version: 66.02
glider: 16
mission: 6
dive: 340
start: 1 15 108 9 36 18
data:
$ID,16
$MISSION,6
$DIVE,340
$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,-2085114.6
$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
$GPS1,092925,6244.905,-554.396,70,1.6,70,-8.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-55.1
$GPS2,093528,6244.852,-554.473,15,1.5,34,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.204,0.086
$KALMAN_X,78411.4,-1570.3,-196.2,91586.2,188.0
$KALMAN_Y,-13284.2,1830.3,580.3,134241.5,-32675.2
$MHEAD_RNG_PITCHd_Wd,95.3,84350,-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,25,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-59.78,0.000,2,0.000,0.000,67,2401,3012
$GC,89,-0.85,-146.6,3.5,-4.9,3,115,12.35,0.00,-9.80,0.000,6,0.179,0.000,2222,2402,3417
$GC,422,-0.85,-146.6,30.1,-7.1,19,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3418
$GC,730,-0.85,-146.6,42.4,-2.9,34,734,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,982,3418
$GC,785,-0.85,-146.6,43.6,-2.6,36,791,0.00,2.62,0.00,0.000,6,0.000,0.059,2222,2402,3418
$GC,1101,-0.85,-146.6,58.5,-5.9,52,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3418
$GC,1409,-0.85,-146.6,83.9,-10.5,67,1414,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,977,3418
$GC,1436,-0.85,-146.6,85.6,-5.9,68,1441,0.00,2.62,0.00,0.000,6,0.000,0.058,2222,2400,3418
$GC,1753,-0.85,-146.6,106.9,-7.1,83,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3418
$GC,2062,-0.85,-146.6,126.6,-6.4,98,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3418
$GC,2371,-0.85,-146.6,145.4,-3.3,113,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3418
$GC,2680,-0.85,-146.6,160.0,-5.7,128,2684,0.00,2.67,0.00,0.000,4,0.000,0.072,2222,979,3418
$GC,2743,-0.85,-146.6,163.1,-4.5,131,2747,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2404,3419
$GC,3068,-0.85,-146.6,181.0,-6.4,147,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3418
$GC,3378,-0.85,-146.6,207.2,-9.2,162,3383,0.00,2.67,0.00,0.000,4,0.000,0.074,2223,982,3418
$GC,3411,-0.85,-146.6,210.1,-8.4,163,3417,0.00,2.60,0.00,0.000,6,0.000,0.061,2222,2400,3418
$GC,3727,-0.85,-146.6,234.5,-8.5,179,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3419
$GC,4037,-0.85,-146.6,257.8,-8.0,194,4041,0.00,2.67,0.00,0.000,4,0.000,0.073,2222,976,3418
$GC,4080,-0.85,-146.6,261.7,-8.6,196,4084,0.00,2.60,0.00,0.000,6,0.000,0.062,2222,2400,3418
$GC,4407,-0.85,-146.6,287.4,-8.6,212,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3418
$GC,4717,-0.85,-146.6,315.9,-9.6,227,4721,0.00,2.67,0.00,0.000,4,0.000,0.074,2223,976,3418
$GC,4743,-0.85,-146.6,318.4,-9.1,228,4748,0.00,2.62,0.00,0.000,6,0.000,0.063,2222,2402,3418
$GC,5059,-0.85,-146.6,343.9,-7.7,243,5063,0.00,2.67,0.00,0.000,4,0.000,0.075,2222,980,3418
$GC,5097,-0.85,-146.6,347.1,-8.3,245,5102,0.00,2.62,0.00,0.000,6,0.000,0.063,2222,2401,3418
$GC,5425,-0.85,-146.6,374.4,-8.7,261,5429,0.00,2.67,0.00,0.000,4,0.000,0.075,2222,981,3418
$GC,5451,-0.85,-146.6,376.9,-8.4,262,5456,0.00,2.62,0.00,0.000,6,0.000,0.064,2222,2401,3418
$GC,5767,-0.85,-146.6,402.8,-7.8,277,5771,0.00,2.70,0.00,0.000,4,0.000,0.075,2222,976,3418
$GC,5800,-0.85,-146.6,405.4,-8.0,278,5806,0.00,2.65,0.00,0.000,6,0.000,0.063,2223,2400,3418
$STATE,6113,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6113,begin apogee
$GC,6119,-0.31,0.0,428.8,7.2,294,6242,0.57,0.00,119.95,0.963,6,0.107,0.000,2338,2189,2817
$STATE,6243,end apogee,CONTROL_FINISHED_OK
$STATE,6243,begin climb
$GC,6246,0.85,146.6,433.1,0.0,300,6373,1.20,2.75,117.57,0.945,4,0.078,0.072,2589,789,2219
$GC,6395,0.93,228.1,430.0,3.8,307,6467,0.12,2.62,65.32,0.926,6,0.055,0.055,2622,2202,1887
$GC,6776,0.93,228.1,398.1,11.8,325,6781,0.00,2.72,0.00,0.000,4,0.000,0.083,2622,3616,1884
$GC,6861,0.93,228.1,388.5,10.3,329,6865,0.00,2.70,0.00,0.000,6,0.000,0.071,2622,2204,1884
$GC,7186,0.93,228.1,362.9,6.8,345,7191,0.00,2.72,0.00,0.000,4,0.000,0.077,2622,782,1884
$GC,7237,0.93,228.1,359.2,7.6,347,7241,0.00,2.62,0.00,0.000,6,0.000,0.055,2622,2201,1883
$GC,7552,0.93,228.1,334.9,7.1,362,7556,0.00,2.72,0.00,0.000,4,0.000,0.074,2622,775,1883
$GC,7578,0.93,228.1,332.8,7.9,363,7583,0.00,2.65,0.00,0.000,6,0.000,0.055,2622,2204,1883
$GC,7894,0.93,228.1,310.3,7.3,378,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2204,1883
$GC,8203,0.93,228.1,286.5,8.3,393,8207,0.00,2.70,0.00,0.000,4,0.000,0.071,2622,779,1882
$GC,8235,0.93,228.1,284.0,7.3,394,8242,0.00,2.62,0.00,0.000,6,0.000,0.054,2622,2204,1882
$GC,8551,0.93,228.1,258.8,8.4,410,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2204,1882
$GC,8860,0.93,228.1,234.1,8.2,425,8864,0.00,2.70,0.00,0.000,4,0.000,0.073,2622,781,1882
$GC,8892,0.93,228.1,230.9,9.7,426,8898,0.00,2.60,0.00,0.000,6,0.000,0.053,2622,2201,1882
$GC,9208,0.93,228.1,200.0,10.4,442,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2201,1881
$GC,9517,0.93,228.1,163.2,12.0,457,9518,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2201,1882
$GC,9827,0.96,253.2,140.1,5.3,472,9849,0.00,0.00,20.30,0.739,6,0.000,0.000,2623,2201,1784
$GC,10160,0.96,253.2,122.1,9.2,488,10164,0.00,2.70,0.00,0.000,4,0.000,0.072,2623,781,1784
$GC,10199,0.96,253.2,117.5,11.0,490,10203,0.00,2.60,0.00,0.000,6,0.000,0.052,2622,2201,1784
$GC,10525,0.96,253.2,87.4,8.4,506,10526,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2201,1784
$GC,10835,0.96,253.2,55.2,8.9,521,10839,0.00,2.70,0.00,0.000,4,0.000,0.071,2622,774,1783
$GC,10861,0.96,253.2,53.3,7.0,522,10866,0.00,2.60,0.00,0.000,6,0.000,0.051,2622,2201,1784
$GC,11177,0.96,253.2,31.6,8.5,537,11182,0.00,2.65,0.00,0.000,4,0.000,0.075,2622,3613,1784
$GC,11217,0.96,253.2,28.5,8.7,539,11222,0.00,2.62,0.00,0.000,6,0.000,0.062,2622,2196,1784
$STATE,11501,end climb,SURFACE_DEPTH_REACHED
$STATE,11501,begin surface coast
$FINISH,0.5,1.015868
$STATE,11522,end surface coast,CONTROL_FINISHED_OK
$STATE,11522,begin surface
$SM_CCo,11544,30.45,0.609,2,0,1592,300.00
$SM_GC,1.38,0.00,0.00,30.45,0.000,0.000,0.609,74,2403,1592,-10.75,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2097
$TCM_TEMP,16.70
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,350.1,87.3
$24V_AH,23.6,53.464
$10V_AH,10.2,27.745
$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,25.625,96.525,323.150,30.450,0.000,32.589,36.714,169.411,5.250,0.000,0.000,34.557,1013.738,8852.816,453.215,1209.173,424.857,33.373,1060.465,0.000,1165.965,0.000,18.598
$DEVICE_MAMPS,178.711,82.836,962.585,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.440,378.432,476.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28591,554
$CFSIZE,260165632,240603136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,2,0
$GPS,150108,125057,6245.441,-549.453,38,3.8,57,-7.9