version: 66.03
glider: 16
mission: 9
dive: 210
start: 7 21 108 6 15 20
data:
$ID,16
$MISSION,9
$DIVE,210
$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,120
$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,2
$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,557.32159
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,-2097517.8
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2781
$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,-20.434687
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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,4
$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,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,060738,6343.393,-1332.541,40,1.5,40,-12.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-50.0
$GPS2,061502,6343.401,-1332.486,16,1.5,34,-12.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,default
$TGT_LATLONG,62.000,-6.800
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.063,-0.212
$KALMAN_X,-156115.9,12.1,3.6,-35086.5,18146.7
$KALMAN_Y,22619.4,-3049.0,-1719.4,156073.3,43365.0
$MHEAD_RNG_PITCHd_Wd,180.5,7124072,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.85,-146.6,0.0,0.0,0,151,0.00,0.00,-121.35,0.000,2,0.000,0.000,71,2244,2981
$GC,155,-0.85,-146.6,4.1,-3.4,6,178,11.38,0.00,-9.15,0.000,6,0.166,0.000,2107,2244,3382
$GC,488,-0.62,-146.6,42.5,-9.9,22,493,0.25,2.60,0.00,0.000,4,0.095,0.066,2160,3639,3382
$GC,538,-0.62,-146.6,46.6,-7.0,24,542,0.00,2.55,0.00,0.000,6,0.000,0.048,2160,2228,3382
$GC,856,-0.56,-146.6,70.5,-9.0,39,860,0.00,2.58,0.00,0.000,4,0.000,0.059,2160,817,3382
$GC,896,-0.56,-146.6,74.6,-9.9,41,900,0.00,2.55,0.00,0.000,6,0.000,0.048,2160,2228,3382
$GC,1223,-0.56,-146.6,105.0,-8.8,57,1227,0.00,2.62,0.00,0.000,4,0.000,0.068,2160,3641,3382
$GC,1263,-0.56,-146.6,108.7,-9.0,59,1267,0.00,2.55,0.00,0.000,6,0.000,0.050,2160,2230,3382
$GC,1589,-0.56,-146.6,135.5,-7.9,75,1593,0.00,2.58,0.00,0.000,4,0.000,0.059,2160,817,3382
$GC,1657,-0.56,-146.6,141.0,-7.9,78,1661,0.00,2.55,0.00,0.000,6,0.000,0.047,2160,2231,3383
$GC,1978,-0.56,-146.6,163.8,-6.1,94,1982,0.00,2.62,0.00,0.000,4,0.000,0.069,2160,3643,3382
$GC,2010,-0.56,-146.6,165.9,-6.7,95,2017,0.00,2.55,0.00,0.000,6,0.000,0.048,2160,2222,3383
$GC,2327,-0.56,-146.6,183.2,-5.7,111,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2222,3383
$GC,2636,-0.56,-146.6,201.9,-6.3,126,2640,0.00,2.67,0.00,0.000,4,0.000,0.070,2160,3647,3383
$GC,2663,-0.56,-146.6,203.8,-7.2,127,2667,0.00,2.55,0.00,0.000,6,0.000,0.048,2160,2227,3382
$GC,2979,-0.56,-146.6,227.0,-8.0,142,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2227,3382
$GC,3288,-0.56,-146.6,252.9,-8.3,157,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2227,3382
$GC,3598,-0.56,-146.6,276.5,-7.2,172,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2227,3382
$GC,3909,-0.56,-146.6,300.5,-8.0,187,3913,0.00,2.65,0.00,0.000,4,0.000,0.071,2160,3641,3382
$GC,3936,-0.56,-146.6,303.0,-8.5,188,3940,0.00,2.55,0.00,0.000,6,0.000,0.048,2160,2222,3382
$GC,4251,-0.56,-146.6,328.3,-8.3,203,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2222,3382
$GC,4561,-0.56,-146.6,352.6,-7.5,218,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2222,3382
$GC,4870,-0.56,-146.6,374.6,-7.2,233,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2221,3381
$GC,5179,-0.56,-146.6,398.0,-7.8,248,5184,0.00,2.67,0.00,0.000,4,0.000,0.071,2160,3646,3381
$GC,5209,-0.56,-146.6,400.3,-8.1,249,5214,0.00,2.55,0.00,0.000,6,0.000,0.048,2160,2227,3382
$GC,5525,-0.56,-146.6,424.9,-7.8,264,5530,0.00,2.58,0.00,0.000,4,0.000,0.060,2160,819,3381
$GC,5552,-0.56,-146.6,427.2,-8.4,265,5556,0.00,2.55,0.00,0.000,6,0.000,0.048,2160,2231,3381
$GC,5874,-0.56,-146.6,452.2,-7.4,281,5878,0.00,2.62,0.00,0.000,4,0.000,0.071,2160,3641,3381
$GC,5913,-0.56,-146.6,455.5,-7.8,283,5917,0.00,2.55,0.00,0.000,6,0.000,0.048,2160,2227,3381
$GC,6239,-0.56,-146.6,481.1,-7.9,299,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2226,3381
$GC,6549,-0.56,-146.6,504.8,-7.5,314,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2226,3381
$GC,6858,-0.56,-146.6,527.6,-7.3,329,6862,0.00,2.65,0.00,0.000,4,0.000,0.071,2160,3640,3381
$GC,6897,-0.56,-146.6,530.8,-8.6,331,6902,0.00,2.55,0.00,0.000,6,0.000,0.047,2159,2222,3381
$GC,7224,-0.56,-146.6,555.6,-7.5,347,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2222,3380
$GC,7533,-0.56,-146.6,579.9,-8.0,362,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2221,3381
$GC,7842,-0.56,-146.6,604.2,-7.7,377,7847,0.00,2.65,0.00,0.000,4,0.000,0.071,2160,3644,3380
$GC,7876,-0.56,-146.6,607.1,-8.1,378,7881,0.00,2.53,0.00,0.000,6,0.000,0.047,2160,2230,3380
$GC,8191,-0.56,-146.6,632.9,-8.5,394,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2230,3380
$GC,8500,-0.56,-146.6,661.7,-9.7,409,8505,0.00,2.65,0.00,0.000,4,0.000,0.071,2160,3643,3380
$GC,8541,-0.56,-146.6,665.9,-11.7,411,8545,0.00,2.53,0.00,0.000,6,0.000,0.047,2160,2230,3380
$GC,8867,-0.56,-146.6,697.8,-9.6,427,8872,0.00,2.58,0.00,0.000,4,0.000,0.059,2160,816,3380
$GC,8901,-0.60,-146.6,701.1,-9.5,428,8907,0.00,2.55,0.00,0.000,6,0.000,0.047,2160,2232,3380
$GC,9217,-0.60,-146.6,730.2,-9.6,444,9221,0.00,2.62,0.00,0.000,4,0.000,0.073,2160,3641,3380
$GC,9249,-0.60,-146.6,733.7,-10.8,445,9256,0.00,2.53,0.00,0.000,6,0.000,0.048,2160,2225,3380
$GC,9565,-0.60,-146.6,760.4,-7.9,461,9570,0.00,2.55,0.00,0.000,4,0.000,0.059,2160,822,3380
$GC,9622,-0.68,-146.6,765.0,-8.1,463,9628,0.00,2.55,0.00,0.000,6,0.000,0.048,2160,2232,3380
$GC,9937,-0.68,-146.6,786.6,-6.1,479,9942,0.00,2.65,0.00,0.000,4,0.000,0.074,2160,3645,3380
$GC,9978,-0.68,-146.6,788.8,-5.8,481,9982,0.00,2.55,0.00,0.000,6,0.000,0.049,2160,2229,3379
$GC,10305,-0.68,-146.6,802.0,-3.4,497,10309,0.00,2.58,0.00,0.000,4,0.000,0.061,2160,822,3379
$GC,10368,-0.75,-146.6,804.0,-3.3,500,10373,0.12,2.55,0.00,0.000,6,0.047,0.050,2118,2229,3379
$GC,10696,-0.64,-146.6,819.5,-4.8,516,10701,0.17,2.65,0.00,0.000,4,0.087,0.077,2157,3637,3379
$GC,10746,-0.64,-146.6,821.4,-3.4,518,10750,0.00,2.55,0.00,0.000,6,0.000,0.051,2157,2224,3379
$GC,11062,-0.64,-146.6,828.8,-2.1,533,11066,0.00,2.67,0.00,0.000,4,0.000,0.075,2157,3637,3379
$GC,11091,-0.64,-146.6,829.7,-3.6,534,11096,0.00,2.55,0.00,0.000,6,0.000,0.051,2157,2225,3378
$GC,11407,-0.64,-146.6,837.4,-2.5,549,11408,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2225,3378
$GC,11717,-0.64,-146.6,849.2,-4.9,564,11721,0.00,2.67,0.00,0.000,4,0.000,0.077,2157,3637,3378
$GC,11750,-0.64,-146.6,851.2,-5.9,565,11756,0.00,2.55,0.00,0.000,6,0.000,0.052,2157,2225,3378
$GC,12068,-0.64,-146.6,876.2,-8.8,581,12069,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2225,3377
$GC,12375,-0.64,-146.6,905.2,-9.2,596,12376,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2225,3376
$GC,12685,-0.64,-146.6,932.0,-8.5,611,12689,0.00,2.67,0.00,0.000,4,0.000,0.076,2157,3635,3376
$GC,12718,-0.64,-146.6,935.1,-9.0,612,12723,0.00,2.55,0.00,0.000,6,0.000,0.052,2156,2227,3376
$GC,13033,-0.64,-146.6,958.6,-6.7,628,13034,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2227,3375
$GC,13343,-0.64,-146.6,978.2,-6.3,643,13347,0.00,2.67,0.00,0.000,4,0.000,0.077,2157,3643,3375
$GC,13370,-0.64,-146.6,980.0,-6.6,644,13374,0.00,2.58,0.00,0.000,6,0.000,0.052,2157,2227,3374
$STATE,13538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13538,begin apogee
$GC,13545,-0.31,0.0,990.0,5.9,652,13684,0.38,0.00,136.18,1.284,6,0.095,0.000,2232,2226,2781
$STATE,13685,end apogee,CONTROL_FINISHED_OK
$STATE,13685,begin climb
$GC,13688,0.85,146.6,994.8,0.0,659,13831,1.17,0.00,135.62,1.263,6,0.077,0.000,2480,2226,2182
$GC,14142,0.91,146.6,970.9,6.9,681,14146,0.00,2.62,0.00,0.000,4,0.000,0.065,2480,827,2182
$GC,14276,0.92,157.9,962.1,5.7,687,14293,0.00,2.60,11.70,1.096,6,0.000,0.049,2480,2249,2137
$GC,14602,0.95,189.9,944.1,5.1,703,14635,0.12,0.00,30.55,1.197,6,0.067,0.000,2508,2249,2007
$GC,14934,0.92,213.1,925.4,5.4,719,14958,0.00,0.00,22.33,1.170,6,0.000,0.000,2507,2249,1911
$GC,15262,0.92,213.1,906.7,6.0,735,15263,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2249,1911
$GC,15571,0.92,213.1,888.2,6.0,750,15576,0.00,2.65,0.00,0.000,4,0.000,0.077,2507,3644,1911
$GC,15612,0.87,213.1,885.5,6.8,752,15617,0.00,2.60,0.00,0.000,6,0.000,0.054,2508,2235,1911
$GC,15939,0.87,213.1,863.9,7.0,768,15943,0.00,2.62,0.00,0.000,4,0.000,0.067,2508,834,1910
$GC,15971,0.87,213.1,861.2,8.3,769,15977,0.00,2.58,0.00,0.000,6,0.000,0.051,2508,2240,1910
$GC,16287,0.87,213.1,836.0,8.4,785,16292,0.00,2.65,0.00,0.000,4,0.000,0.076,2508,3645,1910
$GC,16309,0.82,213.1,833.7,10.0,786,16314,0.15,2.58,0.00,0.000,6,0.094,0.054,2478,2242,1910
$GC,16631,0.82,213.1,806.7,8.3,802,16632,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2241,1910
$GC,16940,0.82,213.1,780.0,8.3,817,16944,0.00,2.67,0.00,0.000,4,0.000,0.076,2478,3645,1910
$GC,16957,0.82,213.1,778.3,8.6,818,16961,0.00,2.58,0.00,0.000,6,0.000,0.054,2478,2238,1910
$GC,17283,0.82,213.1,753.0,7.5,834,17284,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2238,1909
$GC,17593,0.82,213.1,730.8,7.0,849,17594,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2238,1910
$GC,17902,0.86,213.1,710.1,6.3,864,17903,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2238,1910
$GC,18211,0.88,225.1,692.0,5.7,879,18232,0.00,2.75,11.77,0.978,4,0.000,0.073,2477,3645,1863
$GC,18249,0.88,225.1,689.7,6.3,880,18256,0.00,2.58,0.00,0.000,6,0.000,0.051,2478,2237,1864
$GC,18566,0.96,263.5,672.8,4.9,896,18608,0.15,2.65,35.50,1.053,4,0.050,0.061,2517,832,1706
$GC,18637,0.91,263.5,668.2,6.9,899,18642,0.00,2.58,0.00,0.000,6,0.000,0.048,2517,2240,1706
$GC,18959,0.86,263.5,644.7,7.4,915,18964,0.15,2.65,0.00,0.000,4,0.084,0.070,2482,3650,1706
$GC,19003,0.91,263.5,641.2,7.5,917,19008,0.00,2.58,0.00,0.000,6,0.000,0.051,2482,2237,1707
$GC,19325,0.91,263.5,621.5,6.1,933,19329,0.00,2.62,0.00,0.000,4,0.000,0.062,2482,824,1706
$GC,19365,0.95,263.5,619.0,6.7,935,19370,0.12,2.58,0.00,0.000,6,0.048,0.048,2515,2240,1707
$GC,19693,0.89,263.5,595.1,7.5,951,19698,0.12,2.65,0.00,0.000,4,0.091,0.069,2491,3650,1707
$GC,19714,0.89,263.5,593.3,8.1,952,19719,0.00,2.58,0.00,0.000,6,0.000,0.050,2491,2233,1707
$GC,20036,0.89,263.5,572.7,6.2,968,20037,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2233,1707
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$STATE,27729,end climb,SURFACE_DEPTH_REACHED
$STATE,27729,begin surface coast
$FINISH,0.7,1.026948
$STATE,27751,end surface coast,CONTROL_FINISHED_OK
$STATE,27751,begin surface
$SM_CCo,27773,100.60,0.601,0,0,509,557.32
$SM_GC,1.18,0.00,0.00,100.60,0.000,0.000,0.601,76,2252,509,-10.23,0.62,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1866
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$XPDR_PINGS,36
$ALTIM_TOP_PING,18.0,16.8
$ALTIM_BOTTOM_PING,975.8,80.6
$24V_AH,23.5,36.963
$10V_AH,10.1,18.823
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$DEVICE_SECS,25.775,223.275,463.550,100.600,0.000,18.004,25.437,241.046,18.000,0.000,0.000,34.014,2388.654,21770.805,811.018,2623.247,714.962,0.000,2126.528,0.000,2546.368,0.000,60.816
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,982.103,930.799,688.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66347,1341
$CAP_FILE_SIZE,192690,0
$CFSIZE,260165632,245391360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210708,140108,6341.551,-1326.257,32,1.3,32,-12.6