version: 66.02
glider: 16
mission: 6
dive: 343
start: 1 15 108 21 10 58
data:
$ID,16
$MISSION,6
$DIVE,343
$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,-2085200.1
$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,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
$GPS1,210408,6246.025,-532.064,39,1.8,39,-7.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-59.3
$GPS2,211008,6246.006,-532.075,32,1.8,33,-7.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.216,0.048
$KALMAN_X,76895.4,1007.5,-1285.1,111264.9,-2704.1
$KALMAN_Y,-8374.2,1064.5,1263.9,131574.1,-13726.2
$MHEAD_RNG_PITCHd_Wd,96.2,65310,-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,-61.28,0.000,2,0.000,0.000,71,2401,3103
$GC,89,-0.85,-146.6,3.7,-5.3,3,115,12.23,2.70,-7.12,0.000,4,0.175,0.082,2222,976,3417
$GC,193,-0.85,-146.6,21.5,-11.1,7,200,0.00,2.65,0.00,0.000,6,0.000,0.058,2222,2403,3419
$GC,509,-0.85,-146.6,47.3,-8.1,23,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3419
$GC,818,-0.85,-146.6,71.0,-8.7,38,823,0.00,2.67,0.00,0.000,4,0.000,0.068,2222,977,3419
$GC,858,-0.85,-146.6,74.4,-8.6,40,863,0.00,2.60,0.00,0.000,6,0.000,0.060,2222,2399,3419
$GC,1185,-0.85,-146.6,98.2,-7.8,56,1189,0.00,2.67,0.00,0.000,4,0.000,0.070,2222,976,3419
$GC,1211,-0.85,-146.6,100.5,-8.1,57,1216,0.00,2.62,0.00,0.000,6,0.000,0.060,2222,2400,3419
$GC,1529,-0.85,-146.6,125.9,-7.6,72,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3419
$GC,1838,-0.85,-146.6,148.0,-6.6,87,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,2146,-0.85,-146.6,171.9,-7.7,102,2150,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,978,3419
$GC,2172,-0.85,-146.6,174.0,-8.1,103,2176,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2402,3419
$GC,2488,-0.85,-146.6,197.7,-7.3,118,2493,0.00,2.67,0.00,0.000,4,0.000,0.074,2222,976,3419
$GC,2528,-0.85,-146.6,200.6,-6.9,120,2532,0.00,2.62,0.00,0.000,6,0.000,0.062,2222,2399,3419
$GC,2854,-0.85,-146.6,227.1,-7.6,136,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3419
$GC,3164,-0.85,-146.6,253.5,-7.9,151,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3419
$GC,3472,-0.85,-146.6,279.3,-8.3,166,3477,0.00,2.67,0.00,0.000,4,0.000,0.072,2222,979,3420
$GC,3557,-0.85,-146.6,286.5,-9.2,170,3561,0.00,2.62,0.00,0.000,6,0.000,0.062,2222,2398,3419
$GC,3884,-0.85,-146.6,316.0,-8.7,186,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3419
$GC,4192,-0.85,-146.6,341.9,-8.3,201,4197,0.00,2.67,0.00,0.000,4,0.000,0.074,2222,980,3419
$GC,4236,-0.85,-146.6,345.5,-8.1,203,4241,0.00,2.62,0.00,0.000,6,0.000,0.063,2222,2404,3419
$GC,4558,-0.85,-146.6,370.6,-7.4,219,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3419
$GC,4867,-0.85,-146.6,395.4,-8.2,234,4871,0.00,2.67,0.00,0.000,4,0.000,0.073,2222,980,3419
$GC,4944,-0.85,-146.6,402.0,-8.2,237,4950,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2408,3419
$GC,5260,-0.85,-146.6,428.8,-8.2,253,5264,0.00,2.60,0.00,0.000,4,0.000,0.084,2222,3769,3419
$GC,5292,-0.85,-146.6,431.5,-8.5,254,5298,0.00,2.53,0.00,0.000,6,0.000,0.061,2222,2398,3419
$GC,5608,-0.85,-146.6,453.8,-6.7,270,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3419
$GC,5917,-0.85,-146.6,473.7,-5.9,285,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3419
$GC,6226,-0.85,-146.6,491.8,-6.0,300,6230,0.00,2.65,0.00,0.000,4,0.000,0.076,2222,982,3419
$GC,6258,-0.85,-146.6,494.0,-6.3,301,6264,0.00,2.62,0.00,0.000,6,0.000,0.063,2222,2406,3419
$GC,6574,-0.85,-146.6,518.4,-9.6,317,6578,0.00,2.60,0.00,0.000,4,0.000,0.084,2222,3768,3419
$GC,6660,-0.85,-146.6,527.4,-8.7,321,6664,0.00,2.55,0.00,0.000,6,0.000,0.061,2222,2393,3419
$GC,6987,-0.85,-146.6,547.9,-6.5,337,6991,0.00,2.67,0.00,0.000,4,0.000,0.087,2222,3773,3419
$GC,7048,-0.85,-146.6,552.9,-8.7,340,7052,0.00,2.55,0.00,0.000,6,0.000,0.062,2222,2398,3420
$GC,7374,-0.85,-146.6,575.0,-6.2,356,7379,0.00,2.70,0.00,0.000,4,0.000,0.079,2222,977,3420
$GC,7429,-0.85,-146.6,578.6,-6.8,358,7435,0.00,2.65,0.00,0.000,6,0.000,0.066,2222,2401,3420
$GC,7745,-0.85,-146.6,597.6,-5.9,374,7749,0.00,2.70,0.00,0.000,4,0.000,0.079,2222,982,3419
$STATE,7792,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7792,begin apogee
$GC,7800,-0.31,0.0,600.6,6.4,376,7925,0.57,0.00,122.22,1.105,6,0.113,0.000,2337,2200,2817
$STATE,7926,end apogee,CONTROL_FINISHED_OK
$STATE,7926,begin climb
$GC,7929,0.85,146.6,603.0,0.0,382,8059,1.25,2.85,119.82,1.091,4,0.096,0.090,2590,3619,2218
$GC,8103,0.85,146.6,595.9,8.3,390,8108,0.00,2.72,0.00,0.000,6,0.000,0.071,2590,2203,2218
$GC,8419,0.85,146.6,574.0,6.4,405,8424,0.00,2.75,0.00,0.000,4,0.000,0.083,2590,784,2215
$GC,8510,0.99,276.4,570.9,2.4,409,8621,0.17,2.67,103.97,1.076,6,0.067,0.062,2631,2204,1689
$GC,8936,0.99,276.4,529.5,12.6,430,8941,0.00,2.75,0.00,0.000,4,0.000,0.087,2631,3615,1687
$GC,8991,0.99,276.4,523.3,10.3,432,8997,0.00,2.72,0.00,0.000,6,0.000,0.072,2631,2195,1687
$GC,9307,0.99,276.4,495.5,8.1,448,9311,0.00,2.78,0.00,0.000,4,0.000,0.088,2631,3614,1684
$GC,9351,0.99,276.4,491.6,9.1,450,9355,0.00,2.70,0.00,0.000,6,0.000,0.071,2631,2199,1684
$GC,9671,0.99,276.4,463.6,9.7,466,9676,0.00,2.72,0.00,0.000,4,0.000,0.080,2631,778,1683
$GC,9720,0.99,276.4,458.2,11.3,468,9725,0.00,2.65,0.00,0.000,6,0.000,0.055,2631,2206,1681
$GC,10037,0.99,276.4,429.5,8.8,483,10041,0.00,2.72,0.00,0.000,4,0.000,0.087,2631,3614,1682
$GC,10086,0.99,276.4,424.7,9.4,485,10090,0.00,2.70,0.00,0.000,6,0.000,0.069,2631,2192,1682
$GC,10401,0.99,276.4,396.3,9.1,500,10405,0.00,2.67,0.00,0.000,4,0.000,0.076,2631,782,1682
$GC,10463,0.99,276.4,390.2,9.5,503,10468,0.00,2.62,0.00,0.000,6,0.000,0.054,2631,2201,1682
$GC,10790,0.99,276.4,361.3,8.1,519,10794,0.00,2.70,0.00,0.000,4,0.000,0.073,2631,782,1682
$GC,10822,0.99,276.4,357.8,10.4,520,10829,0.00,2.60,0.00,0.000,6,0.000,0.053,2631,2202,1682
$GC,11139,0.99,276.4,326.8,9.5,536,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2201,1682
$GC,11447,0.99,276.4,302.2,8.1,551,11452,0.00,2.67,0.00,0.000,4,0.000,0.071,2631,782,1683
$GC,11502,0.99,276.4,297.6,8.7,553,11508,0.00,2.60,0.00,0.000,6,0.000,0.053,2631,2202,1682
$GC,11818,0.99,276.4,273.3,7.3,569,11819,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2202,1683
$GC,12127,0.99,276.4,242.7,9.9,584,12131,0.00,2.67,0.00,0.000,4,0.000,0.071,2631,782,1684
$GC,12183,0.99,276.4,237.0,9.8,586,12189,0.00,2.60,0.00,0.000,6,0.000,0.053,2631,2201,1684
$GC,12498,0.99,276.4,209.1,8.3,602,12500,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2201,1684
$GC,12807,0.99,276.4,181.8,9.7,617,12811,0.00,2.67,0.00,0.000,4,0.000,0.071,2631,782,1684
$GC,12846,0.99,276.4,177.7,10.3,619,12850,0.00,2.60,0.00,0.000,6,0.000,0.053,2631,2201,1684
$GC,13173,0.99,276.4,146.9,9.9,635,13177,0.00,2.67,0.00,0.000,4,0.000,0.071,2631,780,1685
$GC,13216,0.99,276.4,142.0,10.1,637,13221,0.00,2.60,0.00,0.000,6,0.000,0.052,2631,2204,1685
$GC,13538,0.99,276.4,110.7,9.9,653,13542,0.00,2.67,0.00,0.000,4,0.000,0.069,2631,778,1685
$GC,13564,0.99,276.4,107.8,10.3,654,13569,0.00,2.60,0.00,0.000,6,0.000,0.052,2631,2204,1685
$GC,13881,0.99,276.4,73.0,10.8,669,13882,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2204,1686
$GC,14189,0.99,276.4,41.8,7.5,684,14194,0.00,2.67,0.00,0.000,4,0.000,0.070,2631,782,1686
$GC,14255,0.99,276.4,36.0,9.4,687,14260,0.00,2.60,0.00,0.000,6,0.000,0.052,2631,2204,1686
$GC,14578,0.99,276.4,13.3,7.0,703,14579,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2204,1686
$STATE,14719,end climb,SURFACE_DEPTH_REACHED
$STATE,14719,begin surface coast
$FINISH,0.6,1.013878
$STATE,14741,end surface coast,CONTROL_FINISHED_OK
$STATE,14741,begin surface
$SM_CCo,14763,15.80,0.591,1,0,1594,300.00
$SM_GC,1.23,0.00,0.00,15.80,0.000,0.000,0.591,68,2402,1594,-10.77,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2099
$TCM_TEMP,15.70
$XPDR_PINGS,36
$ALTIM_BOTTOM_PING,525.3,85.1
$24V_AH,23.5,53.827
$10V_AH,10.2,27.954
$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,25.725,148.925,346.025,15.800,0.000,32.589,34.008,156.432,13.250,0.000,0.000,33.159,1312.152,11279.055,494.424,1599.909,461.647,33.361,1302.163,0.000,1543.500,0.000,29.955
$DEVICE_MAMPS,174.876,89.739,1105.247,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,520.369,486.550,473.024,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34912,711
$CFSIZE,260165632,240427008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,160108,011857,6246.288,-525.362,38,2.3,57,-7.7