version: 66.02
glider: 16
mission: 6
dive: 385
start: 1 26 108 6 58 19
data:
$ID,16
$MISSION,6
$DIVE,385
$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,-2086333.9
$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,14
$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
$GPS1,064607,6206.750,-314.315,39,2.0,42,-6.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-54.2
$GPS2,065729,6206.701,-314.109,13,4.6,32,-6.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.216,-0.047
$KALMAN_X,-321.2,642.6,660.2,308260.9,-6669.4
$KALMAN_Y,-21057.7,458.7,-1036.8,74457.9,848.2
$MHEAD_RNG_PITCHd_Wd,152.9,136860,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,88,0.00,0.00,-60.95,0.000,2,0.000,0.000,68,2402,3051
$GC,92,-0.85,-146.6,4.0,-5.9,3,118,12.27,2.67,-8.57,0.000,4,0.174,0.090,2222,3775,3416
$GC,371,-0.85,-146.6,39.7,-7.9,15,377,0.00,2.60,0.00,0.000,6,0.000,0.061,2222,2394,3417
$GC,688,-0.85,-146.6,66.0,-7.3,31,693,0.00,2.70,0.00,0.000,4,0.000,0.083,2222,3773,3417
$GC,811,-0.85,-146.6,77.8,-9.3,36,817,0.00,2.58,0.00,0.000,6,0.000,0.061,2222,2398,3417
$GC,1128,-0.85,-146.6,110.2,-11.1,52,1133,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,982,3417
$GC,1191,-0.85,-146.6,117.0,-9.2,55,1196,0.00,2.67,0.00,0.000,6,0.000,0.064,2222,2404,3418
$GC,1520,-0.85,-146.6,141.3,-7.1,71,1524,0.00,2.72,0.00,0.000,4,0.000,0.076,2223,978,3418
$GC,1575,-0.85,-146.6,145.5,-7.2,73,1582,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2405,3418
$GC,1891,-0.85,-146.6,168.1,-7.2,89,1895,0.00,2.70,0.00,0.000,4,0.000,0.076,2221,982,3418
$GC,1946,-0.85,-146.6,172.6,-8.1,91,1952,0.00,2.67,0.00,0.000,6,0.000,0.064,2223,2407,3418
$GC,2262,-0.85,-146.6,196.3,-7.6,107,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2406,3418
$GC,2571,-0.85,-146.6,220.6,-8.2,122,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2407,3418
$GC,2881,-0.85,-146.6,244.0,-7.3,137,2885,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,982,3419
$GC,2975,-0.85,-146.6,251.2,-8.3,141,2979,0.00,2.62,0.00,0.000,6,0.000,0.066,2221,2400,3419
$GC,3292,-0.85,-146.6,275.0,-7.5,156,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3419
$GC,3600,-0.85,-146.6,297.2,-7.4,171,3605,0.00,2.72,0.00,0.000,4,0.000,0.080,2222,983,3420
$GC,3689,-0.85,-146.6,303.9,-8.0,175,3693,0.00,2.67,0.00,0.000,6,0.000,0.069,2222,2404,3420
$GC,4011,-0.85,-146.6,325.9,-6.8,191,4016,0.00,2.75,0.00,0.000,4,0.000,0.081,2223,978,3420
$GC,4061,-0.85,-146.6,329.8,-7.3,193,4066,0.00,2.67,0.00,0.000,6,0.000,0.069,2222,2399,3420
$GC,4377,-0.85,-146.6,351.7,-7.2,208,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3420
$GC,4687,-0.85,-146.6,374.7,-7.5,223,4692,0.00,2.72,0.00,0.000,4,0.000,0.084,2222,985,3420
$GC,4758,-0.85,-146.6,380.8,-8.6,226,4763,0.00,2.67,0.00,0.000,6,0.000,0.071,2222,2401,3420
$GC,5081,-0.85,-146.6,404.8,-7.4,242,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3419
$GC,5389,-0.85,-146.6,427.6,-7.7,257,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3419
$GC,5698,-0.85,-146.6,451.2,-7.6,272,5703,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,984,3418
$GC,5806,-0.85,-146.6,459.8,-8.2,277,5810,0.00,2.67,0.00,0.000,6,0.000,0.074,2222,2399,3418
$GC,6132,-0.85,-146.6,484.3,-7.5,293,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3417
$GC,6441,-0.85,-146.6,507.2,-7.3,308,6445,0.00,2.72,0.00,0.000,4,0.000,0.084,2222,985,3416
$GC,6526,-0.85,-146.6,513.6,-7.9,312,6530,0.00,2.67,0.00,0.000,6,0.000,0.074,2222,2400,3416
$GC,6852,-0.85,-146.6,537.2,-7.4,328,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3415
$GC,7161,-0.85,-146.6,560.0,-7.2,343,7165,0.00,2.72,0.00,0.000,4,0.000,0.085,2222,985,3415
$GC,7228,-0.85,-146.6,565.0,-7.5,346,7232,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2400,3414
$GC,7548,-0.85,-146.6,587.3,-6.9,362,7553,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,982,3412
$GC,7587,-0.85,-146.6,590.2,-7.4,364,7592,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2402,3412
$GC,7915,-0.85,-146.6,612.4,-6.7,380,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3411
$GC,8223,-0.85,-146.6,632.6,-6.5,395,8228,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,981,3409
$GC,8285,-0.85,-146.6,636.8,-8.0,398,8289,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2403,3410
$GC,8611,-0.85,-146.6,657.2,-6.0,414,8616,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,978,3409
$GC,8655,-0.85,-146.6,660.2,-7.3,416,8659,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2404,3409
$GC,8976,-0.85,-146.6,679.8,-6.1,432,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3409
$GC,9287,-0.85,-146.6,698.1,-5.7,447,9291,0.00,2.72,0.00,0.000,4,0.000,0.084,2222,984,3409
$GC,9352,-0.85,-146.6,702.2,-6.0,450,9357,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2402,3408
$GC,9675,-0.85,-146.6,720.8,-5.9,466,9679,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,983,3408
$GC,9714,-0.85,-146.6,723.3,-6.1,468,9718,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2405,3407
$GC,10040,-0.85,-146.6,742.5,-5.8,484,10045,0.00,2.75,0.00,0.000,4,0.000,0.084,2223,985,3407
$GC,10085,-0.85,-146.6,745.5,-7.6,486,10090,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2400,3407
$GC,10407,-0.85,-146.6,764.5,-5.9,502,10408,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3406
$GC,10716,-0.85,-146.6,782.1,-5.6,517,10720,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,982,3406
$GC,10788,-0.85,-146.6,786.6,-6.9,520,10793,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2398,3406
$GC,11104,-0.85,-146.6,805.6,-6.1,535,11105,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2399,3405
$GC,11413,-0.85,-146.6,823.8,-5.9,550,11418,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,980,3405
$GC,11470,-0.85,-146.6,827.3,-6.7,552,11476,0.00,2.65,0.00,0.000,6,0.000,0.072,2222,2402,3405
$GC,11785,-0.85,-146.6,845.5,-5.8,568,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3404
$GC,12095,-0.85,-146.6,863.0,-5.9,583,12100,0.00,2.72,0.00,0.000,4,0.000,0.084,2222,985,3404
$GC,12162,-0.85,-146.6,867.2,-5.9,586,12167,0.00,2.70,0.00,0.000,6,0.000,0.072,2222,2403,3403
$GC,12484,-0.85,-146.6,885.4,-5.7,602,12485,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3403
$GC,12793,-0.85,-146.6,902.6,-5.6,617,12797,0.00,2.72,0.00,0.000,4,0.000,0.079,2223,984,3403
$GC,12870,-0.85,-146.6,907.2,-7.0,620,12877,0.00,2.65,0.00,0.000,6,0.000,0.067,2222,2402,3402
$GC,13187,-0.85,-146.6,924.3,-5.5,636,13188,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2402,3403
$GC,13497,-0.85,-146.6,941.2,-5.7,651,13501,0.00,2.72,0.00,0.000,4,0.000,0.078,2222,982,3402
$GC,13574,-0.85,-146.6,946.2,-6.4,654,13580,0.00,2.65,0.00,0.000,6,0.000,0.066,2222,2403,3402
$GC,13891,-0.85,-146.6,964.2,-5.7,670,13892,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3402
$GC,14199,-0.85,-146.6,981.7,-5.7,685,14204,0.00,2.70,0.00,0.000,4,0.000,0.077,2222,986,3401
$GC,14266,-0.85,-146.6,985.7,-5.3,688,14271,0.00,2.65,0.00,0.000,6,0.000,0.065,2223,2400,3402
$STATE,14358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14358,begin apogee
$GC,14365,-0.31,0.0,991.1,5.6,693,14494,0.60,0.00,125.88,1.364,6,0.118,0.000,2339,2192,2817
$STATE,14495,end apogee,CONTROL_FINISHED_OK
$STATE,14495,begin climb
$GC,14498,0.85,146.6,995.0,0.0,699,14634,1.23,2.83,126.10,1.331,4,0.094,0.077,2586,794,2219
$GC,14659,0.85,146.6,989.6,6.4,706,14665,0.00,2.65,0.00,0.000,6,0.000,0.058,2586,2206,2218
$GC,14974,0.85,146.6,969.2,6.9,722,14979,0.00,2.72,0.00,0.000,4,0.000,0.084,2586,3613,2217
$GC,15006,0.85,146.6,967.0,7.1,723,15013,0.00,2.65,0.00,0.000,6,0.000,0.061,2586,2205,2218
$GC,15323,0.85,146.6,945.5,6.8,739,15324,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2205,2218
$GC,15631,0.85,146.6,925.1,6.5,754,15632,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2205,2217
$GC,15940,0.85,146.6,905.3,6.3,769,15942,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2205,2217
$GC,16251,0.85,146.6,885.7,6.3,784,16252,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2205,2217
$GC,16559,0.86,156.1,867.6,5.7,799,16574,0.00,2.80,9.30,1.115,4,0.000,0.086,2586,3610,2181
$GC,16602,0.86,156.1,864.8,6.2,800,16606,0.00,2.65,0.00,0.000,6,0.000,0.064,2586,2200,2180
$GC,16924,0.86,156.1,845.4,6.0,816,16925,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2180
$GC,17232,0.86,158.4,826.8,5.9,831,17233,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2179
$GC,17541,0.86,158.4,808.0,6.3,846,17542,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2179
$GC,17851,0.86,158.4,788.9,6.2,861,17852,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2179
$GC,18160,0.86,158.4,769.0,6.4,876,18164,0.00,2.78,0.00,0.000,4,0.000,0.088,2586,3610,2178
$GC,18192,0.86,158.4,766.7,7.0,877,18198,0.00,2.65,0.00,0.000,6,0.000,0.067,2586,2202,2179
$GC,18508,0.86,158.4,747.0,6.0,893,18509,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2202,2179
$GC,18817,0.86,158.4,728.0,6.3,908,18818,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2203,2179
$GC,19126,0.86,158.4,709.4,6.0,923,19127,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2202,2179
$GC,19436,0.87,165.7,691.4,5.8,938,19448,0.00,0.00,9.98,1.108,6,0.000,0.000,2586,2202,2141
$GC,19745,0.87,165.7,672.9,6.0,953,19746,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2202,2140
$GC,20054,0.87,168.9,654.7,5.9,968,20060,0.00,0.00,4.18,0.816,6,0.000,0.000,2586,2202,2128
$GC,20364,0.88,176.8,636.6,5.8,983,20374,0.00,0.00,8.50,1.045,6,0.000,0.000,2586,2202,2095
$GC,20672,0.88,176.8,616.7,6.5,998,20673,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2202,2095
$GC,20982,0.88,176.8,596.5,6.5,1013,20983,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2202,2095
$GC,21292,0.88,176.8,576.7,6.1,1028,21293,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2202,2095
$GC,21600,0.91,205.5,559.5,5.2,1043,21628,0.10,0.00,25.25,1.137,6,0.081,0.000,2607,2202,1979
$GC,21932,0.92,218.8,540.3,5.6,1059,21950,0.00,0.00,12.35,1.052,6,0.000,0.000,2607,2202,1925
$GC,22260,0.93,222.5,521.1,5.9,1075,22267,0.00,0.00,4.88,0.824,6,0.000,0.000,2607,2202,1910
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$STATE,29028,end climb,SURFACE_DEPTH_REACHED
$STATE,29028,begin surface coast
$FINISH,1.0,1.027493
$STATE,29051,end surface coast,CONTROL_FINISHED_OK
$STATE,29051,begin surface
$SM_CCo,29073,41.03,0.644,2,0,1594,300.00
$SM_GC,1.78,0.00,0.00,41.03,0.000,0.000,0.644,70,2408,1594,-10.76,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2080
$TCM_TEMP,16.30
$XPDR_PINGS,152
$24V_AH,23.1,59.900
$10V_AH,10.1,31.912
$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,25.750,205.800,342.150,41.025,0.000,66.965,66.613,318.409,46.500,0.000,0.000,33.744,2506.222,22939.016,598.820,2874.870,876.989,33.360,1995.958,0.000,2798.478,0.000,56.125
$DEVICE_MAMPS,174.109,89.739,1363.726,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1052.014,966.505,710.047,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72461,1403
$CFSIZE,260165632,237539328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
$GPS,260108,150522,6206.646,-306.774,40,3.4,59,-6.3