525,555
$CFSIZE,260165632,240685056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$GPS,150108,060938,6245.247,-556.805,31,1.3,31,-8.0