version: 66.02
glider: 16
mission: 6
dive: 390
start: 1 28 108 0 20 39
data:
$ID,16
$MISSION,6
$DIVE,390
$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,-2086481.9
$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,13
$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
$GPS1,000838,6158.409,-249.156,32,1.7,32,-6.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-56.7
$GPS2,001945,6158.459,-249.058,10,2.0,10,-6.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.152,-0.161
$KALMAN_X,-6872.2,-179.1,390.7,337963.4,-2561.5
$KALMAN_Y,-17891.9,-359.2,-7.2,55788.1,616.2
$MHEAD_RNG_PITCHd_Wd,158.0,112246,-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,-146.6,0.0,0.0,0,86,0.00,0.00,-60.58,0.000,2,0.000,0.000,72,2404,3102
$GC,90,-0.85,-146.6,3.9,-4.8,3,115,12.25,2.65,-7.55,0.000,4,0.174,0.095,2222,3767,3417
$GC,318,-0.85,-146.6,28.9,-7.6,13,322,0.00,2.58,0.00,0.000,6,0.000,0.060,2223,2394,3418
$GC,634,-0.85,-146.6,55.4,-7.0,28,638,0.00,2.72,0.00,0.000,4,0.000,0.078,2222,976,3418
$GC,711,-0.85,-146.6,62.9,-9.7,31,718,0.00,2.65,0.00,0.000,6,0.000,0.062,2222,2405,3418
$GC,1028,-0.85,-146.6,89.3,-8.7,47,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3418
$GC,1336,-0.85,-146.6,117.1,-8.0,62,1341,0.00,2.72,0.00,0.000,4,0.000,0.076,2222,979,3418
$GC,1386,-0.85,-146.6,121.8,-9.1,64,1390,0.00,2.67,0.00,0.000,6,0.000,0.062,2222,2407,3418
$GC,1703,-0.85,-146.6,150.1,-8.2,79,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3418
$GC,2011,-0.85,-146.6,175.1,-8.8,94,2015,0.00,2.72,0.00,0.000,4,0.000,0.074,2222,976,3418
$GC,2088,-0.85,-146.6,180.9,-7.5,97,2094,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2404,3419
$GC,2405,-0.85,-146.6,208.1,-7.6,113,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3419
$GC,2713,-0.85,-146.6,230.1,-7.9,128,2717,0.00,2.72,0.00,0.000,4,0.000,0.076,2223,975,3418
$GC,2775,-0.85,-146.6,234.6,-6.8,131,2780,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2400,3419
$GC,3103,-0.85,-146.6,258.0,-7.7,147,3107,0.00,2.62,0.00,0.000,4,0.000,0.084,2222,3769,3418
$GC,3164,-0.85,-146.6,262.5,-8.2,150,3169,0.00,2.58,0.00,0.000,6,0.000,0.061,2222,2392,3419
$GC,3491,-0.85,-146.6,286.7,-8.2,166,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2392,3419
$GC,3801,-0.85,-146.6,309.7,-7.5,181,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2391,3420
$GC,4109,-0.85,-146.6,330.9,-6.8,196,4114,0.00,2.70,0.00,0.000,4,0.000,0.080,2222,982,3420
$GC,4216,-0.85,-146.6,338.5,-7.2,201,4221,0.00,2.65,0.00,0.000,6,0.000,0.066,2222,2399,3420
$GC,4544,-0.85,-146.6,363.2,-7.9,217,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3420
$GC,4852,-0.85,-146.6,385.5,-7.2,232,4857,0.00,2.72,0.00,0.000,4,0.000,0.081,2223,980,3420
$GC,4919,-0.85,-146.6,390.4,-7.4,235,4923,0.00,2.67,0.00,0.000,6,0.000,0.067,2224,2401,3420
$GC,5240,-0.85,-146.6,410.0,-5.8,251,5245,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,983,3420
$GC,5289,-0.85,-146.6,413.1,-6.5,253,5294,0.00,2.67,0.00,0.000,6,0.000,0.069,2222,2404,3420
$GC,5606,-0.85,-146.6,431.9,-5.9,268,5610,0.00,2.75,0.00,0.000,4,0.000,0.082,2223,979,3420
$GC,5668,-0.85,-146.6,435.9,-6.3,271,5673,0.00,2.70,0.00,0.000,6,0.000,0.071,2223,2405,3420
$GC,5994,-0.85,-146.6,455.6,-6.1,287,5998,0.00,2.75,0.00,0.000,4,0.000,0.083,2222,982,3420
$GC,6034,-0.85,-146.6,458.2,-6.9,289,6038,0.00,2.70,0.00,0.000,6,0.000,0.071,2223,2406,3419
$GC,6360,-0.85,-146.6,480.0,-7.0,305,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3418
$GC,6669,-0.85,-146.6,502.0,-7.1,320,6674,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,985,3418
$GC,6742,-0.85,-146.6,507.6,-8.1,323,6746,0.00,2.70,0.00,0.000,6,0.000,0.072,2222,2404,3418
$GC,7057,-0.85,-146.6,532.0,-8.0,338,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3416
$GC,7366,-0.85,-146.6,555.5,-7.4,353,7371,0.00,2.75,0.00,0.000,4,0.000,0.084,2223,986,3414
$GC,7433,-0.85,-146.6,560.7,-7.4,356,7438,0.00,2.67,0.00,0.000,6,0.000,0.073,2222,2400,3415
$GC,7753,-0.85,-146.6,584.3,-7.2,372,7758,0.00,2.75,0.00,0.000,4,0.000,0.085,2221,979,3414
$GC,7797,-0.85,-146.6,587.6,-7.7,374,7802,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2404,3414
$GC,8119,-0.85,-146.6,609.5,-6.7,390,8123,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,985,3412
$GC,8168,-0.85,-146.6,612.9,-7.0,392,8173,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2406,3412
$GC,8484,-0.85,-146.6,632.8,-6.2,407,8489,0.00,2.78,0.00,0.000,4,0.000,0.085,2222,978,3411
$GC,8534,-0.85,-146.6,636.2,-6.4,409,8538,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2403,3411
$GC,8849,-0.85,-146.6,655.9,-6.3,424,8854,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,986,3410
$GC,8894,-0.85,-146.6,658.8,-6.4,426,8899,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2400,3410
$GC,9215,-0.85,-146.6,678.5,-6.1,442,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3409
$GC,9525,-0.85,-146.6,697.1,-5.8,457,9529,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,982,3408
$GC,9593,-0.85,-146.6,701.4,-6.4,460,9598,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2398,3408
$GC,9914,-0.85,-146.6,719.9,-5.6,476,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3407
$GC,10225,-0.85,-146.6,738.2,-5.9,491,10229,0.00,2.75,0.00,0.000,4,0.000,0.085,2224,980,3406
$GC,10292,-0.85,-146.6,742.3,-6.1,494,10296,0.00,2.72,0.00,0.000,6,0.000,0.074,2222,2405,3406
$GC,10612,-0.85,-146.6,760.9,-5.9,510,10614,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3405
$GC,10922,-0.85,-146.6,779.3,-6.0,525,10927,0.00,2.75,0.00,0.000,4,0.000,0.086,2222,986,3404
$GC,10994,-0.85,-146.6,784.0,-6.3,528,10999,0.00,2.70,0.00,0.000,6,0.000,0.076,2222,2401,3404
$GC,11310,-0.85,-146.6,802.5,-6.0,543,11311,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3402
$GC,11620,-0.85,-146.6,821.3,-6.2,558,11624,0.00,2.75,0.00,0.000,4,0.000,0.086,2222,987,3403
$GC,11697,-0.85,-146.6,826.3,-6.5,561,11703,0.00,2.70,0.00,0.000,6,0.000,0.077,2222,2401,3403
$GC,12012,-0.85,-146.6,845.7,-6.2,577,12014,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3402
$GC,12323,-0.85,-146.6,864.8,-6.2,592,12327,0.00,2.75,0.00,0.000,4,0.000,0.086,2222,986,3402
$GC,12407,-0.85,-146.6,870.2,-6.6,596,12412,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2402,3402
$GC,12733,-0.85,-146.6,889.4,-5.7,612,12735,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3401
$GC,13043,-0.85,-146.6,907.0,-5.6,627,13048,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,986,3401
$GC,13115,-0.85,-146.6,911.3,-5.7,630,13120,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2401,3401
$GC,13432,-0.85,-146.6,929.5,-5.8,645,13433,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3401
$GC,13740,-0.85,-146.6,947.6,-5.8,660,13745,0.00,2.72,0.00,0.000,4,0.000,0.084,2222,987,3402
$GC,13812,-0.85,-146.6,952.3,-6.4,663,13817,0.00,2.67,0.00,0.000,6,0.000,0.072,2222,2406,3401
$GC,14128,-0.85,-146.6,971.7,-6.2,678,14130,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3401
$STATE,14414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14414,begin apogee
$GC,14420,-0.31,0.0,990.0,6.3,692,14557,0.60,0.00,128.25,1.336,6,0.120,0.000,2338,2195,2817
$STATE,14558,end apogee,CONTROL_FINISHED_OK
$STATE,14558,begin climb
$GC,14561,0.85,146.6,995.4,0.0,699,14697,1.30,0.00,127.30,1.322,6,0.105,0.000,2590,2195,2219
$GC,15006,0.85,146.6,972.7,6.6,721,15007,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2195,2218
$GC,15315,0.85,146.6,953.1,6.4,736,15317,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2195,2218
$GC,15626,0.85,146.6,933.3,6.4,751,15630,0.00,2.70,0.00,0.000,4,0.000,0.081,2590,788,2218
$GC,15652,0.85,146.6,931.4,6.3,752,15657,0.00,2.62,0.00,0.000,6,0.000,0.060,2590,2202,2217
$GC,15968,0.85,146.6,912.1,6.3,767,15969,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2202,2216
$GC,16278,0.85,149.8,893.6,5.9,782,16284,0.00,0.00,4.20,0.880,6,0.000,0.000,2590,2202,2206
$GC,16587,0.85,153.6,875.1,5.9,797,16594,0.00,0.00,5.28,0.989,6,0.000,0.000,2590,2203,2190
$GC,16896,0.87,165.4,856.9,5.7,812,16909,0.00,0.00,11.68,1.139,6,0.000,0.000,2590,2202,2142
$GC,17228,0.88,173.5,837.6,5.8,828,17238,0.00,0.00,8.55,1.068,6,0.000,0.000,2590,2202,2109
$GC,17536,0.88,173.5,818.6,6.3,843,17541,0.00,2.78,0.00,0.000,4,0.000,0.097,2590,3610,2108
$GC,17568,0.88,173.5,816.3,6.3,844,17575,0.00,2.70,0.00,0.000,6,0.000,0.073,2590,2204,2108
$GC,17885,0.88,173.5,796.5,6.0,860,17886,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2204,2108
$GC,18193,0.88,173.5,777.5,6.3,875,18194,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2204,2107
$GC,18502,0.88,173.5,757.6,6.5,890,18507,0.00,2.75,0.00,0.000,4,0.000,0.087,2590,787,2107
$GC,18530,0.88,173.5,755.8,6.1,891,18534,0.00,2.65,0.00,0.000,6,0.000,0.063,2590,2200,2108
$GC,18846,0.88,173.5,734.3,6.9,906,18847,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2199,2107
$GC,19155,0.88,173.5,712.4,7.2,921,19156,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2199,2107
$GC,19465,0.88,173.5,689.4,7.7,936,19466,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2199,2107
$GC,19774,0.88,173.5,667.6,6.8,951,19775,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2200,2108
$GC,20083,0.88,173.5,646.4,6.8,966,20087,0.00,2.80,0.00,0.000,4,0.000,0.097,2590,3615,2107
$GC,20116,0.88,173.5,643.9,7.5,967,20122,0.00,2.72,0.00,0.000,6,0.000,0.075,2590,2198,2107
$GC,20431,0.88,173.5,623.2,6.3,983,20432,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2197,2107
$GC,20740,0.88,173.5,603.5,6.2,998,20742,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2197,2107
$GC,21051,0.88,175.1,585.1,6.0,1013,21052,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2197,2107
$GC,21359,0.88,177.8,566.8,5.9,1028,21366,0.00,0.00,5.15,0.865,6,0.000,0.000,2590,2197,2091
$GC,21668,0.88,177.8,547.0,6.5,1043,21669,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2197,2091
$GC,21978,0.88,177.8,526.3,6.6,1058,21979,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2197,2092
$GC,22287,0.88,177.8,505.9,6.5,1073,22288,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2197,2092
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$GC,24514,0.90,197.7,365.1,5.7,1181,24530,0.00,2.88,10.60,0.923,4,0.000,0.097,2590,3610,2011
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$STATE,29602,end climb,SURFACE_DEPTH_REACHED
$STATE,29602,begin surface coast
$FINISH,1.0,1.027488
$STATE,29611,end surface coast,CONTROL_FINISHED_OK
$STATE,29611,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,2076
$TCM_TEMP,18.90
$XPDR_PINGS,143
$24V_AH,23.1,60.683
$10V_AH,10.1,32.519
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$DEVICE_SECS,26.025,189.850,436.350,0.000,0.000,65.229,77.736,316.809,44.250,0.000,0.000,10.513,2517.073,23513.408,619.308,2823.239,878.183,33.399,1990.353,0.000,2768.274,0.000,56.117
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$SENSOR_SECS,1059.091,983.650,725.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72634,1426
$CFSIZE,260165632,237137920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,280108,083638,6156.587,-243.431,29,1.7,29,-6.0