version: 66.02
glider: 16
mission: 6
dive: 392
start: 1 28 108 17 10 52
data:
$ID,16
$MISSION,6
$DIVE,392
$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,-2086530.1
$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,19
$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
$GPS1,165931,6155.837,-236.241,40,1.4,40,-5.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-63.0
$GPS2,171002,6155.843,-236.331,13,1.4,30,-5.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.133,-0.177
$KALMAN_X,-5569.0,556.8,807.4,346690.9,-1831.5
$KALMAN_Y,-13107.6,808.0,758.9,44193.7,-57.0
$MHEAD_RNG_PITCHd_Wd,162.1,102896,-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,-60.40,0.000,2,0.000,0.000,74,2404,3062
$GC,90,-0.85,-146.6,3.4,-3.7,3,117,12.25,2.65,-8.80,0.000,4,0.175,0.091,2219,3768,3415
$GC,238,-0.85,-146.6,20.4,-9.5,9,244,0.00,2.55,0.00,0.000,6,0.000,0.058,2219,2398,3416
$GC,554,-0.85,-146.6,46.4,-8.7,25,558,0.00,2.72,0.00,0.000,4,0.000,0.078,2219,980,3417
$GC,626,-0.85,-146.6,52.9,-8.5,28,631,0.00,2.65,0.00,0.000,6,0.000,0.062,2219,2399,3417
$GC,943,-0.85,-146.6,79.4,-8.5,43,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3417
$GC,1251,-0.85,-146.6,104.0,-7.7,58,1256,0.00,2.70,0.00,0.000,4,0.000,0.075,2219,983,3417
$GC,1296,-0.85,-146.6,107.5,-7.6,60,1300,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2401,3417
$GC,1617,-0.85,-146.6,131.7,-7.6,76,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3418
$GC,1926,-0.85,-146.6,156.0,-7.9,91,1931,0.00,2.70,0.00,0.000,4,0.000,0.076,2219,983,3418
$GC,1983,-0.85,-146.6,160.4,-7.8,93,1988,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2400,3418
$GC,2298,-0.85,-146.6,185.1,-7.7,109,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3418
$GC,2608,-0.85,-146.6,208.9,-7.8,124,2613,0.00,2.70,0.00,0.000,4,0.000,0.076,2219,982,3418
$GC,2658,-0.85,-146.6,213.4,-8.4,126,2663,0.00,2.62,0.00,0.000,6,0.000,0.064,2219,2401,3418
$GC,2974,-0.85,-146.6,238.6,-7.8,141,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3418
$GC,3283,-0.85,-146.6,261.8,-7.5,156,3288,0.00,2.65,0.00,0.000,4,0.000,0.087,2219,3765,3418
$GC,3351,-0.85,-146.6,267.4,-9.0,159,3355,0.00,2.55,0.00,0.000,6,0.000,0.061,2219,2401,3418
$GC,3671,-0.85,-146.6,292.0,-7.8,175,3676,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,980,3419
$GC,3779,-0.85,-146.6,301.0,-8.4,180,3784,0.00,2.65,0.00,0.000,6,0.000,0.067,2219,2399,3418
$GC,4107,-0.85,-146.6,327.9,-8.0,196,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3419
$GC,4416,-0.85,-146.6,352.1,-7.8,211,4420,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,979,3420
$GC,4460,-0.85,-146.6,355.7,-8.2,213,4464,0.00,2.67,0.00,0.000,6,0.000,0.069,2219,2401,3420
$GC,4780,-0.85,-146.6,379.7,-7.2,229,4785,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,984,3420
$GC,4830,-0.85,-146.6,383.5,-7.6,231,4835,0.00,2.67,0.00,0.000,6,0.000,0.071,2219,2405,3420
$GC,5147,-0.85,-146.6,405.7,-7.1,246,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3420
$GC,5455,-0.85,-146.6,428.7,-7.7,261,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3420
$GC,5765,-0.85,-146.6,450.1,-6.5,276,5770,0.00,2.75,0.00,0.000,4,0.000,0.085,2219,986,3419
$GC,5810,-0.85,-146.6,453.2,-6.8,278,5814,0.00,2.70,0.00,0.000,6,0.000,0.074,2219,2403,3419
$GC,6130,-0.85,-146.6,473.7,-6.2,294,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3418
$GC,6440,-0.85,-146.6,493.2,-6.2,309,6444,0.00,2.75,0.00,0.000,4,0.000,0.085,2219,984,3417
$GC,6512,-0.85,-146.6,497.9,-6.6,312,6517,0.00,2.70,0.00,0.000,6,0.000,0.074,2219,2398,3418
$GC,6827,-0.85,-146.6,518.0,-6.7,327,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3416
$GC,7137,-0.85,-146.6,538.7,-6.7,342,7141,0.00,2.75,0.00,0.000,4,0.000,0.085,2219,985,3415
$GC,7203,-0.85,-146.6,543.4,-7.1,345,7208,0.00,2.70,0.00,0.000,6,0.000,0.075,2219,2401,3415
$GC,7524,-0.85,-146.6,565.0,-6.9,361,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3413
$GC,7834,-0.85,-146.6,586.5,-7.1,376,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3412
$GC,8144,-0.85,-146.6,608.8,-7.3,391,8148,0.00,2.75,0.00,0.000,4,0.000,0.086,2219,985,3411
$GC,8193,-0.85,-146.6,612.8,-7.8,393,8198,0.00,2.70,0.00,0.000,6,0.000,0.076,2219,2405,3411
$GC,8509,-0.85,-146.6,635.1,-7.0,408,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3410
$GC,8819,-0.85,-146.6,655.9,-6.6,423,8823,0.00,2.75,0.00,0.000,4,0.000,0.086,2219,986,3409
$GC,8892,-0.85,-146.6,661.0,-6.8,426,8896,0.00,2.70,0.00,0.000,6,0.000,0.075,2219,2400,3409
$GC,9208,-0.85,-146.6,681.2,-6.5,441,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3408
$GC,9519,-0.85,-146.6,701.4,-6.4,456,9523,0.00,2.72,0.00,0.000,4,0.000,0.087,2219,986,3408
$GC,9574,-0.85,-146.6,705.4,-7.2,458,9580,0.00,2.67,0.00,0.000,6,0.000,0.076,2219,2399,3408
$GC,9890,-0.85,-146.6,726.1,-6.7,474,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3407
$GC,10199,-0.85,-146.6,746.5,-6.5,489,10204,0.00,2.72,0.00,0.000,4,0.000,0.087,2219,986,3407
$GC,10248,-0.85,-146.6,750.0,-7.1,491,10253,0.00,2.67,0.00,0.000,6,0.000,0.075,2219,2399,3406
$GC,10569,-0.85,-146.6,771.0,-6.6,507,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3405
$GC,10879,-0.85,-146.6,791.4,-6.6,522,10883,0.00,2.75,0.00,0.000,4,0.000,0.086,2219,988,3404
$GC,10941,-0.85,-146.6,795.9,-7.2,525,10945,0.00,2.70,0.00,0.000,6,0.000,0.076,2219,2400,3404
$GC,11268,-0.85,-146.6,818.6,-7.1,541,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3403
$GC,11576,-0.85,-146.6,840.6,-7.2,556,11581,0.00,2.75,0.00,0.000,4,0.000,0.087,2219,982,3402
$GC,11638,-0.85,-146.6,845.2,-7.7,559,11643,0.00,2.70,0.00,0.000,6,0.000,0.075,2219,2399,3403
$GC,11966,-0.85,-146.6,867.8,-6.8,575,11967,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2399,3402
$GC,12274,-0.85,-146.6,888.2,-6.5,590,12279,0.00,2.75,0.00,0.000,4,0.000,0.084,2219,979,3402
$GC,12331,-0.85,-146.6,892.2,-7.2,592,12337,0.00,2.70,0.00,0.000,6,0.000,0.072,2219,2401,3402
$GC,12647,-0.85,-146.6,912.5,-6.4,608,12649,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2402,3401
$GC,12956,-0.85,-146.6,932.3,-6.5,623,12960,0.00,2.75,0.00,0.000,4,0.000,0.083,2219,979,3401
$GC,13005,-0.85,-146.6,935.9,-7.2,625,13010,0.00,2.70,0.00,0.000,6,0.000,0.070,2219,2409,3402
$GC,13321,-0.85,-146.6,957.1,-6.8,640,13322,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2409,3401
$GC,13630,-0.85,-146.6,978.9,-7.2,655,13634,0.00,2.75,0.00,0.000,4,0.000,0.079,2219,979,3401
$GC,13701,-0.85,-146.6,984.3,-7.9,658,13706,0.00,2.65,0.00,0.000,6,0.000,0.067,2219,2401,3401
$STATE,13788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13788,begin apogee
$GC,13795,-0.31,0.0,990.6,7.3,662,13925,0.62,0.00,126.18,1.358,6,0.121,0.000,2339,2186,2817
$STATE,13925,end apogee,CONTROL_FINISHED_OK
$STATE,13925,begin climb
$GC,13928,0.85,146.6,996.1,0.0,668,14064,1.27,2.80,126.72,1.326,4,0.109,0.078,2588,799,2218
$GC,14101,0.86,160.5,992.3,5.6,676,14120,0.00,2.65,13.57,1.239,6,0.000,0.060,2588,2202,2162
$GC,14448,0.89,184.8,974.4,5.3,693,14473,0.00,0.00,22.65,1.306,6,0.000,0.000,2588,2202,2063
$GC,14778,0.91,202.2,956.1,5.5,709,14797,0.00,0.00,16.33,1.271,6,0.000,0.000,2588,2201,1992
$GC,15107,0.92,210.3,937.1,5.8,725,15117,0.00,0.00,8.38,1.148,6,0.000,0.000,2588,2202,1958
$GC,15416,0.93,220.3,918.8,5.7,740,15432,0.12,2.78,10.15,1.192,4,0.081,0.078,2617,795,1919
$GC,15461,0.93,220.3,915.6,7.5,741,15465,0.00,2.65,0.00,0.000,6,0.000,0.060,2617,2200,1918
$GC,15781,0.93,220.3,892.9,7.1,757,15782,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2200,1917
$GC,16091,0.93,220.3,871.0,7.2,772,16095,0.00,2.72,0.00,0.000,4,0.000,0.082,2617,795,1918
$GC,16130,0.93,220.3,868.1,8.1,774,16134,0.00,2.62,0.00,0.000,6,0.000,0.062,2617,2199,1917
$GC,16456,0.93,220.3,844.8,7.1,790,16457,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2199,1917
$GC,16766,0.93,220.3,822.8,7.0,805,16770,0.00,2.72,0.00,0.000,4,0.000,0.082,2618,791,1917
$GC,16810,0.93,220.3,819.4,7.4,807,16814,0.00,2.62,0.00,0.000,6,0.000,0.062,2617,2199,1916
$GC,17130,0.93,220.3,795.8,7.6,823,17131,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2199,1916
$GC,17440,0.93,220.3,771.5,8.0,838,17445,0.00,2.72,0.00,0.000,4,0.000,0.082,2617,791,1916
$GC,17486,0.93,220.3,767.6,9.1,840,17490,0.00,2.65,0.00,0.000,6,0.000,0.064,2617,2199,1916
$GC,17807,0.93,220.3,741.7,8.2,856,17808,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2198,1916
$GC,18116,0.93,220.3,716.2,8.2,871,18121,0.00,2.72,0.00,0.000,4,0.000,0.082,2617,789,1916
$GC,18157,0.93,220.3,712.4,9.3,873,18161,0.00,2.62,0.00,0.000,6,0.000,0.064,2617,2199,1917
$GC,18483,0.93,220.3,684.5,8.3,889,18484,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2199,1916
$GC,18792,0.93,220.3,660.1,7.8,904,18797,0.00,2.72,0.00,0.000,4,0.000,0.083,2617,795,1916
$GC,18855,0.93,220.3,655.3,8.3,907,18859,0.00,2.65,0.00,0.000,6,0.000,0.064,2617,2204,1916
$GC,19181,0.93,220.3,630.4,7.7,923,19182,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2205,1916
$GC,19491,0.93,220.3,606.4,7.8,938,19495,0.00,2.72,0.00,0.000,4,0.000,0.083,2617,794,1916
$GC,19523,0.93,220.3,603.7,8.6,939,19529,0.00,2.62,0.00,0.000,6,0.000,0.064,2617,2201,1916
$GC,19838,0.93,220.3,579.6,7.5,955,19840,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2202,1916
$GC,20148,0.93,220.3,555.6,7.7,970,20152,0.00,2.72,0.00,0.000,4,0.000,0.082,2617,791,1916
$GC,20188,0.93,220.3,552.5,8.6,972,20192,0.00,2.65,0.00,0.000,6,0.000,0.064,2617,2203,1916
$GC,20514,0.93,220.3,527.9,7.3,988,20515,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2204,1916
$GC,20823,0.93,220.3,504.4,7.6,1003,20827,0.00,2.72,0.00,0.000,4,0.000,0.084,2617,794,1916
$GC,20869,0.93,220.3,500.9,8.0,1005,20873,0.00,2.65,0.00,0.000,6,0.000,0.064,2617,2201,1916
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$STATE,27170,end climb,SURFACE_DEPTH_REACHED
$STATE,27171,begin surface coast
$FINISH,0.9,1.027304
$STATE,27191,end surface coast,CONTROL_FINISHED_OK
$STATE,27191,begin surface
$SM_CCo,27213,53.12,0.630,3,0,1593,300.00
$SM_GC,1.70,0.00,0.00,53.12,0.000,0.000,0.630,78,2403,1593,-10.73,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2073
$TCM_TEMP,16.10
$XPDR_PINGS,136
$24V_AH,23.1,61.023
$10V_AH,10.1,32.761
$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,25.750,200.200,323.975,53.125,0.000,65.175,149.641,194.226,42.500,0.000,0.000,30.466,2343.270,21497.559,574.375,2670.348,816.513,33.371,1874.618,0.000,2601.095,0.000,56.123
$DEVICE_MAMPS,174.876,95.875,1357.590,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,983.422,903.706,698.006,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66492,1312
$CFSIZE,260165632,236986368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,3,0
$GPS,290108,004658,6154.227,-230.043,26,2.7,45,-5.9