version: 66.02
glider: 16
mission: 6
dive: 387
start: 1 26 108 23 28 19
data:
$ID,16
$MISSION,6
$DIVE,387
$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,-2086424.4
$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,11
$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
$GPS1,231910,6204.987,-303.221,32,1.9,34,-6.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-62.7
$GPS2,232727,6205.021,-303.146,35,2.6,54,-6.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.178,-0.132
$KALMAN_X,-2620.7,-175.7,182.8,321513.2,-3368.0
$KALMAN_Y,-20300.8,-295.3,353.9,69931.9,57.6
$MHEAD_RNG_PITCHd_Wd,155.7,129023,-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,-146.6,0.0,0.0,0,86,0.00,0.00,-60.80,0.000,2,0.000,0.000,70,2401,3073
$GC,90,-0.85,-146.6,3.9,-5.2,3,116,12.27,2.67,-8.10,0.000,4,0.175,0.094,2220,3769,3415
$GC,369,-0.85,-146.6,33.4,-8.5,15,375,0.00,2.55,0.00,0.000,6,0.000,0.054,2221,2390,3415
$GC,685,-0.85,-146.6,56.0,-6.7,31,690,0.00,2.70,0.00,0.000,4,0.000,0.081,2220,3774,3416
$GC,785,-0.85,-146.6,62.9,-8.2,35,792,0.00,2.55,0.00,0.000,6,0.000,0.057,2220,2400,3416
$GC,1103,-0.85,-146.6,88.6,-8.2,51,1107,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,979,3417
$GC,1147,-0.85,-146.6,92.4,-7.9,53,1151,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2401,3416
$GC,1468,-0.85,-146.6,116.8,-6.4,69,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3417
$GC,1777,-0.85,-146.6,140.5,-9.0,84,1781,0.00,2.70,0.00,0.000,4,0.000,0.076,2220,982,3417
$GC,1827,-0.85,-146.6,145.2,-8.7,86,1832,0.00,2.65,0.00,0.000,6,0.000,0.063,2220,2400,3417
$GC,2143,-0.85,-146.6,170.6,-8.5,101,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3417
$GC,2452,-0.85,-146.6,195.3,-8.4,116,2457,0.00,2.72,0.00,0.000,4,0.000,0.078,2220,978,3417
$GC,2493,-0.85,-146.6,198.7,-8.1,118,2497,0.00,2.65,0.00,0.000,6,0.000,0.063,2220,2400,3417
$GC,2819,-0.85,-146.6,225.2,-8.1,134,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3417
$GC,3128,-0.85,-146.6,249.9,-7.8,149,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3417
$GC,3438,-0.85,-146.6,273.1,-7.6,164,3442,0.00,2.65,0.00,0.000,4,0.000,0.086,2221,3769,3417
$GC,3487,-0.85,-146.6,277.5,-8.9,166,3492,0.00,2.58,0.00,0.000,6,0.000,0.064,2221,2397,3418
$GC,3804,-0.85,-146.6,300.4,-7.0,181,3808,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,979,3419
$GC,3938,-0.85,-146.6,309.8,-7.0,187,3943,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2400,3418
$GC,4259,-0.85,-146.6,330.5,-6.7,203,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3419
$GC,4568,-0.85,-146.6,353.1,-8.0,218,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3419
$GC,4879,-0.85,-146.6,376.1,-7.2,233,4884,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,980,3419
$GC,4964,-0.85,-146.6,382.6,-8.1,237,4968,0.00,2.67,0.00,0.000,6,0.000,0.068,2221,2403,3419
$GC,5291,-0.85,-146.6,407.6,-7.8,253,5295,0.00,2.75,0.00,0.000,4,0.000,0.081,2221,980,3420
$GC,5368,-0.85,-146.6,414.0,-8.2,256,5374,0.00,2.67,0.00,0.000,6,0.000,0.069,2220,2401,3419
$GC,5683,-0.85,-146.6,436.9,-7.1,272,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3419
$GC,5993,-0.85,-146.6,458.1,-6.7,287,5998,0.00,2.75,0.00,0.000,4,0.000,0.083,2219,980,3418
$GC,6043,-0.85,-146.6,461.5,-7.1,289,6047,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2400,3418
$GC,6358,-0.85,-146.6,481.9,-6.3,304,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,6668,-0.85,-146.6,502.2,-6.7,319,6673,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,983,3417
$GC,6725,-0.85,-146.6,506.5,-8.1,321,6731,0.00,2.70,0.00,0.000,6,0.000,0.072,2220,2403,3417
$GC,7040,-0.85,-146.6,529.9,-7.5,337,7045,0.00,2.75,0.00,0.000,4,0.000,0.085,2220,984,3415
$GC,7085,-0.85,-146.6,533.2,-7.9,339,7089,0.00,2.70,0.00,0.000,6,0.000,0.072,2220,2403,3415
$GC,7405,-0.85,-146.6,557.5,-7.5,355,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3414
$GC,7714,-0.85,-146.6,581.1,-7.5,370,7719,0.00,2.78,0.00,0.000,4,0.000,0.085,2220,978,3414
$GC,7759,-0.85,-146.6,584.6,-8.3,372,7763,0.00,2.70,0.00,0.000,6,0.000,0.072,2220,2401,3414
$GC,8079,-0.85,-146.6,608.7,-7.4,388,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3412
$GC,8388,-0.85,-146.6,631.1,-7.2,403,8393,0.00,2.75,0.00,0.000,4,0.000,0.086,2220,977,3411
$GC,8456,-0.85,-146.6,636.1,-6.5,406,8460,0.00,2.72,0.00,0.000,6,0.000,0.073,2220,2406,3411
$GC,8776,-0.85,-146.6,658.6,-7.1,422,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3410
$GC,9085,-0.85,-146.6,681.1,-7.5,437,9090,0.00,2.78,0.00,0.000,4,0.000,0.085,2220,980,3409
$GC,9141,-0.85,-146.6,685.3,-7.4,439,9147,0.00,2.72,0.00,0.000,6,0.000,0.073,2220,2408,3409
$GC,9456,-0.85,-146.6,707.7,-7.0,455,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2408,3408
$GC,9766,-0.85,-146.6,729.8,-7.1,470,9770,0.00,2.75,0.00,0.000,4,0.000,0.086,2220,985,3408
$GC,9828,-0.85,-146.6,734.3,-7.8,473,9833,0.00,2.70,0.00,0.000,6,0.000,0.074,2220,2406,3408
$GC,10154,-0.85,-146.6,756.8,-6.7,489,10155,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3407
$GC,10463,-0.85,-146.6,777.8,-6.8,504,10468,0.00,2.75,0.00,0.000,4,0.000,0.085,2220,985,3406
$GC,10552,-0.85,-146.6,784.1,-7.5,508,10557,0.00,2.70,0.00,0.000,6,0.000,0.074,2220,2399,3406
$GC,10873,-0.85,-146.6,805.0,-6.5,524,10874,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3405
$GC,11183,-0.85,-146.6,824.9,-6.5,539,11188,0.00,2.72,0.00,0.000,4,0.000,0.087,2220,990,3404
$GC,11244,-0.85,-146.6,829.2,-7.7,541,11250,0.00,2.70,0.00,0.000,6,0.000,0.074,2221,2403,3404
$GC,11560,-0.85,-146.6,850.2,-6.6,557,11561,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3404
$GC,11869,-0.85,-146.6,871.4,-7.0,572,11874,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,983,3403
$GC,11931,-0.85,-146.6,875.8,-7.0,575,11936,0.00,2.70,0.00,0.000,6,0.000,0.072,2220,2406,3403
$GC,12257,-0.85,-146.6,897.8,-6.7,591,12259,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2406,3402
$GC,12567,-0.85,-146.6,918.0,-6.3,606,12572,0.00,2.75,0.00,0.000,4,0.000,0.083,2220,985,3402
$GC,12645,-0.85,-146.6,923.4,-6.7,609,12651,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2407,3402
$GC,12960,-0.85,-146.6,942.9,-6.2,625,12961,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3402
$GC,13270,-0.85,-146.6,961.9,-6.1,640,13275,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,983,3401
$GC,13342,-0.85,-146.6,966.7,-6.7,643,13346,0.00,2.65,0.00,0.000,6,0.000,0.066,2220,2409,3401
$GC,13658,-0.85,-146.6,985.6,-6.0,658,13663,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,985,3401
$GC,13702,-0.85,-146.6,988.3,-6.0,660,13707,0.00,2.65,0.00,0.000,6,0.000,0.066,2220,2404,3401
$STATE,13732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13732,begin apogee
$GC,13739,-0.31,0.0,990.2,6.1,662,13875,0.62,0.00,127.95,1.335,6,0.117,0.000,2341,2189,2817
$STATE,13876,end apogee,CONTROL_FINISHED_OK
$STATE,13876,begin climb
$GC,13880,0.85,146.6,994.8,0.0,669,14016,1.25,2.80,126.40,1.318,4,0.101,0.077,2589,800,2219
$GC,14051,0.85,148.5,988.3,5.9,677,14055,0.00,2.65,0.00,0.000,6,0.000,0.060,2589,2202,2217
$GC,14372,0.85,148.5,967.6,6.4,693,14373,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2217
$GC,14681,0.85,148.5,947.3,6.7,708,14682,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2216
$GC,14990,0.85,148.5,927.1,6.5,723,14991,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2216
$GC,15300,0.85,148.5,906.9,6.5,738,15301,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2216
$GC,15608,0.85,148.5,887.4,6.2,753,15610,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2216
$GC,15918,0.85,148.5,868.6,6.1,768,15919,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2215
$GC,16228,0.85,148.5,849.5,6.2,783,16229,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2216
$GC,16536,0.85,148.5,830.2,6.2,798,16537,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2216
$GC,16845,0.85,148.5,810.8,6.2,813,16847,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2216
$GC,17155,0.85,148.5,792.1,6.0,828,17156,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2215
$GC,17465,0.85,151.7,773.4,5.9,843,17472,0.00,0.00,5.12,0.890,6,0.000,0.000,2589,2201,2198
$GC,17773,0.85,151.7,755.0,6.1,858,17774,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2198
$GC,18082,0.85,151.7,736.2,6.2,873,18087,0.00,2.72,0.00,0.000,4,0.000,0.081,2589,793,2197
$GC,18122,0.85,151.7,733.7,7.3,875,18127,0.00,2.62,0.00,0.000,6,0.000,0.064,2589,2197,2198
$GC,18449,0.85,151.7,713.5,6.3,891,18451,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2197,2198
$GC,18760,0.85,153.3,695.2,6.0,906,18761,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2197,2198
$GC,19068,0.86,157.0,677.2,5.9,921,19076,0.00,0.00,6.25,0.927,6,0.000,0.000,2589,2197,2177
$GC,19377,0.86,157.0,658.5,6.2,936,19378,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2196,2177
$GC,19687,0.86,157.0,639.2,6.4,951,19688,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2196,2176
$GC,19996,0.86,157.0,620.3,6.1,966,19997,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2197,2176
$GC,20305,0.86,157.0,601.0,6.2,981,20309,0.00,2.80,0.00,0.000,4,0.000,0.094,2589,3616,2176
$GC,20332,0.86,157.0,599.3,6.5,982,20336,0.00,2.70,0.00,0.000,6,0.000,0.071,2589,2207,2176
$GC,20648,0.86,157.0,580.1,6.3,997,20649,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2207,2176
$GC,20956,0.86,157.0,560.7,6.3,1012,20958,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2207,2176
$GC,21266,0.86,157.0,541.0,6.4,1027,21267,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2207,2176
$GC,21576,0.86,157.0,520.8,6.5,1042,21577,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2207,2176
$GC,21884,0.86,157.0,500.8,6.5,1057,21885,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2207,2176
$GC,22193,0.86,157.0,481.5,6.1,1072,22195,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2207,2176
$GC,22504,0.86,159.7,463.4,5.9,1087,22510,0.00,0.00,4.15,0.746,6,0.000,0.000,2589,2207,2166
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$STATE,29041,end climb,SURFACE_DEPTH_REACHED
$STATE,29041,begin surface coast
$FINISH,0.9,1.008877
$STATE,29063,end surface coast,CONTROL_FINISHED_OK
$STATE,29063,begin surface
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$SM_GC,1.93,0.00,0.00,51.30,0.000,0.000,0.657,72,2401,1594,-10.75,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2069
$TCM_TEMP,16.10
$XPDR_PINGS,135
$24V_AH,23.1,60.199
$10V_AH,10.1,32.152
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$DEVICE_SECS,25.650,168.700,322.250,51.300,0.000,32.636,35.672,226.028,42.250,0.000,0.000,56.644,2461.672,23090.783,556.462,2815.861,709.864,33.364,1891.949,0.000,2713.895,0.000,56.129
$DEVICE_MAMPS,174.876,93.574,1334.580,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1042.805,966.104,734.094,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69305,1402
$CFSIZE,260165632,237395968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,3,0
$GPS,270108,073526,6202.789,-258.410,42,1.9,42,-6.2