version: 66.03
glider: 16
mission: 9
dive: 211
start: 7 21 108 14 8 47
data:
$ID,16
$MISSION,9
$DIVE,211
$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,-2097551
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,140108,6341.551,-1326.257,32,1.3,32,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-55.9
$GPS2,140829,6341.537,-1326.133,12,2.4,31,-12.5
$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,180.5,7118244,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.85,-146.6,0.0,0.0,0,150,0.00,0.00,-120.62,0.000,2,0.000,0.000,75,2253,2974
$GC,154,-0.85,-146.6,4.1,-3.4,6,177,11.40,0.00,-9.07,0.000,6,0.167,0.000,2109,2254,3380
$GC,487,-0.63,-146.6,46.1,-10.2,22,489,0.25,0.00,0.00,0.000,6,0.093,0.000,2158,2254,3381
$GC,795,-0.58,-146.6,67.7,-7.2,37,800,0.00,2.60,0.00,0.000,4,0.000,0.068,2158,3642,3381
$GC,828,-0.58,-146.6,70.3,-7.0,38,835,0.00,2.55,0.00,0.000,6,0.000,0.048,2158,2233,3381
$GC,1146,-0.58,-146.6,91.4,-6.7,54,1150,0.00,2.65,0.00,0.000,4,0.000,0.068,2158,3641,3381
$GC,1195,-0.58,-146.6,95.3,-7.5,56,1200,0.00,2.55,0.00,0.000,6,0.000,0.048,2158,2229,3381
$GC,1514,-0.53,-146.6,120.1,-8.3,71,1519,0.12,2.65,0.00,0.000,4,0.095,0.070,2183,3637,3381
$GC,1546,-0.53,-146.6,123.0,-7.8,72,1553,0.00,2.53,0.00,0.000,6,0.000,0.046,2183,2228,3381
$GC,1863,-0.58,-146.6,146.2,-7.5,88,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2228,3381
$GC,2172,-0.62,-146.6,169.0,-7.5,103,2176,0.00,2.65,0.00,0.000,4,0.000,0.071,2183,3637,3381
$GC,2205,-0.67,-146.6,171.7,-8.2,104,2211,0.15,2.53,0.00,0.000,6,0.044,0.046,2139,2230,3381
$GC,2523,-0.58,-146.6,200.4,-8.9,120,2525,0.17,0.00,0.00,0.000,6,0.081,0.000,2174,2230,3381
$GC,2829,-0.58,-146.6,221.3,-6.7,135,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3381
$GC,3139,-0.58,-146.6,242.0,-6.4,150,3143,0.00,2.65,0.00,0.000,4,0.000,0.071,2174,3638,3381
$GC,3166,-0.58,-146.6,243.8,-6.5,151,3170,0.00,2.55,0.00,0.000,6,0.000,0.048,2174,2223,3381
$GC,3482,-0.58,-146.6,263.8,-6.3,166,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2222,3381
$GC,3792,-0.58,-146.6,279.9,-4.9,181,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2222,3381
$GC,4101,-0.58,-146.6,296.9,-5.9,196,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2222,3381
$GC,4410,-0.58,-146.6,318.7,-7.3,211,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2222,3381
$GC,4719,-0.58,-146.6,342.2,-7.8,226,4724,0.00,2.67,0.00,0.000,4,0.000,0.071,2175,3641,3381
$GC,4747,-0.58,-146.6,344.5,-8.3,227,4751,0.00,2.53,0.00,0.000,6,0.000,0.048,2175,2230,3380
$GC,5063,-0.58,-146.6,366.7,-6.9,242,5067,0.00,2.60,0.00,0.000,4,0.000,0.060,2175,812,3380
$GC,5096,-0.66,-146.6,369.0,-7.3,243,5102,0.00,2.58,0.00,0.000,6,0.000,0.048,2174,2235,3380
$GC,5412,-0.66,-146.6,390.6,-6.9,259,5416,0.00,2.62,0.00,0.000,4,0.000,0.072,2174,3640,3380
$GC,5439,-0.66,-146.6,392.6,-7.5,260,5443,0.00,2.55,0.00,0.000,6,0.000,0.049,2174,2228,3380
$GC,5754,-0.66,-146.6,414.4,-7.0,275,5758,0.00,2.58,0.00,0.000,4,0.000,0.061,2175,817,3380
$GC,5782,-0.74,-146.6,416.4,-7.5,276,5787,0.17,2.55,0.00,0.000,6,0.041,0.049,2124,2230,3380
$GC,6098,-0.61,-146.6,445.6,-9.5,291,6103,0.17,2.62,0.00,0.000,4,0.084,0.071,2163,3645,3379
$GC,6131,-0.61,-146.6,448.6,-8.6,292,6137,0.00,2.55,0.00,0.000,6,0.000,0.049,2163,2230,3379
$GC,6447,-0.61,-146.6,470.8,-7.4,308,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3380
$GC,6756,-0.61,-146.6,493.7,-7.1,323,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3380
$GC,7065,-0.61,-146.6,516.5,-7.5,338,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3379
$GC,7375,-0.61,-146.6,539.6,-7.0,353,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3379
$GC,7684,-0.61,-146.6,561.1,-6.9,368,7688,0.00,2.65,0.00,0.000,4,0.000,0.071,2163,3645,3379
$GC,7717,-0.61,-146.6,563.5,-7.8,369,7722,0.00,2.55,0.00,0.000,6,0.000,0.048,2163,2222,3379
$GC,8033,-0.61,-146.6,586.0,-7.5,385,8037,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,814,3379
$GC,8059,-0.61,-146.6,588.3,-8.7,386,8064,0.00,2.55,0.00,0.000,6,0.000,0.048,2163,2230,3379
$GC,8376,-0.61,-146.6,612.0,-7.4,401,8380,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,3643,3379
$GC,8416,-0.61,-146.6,615.1,-7.8,403,8420,0.00,2.55,0.00,0.000,6,0.000,0.049,2163,2224,3379
$GC,8742,-0.61,-146.6,638.6,-7.1,419,8746,0.00,2.55,0.00,0.000,4,0.000,0.059,2163,821,3379
$GC,8769,-0.61,-146.6,640.7,-7.7,420,8773,0.00,2.55,0.00,0.000,6,0.000,0.047,2164,2235,3379
$GC,9085,-0.61,-146.6,662.2,-6.2,435,9089,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,3643,3378
$GC,9129,-0.61,-146.6,665.4,-7.4,437,9133,0.00,2.53,0.00,0.000,6,0.000,0.048,2163,2230,3378
$GC,9450,-0.61,-146.6,683.7,-5.2,453,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3377
$GC,9759,-0.61,-146.6,697.7,-4.4,468,9764,0.00,2.65,0.00,0.000,4,0.000,0.073,2165,3641,3378
$GC,9793,-0.61,-146.6,699.6,-5.8,469,9799,0.00,2.53,0.00,0.000,6,0.000,0.048,2163,2230,3378
$GC,10108,-0.61,-146.6,718.6,-6.8,485,10113,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,820,3378
$GC,10137,-0.67,-146.6,720.6,-7.0,486,10141,0.00,2.55,0.00,0.000,6,0.000,0.050,2163,2230,3378
$GC,10453,-0.67,-146.6,741.4,-6.3,501,10457,0.00,2.65,0.00,0.000,4,0.000,0.075,2163,3644,3378
$GC,10492,-0.67,-146.6,744.0,-6.3,503,10497,0.00,2.55,0.00,0.000,6,0.000,0.049,2163,2228,3378
$GC,10820,-0.67,-146.6,763.9,-6.4,519,10824,0.00,2.55,0.00,0.000,4,0.000,0.062,2163,822,3378
$GC,10860,-0.75,-146.6,766.5,-6.7,521,10865,0.12,2.55,0.00,0.000,6,0.047,0.050,2121,2231,3377
$GC,11188,-0.64,-146.6,794.3,-8.7,537,11193,0.15,2.65,0.00,0.000,4,0.088,0.076,2156,3640,3377
$GC,11238,-0.64,-146.6,798.2,-6.9,539,11242,0.00,2.55,0.00,0.000,6,0.000,0.051,2156,2224,3377
$GC,11553,-0.64,-146.6,818.1,-6.6,554,11557,0.00,2.58,0.00,0.000,4,0.000,0.065,2155,823,3377
$GC,11594,-0.71,-146.6,820.8,-6.1,556,11598,0.00,2.55,0.00,0.000,6,0.000,0.051,2155,2230,3377
$GC,11920,-0.71,-146.6,842.4,-6.5,572,11924,0.00,2.65,0.00,0.000,4,0.000,0.077,2156,3637,3376
$GC,11986,-0.71,-146.6,847.1,-7.4,575,11991,0.00,2.55,0.00,0.000,6,0.000,0.053,2156,2226,3376
$GC,12308,-0.71,-146.6,872.0,-7.7,591,12313,0.00,2.58,0.00,0.000,4,0.000,0.065,2155,823,3376
$GC,12353,-0.78,-146.6,875.7,-7.5,593,12358,0.12,2.55,0.00,0.000,6,0.048,0.052,2115,2229,3376
$GC,12677,-0.67,-146.6,906.5,-9.3,609,12682,0.15,2.65,0.00,0.000,4,0.091,0.078,2149,3637,3375
$GC,12721,-0.67,-146.6,910.5,-8.2,611,12726,0.00,2.55,0.00,0.000,6,0.000,0.055,2149,2227,3375
$GC,13042,-0.67,-146.6,936.5,-8.5,627,13046,0.00,2.67,0.00,0.000,4,0.000,0.077,2149,3637,3375
$GC,13064,-0.67,-146.6,938.2,-8.2,628,13068,0.00,2.55,0.00,0.000,6,0.000,0.052,2149,2224,3375
$GC,13384,-0.67,-146.6,958.3,-6.8,644,13385,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2225,3374
$STATE,13424,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13424,begin apogee
$GC,13430,-0.31,0.0,961.2,7.2,646,13569,0.40,0.00,135.43,1.262,6,0.089,0.000,2230,2224,2782
$STATE,13569,end apogee,CONTROL_FINISHED_OK
$STATE,13570,begin climb
$GC,13573,0.85,146.6,966.9,0.0,653,13716,1.17,2.80,134.35,1.242,4,0.077,0.074,2479,3652,2182
$GC,13745,0.87,166.0,961.0,5.5,661,13769,0.00,2.60,19.02,1.140,6,0.000,0.052,2479,2241,2104
$GC,14092,0.88,175.8,939.4,5.7,678,14105,0.00,0.00,10.60,1.058,6,0.000,0.000,2479,2241,2064
$GC,14401,0.91,201.8,921.0,5.3,693,14428,0.00,0.00,25.05,1.163,6,0.000,0.000,2479,2241,1958
$GC,14731,0.98,226.8,895.9,5.3,709,14760,0.15,2.72,24.00,1.154,4,0.056,0.073,2520,3648,1856
$GC,14789,0.89,226.8,891.7,7.7,711,14796,0.15,2.60,0.00,0.000,6,0.094,0.053,2490,2239,1856
$GC,15105,0.89,226.8,872.2,7.0,727,15109,0.00,2.62,0.00,0.000,4,0.000,0.067,2490,833,1855
$GC,15132,0.89,226.8,870.2,7.0,728,15137,0.00,2.58,0.00,0.000,6,0.000,0.051,2490,2241,1855
$GC,15448,0.90,236.9,850.9,5.7,743,15461,0.00,0.00,10.68,1.045,6,0.000,0.000,2490,2241,1816
$GC,15757,0.91,247.9,833.0,5.7,758,15771,0.00,0.00,11.62,1.053,6,0.000,0.000,2490,2241,1770
$GC,16067,0.97,257.1,815.4,5.7,773,16082,0.00,2.70,10.25,1.025,4,0.000,0.064,2490,827,1731
$GC,16100,1.03,262.3,813.4,5.9,773,16114,0.15,2.62,6.35,0.908,6,0.057,0.051,2523,2246,1711
$GC,16437,1.03,262.3,786.2,8.8,790,16438,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2246,1710
$GC,16746,0.99,262.3,759.9,8.7,805,16750,0.00,2.65,0.00,0.000,4,0.000,0.064,2523,832,1710
$GC,16785,0.99,262.3,756.5,8.0,807,16789,0.00,2.58,0.00,0.000,6,0.000,0.051,2523,2241,1710
$GC,17112,0.94,262.3,728.7,8.4,823,17113,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2242,1710
$GC,17421,0.94,262.3,705.7,6.7,838,17422,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2242,1710
$GC,17731,0.88,262.3,685.4,6.3,853,17732,0.15,0.00,0.00,0.000,6,0.094,0.000,2493,2241,1710
$GC,18040,0.98,299.1,668.6,5.0,868,18082,0.00,2.72,33.12,1.047,4,0.000,0.062,2493,831,1560
$GC,18099,1.11,341.5,665.6,4.8,870,18147,0.22,2.60,38.20,1.047,6,0.053,0.049,2542,2246,1387
$GC,18460,1.07,341.5,638.2,8.0,888,18461,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2246,1387
$GC,18765,1.02,341.5,614.2,7.5,903,18770,0.00,2.65,0.00,0.000,4,0.000,0.063,2543,832,1387
$GC,18788,0.97,341.5,612.3,8.0,904,18793,0.15,2.55,0.00,0.000,6,0.087,0.049,2513,2239,1387
$GC,19109,1.03,341.5,591.1,6.5,920,19111,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2239,1387
$GC,19418,1.09,347.7,572.4,5.8,935,19428,0.12,0.00,7.03,0.812,6,0.048,0.000,2552,2240,1363
$GC,19728,1.02,347.7,545.6,9.2,950,19733,0.17,2.62,0.00,0.000,4,0.086,0.061,2514,831,1363
$GC,19768,1.09,347.7,542.3,6.9,952,19773,0.10,2.58,0.00,0.000,6,0.054,0.048,2547,2244,1363
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$STATE,26757,end climb,SURFACE_DEPTH_REACHED
$STATE,26757,begin surface coast
$FINISH,0.5,1.013585
$STATE,26778,end surface coast,CONTROL_FINISHED_OK
$STATE,26778,begin surface
$SM_CCo,26800,101.57,0.598,0,0,508,557.32
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1851
$TCM_TEMP,17.80
$XPDR_PINGS,36
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$ALTIM_BOTTOM_PING,901.1,69.1
$24V_AH,23.5,37.155
$10V_AH,10.1,18.937
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$DEVICE_SECS,26.625,243.775,465.700,101.575,0.000,18.295,29.119,232.933,17.250,0.000,0.000,32.504,2331.784,20898.867,805.473,2579.473,717.581,0.000,2118.268,0.000,2503.866,0.000,55.909
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,939.189,898.047,686.746,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66169,1293
$CAP_FILE_SIZE,193900,0
$CFSIZE,260165632,245305344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,210708,213831,6338.351,-1323.654,36,1.6,41,-12.5