version: 66.02
glider: 16
mission: 6
dive: 399
start: 1 31 108 2 52 50
data:
$ID,16
$MISSION,6
$DIVE,399
$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,566.1524
$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,-2086709.2
$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,15
$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
$GPS1,022355,6140.110,-203.644,41,1.6,41,-5.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-54.4
$GPS2,025200,6140.375,-203.177,16,2.2,35,-5.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.008,-0.221
$KALMAN_X,28964.0,-1553.3,-256.5,344597.7,9034.1
$KALMAN_Y,5346.3,-142.8,720.0,-1891.7,991.0
$MHEAD_RNG_PITCHd_Wd,175.4,66570,-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,21,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-59.80,0.000,2,0.000,0.000,69,2403,3030
$GC,90,-0.85,-146.6,3.3,-4.5,3,119,12.25,2.67,-10.15,0.000,4,0.171,0.093,2221,3762,3417
$GC,175,-0.85,-146.6,13.5,-9.3,7,180,0.00,2.55,0.00,0.000,6,0.000,0.056,2221,2394,3416
$GC,498,-0.85,-146.6,46.2,-13.3,23,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2394,3418
$GC,806,-0.85,-146.6,81.7,-9.7,38,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2394,3417
$GC,1115,-0.85,-146.6,109.4,-10.0,53,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2394,3418
$GC,1426,-0.85,-146.6,140.5,-10.6,68,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2394,3418
$GC,1734,-0.85,-146.6,166.6,-8.2,83,1738,0.00,2.67,0.00,0.000,4,0.000,0.074,2221,977,3418
$GC,1796,-0.85,-146.6,171.5,-8.4,86,1801,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2401,3418
$GC,2123,-0.85,-146.6,196.5,-7.5,102,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3418
$GC,2431,-0.85,-146.6,219.6,-7.9,117,2436,0.00,2.70,0.00,0.000,4,0.000,0.072,2221,977,3418
$GC,2487,-0.85,-146.6,224.2,-7.7,119,2493,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2406,3418
$GC,2804,-0.85,-146.6,250.6,-8.3,135,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3418
$GC,3114,-0.85,-146.6,275.3,-7.2,150,3118,0.00,2.65,0.00,0.000,4,0.000,0.085,2221,3772,3418
$GC,3186,-0.85,-146.6,281.0,-7.8,153,3190,0.00,2.55,0.00,0.000,6,0.000,0.059,2221,2393,3419
$GC,3502,-0.85,-146.6,303.1,-7.3,168,3506,0.00,2.67,0.00,0.000,4,0.000,0.075,2221,985,3419
$GC,3557,-0.85,-146.6,307.6,-7.8,170,3563,0.00,2.62,0.00,0.000,6,0.000,0.064,2221,2400,3419
$GC,3873,-0.85,-146.6,331.8,-8.1,186,3877,0.00,2.67,0.00,0.000,4,0.000,0.088,2221,3775,3419
$GC,3913,-0.85,-146.6,335.3,-8.9,188,3917,0.00,2.58,0.00,0.000,6,0.000,0.062,2221,2401,3419
$GC,4239,-0.85,-146.6,360.3,-7.7,204,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3419
$GC,4549,-0.85,-146.6,382.2,-6.6,219,4553,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,982,3419
$GC,4626,-0.85,-146.6,387.9,-7.5,222,4632,0.00,2.65,0.00,0.000,6,0.000,0.067,2220,2400,3419
$GC,4942,-0.85,-146.6,410.3,-7.0,238,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,5252,-0.85,-146.6,431.4,-7.2,253,5256,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,977,3419
$GC,5329,-0.85,-146.6,437.4,-8.1,256,5335,0.00,2.67,0.00,0.000,6,0.000,0.068,2221,2400,3419
$GC,5644,-0.85,-146.6,461.4,-7.8,272,5649,0.00,2.70,0.00,0.000,4,0.000,0.080,2221,984,3418
$GC,5700,-0.85,-146.6,466.0,-8.9,274,5706,0.00,2.67,0.00,0.000,6,0.000,0.068,2221,2400,3418
$GC,6015,-0.85,-146.6,491.2,-8.1,290,6020,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,981,3418
$GC,6072,-0.85,-146.6,496.0,-8.5,292,6078,0.00,2.70,0.00,0.000,6,0.000,0.070,2221,2405,3417
$GC,6388,-0.85,-146.6,520.7,-7.5,308,6392,0.00,2.75,0.00,0.000,4,0.000,0.081,2221,980,3417
$GC,6437,-0.85,-146.6,524.7,-7.9,310,6445,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2400,3416
$GC,6761,-0.85,-146.6,548.6,-7.5,326,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3415
$GC,7071,-0.85,-146.6,573.4,-8.5,341,7076,0.00,2.72,0.00,0.000,4,0.000,0.083,2221,985,3414
$GC,7138,-0.85,-146.6,578.9,-8.4,344,7142,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2403,3414
$GC,7459,-0.85,-146.6,603.9,-7.7,360,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3412
$GC,7769,-0.85,-146.6,626.7,-7.3,375,7773,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,986,3411
$GC,7840,-0.85,-146.6,632.2,-7.6,378,7845,0.00,2.67,0.00,0.000,6,0.000,0.072,2221,2400,3411
$GC,8156,-0.85,-146.6,656.3,-7.7,393,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3409
$GC,8466,-0.85,-146.6,679.3,-7.3,408,8470,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,982,3409
$GC,8550,-0.85,-146.6,685.4,-8.0,412,8555,0.00,2.70,0.00,0.000,6,0.000,0.072,2221,2403,3409
$GC,8878,-0.85,-146.6,707.9,-6.9,428,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3407
$GC,9185,-0.85,-146.6,728.0,-6.2,443,9190,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,985,3406
$GC,9270,-0.85,-146.6,733.8,-7.5,447,9275,0.00,2.70,0.00,0.000,6,0.000,0.071,2221,2406,3406
$GC,9597,-0.85,-146.6,754.4,-6.4,463,9601,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,986,3405
$GC,9646,-0.85,-146.6,757.7,-6.3,465,9651,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2398,3405
$GC,9962,-0.85,-146.6,776.5,-5.9,480,9963,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3404
$GC,10272,-0.85,-146.6,795.3,-6.3,495,10276,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,983,3404
$GC,10345,-0.85,-146.6,800.0,-6.9,498,10349,0.00,2.70,0.00,0.000,6,0.000,0.072,2220,2401,3404
$GC,10660,-0.85,-146.6,820.2,-6.4,513,10661,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3403
$GC,10970,-0.85,-146.6,840.6,-6.7,528,10974,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,980,3402
$GC,11047,-0.85,-146.6,846.3,-6.9,531,11054,0.00,2.70,0.00,0.000,6,0.000,0.072,2220,2405,3402
$GC,11363,-0.85,-146.6,868.4,-7.0,547,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3402
$GC,11673,-0.85,-146.6,890.0,-6.9,562,11677,0.00,2.75,0.00,0.000,4,0.000,0.082,2221,986,3401
$GC,11750,-0.85,-146.6,895.8,-8.0,565,11757,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2401,3401
$GC,12067,-0.85,-146.6,917.4,-6.9,581,12068,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3401
$GC,12375,-0.85,-146.6,937.8,-6.3,596,12380,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,987,3401
$GC,12447,-0.85,-146.6,942.7,-6.4,599,12452,0.00,2.67,0.00,0.000,6,0.000,0.069,2220,2407,3400
$GC,12764,-0.85,-146.6,961.6,-5.8,614,12765,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3401
$GC,13072,-0.85,-146.6,979.5,-5.8,629,13077,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,987,3400
$GC,13152,-0.85,-146.6,984.4,-6.2,632,13158,0.00,2.67,0.00,0.000,6,0.000,0.068,2220,2399,3401
$STATE,13258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13258,begin apogee
$GC,13266,-0.31,0.0,991.0,5.9,638,13404,0.62,0.00,129.48,1.337,6,0.120,0.000,2341,2192,2817
$STATE,13405,end apogee,CONTROL_FINISHED_OK
$STATE,13405,begin climb
$GC,13407,0.85,146.6,995.7,0.0,645,13544,1.25,2.85,126.45,1.325,4,0.104,0.078,2587,791,2219
$GC,13580,0.85,146.6,989.2,6.9,653,13584,0.00,2.67,0.00,0.000,6,0.000,0.060,2587,2199,2218
$GC,13900,0.85,146.6,969.0,6.3,669,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,2217
$GC,14210,0.85,146.6,949.7,6.3,684,14211,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,2217
$GC,14520,0.85,146.6,929.8,6.5,699,14521,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2201,2216
$GC,14828,0.85,146.6,908.8,6.9,714,14829,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,2215
$GC,15137,0.85,146.6,887.2,7.0,729,15142,0.00,2.78,0.00,0.000,4,0.000,0.094,2587,3610,2215
$GC,15171,0.85,146.6,884.7,7.5,730,15177,0.00,2.65,0.00,0.000,6,0.000,0.067,2587,2205,2215
$GC,15486,0.85,146.6,862.8,6.9,746,15488,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2215
$GC,15796,0.85,146.6,841.6,6.9,761,15797,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2215
$GC,16106,0.85,146.6,821.1,6.3,776,16107,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2215
$GC,16414,0.85,146.6,801.3,6.4,791,16415,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2215
$GC,16723,0.85,146.6,781.3,6.4,806,16725,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2215
$GC,17033,0.85,146.6,761.9,6.3,821,17035,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2215
$GC,17342,0.85,146.6,741.2,6.9,836,17343,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2215
$GC,17651,0.85,146.6,718.3,7.7,851,17652,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2214
$GC,17961,0.85,146.6,693.4,8.2,866,17962,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2215
$GC,18270,0.85,146.6,668.2,8.1,881,18271,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2215
$GC,18579,0.85,146.6,644.6,7.6,896,18580,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2215
$GC,18889,0.85,146.6,622.3,6.9,911,18890,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2215
$GC,19199,0.85,146.6,601.8,6.5,926,19200,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2215
$GC,19507,0.85,146.6,582.7,6.1,941,19508,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2215
$GC,19817,0.86,157.0,564.6,5.7,956,19829,0.00,0.00,9.50,1.029,6,0.000,0.000,2587,2205,2177
$GC,20125,0.89,183.6,547.8,5.3,971,20151,0.00,0.00,23.95,1.115,6,0.000,0.000,2587,2205,2068
$GC,20456,0.91,207.4,530.4,5.3,987,20482,0.00,2.85,21.00,1.091,4,0.000,0.086,2587,784,1970
$GC,20505,0.91,207.4,527.4,6.5,989,20510,0.00,2.70,0.00,0.000,6,0.000,0.064,2587,2203,1970
$GC,20821,0.93,219.9,509.3,5.7,1004,20835,0.12,0.00,12.02,1.022,6,0.084,0.000,2614,2203,1920
$GC,21130,0.93,219.9,488.5,6.4,1019,21135,0.00,2.75,0.00,0.000,4,0.000,0.084,2614,789,1918
$GC,21164,0.93,219.9,486.3,6.7,1020,21171,0.00,2.65,0.00,0.000,6,0.000,0.063,2614,2201,1918
$GC,21480,0.96,246.9,468.3,5.3,1036,21506,0.00,0.00,23.60,1.062,6,0.000,0.000,2613,2201,1810
$GC,21810,0.96,246.9,445.1,8.3,1052,21814,0.00,2.75,0.00,0.000,4,0.000,0.084,2614,790,1808
$GC,21855,0.96,246.9,441.2,8.7,1054,21859,0.00,2.67,0.00,0.000,6,0.000,0.063,2614,2206,1808
$GC,22175,0.96,246.9,415.2,8.0,1070,22176,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2206,1807
$GC,22485,0.96,246.9,389.8,8.4,1085,22486,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2206,1808
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$GC,24126,1.05,335.5,270.9,3.6,1164,24204,0.12,0.00,71.88,0.917,6,0.058,0.000,2649,2204,1448
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$STATE,26845,end climb,SURFACE_DEPTH_REACHED
$STATE,26845,begin surface coast
$FINISH,0.9,1.027467
$STATE,26869,end surface coast,CONTROL_FINISHED_OK
$STATE,26869,begin surface
$SM_CCo,26891,132.88,0.668,2,0,509,566.15
$SM_GC,1.05,0.00,0.00,132.88,0.000,0.000,0.668,73,2409,509,-10.75,0.23,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2065
$TCM_TEMP,16.40
$XPDR_PINGS,140
$24V_AH,23.1,62.208
$10V_AH,10.1,33.607
$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,25.775,189.150,417.875,132.875,0.000,163.079,186.806,890.219,43.500,0.000,0.000,35.758,2300.237,21366.111,757.556,2599.201,1685.036,33.364,2030.226,0.000,2526.437,0.000,56.129
$DEVICE_MAMPS,171.041,94.341,1336.881,668.057,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,970.068,889.960,637.923,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66286,1294
$CFSIZE,260165632,236396544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,3,0
$GPS,310108,102438,6137.816,-158.548,36,2.0,36,-5.5