version: 66.02
glider: 16
mission: 6
dive: 341
start: 1 15 108 13 0 51
data:
$ID,16
$MISSION,6
$DIVE,341
$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,-2085134.9
$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,16
$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
$GPS1,125057,6245.441,-549.453,38,3.8,57,-7.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-59.2
$GPS2,130001,6245.409,-549.316,17,2.0,19,-7.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.210,0.069
$KALMAN_X,75319.5,-504.9,-719.9,98634.8,-5379.9
$KALMAN_Y,-11333.4,2095.3,587.6,133048.7,-26195.1
$MHEAD_RNG_PITCHd_Wd,95.8,79942,-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,24,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-60.58,0.000,2,0.000,0.000,72,2405,3069
$GC,89,-0.85,-146.6,3.3,-4.2,3,116,12.20,2.70,-8.48,0.000,4,0.175,0.081,2219,983,3417
$GC,250,-0.85,-146.6,22.3,-7.4,10,255,0.00,2.62,0.00,0.000,6,0.000,0.059,2219,2403,3418
$GC,567,-0.85,-146.6,51.5,-9.5,25,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3417
$GC,877,-0.85,-146.6,91.6,-12.1,40,881,0.00,2.67,0.00,0.000,4,0.000,0.069,2220,979,3417
$GC,920,-0.85,-146.6,97.3,-11.0,42,925,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2404,3417
$GC,1243,-0.85,-146.6,122.3,-8.6,58,1247,0.00,2.60,0.00,0.000,4,0.000,0.077,2219,3773,3417
$GC,1314,-0.85,-146.6,129.4,-10.8,61,1319,0.00,2.55,0.00,0.000,6,0.000,0.058,2219,2395,3418
$GC,1630,-0.85,-146.6,159.2,-7.2,76,1634,0.00,2.65,0.00,0.000,4,0.000,0.073,2219,985,3417
$GC,1703,-0.85,-146.6,163.6,-4.7,79,1707,0.00,2.60,0.00,0.000,6,0.000,0.061,2219,2398,3418
$GC,2018,-0.85,-146.6,180.5,-5.7,94,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3417
$GC,2327,-0.85,-146.6,199.6,-5.5,109,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3418
$GC,2638,-0.85,-146.6,224.7,-9.3,124,2643,0.00,2.65,0.00,0.000,4,0.000,0.074,2220,986,3417
$GC,2683,-0.85,-146.6,229.4,-9.4,126,2688,0.00,2.60,0.00,0.000,6,0.000,0.061,2220,2401,3417
$GC,3010,-0.85,-146.6,257.4,-8.0,142,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3417
$GC,3320,-0.85,-146.6,282.2,-9.1,157,3324,0.00,2.67,0.00,0.000,4,0.000,0.074,2219,984,3418
$GC,3369,-0.85,-146.6,286.8,-7.8,159,3373,0.00,2.60,0.00,0.000,6,0.000,0.061,2219,2400,3417
$GC,3684,-0.85,-146.6,311.2,-7.6,174,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3417
$GC,3994,-0.85,-146.6,335.6,-7.3,189,3999,0.00,2.67,0.00,0.000,4,0.000,0.074,2219,979,3418
$GC,4026,-0.85,-146.6,337.9,-7.7,190,4033,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2406,3417
$GC,4342,-0.85,-146.6,359.5,-6.8,206,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2406,3418
$GC,4652,-0.85,-146.6,384.0,-7.9,221,4657,0.00,2.67,0.00,0.000,4,0.000,0.074,2219,985,3418
$GC,4696,-0.85,-146.6,387.8,-8.5,223,4700,0.00,2.60,0.00,0.000,6,0.000,0.061,2219,2401,3417
$GC,5016,-0.85,-146.6,411.7,-6.2,239,5020,0.00,2.62,0.00,0.000,4,0.000,0.084,2219,3771,3418
$GC,5101,-0.85,-146.6,417.3,-7.3,243,5105,0.00,2.55,0.00,0.000,6,0.000,0.061,2220,2396,3418
$GC,5426,-0.85,-146.6,439.7,-6.8,259,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2395,3417
$GC,5736,-0.85,-146.6,467.0,-8.2,274,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2396,3418
$STATE,5960,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5960,begin apogee
$GC,5967,-0.31,0.0,482.9,6.2,285,6090,0.60,0.00,120.43,1.005,6,0.114,0.000,2338,2197,2817
$STATE,6091,end apogee,CONTROL_FINISHED_OK
$STATE,6091,begin climb
$GC,6093,0.85,146.6,486.1,0.0,291,6216,1.23,0.00,118.78,0.986,6,0.074,0.000,2592,2197,2219
$GC,6513,0.85,146.6,462.4,7.6,312,6518,0.00,2.75,0.00,0.000,4,0.000,0.085,2592,3618,2216
$GC,6540,0.85,146.6,460.8,6.3,313,6544,0.00,2.67,0.00,0.000,6,0.000,0.067,2592,2200,2216
$GC,6860,0.86,161.6,442.3,5.6,329,6879,0.00,0.00,13.15,0.893,6,0.000,0.000,2592,2200,2157
$GC,7190,0.86,161.6,420.7,6.8,345,7194,0.00,2.75,0.00,0.000,4,0.000,0.087,2592,3615,2156
$GC,7233,0.86,161.6,417.4,7.4,347,7237,0.00,2.67,0.00,0.000,6,0.000,0.067,2592,2199,2156
$GC,7554,0.89,186.5,398.2,5.3,363,7583,0.00,2.80,21.10,0.921,4,0.000,0.086,2592,3614,2056
$GC,7612,0.89,186.5,394.7,6.7,365,7619,0.00,2.70,0.00,0.000,6,0.000,0.068,2592,2192,2056
$GC,7928,0.90,195.6,377.3,5.7,381,7938,0.00,0.00,8.73,0.819,6,0.000,0.000,2592,2192,2019
$GC,8237,0.90,195.6,357.1,6.7,396,8242,0.00,2.78,0.00,0.000,4,0.000,0.086,2592,3620,2018
$GC,8286,0.90,195.6,353.2,7.8,398,8291,0.00,2.70,0.00,0.000,6,0.000,0.068,2592,2197,2018
$GC,8602,0.90,195.6,332.4,6.5,413,8606,0.00,2.70,0.00,0.000,4,0.000,0.077,2592,784,2018
$GC,8634,0.91,202.3,330.4,5.8,414,8648,0.00,2.62,6.62,0.745,6,0.000,0.055,2592,2202,1993
$GC,8971,0.91,202.3,310.0,7.0,431,8976,0.00,2.72,0.00,0.000,4,0.000,0.083,2592,3622,1992
$GC,9010,0.91,202.3,307.6,6.8,433,9015,0.00,2.70,0.00,0.000,6,0.000,0.068,2592,2197,1992
$GC,9337,0.91,202.3,284.9,7.1,449,9342,0.00,2.67,0.00,0.000,4,0.000,0.073,2592,781,1992
$GC,9377,0.91,202.3,282.3,6.7,451,9382,0.00,2.62,0.00,0.000,6,0.000,0.054,2592,2202,1991
$GC,9703,0.92,210.1,261.5,5.8,467,9713,0.00,0.00,7.93,0.739,6,0.000,0.000,2592,2202,1960
$GC,10013,0.92,210.1,243.1,6.6,482,10017,0.00,2.67,0.00,0.000,4,0.000,0.071,2592,783,1960
$GC,10045,0.92,210.1,240.6,7.4,483,10051,0.00,2.60,0.00,0.000,6,0.000,0.052,2592,2201,1959
$GC,10360,0.92,210.1,222.3,6.1,499,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2202,1959
$GC,10670,0.92,210.1,201.0,7.6,514,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2202,1959
$GC,10980,0.94,236.1,178.7,5.3,529,11010,0.10,2.75,22.10,0.775,4,0.069,0.070,2620,788,1853
$GC,11038,0.94,236.1,175.0,7.0,531,11044,0.00,2.62,0.00,0.000,6,0.000,0.052,2620,2207,1853
$GC,11354,0.94,236.1,152.7,8.4,547,11356,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2207,1852
$GC,11663,0.94,236.1,125.9,8.3,562,11668,0.00,2.70,0.00,0.000,4,0.000,0.070,2620,782,1853
$GC,11696,0.94,236.1,123.1,8.3,563,11703,0.00,2.60,0.00,0.000,6,0.000,0.051,2620,2206,1852
$GC,12014,0.94,236.1,103.6,6.2,579,12015,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2206,1853
$GC,12322,0.94,236.1,79.9,8.1,594,12323,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2206,1853
$GC,12631,0.94,236.1,55.9,7.9,609,12635,0.00,2.67,0.00,0.000,4,0.000,0.068,2620,784,1853
$GC,12674,1.01,297.7,53.7,4.3,611,12732,0.00,2.60,47.97,0.708,6,0.000,0.051,2620,2207,1603
$GC,13043,1.01,297.7,21.9,9.0,629,13048,0.00,2.72,0.00,0.000,4,0.000,0.071,2620,776,1601
$GC,13070,1.01,297.7,18.8,10.1,630,13074,0.00,2.62,0.00,0.000,6,0.000,0.051,2620,2207,1601
$STATE,13239,end climb,SURFACE_DEPTH_REACHED
$STATE,13239,begin surface coast
$FINISH,0.7,1.027486
$STATE,13261,end surface coast,CONTROL_FINISHED_OK
$STATE,13261,begin surface
$SM_CCo,13283,1.02,0.137,0,0,1594,300.00
$SM_GC,2.07,0.00,0.00,1.02,0.000,0.000,0.137,71,2403,1594,-10.75,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2099
$TCM_TEMP,16.70
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,400.8,92.0
$24V_AH,23.5,53.581
$10V_AH,10.2,27.811
$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,25.500,112.475,366.800,1.025,0.000,65.240,72.452,231.084,9.000,0.000,0.000,19.576,1167.161,10239.252,483.994,1360.900,583.535,33.363,1180.431,0.000,1330.591,0.000,21.870
$DEVICE_MAMPS,174.876,86.671,1004.770,137.293,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.806,437.215,440.210,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31669,639
$CFSIZE,260165632,240541696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,150108,164331,6246.038,-540.191,39,1.2,39,-7.8