version: 66.02
glider: 16
mission: 6
dive: 346
start: 1 16 108 11 53 7
data:
$ID,16
$MISSION,6
$DIVE,346
$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,-2085267.8
$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,13
$R_STBD_OVSHOOT,22
$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
$GPS1,114617,6243.532,-519.242,29,2.0,38,-7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-61.4
$GPS2,115215,6243.497,-519.318,12,2.0,12,-7.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.214,0.058
$KALMAN_X,65474.3,631.9,35.5,132982.2,-12339.1
$KALMAN_Y,-12977.3,633.4,533.3,132711.3,-12243.5
$MHEAD_RNG_PITCHd_Wd,90.8,54864,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,85,0.00,0.00,-59.33,0.000,2,0.000,0.000,69,2409,2846
$GC,89,-0.85,-146.6,3.2,-3.8,3,123,12.12,0.00,-17.02,0.000,6,0.170,0.000,2224,2409,3417
$GC,441,-0.85,-146.6,40.2,-11.2,20,445,0.00,2.70,0.00,0.000,4,0.000,0.071,2223,980,3418
$GC,473,-0.85,-146.6,44.4,-11.9,21,480,0.00,2.60,0.00,0.000,6,0.000,0.059,2223,2401,3417
$GC,790,-0.85,-146.6,70.8,-7.8,37,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3417
$GC,1099,-0.85,-146.6,91.3,-6.6,52,1104,0.00,2.67,0.00,0.000,4,0.000,0.070,2223,978,3417
$GC,1131,-0.85,-146.6,94.0,-9.0,53,1138,0.00,2.60,0.00,0.000,6,0.000,0.061,2223,2397,3417
$GC,1449,-0.85,-146.6,117.5,-7.4,69,1453,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,977,3417
$GC,1476,-0.85,-146.6,119.6,-7.5,70,1481,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2401,3417
$GC,1792,-0.85,-146.6,143.9,-8.1,85,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3417
$GC,2100,-0.85,-146.6,165.9,-6.1,100,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3417
$GC,2410,-0.85,-146.6,187.7,-7.1,115,2414,0.00,2.67,0.00,0.000,4,0.000,0.072,2223,980,3418
$GC,2467,-0.85,-146.6,191.8,-7.8,117,2472,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2400,3418
$GC,2782,-0.85,-146.6,214.3,-7.2,133,2786,0.00,2.67,0.00,0.000,4,0.000,0.072,2223,979,3418
$GC,2831,-0.85,-146.6,218.1,-7.4,135,2835,0.00,2.62,0.00,0.000,6,0.000,0.064,2223,2403,3418
$GC,3147,-0.85,-146.6,240.8,-6.8,150,3151,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,974,3419
$GC,3173,-0.85,-146.6,242.6,-6.8,151,3178,0.00,2.62,0.00,0.000,6,0.000,0.064,2224,2400,3419
$GC,3489,-0.85,-146.6,262.0,-6.2,166,3494,0.00,2.67,0.00,0.000,4,0.000,0.074,2223,980,3418
$GC,3534,-0.85,-146.6,265.1,-6.9,168,3538,0.00,2.65,0.00,0.000,6,0.000,0.064,2223,2403,3418
$GC,3854,-0.85,-146.6,288.5,-7.5,184,3859,0.00,2.70,0.00,0.000,4,0.000,0.075,2223,976,3418
$GC,3894,-0.85,-146.6,291.6,-7.4,186,3899,0.00,2.65,0.00,0.000,6,0.000,0.064,2224,2404,3419
$GC,4221,-0.85,-146.6,316.9,-7.8,202,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3418
$GC,4529,-0.85,-146.6,340.9,-7.5,217,4534,0.00,2.70,0.00,0.000,4,0.000,0.074,2224,976,3418
$GC,4556,-0.85,-146.6,342.9,-8.0,218,4560,0.00,2.62,0.00,0.000,6,0.000,0.064,2223,2400,3418
$GC,4872,-0.85,-146.6,362.9,-6.7,233,4876,0.00,2.67,0.00,0.000,4,0.000,0.075,2224,979,3418
$GC,4972,-0.85,-146.6,370.9,-7.9,237,4978,0.00,2.65,0.00,0.000,6,0.000,0.065,2223,2405,3418
$GC,5287,-0.85,-146.6,395.3,-7.8,253,5291,0.00,2.62,0.00,0.000,4,0.000,0.086,2224,3769,3418
$GC,5331,-0.85,-146.6,399.1,-8.4,255,5335,0.00,2.55,0.00,0.000,6,0.000,0.062,2224,2395,3419
$GC,5652,-0.85,-146.6,422.4,-6.6,271,5656,0.00,2.70,0.00,0.000,4,0.000,0.078,2223,973,3420
$GC,5797,-0.85,-146.6,431.9,-6.1,277,5803,0.00,2.67,0.00,0.000,6,0.000,0.067,2223,2401,3419
$GC,6112,-0.85,-146.6,449.8,-6.2,293,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3419
$GC,6421,-0.85,-146.6,472.3,-7.1,308,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3419
$GC,6731,-0.85,-146.6,492.2,-6.4,323,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3418
$GC,7040,-0.85,-146.6,514.4,-7.5,338,7044,0.00,2.72,0.00,0.000,4,0.000,0.081,2223,979,3418
$GC,7083,-0.85,-146.6,517.9,-8.0,340,7088,0.00,2.67,0.00,0.000,6,0.000,0.070,2223,2407,3418
$GC,7405,-0.85,-146.6,541.2,-7.1,356,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2407,3418
$GC,7714,-0.85,-146.6,561.9,-6.6,371,7719,0.00,2.75,0.00,0.000,4,0.000,0.081,2223,976,3417
$GC,7775,-0.85,-146.6,566.2,-7.4,374,7780,0.00,2.67,0.00,0.000,6,0.000,0.071,2223,2408,3416
$GC,8102,-0.85,-146.6,587.4,-6.4,390,8106,0.00,2.75,0.00,0.000,4,0.000,0.081,2223,980,3416
$GC,8134,-0.85,-146.6,589.8,-7.1,391,8140,0.00,2.67,0.00,0.000,6,0.000,0.071,2223,2408,3416
$GC,8450,-0.85,-146.6,611.3,-6.8,407,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2408,3415
$GC,8760,-0.85,-146.6,630.7,-7.0,422,8764,0.00,2.72,0.00,0.000,4,0.000,0.082,2223,983,3414
$GC,8798,-0.85,-146.6,633.4,-6.7,424,8803,0.00,2.65,0.00,0.000,6,0.000,0.072,2223,2399,3415
$STATE,9101,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9102,begin apogee
$GC,9108,-0.31,0.0,651.5,5.8,439,9233,0.60,0.00,122.03,1.190,6,0.116,0.000,2340,2190,2817
$STATE,9234,end apogee,CONTROL_FINISHED_OK
$STATE,9234,begin climb
$GC,9237,0.85,146.6,655.0,0.0,445,9363,1.23,0.00,121.25,1.158,6,0.097,0.000,2586,2191,2219
$GC,9670,0.87,164.3,634.6,5.5,466,9688,0.00,0.00,15.60,1.064,6,0.000,0.000,2587,2190,2147
$GC,9999,0.87,164.4,615.1,6.0,482,10003,0.00,2.80,0.00,0.000,4,0.000,0.093,2587,3607,2146
$GC,10048,0.87,164.4,611.7,7.0,484,10052,0.00,2.70,0.00,0.000,6,0.000,0.072,2587,2199,2146
$GC,10363,0.90,196.4,594.9,5.1,499,10393,0.00,0.00,27.60,1.112,6,0.000,0.000,2588,2199,2016
$GC,10693,0.92,213.0,576.5,5.5,515,10713,0.10,0.00,14.88,1.058,6,0.087,0.000,2610,2199,1948
$GC,11022,0.92,213.0,555.0,6.8,531,11027,0.00,2.75,0.00,0.000,4,0.000,0.086,2611,781,1946
$GC,11072,0.92,213.0,551.3,7.6,533,11076,0.00,2.67,0.00,0.000,6,0.000,0.065,2611,2197,1945
$GC,11388,0.92,213.0,528.6,7.5,548,11389,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2197,1944
$GC,11696,0.92,213.0,505.2,7.3,563,11698,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2197,1944
$GC,12007,0.92,215.1,485.2,5.9,578,12008,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2197,1944
$GC,12315,0.92,215.1,466.9,6.1,593,12316,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2196,1943
$GC,12624,0.92,215.1,445.4,7.0,608,12629,0.00,2.78,0.00,0.000,4,0.000,0.091,2610,3619,1943
$GC,12664,0.92,215.1,442.6,6.7,610,12668,0.00,2.70,0.00,0.000,6,0.000,0.072,2611,2199,1943
$GC,12991,0.92,215.1,422.2,6.4,626,12995,0.00,2.72,0.00,0.000,4,0.000,0.082,2610,782,1943
$GC,13052,0.92,215.1,417.6,7.0,629,13056,0.00,2.65,0.00,0.000,6,0.000,0.062,2610,2201,1942
$GC,13379,0.92,215.1,394.5,7.3,645,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2201,1942
$GC,13687,0.92,216.9,374.6,6.0,660,13696,0.00,2.70,3.83,0.650,4,0.000,0.076,2610,783,1932
$GC,13725,0.92,216.9,372.0,6.9,661,13731,0.00,2.65,0.00,0.000,6,0.000,0.059,2611,2205,1932
$GC,14041,0.92,216.9,348.8,8.2,677,14045,0.00,2.72,0.00,0.000,4,0.000,0.089,2610,3613,1932
$GC,14062,0.92,216.9,346.9,8.1,678,14067,0.00,2.67,0.00,0.000,6,0.000,0.071,2610,2202,1932
$GC,14383,0.92,216.9,323.3,6.5,694,14387,0.00,2.70,0.00,0.000,4,0.000,0.077,2610,782,1932
$GC,14432,0.92,216.9,320.1,6.3,696,14437,0.00,2.62,0.00,0.000,6,0.000,0.058,2610,2198,1932
$GC,14749,0.92,216.9,299.4,6.9,711,14750,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2200,1932
$GC,15057,0.92,216.9,276.2,8.5,726,15058,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2200,1932
$GC,15367,0.92,216.9,255.2,6.8,741,15371,0.00,2.70,0.00,0.000,4,0.000,0.083,2611,3616,1934
$GC,15399,0.92,216.9,252.6,7.8,742,15406,0.00,2.67,0.00,0.000,6,0.000,0.067,2610,2192,1934
$GC,15715,0.92,216.9,229.3,7.4,758,15719,0.00,2.65,0.00,0.000,4,0.000,0.074,2611,784,1935
$GC,15741,0.92,216.9,227.1,7.2,759,15746,0.00,2.62,0.00,0.000,6,0.000,0.056,2610,2206,1934
$GC,16057,0.92,216.9,203.5,7.3,774,16058,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2206,1935
$GC,16366,0.92,216.9,180.9,7.2,789,16367,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2206,1936
$GC,16675,0.92,216.9,159.5,7.2,804,16676,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2206,1937
$GC,16986,0.92,216.9,138.1,6.5,819,16990,0.00,2.67,0.00,0.000,4,0.000,0.070,2611,782,1938
$GC,17018,0.92,216.9,135.6,7.1,820,17025,0.00,2.60,0.00,0.000,6,0.000,0.054,2611,2202,1938
$GC,17334,0.92,216.9,113.4,6.8,836,17338,0.00,2.67,0.00,0.000,4,0.000,0.078,2612,3612,1938
$GC,17374,0.92,216.9,110.2,8.0,838,17379,0.00,2.62,0.00,0.000,6,0.000,0.064,2611,2200,1939
$GC,17701,0.92,216.9,85.9,7.7,854,17705,0.00,2.67,0.00,0.000,4,0.000,0.071,2610,778,1939
$GC,17740,0.92,216.9,82.8,6.9,856,17745,0.00,2.60,0.00,0.000,6,0.000,0.054,2610,2201,1939
$GC,18068,0.93,220.5,59.8,5.9,872,18076,0.00,0.00,6.50,0.604,6,0.000,0.000,2610,2201,1918
$GC,18378,0.93,220.5,44.1,6.7,887,18379,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2202,1918
$GC,18686,0.93,220.5,23.0,6.1,902,18690,0.00,2.67,0.00,0.000,4,0.000,0.069,2610,779,1918
$GC,18742,0.93,220.6,19.8,6.0,904,18748,0.00,2.58,0.00,0.000,6,0.000,0.053,2610,2202,1918
$STATE,19055,end climb,SURFACE_DEPTH_REACHED
$STATE,19055,begin surface coast
$FINISH,0.8,1.027450
$STATE,19077,end surface coast,CONTROL_FINISHED_OK
$STATE,19077,begin surface
$SM_CCo,19098,50.38,0.639,3,0,1594,300.00
$SM_GC,1.48,0.00,0.00,50.38,0.000,0.000,0.639,68,2401,1594,-10.77,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2094
$TCM_TEMP,16.60
$XPDR_PINGS,72
$ALTIM_BOTTOM_PING,575.3,85.7
$24V_AH,23.4,54.223
$10V_AH,10.1,28.209
$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,25.475,155.675,311.675,50.375,0.000,32.600,34.364,168.584,22.750,0.000,0.000,12.751,1655.710,14931.699,549.401,1868.071,518.562,33.364,1478.956,0.000,1834.015,0.000,33.207
$DEVICE_MAMPS,169.507,92.807,1190.384,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,681.001,633.654,591.581,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47401,921
$CFSIZE,260165632,240205824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,3,0
$GPS,160108,171355,6243.620,-513.667,28,1.2,46,-7.6