version: 66.02
glider: 16
mission: 6
dive: 349
start: 1 17 108 5 39 46
data:
$ID,16
$MISSION,6
$DIVE,349
$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,-2085329.6
$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,21
$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
$GPS1,053225,6246.772,-500.423,33,1.4,50,-7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-53.7
$GPS2,053856,6246.802,-500.407,14,1.4,31,-7.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.128,0.181
$KALMAN_X,63090.8,369.9,2033.7,150214.9,-10219.7
$KALMAN_Y,-9630.0,860.0,1865.0,133889.7,-6025.2
$MHEAD_RNG_PITCHd_Wd,97.0,38463,-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,-61.60,0.000,2,0.000,0.000,75,2407,3125
$GC,91,-0.85,-146.6,4.8,-7.7,3,116,12.10,2.62,-6.22,0.000,4,0.171,0.088,2219,3761,3418
$GC,242,-0.85,-146.6,19.1,-8.6,9,248,0.00,2.50,0.00,0.000,6,0.000,0.055,2219,2399,3419
$GC,557,-0.85,-146.6,46.2,-10.7,25,562,0.00,2.67,0.00,0.000,4,0.000,0.074,2220,982,3419
$GC,619,-0.85,-146.6,53.0,-11.0,28,624,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2395,3419
$GC,947,-0.85,-146.6,82.7,-7.2,44,951,0.00,2.62,0.00,0.000,4,0.000,0.080,2220,3767,3419
$GC,1031,-0.85,-146.6,88.6,-8.4,48,1036,0.00,2.55,0.00,0.000,6,0.000,0.058,2221,2392,3419
$GC,1358,-0.85,-146.6,118.7,-9.6,64,1362,0.00,2.67,0.00,0.000,4,0.000,0.074,2220,979,3419
$GC,1421,-0.85,-146.6,124.3,-8.5,67,1425,0.00,2.65,0.00,0.000,6,0.000,0.062,2220,2401,3419
$GC,1747,-0.85,-146.6,147.5,-7.0,83,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3419
$GC,2056,-0.85,-146.6,167.1,-7.0,98,2060,0.00,2.67,0.00,0.000,4,0.000,0.073,2220,975,3419
$GC,2128,-0.85,-146.6,173.1,-9.0,101,2133,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2400,3419
$GC,2444,-0.85,-146.6,193.4,-6.5,116,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3419
$GC,2754,-0.85,-146.6,219.0,-9.0,131,2758,0.00,2.67,0.00,0.000,4,0.000,0.073,2220,980,3419
$GC,2825,-0.85,-146.6,224.1,-6.2,134,2829,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2404,3419
$GC,3146,-0.85,-146.6,249.7,-8.0,150,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3419
$GC,3456,-0.85,-146.6,280.2,-9.1,165,3461,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,977,3419
$GC,3496,-0.85,-146.6,283.4,-8.4,167,3500,0.00,2.65,0.00,0.000,6,0.000,0.063,2220,2405,3419
$GC,3822,-0.85,-146.6,309.4,-7.8,183,3827,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,977,3419
$GC,3890,-0.85,-146.6,314.9,-8.0,186,3894,0.00,2.65,0.00,0.000,6,0.000,0.064,2220,2403,3419
$GC,4210,-0.85,-146.6,341.4,-8.0,202,4214,0.00,2.70,0.00,0.000,4,0.000,0.075,2220,980,3419
$GC,4287,-0.85,-146.6,347.8,-7.9,205,4293,0.00,2.62,0.00,0.000,6,0.000,0.064,2220,2399,3419
$GC,4604,-0.85,-146.6,371.5,-6.7,221,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3419
$GC,4912,-0.85,-146.6,392.1,-6.7,236,4917,0.00,2.70,0.00,0.000,4,0.000,0.076,2220,980,3420
$GC,4947,-0.85,-146.6,394.5,-7.2,237,4953,0.00,2.67,0.00,0.000,6,0.000,0.066,2220,2406,3420
$GC,5262,-0.85,-146.6,416.7,-7.2,253,5267,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,975,3420
$GC,5328,-0.85,-146.6,422.0,-8.1,256,5333,0.00,2.65,0.00,0.000,6,0.000,0.067,2219,2400,3420
$GC,5649,-0.85,-146.6,444.7,-7.1,272,5654,0.00,2.70,0.00,0.000,4,0.000,0.077,2220,980,3420
$GC,5723,-0.85,-146.6,450.3,-7.6,275,5727,0.00,2.67,0.00,0.000,6,0.000,0.066,2219,2406,3419
$GC,6040,-0.85,-146.6,475.7,-8.2,290,6045,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,977,3420
$GC,6119,-0.85,-146.6,482.3,-8.1,293,6125,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2400,3420
$GC,6435,-0.85,-146.6,506.7,-8.0,309,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3420
$GC,6743,-0.85,-146.6,531.8,-7.7,324,6748,0.00,2.72,0.00,0.000,4,0.000,0.079,2219,977,3419
$GC,6782,-0.85,-146.6,534.9,-8.1,326,6787,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2406,3419
$GC,7109,-0.85,-146.6,558.5,-6.9,342,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3419
$GC,7418,-0.85,-146.6,579.4,-6.5,357,7422,0.00,2.72,0.00,0.000,4,0.000,0.079,2219,983,3418
$GC,7456,-0.85,-146.6,582.0,-6.8,359,7461,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2409,3418
$GC,7783,-0.85,-146.6,602.8,-6.6,375,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2410,3418
$GC,8091,-0.85,-146.6,622.9,-6.5,390,8096,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,980,3417
$GC,8146,-0.85,-146.6,626.8,-7.4,392,8153,0.00,2.67,0.00,0.000,6,0.000,0.071,2219,2408,3417
$GC,8462,-0.85,-146.6,647.7,-6.9,408,8467,0.00,2.75,0.00,0.000,4,0.000,0.081,2220,979,3416
$GC,8502,-0.85,-146.6,650.8,-7.8,410,8506,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2403,3416
$GC,8828,-0.85,-146.6,673.6,-7.1,426,8833,0.00,2.75,0.00,0.000,4,0.000,0.081,2220,977,3414
$GC,8878,-0.85,-146.6,677.3,-7.4,428,8882,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2400,3414
$GC,9193,-0.85,-146.6,698.8,-6.6,443,9198,0.00,2.70,0.00,0.000,4,0.000,0.080,2220,985,3412
$GC,9232,-0.85,-146.6,701.6,-7.0,445,9236,0.00,2.65,0.00,0.000,6,0.000,0.067,2220,2403,3412
$GC,9559,-0.85,-146.6,721.5,-6.0,461,9564,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,978,3411
$GC,9587,-0.85,-146.6,723.4,-7.0,462,9591,0.00,2.67,0.00,0.000,6,0.000,0.069,2220,2404,3411
$GC,9903,-0.85,-146.6,742.0,-6.0,477,9908,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,983,3411
$GC,9942,-0.85,-146.6,744.6,-6.4,479,9947,0.00,2.65,0.00,0.000,6,0.000,0.068,2220,2401,3410
$GC,10268,-0.85,-146.6,762.8,-5.8,495,10273,0.00,2.70,0.00,0.000,4,0.000,0.080,2220,985,3410
$GC,10308,-0.85,-146.6,765.1,-6.1,497,10312,0.00,2.65,0.00,0.000,6,0.000,0.069,2220,2400,3410
$GC,10635,-0.85,-146.6,783.1,-5.5,513,10639,0.00,2.70,0.00,0.000,4,0.000,0.080,2220,985,3409
$GC,10674,-0.85,-146.6,785.5,-6.1,515,10679,0.00,2.65,0.00,0.000,6,0.000,0.069,2220,2401,3408
$GC,11001,-0.85,-146.6,804.2,-6.1,531,11005,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,979,3407
$GC,11033,-0.85,-146.6,806.2,-6.4,532,11040,0.00,2.67,0.00,0.000,6,0.000,0.069,2218,2404,3407
$GC,11351,-0.85,-146.6,825.8,-6.2,548,11352,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3406
$GC,11659,-0.85,-146.6,844.8,-6.2,563,11663,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,983,3406
$GC,11731,-0.85,-146.6,849.7,-6.8,566,11735,0.00,2.65,0.00,0.000,6,0.000,0.069,2220,2401,3406
$GC,12051,-0.85,-146.6,870.2,-6.4,582,12052,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3405
$GC,12361,-0.85,-146.6,889.9,-6.2,597,12365,0.00,2.72,0.00,0.000,4,0.000,0.078,2219,978,3405
$GC,12415,-0.85,-146.6,893.8,-6.6,599,12422,0.00,2.65,0.00,0.000,6,0.000,0.067,2220,2402,3405
$STATE,12584,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12585,begin apogee
$GC,12591,-0.31,0.0,905.1,6.8,608,12718,0.62,0.00,123.68,1.300,6,0.119,0.000,2341,2186,2817
$STATE,12719,end apogee,CONTROL_FINISHED_OK
$STATE,12719,begin climb
$GC,12722,0.85,146.6,909.0,0.0,614,12854,1.20,2.78,123.82,1.269,4,0.084,0.078,2589,792,2218
$GC,12917,0.85,146.6,902.0,6.0,623,12921,0.00,2.65,0.00,0.000,6,0.000,0.061,2589,2206,2217
$GC,13233,0.86,162.5,883.8,5.6,638,13253,0.00,2.83,14.73,1.213,4,0.000,0.086,2589,3607,2154
$GC,13270,0.86,162.5,881.3,6.5,639,13276,0.00,2.65,0.00,0.000,6,0.000,0.064,2589,2205,2154
$GC,13586,0.86,162.5,861.1,6.6,655,13590,0.00,2.75,0.00,0.000,4,0.000,0.083,2589,785,2154
$GC,13625,0.86,162.5,858.5,6.2,657,13629,0.00,2.62,0.00,0.000,6,0.000,0.060,2589,2203,2153
$GC,13950,0.86,162.5,837.2,6.5,673,13952,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2152
$GC,14260,0.86,162.5,816.3,6.9,688,14262,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2152
$GC,14569,0.86,162.5,795.4,6.7,703,14570,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2151
$GC,14878,0.86,162.5,776.0,6.1,718,14879,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2151
$GC,15188,0.88,177.9,758.3,5.6,733,15207,0.00,0.00,14.25,1.200,6,0.000,0.000,2587,2203,2091
$GC,15518,0.90,200.8,739.7,5.4,749,15540,0.00,0.00,20.65,1.187,6,0.000,0.000,2589,2203,1998
$GC,15846,0.92,211.0,720.9,5.7,765,15860,0.00,0.00,10.05,1.108,6,0.000,0.000,2589,2203,1955
$GC,16179,0.92,219.0,701.5,5.8,781,16193,0.10,2.80,8.15,1.042,4,0.080,0.079,2613,789,1924
$GC,16215,0.92,219.0,698.8,6.1,782,16222,0.00,2.65,0.00,0.000,6,0.000,0.061,2613,2205,1923
$GC,16531,0.92,219.0,676.3,7.3,798,16532,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2205,1923
$GC,16841,0.92,219.0,653.9,7.2,813,16842,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2205,1923
$GC,17149,0.92,219.0,630.6,7.7,828,17154,0.00,2.72,0.00,0.000,4,0.000,0.078,2613,786,1923
$GC,17195,0.92,219.0,627.0,8.3,830,17199,0.00,2.62,0.00,0.000,6,0.000,0.060,2613,2201,1922
$GC,17516,0.92,219.0,602.8,7.2,846,17521,0.00,2.72,0.00,0.000,4,0.000,0.078,2613,787,1922
$GC,17556,0.92,219.0,599.7,7.5,848,17560,0.00,2.65,0.00,0.000,6,0.000,0.060,2613,2207,1922
$GC,17882,0.92,219.0,576.9,6.9,864,17886,0.00,2.72,0.00,0.000,4,0.000,0.078,2613,786,1922
$GC,17915,0.92,219.0,574.7,7.1,865,17921,0.00,2.62,0.00,0.000,6,0.000,0.060,2613,2200,1921
$GC,18230,0.92,219.0,553.0,6.9,881,18235,0.00,2.72,0.00,0.000,4,0.000,0.084,2613,3607,1921
$GC,18263,0.92,219.0,550.5,7.4,882,18269,0.00,2.65,0.00,0.000,6,0.000,0.065,2613,2199,1921
$GC,18579,0.92,219.0,528.6,6.9,898,18584,0.00,2.70,0.00,0.000,4,0.000,0.081,2613,787,1921
$GC,18612,0.92,219.0,526.1,7.1,899,18618,0.00,2.62,0.00,0.000,6,0.000,0.059,2613,2202,1921
$GC,18927,0.92,219.0,502.7,7.7,915,18932,0.00,2.72,0.00,0.000,4,0.000,0.077,2613,782,1921
$GC,18954,0.92,219.0,500.4,8.5,916,18958,0.00,2.62,0.00,0.000,6,0.000,0.059,2613,2206,1921
$GC,19276,0.92,219.0,476.3,7.4,932,19277,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2206,1921
$GC,19584,0.92,219.0,454.1,7.5,947,19589,0.00,2.72,0.00,0.000,4,0.000,0.076,2613,779,1921
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$STATE,25682,end climb,SURFACE_DEPTH_REACHED
$STATE,25682,begin surface coast
$FINISH,0.7,1.007238
$STATE,25704,end surface coast,CONTROL_FINISHED_OK
$STATE,25704,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,2094
$TCM_TEMP,16.50
$XPDR_PINGS,130
$ALTIM_BOTTOM_PING,875.5,39.4
$24V_AH,23.3,54.680
$10V_AH,10.1,28.516
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$DEVICE_SECS,25.475,268.200,332.550,39.425,0.000,32.606,38.896,172.223,40.250,0.000,0.000,31.535,2272.826,19987.270,608.654,2671.392,622.387,33.370,1942.447,0.000,2591.521,0.000,52.571
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$SENSOR_SECS,918.541,853.520,686.134,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63187,1242
$CFSIZE,260165632,239939584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,2,0
$GPS,170108,125038,6246.666,-455.839,37,2.0,37,-7.4