version: 66.02
glider: 16
mission: 6
dive: 357
start: 1 19 108 15 9 9
data:
$ID,16
$MISSION,6
$DIVE,357
$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,-2085559.8
$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,15
$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
$GPS1,145958,6243.262,-419.775,55,2.4,74,-7.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-57.1
$GPS2,150817,6243.148,-419.860,17,3.1,36,-7.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.049,0.216
$KALMAN_X,63447.1,1433.7,675.1,185829.6,-1091.6
$KALMAN_Y,-47452.4,88.9,2994.9,164589.9,-16631.0
$MHEAD_RNG_PITCHd_Wd,37.1,8237,-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,20,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,95,0.00,0.00,-70.65,0.000,2,0.000,0.000,69,2401,3294
$GC,99,-0.85,-146.6,5.3,-5.2,4,122,12.25,2.70,-2.40,0.000,4,0.176,0.086,2222,982,3419
$GC,268,-0.85,-146.6,27.7,-5.3,11,272,0.00,2.67,0.00,0.000,6,0.000,0.063,2221,2405,3420
$GC,583,-0.85,-146.6,49.7,-8.5,26,588,0.00,2.72,0.00,0.000,4,0.000,0.074,2222,977,3420
$GC,624,-0.85,-146.6,52.8,-7.5,28,628,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2400,3421
$GC,950,-0.85,-146.6,82.5,-9.3,44,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3421
$GC,1259,-0.85,-146.6,109.6,-8.6,59,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3421
$GC,1571,-0.85,-146.6,133.7,-7.8,74,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3421
$GC,1877,-0.85,-146.6,157.6,-7.3,89,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2402,3421
$GC,2187,-0.85,-146.6,177.7,-6.6,104,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3422
$GC,2497,-0.85,-146.6,201.9,-8.0,119,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3422
$GC,2806,-0.85,-146.6,225.5,-7.6,134,2810,0.00,2.72,0.00,0.000,4,0.000,0.078,2222,977,3423
$GC,2827,-0.85,-146.6,227.2,-7.8,135,2832,0.00,2.67,0.00,0.000,6,0.000,0.068,2222,2400,3423
$GC,3150,-0.85,-146.6,255.4,-9.1,151,3154,0.00,2.72,0.00,0.000,4,0.000,0.078,2222,979,3423
$GC,3171,-0.85,-146.6,257.6,-9.6,152,3175,0.00,2.70,0.00,0.000,6,0.000,0.069,2222,2401,3423
$GC,3491,-0.85,-146.6,283.9,-7.7,168,3496,0.00,2.70,0.00,0.000,4,0.000,0.092,2222,3773,3423
$GC,3554,-0.85,-146.6,288.9,-8.6,171,3558,0.00,2.60,0.00,0.000,6,0.000,0.067,2222,2401,3423
$GC,3880,-0.85,-146.6,314.3,-7.9,187,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3423
$GC,4189,-0.85,-146.6,336.0,-6.4,202,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3423
$GC,4499,-0.85,-146.6,358.9,-8.2,217,4504,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,980,3423
$GC,4531,-0.85,-146.6,361.8,-8.6,218,4537,0.00,2.67,0.00,0.000,6,0.000,0.072,2222,2401,3423
$GC,4847,-0.85,-146.6,385.7,-6.6,234,4851,0.00,2.70,0.00,0.000,4,0.000,0.096,2222,3769,3423
$GC,4879,-0.85,-146.6,387.9,-7.1,235,4886,0.00,2.60,0.00,0.000,6,0.000,0.071,2222,2398,3423
$GC,5196,-0.85,-146.6,406.4,-5.9,251,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3423
$GC,5505,-0.85,-146.6,423.5,-5.4,266,5509,0.00,2.72,0.00,0.000,4,0.000,0.088,2222,983,3422
$GC,5567,-0.85,-146.6,427.0,-5.6,269,5572,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2403,3423
$GC,5894,-0.85,-146.6,447.1,-6.5,285,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3422
$GC,6203,-0.85,-146.6,468.3,-7.3,300,6207,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,982,3421
$GC,6236,-0.85,-146.6,470.9,-7.6,301,6242,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2403,3421
$GC,6551,-0.85,-146.6,494.1,-7.1,317,6555,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,983,3420
$GC,6590,-0.85,-146.6,496.8,-6.9,319,6594,0.00,2.70,0.00,0.000,6,0.000,0.075,2222,2400,3420
$GC,6917,-0.85,-146.6,518.7,-6.9,335,6921,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,977,3420
$GC,6950,-0.85,-146.6,521.3,-7.8,336,6956,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2400,3419
$GC,7265,-0.85,-146.6,543.9,-7.3,352,7270,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,983,3418
$GC,7298,-0.85,-146.6,546.4,-7.7,353,7304,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2404,3418
$GC,7614,-0.85,-146.6,568.6,-6.8,369,7618,0.00,2.78,0.00,0.000,4,0.000,0.084,2222,978,3417
$GC,7641,-0.85,-146.6,570.6,-7.3,370,7645,0.00,2.70,0.00,0.000,6,0.000,0.075,2222,2403,3417
$GC,7956,-0.85,-146.6,590.5,-6.3,385,7961,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,983,3416
$GC,7989,-0.85,-146.6,592.7,-6.4,386,7995,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2398,3416
$GC,8304,-0.85,-146.6,611.6,-6.3,402,8309,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,983,3415
$GC,8337,-0.85,-146.6,613.9,-6.8,403,8343,0.00,2.70,0.00,0.000,6,0.000,0.075,2222,2404,3415
$GC,8653,-0.85,-146.6,633.5,-6.0,419,8657,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,983,3415
$GC,8685,-0.85,-146.6,635.6,-6.4,420,8692,0.00,2.67,0.00,0.000,6,0.000,0.074,2222,2403,3415
$GC,9001,-0.85,-146.6,654.2,-6.2,436,9006,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,983,3414
$GC,9034,-0.85,-146.6,656.4,-6.4,437,9040,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2403,3414
$GC,9349,-0.85,-146.6,676.5,-6.3,453,9354,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,983,3413
$GC,9388,-0.85,-146.6,678.9,-6.3,455,9393,0.00,2.67,0.00,0.000,6,0.000,0.073,2222,2400,3413
$GC,9716,-0.85,-146.6,698.5,-6.4,471,9720,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,982,3412
$GC,9748,-0.85,-146.6,700.8,-7.4,472,9754,0.00,2.67,0.00,0.000,6,0.000,0.072,2222,2400,3412
$GC,10066,-0.85,-146.6,722.4,-7.0,488,10071,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,979,3411
$GC,10101,-0.85,-146.6,724.9,-7.4,489,10108,0.00,2.70,0.00,0.000,6,0.000,0.072,2222,2400,3411
$GC,10416,-0.85,-146.6,747.8,-7.4,505,10417,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3410
$GC,10725,-0.85,-146.6,771.3,-7.6,520,10729,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,979,3410
$GC,10770,-0.85,-146.6,774.7,-7.6,522,10774,0.00,2.65,0.00,0.000,6,0.000,0.067,2222,2397,3410
$GC,11095,-0.85,-146.6,797.6,-7.2,538,11097,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3410
$GC,11405,-0.85,-146.6,820.8,-7.2,553,11409,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,984,3410
$GC,11438,-0.85,-146.6,823.2,-7.8,554,11444,0.00,2.67,0.00,0.000,6,0.000,0.069,2222,2400,3410
$GC,11753,-0.85,-146.6,844.5,-6.8,570,11757,0.00,2.70,0.00,0.000,4,0.000,0.097,2222,3765,3409
$GC,11774,-0.85,-146.6,846.2,-7.3,571,11779,0.00,2.58,0.00,0.000,6,0.000,0.067,2222,2396,3408
$GC,12096,-0.85,-146.6,871.9,-9.2,587,12100,0.00,2.70,0.00,0.000,4,0.000,0.084,2222,989,3409
$GC,12122,-0.85,-146.6,874.0,-7.3,588,12127,0.00,2.65,0.00,0.000,6,0.000,0.068,2222,2401,3408
$GC,12438,-0.85,-146.6,894.5,-7.2,603,12442,0.00,2.70,0.00,0.000,4,0.000,0.081,2222,990,3408
$GC,12454,-0.85,-146.6,895.5,-6.6,604,12459,0.00,2.65,0.00,0.000,6,0.000,0.067,2222,2402,3408
$GC,12781,-0.85,-146.6,916.9,-6.3,620,12783,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3408
$STATE,12820,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12820,begin apogee
$GC,12826,-0.31,0.0,919.3,6.1,622,12955,0.60,0.00,125.65,1.318,6,0.117,0.000,2338,2198,2817
$STATE,12956,end apogee,CONTROL_FINISHED_OK
$STATE,12956,begin climb
$GC,12959,0.85,146.6,923.6,0.0,628,13092,1.23,2.80,124.90,1.287,4,0.093,0.078,2586,788,2218
$GC,13110,0.87,167.8,920.0,5.4,635,13135,0.00,2.67,19.48,1.239,6,0.000,0.060,2586,2206,2134
$GC,13452,0.92,214.8,900.5,4.7,652,13499,0.12,2.80,40.70,1.299,4,0.075,0.084,2615,3606,1941
$GC,13534,0.92,214.8,894.2,9.2,656,13538,0.00,2.67,0.00,0.000,6,0.000,0.066,2615,2201,1941
$GC,13860,0.92,214.8,868.6,7.5,672,13865,0.00,2.75,0.00,0.000,4,0.000,0.084,2615,786,1939
$GC,13922,0.92,214.8,863.8,7.3,675,13927,0.00,2.65,0.00,0.000,6,0.000,0.061,2615,2201,1939
$GC,14249,0.92,214.8,839.7,7.1,691,14250,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2201,1939
$GC,14559,0.92,214.8,818.1,6.6,706,14560,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2201,1939
$GC,14868,0.92,214.8,796.2,7.3,721,14869,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2201,1938
$GC,15177,0.92,214.8,774.7,6.7,736,15181,0.00,2.72,0.00,0.000,4,0.000,0.081,2615,789,1937
$GC,15216,0.92,214.8,772.0,7.3,738,15220,0.00,2.65,0.00,0.000,6,0.000,0.062,2615,2207,1937
$GC,15543,0.92,214.8,750.0,7.0,754,15544,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2207,1937
$GC,15851,0.92,214.8,728.9,6.8,769,15856,0.00,2.75,0.00,0.000,4,0.000,0.080,2615,782,1937
$GC,15883,0.92,214.8,726.4,6.9,770,15890,0.00,2.65,0.00,0.000,6,0.000,0.062,2615,2201,1936
$GC,16200,0.92,214.8,705.0,7.1,786,16204,0.00,2.72,0.00,0.000,4,0.000,0.087,2615,3607,1936
$GC,16227,0.92,214.8,702.7,7.5,787,16231,0.00,2.67,0.00,0.000,6,0.000,0.069,2615,2195,1936
$GC,16542,0.92,214.8,677.9,8.4,802,16546,0.00,2.72,0.00,0.000,4,0.000,0.084,2615,784,1936
$GC,16604,0.92,214.8,672.1,9.7,805,16609,0.00,2.65,0.00,0.000,6,0.000,0.063,2615,2204,1936
$GC,16931,0.92,214.8,643.4,8.9,821,16935,0.00,2.75,0.00,0.000,4,0.000,0.092,2615,3607,1936
$GC,16959,0.92,214.8,640.6,10.2,822,16963,0.00,2.67,0.00,0.000,6,0.000,0.072,2615,2203,1935
$GC,17275,0.92,214.8,611.0,9.6,837,17279,0.00,2.75,0.00,0.000,4,0.000,0.086,2615,787,1936
$GC,17314,0.92,214.8,607.1,10.0,839,17318,0.00,2.65,0.00,0.000,6,0.000,0.064,2615,2203,1935
$GC,17639,0.92,214.8,576.5,9.3,855,17641,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2203,1936
$GC,17949,0.92,214.8,550.8,8.0,870,17954,0.00,2.75,0.00,0.000,4,0.000,0.081,2615,786,1936
$GC,17993,0.92,214.8,547.2,7.6,872,17998,0.00,2.62,0.00,0.000,6,0.000,0.062,2615,2202,1936
$GC,18314,0.92,214.8,521.4,8.0,888,18315,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2202,1936
$GC,18624,0.92,214.8,494.7,8.8,903,18628,0.00,2.72,0.00,0.000,4,0.000,0.080,2615,786,1936
$GC,18663,0.92,214.8,491.4,7.9,905,18667,0.00,2.65,0.00,0.000,6,0.000,0.063,2615,2201,1936
$GC,18990,0.92,214.8,467.6,7.1,921,18994,0.00,2.72,0.00,0.000,4,0.000,0.087,2615,3604,1937
$GC,19052,0.92,214.8,463.0,7.5,924,19056,0.00,2.70,0.00,0.000,6,0.000,0.074,2615,2194,1936
$GC,19377,0.92,214.8,440.2,6.6,940,19382,0.00,2.72,0.00,0.000,4,0.000,0.083,2615,784,1936
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$STATE,24633,end climb,SURFACE_DEPTH_REACHED
$STATE,24634,begin surface coast
$FINISH,0.9,1.014285
$STATE,24654,end surface coast,CONTROL_FINISHED_OK
$STATE,24654,begin surface
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$SM_GC,1.56,0.00,0.00,33.25,0.000,0.000,0.634,74,2403,1594,-10.75,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2105
$TCM_TEMP,15.70
$XPDR_PINGS,151
$ALTIM_BOTTOM_PING,900.7,28.5
$24V_AH,23.2,55.931
$10V_AH,10.1,29.398
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$DEVICE_SECS,25.575,260.325,345.650,33.250,0.000,32.666,39.873,259.843,46.000,0.000,0.000,39.075,2167.905,19195.844,606.483,2533.465,710.374,33.364,1886.764,0.000,2445.921,0.000,57.083
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,887.046,821.426,646.560,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59976,1196
$CFSIZE,260165632,239321088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,3,0
$GPS,190108,220232,6244.643,-416.924,41,1.7,41,-7.1