version: 66.02
glider: 16
mission: 6
dive: 397
start: 1 30 108 10 18 40
data:
$ID,16
$MISSION,6
$DIVE,397
$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,-2086655
$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
$GPS1,101007,6145.761,-207.398,29,1.6,29,-5.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-59.3
$GPS2,101750,6145.789,-207.459,13,1.6,31,-5.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.019,-0.221
$KALMAN_X,24983.3,381.5,-632.1,343167.3,8623.5
$KALMAN_Y,3044.7,-343.3,-1184.0,12584.2,4433.7
$MHEAD_RNG_PITCHd_Wd,173.9,77142,-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,-60.42,0.000,2,0.000,0.000,65,2403,3147
$GC,90,-0.85,-146.6,4.1,-5.6,3,116,12.30,2.65,-5.88,0.000,4,0.174,0.088,2222,3765,3417
$GC,346,-0.85,-146.6,37.1,-8.2,14,350,0.00,2.53,0.00,0.000,6,0.000,0.053,2222,2398,3418
$GC,664,-0.85,-146.6,64.0,-7.9,29,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3419
$GC,971,-0.85,-146.6,90.9,-8.2,44,975,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,983,3419
$GC,1043,-0.85,-146.6,97.4,-9.4,47,1047,0.00,2.62,0.00,0.000,6,0.000,0.059,2222,2406,3419
$GC,1359,-0.85,-146.6,122.9,-7.9,62,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3420
$GC,1668,-0.85,-146.6,146.6,-7.4,77,1672,0.00,2.67,0.00,0.000,4,0.000,0.070,2222,983,3420
$GC,1734,-0.85,-146.6,151.8,-7.5,80,1739,0.00,2.62,0.00,0.000,6,0.000,0.059,2222,2404,3420
$GC,2057,-0.85,-146.6,173.5,-6.5,96,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3420
$GC,2365,-0.85,-146.6,195.8,-7.5,111,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3420
$GC,2676,-0.85,-146.6,219.0,-7.6,126,2680,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,982,3420
$GC,2732,-0.85,-146.6,223.7,-8.0,128,2738,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2408,3421
$GC,3047,-0.85,-146.6,247.9,-7.7,144,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2408,3420
$GC,3356,-0.85,-146.6,271.6,-7.7,159,3361,0.00,2.70,0.00,0.000,4,0.000,0.072,2222,982,3420
$GC,3435,-0.85,-146.6,278.1,-8.0,162,3441,0.00,2.65,0.00,0.000,6,0.000,0.062,2222,2401,3420
$GC,3750,-0.85,-146.6,302.6,-7.6,178,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3420
$GC,4061,-0.85,-146.6,325.2,-7.2,193,4065,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,979,3420
$GC,4145,-0.85,-146.6,331.5,-7.2,197,4150,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2404,3420
$GC,4472,-0.85,-146.6,356.4,-7.5,213,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3420
$GC,4781,-0.85,-146.6,377.6,-6.7,228,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3420
$GC,5091,-0.85,-146.6,399.8,-7.2,243,5099,0.00,2.70,0.00,0.000,4,0.000,0.075,2222,982,3420
$GC,5166,-0.85,-146.6,405.6,-7.9,246,5171,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2404,3419
$GC,5488,-0.85,-146.6,428.5,-7.0,262,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3421
$GC,5796,-0.85,-146.6,449.7,-6.5,277,5801,0.00,2.67,0.00,0.000,4,0.000,0.077,2222,991,3420
$GC,5846,-0.85,-146.6,453.1,-6.9,279,5850,0.00,2.62,0.00,0.000,6,0.000,0.067,2222,2400,3420
$GC,6167,-0.85,-146.6,473.7,-6.5,295,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3419
$GC,6476,-0.85,-146.6,492.7,-5.9,310,6480,0.00,2.72,0.00,0.000,4,0.000,0.078,2222,977,3418
$GC,6525,-0.85,-146.6,495.9,-6.2,312,6530,0.00,2.67,0.00,0.000,6,0.000,0.067,2222,2404,3418
$GC,6841,-0.85,-146.6,514.9,-6.1,327,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,7150,-0.85,-146.6,534.3,-6.1,342,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3417
$GC,7460,-0.85,-146.6,553.1,-5.9,357,7464,0.00,2.72,0.00,0.000,4,0.000,0.079,2222,986,3415
$GC,7522,-0.85,-146.6,556.9,-6.1,360,7526,0.00,2.67,0.00,0.000,6,0.000,0.070,2222,2399,3415
$GC,7850,-0.85,-146.6,575.4,-5.7,376,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3414
$GC,8158,-0.85,-146.6,594.3,-6.3,391,8162,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,983,3413
$GC,8225,-0.85,-146.6,598.9,-7.1,394,8229,0.00,2.70,0.00,0.000,6,0.000,0.071,2222,2404,3413
$GC,8545,-0.85,-146.6,619.9,-6.7,410,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3411
$GC,8855,-0.85,-146.6,641.3,-6.9,425,8859,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,986,3410
$GC,8917,-0.85,-146.6,645.7,-7.8,428,8922,0.00,2.67,0.00,0.000,6,0.000,0.071,2222,2400,3410
$GC,9243,-0.85,-146.6,667.5,-6.6,444,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3409
$GC,9552,-0.85,-146.6,686.8,-6.0,459,9557,0.00,2.72,0.00,0.000,4,0.000,0.082,2222,986,3408
$GC,9615,-0.85,-146.6,691.2,-7.1,462,9620,0.00,2.67,0.00,0.000,6,0.000,0.071,2222,2400,3408
$GC,9942,-0.85,-146.6,711.7,-6.2,478,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3406
$GC,10252,-0.85,-146.6,730.1,-5.9,493,10257,0.00,2.72,0.00,0.000,4,0.000,0.083,2222,986,3406
$GC,10296,-0.85,-146.6,732.7,-5.8,495,10301,0.00,2.70,0.00,0.000,6,0.000,0.071,2222,2404,3406
$GC,10619,-0.85,-146.6,750.1,-5.7,511,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3405
$GC,10928,-0.85,-146.6,767.7,-5.4,526,10932,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,986,3404
$GC,10977,-0.85,-146.6,770.6,-5.6,528,10982,0.00,2.70,0.00,0.000,6,0.000,0.071,2222,2404,3404
$GC,11293,-0.85,-146.6,789.2,-6.4,543,11294,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3403
$GC,11603,-0.85,-146.6,808.1,-6.1,558,11604,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3402
$GC,11911,-0.85,-146.6,827.7,-6.5,573,11916,0.00,2.75,0.00,0.000,4,0.000,0.082,2222,982,3401
$GC,11967,-0.85,-146.6,831.4,-6.9,575,11973,0.00,2.67,0.00,0.000,6,0.000,0.072,2222,2400,3402
$GC,12284,-0.85,-146.6,851.0,-6.3,591,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3401
$GC,12592,-0.85,-146.6,870.5,-6.2,606,12596,0.00,2.72,0.00,0.000,4,0.000,0.082,2222,986,3401
$GC,12641,-0.85,-146.6,873.8,-6.4,608,12646,0.00,2.70,0.00,0.000,6,0.000,0.071,2222,2404,3401
$GC,12957,-0.85,-146.6,894.0,-6.4,623,12958,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3401
$GC,13266,-0.85,-146.6,914.1,-6.5,638,13271,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,986,3400
$GC,13328,-0.85,-146.6,918.3,-7.2,641,13333,0.00,2.67,0.00,0.000,6,0.000,0.071,2222,2401,3400
$GC,13655,-0.85,-146.6,939.2,-6.5,657,13656,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3400
$GC,13963,-0.85,-146.6,959.6,-6.5,672,13968,0.00,2.72,0.00,0.000,4,0.000,0.080,2222,985,3400
$GC,14013,-0.85,-146.6,963.1,-6.3,674,14018,0.00,2.67,0.00,0.000,6,0.000,0.069,2222,2408,3400
$GC,14330,-0.85,-146.6,983.8,-6.5,689,14331,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2409,3400
$STATE,14429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14429,begin apogee
$GC,14436,-0.31,0.0,990.5,6.6,694,14574,0.60,0.00,129.45,1.333,6,0.119,0.000,2338,2195,2817
$STATE,14574,end apogee,CONTROL_FINISHED_OK
$STATE,14575,begin climb
$GC,14578,0.85,146.6,995.9,0.0,701,14714,1.25,2.83,126.43,1.320,4,0.094,0.077,2589,796,2218
$GC,14727,0.86,158.8,991.9,5.7,708,14746,0.00,2.67,12.30,1.218,6,0.000,0.060,2589,2201,2169
$GC,15075,0.86,158.8,971.1,6.2,725,15076,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,2167
$GC,15383,0.86,158.8,952.1,6.3,740,15384,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,2166
$GC,15692,0.86,158.8,932.5,6.4,755,15697,0.00,2.72,0.00,0.000,4,0.000,0.078,2589,794,2166
$GC,15733,0.86,158.8,930.0,7.0,757,15737,0.00,2.62,0.00,0.000,6,0.000,0.061,2589,2202,2166
$GC,16059,0.86,158.8,908.7,6.3,773,16060,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,2166
$GC,16368,0.86,158.8,888.7,6.7,788,16369,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,2166
$GC,16678,0.86,158.8,868.5,6.4,803,16679,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,2165
$GC,16987,0.86,158.8,849.5,6.0,818,16991,0.00,2.72,0.00,0.000,4,0.000,0.079,2589,792,2165
$GC,17019,0.86,158.8,847.5,6.2,819,17025,0.00,2.62,0.00,0.000,6,0.000,0.062,2589,2199,2164
$GC,17336,0.88,174.5,829.5,5.6,835,17355,0.00,0.00,14.43,1.170,6,0.000,0.000,2589,2199,2104
$GC,17664,0.88,174.5,809.3,6.2,851,17665,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2103
$GC,17974,0.88,174.8,790.6,6.0,866,17975,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2103
$GC,18284,0.88,180.5,772.7,5.8,881,18292,0.00,0.00,6.32,0.971,6,0.000,0.000,2589,2199,2081
$GC,18592,0.92,214.5,756.0,5.1,896,18628,0.00,2.80,29.85,1.174,4,0.000,0.080,2589,788,1942
$GC,18667,0.93,225.2,752.1,5.7,898,18684,0.12,2.67,10.62,1.055,6,0.082,0.063,2616,2198,1899
$GC,19002,0.93,225.2,727.7,7.3,915,19003,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2199,1897
$GC,19310,0.93,225.2,705.4,7.2,930,19314,0.00,2.72,0.00,0.000,4,0.000,0.081,2616,794,1898
$GC,19342,0.93,225.2,702.6,7.2,931,19348,0.00,2.65,0.00,0.000,6,0.000,0.063,2616,2208,1896
$GC,19658,0.93,225.2,678.5,7.6,947,19659,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2207,1896
$GC,19967,0.93,225.2,654.9,7.6,962,19971,0.00,2.75,0.00,0.000,4,0.000,0.081,2616,788,1896
$GC,20016,0.93,225.2,651.0,7.1,964,20021,0.00,2.67,0.00,0.000,6,0.000,0.064,2616,2206,1896
$GC,20332,0.93,225.2,626.2,8.0,979,20334,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2206,1896
$GC,20641,0.93,225.2,601.2,8.0,994,20645,0.00,2.75,0.00,0.000,4,0.000,0.081,2616,791,1896
$GC,20690,0.93,225.2,596.8,8.4,996,20695,0.00,2.62,0.00,0.000,6,0.000,0.064,2616,2200,1896
$GC,21007,0.93,225.2,571.3,7.7,1011,21011,0.00,2.72,0.00,0.000,4,0.000,0.082,2616,793,1896
$GC,21039,0.93,225.2,568.3,8.3,1012,21045,0.00,2.62,0.00,0.000,6,0.000,0.063,2616,2201,1896
$GC,21355,0.93,225.2,543.2,8.1,1028,21356,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2201,1896
$GC,21665,0.93,225.2,517.1,8.5,1043,21666,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2201,1896
$GC,21973,0.93,225.2,491.6,8.1,1058,21978,0.00,2.72,0.00,0.000,4,0.000,0.081,2616,792,1896
$GC,22019,0.93,225.2,487.8,7.4,1060,22024,0.00,2.65,0.00,0.000,6,0.000,0.064,2616,2200,1896
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$STATE,27789,end climb,SURFACE_DEPTH_REACHED
$STATE,27789,begin surface coast
$FINISH,0.8,1.027478
$STATE,27810,end surface coast,CONTROL_FINISHED_OK
$STATE,27810,begin surface
$SM_CCo,27832,44.88,0.663,1,0,1594,300.00
$SM_GC,1.75,0.00,0.00,44.88,0.000,0.000,0.663,76,2404,1594,-10.74,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2089
$TCM_TEMP,16.60
$XPDR_PINGS,129
$24V_AH,23.1,61.814
$10V_AH,10.1,33.363
$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,25.575,178.025,329.400,44.875,0.000,32.626,37.244,229.197,40.750,0.000,0.000,31.045,2366.352,22021.902,553.160,2680.793,710.828,33.374,1855.226,0.000,2613.025,0.000,56.144
$DEVICE_MAMPS,174.109,88.205,1333.046,662.688,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,998.540,932.730,689.444,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66388,1341
$CFSIZE,260165632,236580864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,23,2,0
$GPS,300108,180437,6142.887,-206.292,36,1.8,36,-5.6