version: 66.02
glider: 16
mission: 6
dive: 347
start: 1 16 108 17 20 55
data:
$ID,16
$MISSION,6
$DIVE,347
$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,-2085284.4
$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,19
$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
$GPS1,171355,6243.620,-513.667,28,1.2,46,-7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-65.0
$GPS2,172003,6243.596,-513.625,16,1.5,16,-7.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.215,0.052
$KALMAN_X,63985.0,1354.5,237.4,138502.0,-12321.5
$KALMAN_Y,-13262.9,895.7,365.4,133065.3,-9108.8
$MHEAD_RNG_PITCHd_Wd,90.4,50056,-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,-59.25,0.000,2,0.000,0.000,68,2402,3061
$GC,89,-0.85,-146.6,3.7,-5.3,3,115,12.27,2.62,-8.43,0.000,4,0.176,0.089,2220,3765,3415
$GC,218,-0.85,-146.6,19.0,-9.6,9,222,0.00,2.55,0.00,0.000,6,0.000,0.058,2220,2399,3416
$GC,544,-0.85,-146.6,47.5,-7.2,25,549,0.00,2.67,0.00,0.000,4,0.000,0.074,2220,982,3417
$GC,588,-0.85,-146.6,50.9,-7.9,27,593,0.00,2.60,0.00,0.000,6,0.000,0.061,2220,2401,3417
$GC,916,-0.85,-146.6,79.1,-7.8,43,920,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,981,3417
$GC,965,-0.85,-146.6,82.7,-6.7,45,970,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2403,3417
$GC,1281,-0.85,-146.6,106.3,-8.2,60,1286,0.00,2.60,0.00,0.000,4,0.000,0.080,2220,3766,3417
$GC,1314,-0.85,-146.6,109.2,-9.0,61,1321,0.00,2.53,0.00,0.000,6,0.000,0.058,2220,2396,3417
$GC,1631,-0.85,-146.6,132.9,-7.5,77,1636,0.00,2.67,0.00,0.000,4,0.000,0.075,2220,982,3417
$GC,1664,-0.85,-146.6,135.7,-6.9,78,1671,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2406,3417
$GC,1980,-0.85,-146.6,160.1,-8.0,94,1985,0.00,2.70,0.00,0.000,4,0.000,0.073,2220,977,3417
$GC,2009,-0.85,-146.6,162.3,-8.2,95,2013,0.00,2.65,0.00,0.000,6,0.000,0.062,2220,2404,3417
$GC,2324,-0.85,-146.6,186.8,-7.8,110,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3418
$GC,2633,-0.85,-146.6,210.3,-7.5,125,2638,0.00,2.67,0.00,0.000,4,0.000,0.074,2220,979,3418
$GC,2683,-0.85,-146.6,214.0,-7.2,127,2687,0.00,2.62,0.00,0.000,6,0.000,0.064,2220,2399,3418
$GC,2998,-0.85,-146.6,237.3,-7.3,142,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3418
$GC,3308,-0.85,-146.6,260.7,-7.8,157,3313,0.00,2.67,0.00,0.000,4,0.000,0.074,2220,981,3417
$GC,3348,-0.85,-146.6,263.9,-8.2,159,3352,0.00,2.62,0.00,0.000,6,0.000,0.064,2220,2399,3418
$GC,3674,-0.85,-146.6,289.2,-7.9,175,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3418
$GC,3983,-0.85,-146.6,314.2,-7.7,190,3988,0.00,2.67,0.00,0.000,4,0.000,0.074,2221,982,3418
$GC,4077,-0.85,-146.6,321.4,-7.5,194,4082,0.00,2.62,0.00,0.000,6,0.000,0.065,2219,2398,3418
$GC,4393,-0.85,-146.6,342.0,-6.1,209,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3418
$GC,4703,-0.85,-146.6,361.2,-6.1,224,4707,0.00,2.67,0.00,0.000,4,0.000,0.075,2220,981,3418
$GC,4781,-0.85,-146.6,366.5,-6.9,227,4787,0.00,2.65,0.00,0.000,6,0.000,0.065,2220,2401,3418
$GC,5097,-0.85,-146.6,389.1,-7.4,243,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3418
$GC,5407,-0.85,-146.6,411.5,-6.9,258,5411,0.00,2.70,0.00,0.000,4,0.000,0.077,2220,978,3418
$GC,5513,-0.85,-146.6,419.1,-7.2,263,5517,0.00,2.65,0.00,0.000,6,0.000,0.067,2220,2402,3418
$GC,5839,-0.85,-146.6,442.1,-7.1,279,5843,0.00,2.70,0.00,0.000,4,0.000,0.077,2220,982,3418
$GC,5911,-0.85,-146.6,447.1,-7.2,282,5915,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2408,3418
$GC,6226,-0.85,-146.6,469.2,-7.1,297,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2408,3418
$GC,6536,-0.85,-146.6,490.3,-6.5,312,6540,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,982,3418
$GC,6591,-0.85,-146.6,494.1,-6.9,314,6597,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2410,3418
$GC,6906,-0.85,-146.6,513.1,-6.0,330,6911,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,982,3418
$GC,6950,-0.85,-146.6,516.0,-6.6,332,6954,0.00,2.65,0.00,0.000,6,0.000,0.071,2220,2400,3418
$GC,7272,-0.85,-146.6,534.6,-6.1,348,7276,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,980,3418
$GC,7311,-0.85,-146.6,537.2,-7.4,350,7315,0.00,2.67,0.00,0.000,6,0.000,0.072,2218,2400,3418
$GC,7637,-0.85,-146.6,558.7,-6.8,366,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3417
$GC,7946,-0.85,-146.6,580.4,-7.0,381,7950,0.00,2.72,0.00,0.000,4,0.000,0.082,2221,983,3415
$GC,7990,-0.85,-146.6,583.7,-7.5,383,7994,0.00,2.67,0.00,0.000,6,0.000,0.074,2220,2402,3415
$GC,8311,-0.85,-146.6,604.6,-6.2,399,8315,0.00,2.72,0.00,0.000,4,0.000,0.083,2220,985,3413
$GC,8337,-0.85,-146.6,606.7,-7.5,400,8342,0.00,2.67,0.00,0.000,6,0.000,0.073,2220,2404,3413
$GC,8653,-0.85,-146.6,627.9,-7.1,415,8657,0.00,2.75,0.00,0.000,4,0.000,0.082,2220,979,3412
$GC,8692,-0.85,-146.6,630.8,-7.7,417,8696,0.00,2.70,0.00,0.000,6,0.000,0.073,2220,2405,3412
$GC,9018,-0.85,-146.6,654.3,-7.1,433,9023,0.00,2.75,0.00,0.000,4,0.000,0.082,2220,979,3411
$GC,9058,-0.85,-146.6,657.2,-7.5,435,9062,0.00,2.70,0.00,0.000,6,0.000,0.073,2220,2404,3410
$GC,9385,-0.85,-146.6,679.2,-6.4,451,9389,0.00,2.75,0.00,0.000,4,0.000,0.083,2220,983,3409
$GC,9428,-0.85,-146.6,682.3,-6.7,453,9433,0.00,2.67,0.00,0.000,6,0.000,0.074,2220,2403,3409
$GC,9749,-0.85,-146.6,703.0,-6.6,469,9754,0.00,2.70,0.00,0.000,4,0.000,0.100,2221,3766,3408
$GC,9782,-0.85,-146.6,705.5,-7.2,470,9789,0.00,2.58,0.00,0.000,6,0.000,0.071,2220,2398,3408
$STATE,9951,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9951,begin apogee
$GC,9958,-0.31,0.0,716.4,6.5,479,10083,0.60,0.00,122.40,1.226,6,0.117,0.000,2337,2200,2817
$STATE,10084,end apogee,CONTROL_FINISHED_OK
$STATE,10084,begin climb
$GC,10087,0.85,146.6,720.6,0.0,485,10216,1.25,0.00,122.65,1.205,6,0.093,0.000,2589,2200,2218
$GC,10525,0.85,152.4,700.5,5.8,507,10533,0.00,0.00,6.38,0.943,6,0.000,0.000,2589,2197,2195
$GC,10834,0.86,164.1,684.3,5.7,522,10847,0.00,0.00,11.12,1.071,6,0.000,0.000,2588,2197,2148
$GC,11165,0.86,164.1,664.2,6.6,538,11170,0.00,2.78,0.00,0.000,4,0.000,0.089,2589,3610,2146
$GC,11204,0.86,164.1,661.4,7.2,540,11209,0.00,2.67,0.00,0.000,6,0.000,0.068,2589,2199,2146
$GC,11532,0.88,175.9,641.6,5.7,556,11552,0.00,2.80,11.27,1.070,4,0.000,0.083,2589,782,2098
$GC,11576,0.88,175.9,638.9,6.3,558,11580,0.00,2.70,0.00,0.000,6,0.000,0.064,2589,2203,2097
$GC,11902,0.88,178.0,619.5,5.9,574,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2203,2097
$GC,12211,0.88,182.1,601.3,5.9,589,12220,0.00,0.00,6.30,0.933,6,0.000,0.000,2589,2203,2074
$GC,12544,0.91,201.9,582.8,5.5,605,12567,0.00,2.80,18.12,1.101,4,0.000,0.078,2589,781,1992
$GC,12613,0.91,201.9,578.8,6.3,608,12617,0.00,2.70,0.00,0.000,6,0.000,0.062,2589,2206,1991
$GC,12939,0.92,218.3,560.9,5.6,624,12959,0.12,0.00,14.62,1.066,6,0.073,0.000,2618,2206,1926
$GC,13269,0.92,218.3,537.5,7.3,640,13273,0.00,2.75,0.00,0.000,4,0.000,0.079,2617,780,1925
$GC,13346,0.92,218.3,531.2,7.8,643,13352,0.00,2.65,0.00,0.000,6,0.000,0.061,2618,2204,1924
$GC,13662,0.92,218.3,507.4,7.5,659,13666,0.00,2.72,0.00,0.000,4,0.000,0.079,2617,785,1924
$GC,13711,0.92,218.3,503.4,8.0,661,13715,0.00,2.65,0.00,0.000,6,0.000,0.061,2618,2202,1923
$GC,14027,0.92,218.3,479.0,7.7,676,14031,0.00,2.72,0.00,0.000,4,0.000,0.078,2617,785,1923
$GC,14094,0.92,218.3,473.4,8.0,679,14098,0.00,2.65,0.00,0.000,6,0.000,0.061,2617,2204,1923
$GC,14414,0.92,218.3,449.8,7.5,695,14418,0.00,2.72,0.00,0.000,4,0.000,0.077,2618,785,1922
$GC,14446,0.92,218.3,447.1,8.0,696,14452,0.00,2.65,0.00,0.000,6,0.000,0.060,2617,2206,1922
$GC,14762,0.92,218.3,421.6,8.0,712,14767,0.00,2.72,0.00,0.000,4,0.000,0.076,2617,782,1922
$GC,14818,0.92,218.3,417.2,7.7,714,14824,0.00,2.65,0.00,0.000,6,0.000,0.058,2617,2208,1922
$GC,15133,0.92,218.3,394.8,7.1,730,15134,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2208,1922
$GC,15443,0.92,218.3,372.4,7.3,745,15447,0.00,2.72,0.00,0.000,4,0.000,0.074,2617,780,1922
$GC,15560,0.92,218.3,363.5,7.2,750,15564,0.00,2.62,0.00,0.000,6,0.000,0.056,2617,2200,1922
$GC,15875,0.92,218.3,340.9,7.2,765,15879,0.00,2.70,0.00,0.000,4,0.000,0.081,2617,3609,1922
$GC,15915,0.92,218.3,337.9,7.9,767,15919,0.00,2.65,0.00,0.000,6,0.000,0.064,2617,2200,1922
$GC,16240,0.92,218.3,314.0,7.5,783,16245,0.00,2.67,0.00,0.000,4,0.000,0.073,2617,784,1922
$GC,16313,0.92,218.3,307.9,8.3,786,16317,0.00,2.60,0.00,0.000,6,0.000,0.054,2618,2203,1922
$GC,16634,0.92,218.3,281.8,8.3,802,16635,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2203,1923
$GC,16943,0.92,218.3,256.5,8.1,817,16944,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2203,1924
$GC,17252,0.92,218.3,232.8,8.0,832,17256,0.00,2.67,0.00,0.000,4,0.000,0.067,2617,784,1926
$GC,17279,0.92,218.3,230.5,7.6,833,17284,0.00,2.60,0.00,0.000,6,0.000,0.051,2618,2208,1926
$GC,17594,0.92,218.3,209.7,6.6,848,17596,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2208,1927
$GC,17904,1.04,325.0,196.9,3.1,863,17995,0.00,2.78,84.53,0.818,4,0.000,0.068,2617,788,1490
$GC,18048,1.04,325.0,185.6,8.6,869,18054,0.00,2.60,0.00,0.000,6,0.000,0.050,2617,2201,1490
$GC,18363,1.04,325.0,157.4,9.9,885,18364,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2201,1489
$GC,18675,1.04,325.0,124.8,10.4,900,18679,0.00,2.70,0.00,0.000,4,0.000,0.069,2617,779,1490
$GC,18738,1.04,325.0,117.8,10.9,903,18742,0.00,2.62,0.00,0.000,6,0.000,0.051,2617,2207,1490
$GC,19064,1.04,325.0,84.8,10.6,919,19069,0.00,2.70,0.00,0.000,4,0.000,0.069,2618,784,1490
$GC,19115,1.04,325.0,79.4,10.5,921,19119,0.00,2.60,0.00,0.000,6,0.000,0.051,2617,2201,1490
$GC,19430,1.04,325.0,47.2,10.0,936,19435,0.00,2.70,0.00,0.000,4,0.000,0.069,2617,776,1491
$GC,19479,1.04,325.0,42.2,11.3,938,19484,0.00,2.60,0.00,0.000,6,0.000,0.051,2617,2202,1491
$GC,19796,1.04,325.0,12.0,9.8,953,19800,0.00,2.67,0.00,0.000,4,0.000,0.068,2618,783,1491
$GC,19822,1.04,325.0,9.1,11.5,954,19827,0.00,2.60,0.00,0.000,6,0.000,0.052,2617,2201,1491
$STATE,19930,end climb,SURFACE_DEPTH_REACHED
$STATE,19930,begin surface coast
$FINISH,0.7,1.028153
$STATE,19954,end surface coast,CONTROL_FINISHED_OK
$STATE,19954,begin surface
$SM_CCo,20036,0.00,0.000,0,0,1490,325.51
$SM_GC,1.55,11.50,0.00,0.00,0.057,0.000,0.000,73,2402,1490,-10.68,0.08,325.51
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2093
$TCM_TEMP,16.60
$XPDR_PINGS,94
$ALTIM_BOTTOM_PING,675.3,50.1
$24V_AH,23.3,54.366
$10V_AH,10.1,28.298
$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,25.750,203.950,397.400,0.000,0.000,32.635,34.296,174.591,29.500,0.000,0.000,15.966,1770.085,15420.856,558.410,2108.579,544.375,33.363,1634.113,0.000,2054.422,0.000,42.516
$DEVICE_MAMPS,175.643,99.710,1226.433,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,707.301,658.540,548.617,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50542,960
$CFSIZE,260165632,240128000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,160108,225627,6244.278,-507.930,42,2.4,62,-7.5