version: 66.02
glider: 16
mission: 6
dive: 342
start: 1 15 108 16 53 12
data:
$ID,16
$MISSION,6
$DIVE,342
$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,-2085166.4
$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,18
$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
$GPS1,164331,6246.038,-540.191,39,1.2,39,-7.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-57.5
$GPS2,165222,6246.023,-540.021,11,3.9,30,-7.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.215,0.055
$KALMAN_X,76330.9,1278.9,-1404.9,104681.0,-3756.7
$KALMAN_Y,-9127.6,1918.6,786.6,131968.9,-18124.4
$MHEAD_RNG_PITCHd_Wd,96.4,72038,-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,-146.6,0.0,0.0,0,86,0.00,0.00,-61.47,0.000,2,0.000,0.000,70,2406,3114
$GC,89,-0.85,-146.6,4.1,-6.3,3,114,12.10,2.70,-6.68,0.000,4,0.171,0.079,2219,988,3418
$GC,156,-0.85,-146.6,14.2,-7.3,6,161,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2404,3418
$GC,483,-0.85,-146.6,44.9,-10.3,22,487,0.00,2.58,0.00,0.000,4,0.000,0.075,2219,3765,3418
$GC,538,-0.85,-146.6,52.1,-12.7,24,545,0.00,2.53,0.00,0.000,6,0.000,0.057,2219,2394,3418
$GC,855,-0.85,-146.6,81.4,-8.8,40,860,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,977,3418
$GC,888,-0.85,-146.6,83.9,-7.0,41,895,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2400,3418
$GC,1205,-0.85,-146.6,102.2,-6.0,57,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3417
$GC,1515,-0.85,-146.6,128.0,-6.1,72,1519,0.00,2.67,0.00,0.000,4,0.000,0.071,2219,979,3418
$GC,1547,-0.85,-146.6,130.3,-6.5,73,1554,0.00,2.60,0.00,0.000,6,0.000,0.060,2219,2400,3418
$GC,1863,-0.85,-146.6,154.0,-8.6,89,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3418
$GC,2172,-0.85,-146.6,177.0,-7.5,104,2176,0.00,2.65,0.00,0.000,4,0.000,0.071,2219,982,3418
$GC,2221,-0.85,-146.6,180.7,-7.5,106,2225,0.00,2.60,0.00,0.000,6,0.000,0.061,2219,2398,3418
$GC,2538,-0.85,-146.6,200.9,-7.4,121,2543,0.00,2.60,0.00,0.000,4,0.000,0.081,2219,3769,3418
$GC,2565,-0.85,-146.6,202.9,-6.7,122,2570,0.00,2.53,0.00,0.000,6,0.000,0.059,2219,2401,3418
$GC,2881,-0.85,-146.6,225.0,-6.6,137,2888,0.00,2.65,0.00,0.000,4,0.000,0.075,2219,988,3418
$GC,2922,-0.85,-146.6,228.2,-7.6,138,2928,0.00,2.60,0.00,0.000,6,0.000,0.062,2219,2400,3418
$GC,3238,-0.85,-146.6,252.2,-7.5,154,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3418
$GC,3546,-0.85,-146.6,274.4,-7.4,169,3551,0.00,2.67,0.00,0.000,4,0.000,0.074,2219,979,3418
$GC,3579,-0.85,-146.6,276.8,-7.1,170,3586,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2407,3418
$GC,3896,-0.85,-146.6,307.0,-11.2,186,3900,0.00,2.70,0.00,0.000,4,0.000,0.073,2219,974,3418
$GC,3939,-0.85,-146.6,312.3,-11.5,188,3944,0.00,2.62,0.00,0.000,6,0.000,0.062,2219,2400,3418
$GC,4260,-0.85,-146.6,337.1,-7.4,204,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3418
$GC,4570,-0.85,-146.6,360.6,-7.9,219,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3418
$GC,4879,-0.85,-146.6,383.8,-7.2,234,4883,0.00,2.67,0.00,0.000,4,0.000,0.074,2219,981,3418
$GC,4922,-0.85,-146.6,387.2,-7.9,236,4927,0.00,2.62,0.00,0.000,6,0.000,0.062,2219,2404,3418
$GC,5244,-0.85,-146.6,409.5,-6.4,252,5248,0.00,2.60,0.00,0.000,4,0.000,0.084,2219,3769,3418
$GC,5299,-0.85,-146.6,413.2,-7.0,254,5305,0.00,2.53,0.00,0.000,6,0.000,0.061,2219,2400,3418
$GC,5614,-0.85,-146.6,433.7,-6.8,270,5619,0.00,2.67,0.00,0.000,4,0.000,0.077,2219,982,3418
$GC,5726,-0.85,-146.6,442.0,-7.5,275,5731,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2405,3418
$GC,6047,-0.85,-146.6,463.8,-6.9,291,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3418
$GC,6357,-0.85,-146.6,486.7,-7.5,306,6362,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,982,3418
$GC,6397,-0.85,-146.6,489.6,-7.4,308,6401,0.00,2.62,0.00,0.000,6,0.000,0.062,2219,2400,3418
$GC,6723,-0.85,-146.6,510.5,-6.5,324,6727,0.00,2.62,0.00,0.000,4,0.000,0.085,2219,3772,3418
$GC,6845,-0.85,-146.6,520.7,-8.5,329,6852,0.00,2.55,0.00,0.000,6,0.000,0.061,2219,2395,3418
$GC,7161,-0.85,-146.6,537.2,-5.9,345,7165,0.00,2.70,0.00,0.000,4,0.000,0.081,2219,980,3418
$GC,7217,-0.85,-146.6,541.1,-7.0,347,7223,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2405,3418
$STATE,7324,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7324,begin apogee
$GC,7331,-0.31,0.0,548.2,6.5,353,7456,0.60,0.00,121.57,1.064,6,0.107,0.000,2338,2195,2817
$STATE,7456,end apogee,CONTROL_FINISHED_OK
$STATE,7456,begin climb
$GC,7459,0.85,146.6,551.3,0.0,359,7583,1.25,0.00,119.85,1.041,6,0.087,0.000,2592,2195,2219
$GC,7882,0.85,154.2,533.1,5.8,380,7896,0.00,2.78,7.50,0.852,4,0.000,0.079,2591,791,2187
$GC,7987,0.88,181.6,526.6,5.3,384,8016,0.00,2.62,23.35,0.995,6,0.000,0.061,2591,2200,2076
$GC,8345,0.90,192.9,505.7,5.7,402,8361,0.00,2.83,10.68,0.930,4,0.000,0.092,2591,3614,2029
$GC,8535,0.90,192.9,492.7,7.5,409,8541,0.00,2.70,0.00,0.000,6,0.000,0.074,2591,2204,2029
$GC,8851,0.90,192.9,472.1,7.0,425,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2204,2026
$GC,9159,0.90,192.9,451.5,6.4,440,9164,0.00,2.72,0.00,0.000,4,0.000,0.080,2591,778,2025
$GC,9186,0.90,192.9,449.7,6.4,441,9190,0.00,2.65,0.00,0.000,6,0.000,0.058,2592,2205,2024
$GC,9507,0.92,211.0,430.9,5.5,457,9527,0.00,0.00,15.02,0.945,6,0.000,0.000,2592,2205,1956
$GC,9837,0.92,211.0,407.8,7.7,473,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2205,1956
$GC,10146,0.92,211.0,383.1,8.5,488,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2205,1955
$GC,10455,0.92,211.0,362.3,6.5,503,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2205,1955
$GC,10765,0.92,211.0,343.7,6.3,518,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2205,1955
$GC,11073,0.92,211.0,322.8,6.5,533,11075,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2205,1955
$GC,11383,0.92,216.7,304.2,5.8,548,11396,0.00,2.72,6.18,0.721,4,0.000,0.072,2592,779,1932
$GC,11420,0.94,234.8,302.1,5.5,549,11446,0.10,2.62,16.23,0.848,6,0.068,0.054,2615,2203,1858
$GC,11755,0.94,234.8,276.8,8.6,566,11756,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2203,1858
$GC,12064,0.94,234.8,249.5,9.3,581,12069,0.00,2.67,0.00,0.000,4,0.000,0.072,2615,782,1858
$GC,12097,0.94,234.8,246.3,9.4,582,12103,0.00,2.60,0.00,0.000,6,0.000,0.053,2615,2202,1858
$GC,12412,0.94,234.8,219.3,7.4,598,12417,0.00,2.67,0.00,0.000,4,0.000,0.070,2615,775,1858
$GC,12439,0.94,234.8,217.1,7.5,599,12443,0.00,2.60,0.00,0.000,6,0.000,0.053,2615,2200,1858
$GC,12755,0.94,234.8,191.0,9.1,614,12759,0.00,2.67,0.00,0.000,4,0.000,0.080,2615,3613,1858
$GC,12804,0.94,234.8,185.6,11.6,616,12809,0.00,2.67,0.00,0.000,6,0.000,0.066,2615,2191,1858
$GC,13120,0.94,234.8,156.3,10.0,631,13124,0.00,2.65,0.00,0.000,4,0.000,0.070,2615,776,1858
$GC,13182,0.94,234.8,150.7,6.6,634,13186,0.00,2.60,0.00,0.000,6,0.000,0.052,2615,2202,1858
$GC,13508,0.95,244.2,129.2,5.7,650,13523,0.00,2.70,9.43,0.686,4,0.000,0.070,2615,776,1821
$GC,13547,0.95,244.2,126.5,6.7,651,13551,0.00,2.62,0.00,0.000,6,0.000,0.052,2615,2201,1821
$GC,13874,0.95,244.2,101.7,7.7,667,13875,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2201,1821
$GC,14182,0.95,244.2,70.0,10.1,682,14187,0.00,2.67,0.00,0.000,4,0.000,0.069,2615,778,1821
$GC,14214,0.95,244.2,65.8,13.1,683,14221,0.00,2.60,0.00,0.000,6,0.000,0.051,2615,2204,1821
$GC,14532,0.95,244.2,32.2,10.7,699,14534,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2204,1821
$GC,14839,0.95,244.2,6.8,7.7,714,14844,0.00,2.67,0.00,0.000,4,0.000,0.072,2615,784,1821
$GC,14866,0.95,244.2,4.0,9.6,715,14870,0.00,2.58,0.00,0.000,6,0.000,0.051,2614,2200,1821
$STATE,14892,end climb,SURFACE_DEPTH_REACHED
$STATE,14893,begin surface coast
$FINISH,0.8,1.027475
$STATE,14913,end surface coast,CONTROL_FINISHED_OK
$STATE,14913,begin surface
$SM_CCo,14935,35.15,0.624,2,0,1593,300.00
$SM_GC,1.61,0.00,0.00,35.15,0.000,0.000,0.624,72,2399,1593,-10.75,-0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2121
$TCM_TEMP,16.60
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,500.2,56.9
$24V_AH,23.5,53.702
$10V_AH,10.2,27.884
$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,25.275,138.300,329.800,35.150,0.000,65.227,72.908,199.293,15.000,0.000,0.000,30.893,1319.399,11515.753,528.510,1571.559,580.800,33.363,1317.014,0.000,1521.626,0.000,34.164
$DEVICE_MAMPS,171.041,92.040,1063.829,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,527.805,490.587,478.171,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38078,717
$CFSIZE,260165632,240476160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,2,0
$GPS,150108,210408,6246.025,-532.064,39,1.8,39,-7.8