version: 66.03
glider: 16
mission: 9
dive: 398
start: 8 22 108 13 44 7
data:
$ID,16
$MISSION,9
$DIVE,398
$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,-2102203.8
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2330
$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,22
$R_STBD_OVSHOOT,23
$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,0
$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
$GPS1,133655,6342.312,-738.963,25,1.9,42,-9.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-52.9
$GPS2,134350,6342.290,-738.795,16,1.8,33,-9.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$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,49.4,115758,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,129,0.00,0.00,-101.65,0.000,2,0.000,0.000,72,2251,2455
$GC,133,-0.85,-146.6,3.0,-1.7,5,184,11.70,2.67,-33.42,0.000,4,0.171,0.065,2139,811,3380
$GC,392,-0.80,-146.6,26.7,-8.9,16,399,0.00,2.55,0.00,0.000,6,0.000,0.044,2139,2230,3380
$GC,710,-0.66,-146.6,55.9,-8.8,32,715,0.20,2.60,0.00,0.000,4,0.095,0.051,2182,814,3381
$GC,755,-0.73,-146.6,59.1,-5.6,34,759,0.00,2.55,0.00,0.000,6,0.000,0.044,2182,2230,3381
$GC,1076,-0.73,-146.6,77.7,-5.4,50,1081,0.00,2.62,0.00,0.000,4,0.000,0.065,2182,3643,3382
$GC,1122,-0.73,-146.6,80.4,-5.9,52,1127,0.00,2.53,0.00,0.000,6,0.000,0.041,2182,2226,3382
$GC,1444,-0.73,-146.6,98.8,-6.2,68,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2226,3382
$GC,1754,-0.73,-146.6,120.9,-8.0,83,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2226,3382
$GC,2063,-0.73,-146.6,147.7,-8.4,98,2067,0.00,2.60,0.00,0.000,4,0.000,0.058,2182,813,3382
$GC,2114,-0.82,-146.6,152.1,-8.5,100,2119,0.15,2.58,0.00,0.000,6,0.045,0.049,2137,2227,3382
$GC,2430,-0.71,-146.6,182.9,-9.3,115,2435,0.15,2.65,0.00,0.000,4,0.092,0.072,2170,3640,3382
$GC,2493,-0.71,-146.6,188.0,-7.7,118,2498,0.00,2.55,0.00,0.000,6,0.000,0.048,2170,2233,3382
$GC,2820,-0.71,-146.6,209.7,-6.6,134,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2233,3382
$GC,3130,-0.71,-146.6,229.5,-6.4,149,3134,0.00,2.67,0.00,0.000,4,0.000,0.075,2170,3638,3381
$GC,3174,-0.71,-146.6,232.7,-7.1,151,3178,0.00,2.58,0.00,0.000,6,0.000,0.050,2170,2225,3381
$GC,3494,-0.71,-146.6,255.4,-7.8,167,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2225,3381
$GC,3804,-0.71,-146.6,279.1,-7.4,182,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2225,3381
$GC,4113,-0.71,-146.6,301.7,-7.4,197,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2225,3379
$GC,4422,-0.71,-146.6,322.4,-6.7,212,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2225,3378
$GC,4733,-0.71,-146.6,340.9,-5.6,227,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2225,3377
$GC,5041,-0.71,-146.6,360.0,-6.3,242,5045,0.00,2.70,0.00,0.000,4,0.000,0.080,2170,3636,3376
$GC,5068,-0.71,-146.6,362.0,-7.4,243,5072,0.00,2.58,0.00,0.000,6,0.000,0.053,2170,2231,3376
$GC,5384,-0.71,-146.6,383.9,-7.2,258,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2231,3376
$GC,5693,-0.71,-146.6,407.1,-7.6,273,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2231,3375
$GC,6002,-0.71,-146.6,430.9,-7.8,288,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2231,3374
$GC,6312,-0.75,-146.6,455.1,-7.8,303,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3373
$GC,6620,-0.75,-146.6,479.1,-7.9,318,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2230,3373
$GC,6930,-0.79,-146.6,503.5,-7.8,333,6935,0.00,2.65,0.00,0.000,4,0.000,0.067,2170,819,3372
$GC,6959,-0.86,-146.6,506.1,-9.3,334,6964,0.15,2.60,0.00,0.000,6,0.057,0.054,2131,2232,3372
$GC,7275,-0.78,-146.6,535.9,-9.2,349,7277,0.15,0.00,0.00,0.000,6,0.100,0.000,2158,2231,3371
$GC,7584,-0.78,-146.6,560.0,-7.7,364,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2232,3371
$GC,7894,-0.78,-146.6,583.0,-7.2,379,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2232,3370
$GC,8202,-0.78,-146.6,604.5,-7.0,394,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2233,3369
$GC,8513,-0.78,-146.6,625.8,-6.7,409,8514,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2232,3369
$GC,8822,-0.78,-146.6,647.0,-6.7,424,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2233,3368
$GC,9130,-0.78,-146.6,668.4,-7.0,439,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2232,3368
$GC,9439,-0.78,-146.6,689.3,-6.9,454,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2232,3367
$GC,9750,-0.78,-146.6,709.8,-6.5,469,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2232,3367
$GC,10058,-0.78,-146.6,730.2,-6.6,484,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2232,3366
$GC,10368,-0.78,-146.6,750.6,-6.8,499,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2232,3364
$GC,10677,-0.78,-146.6,771.4,-6.8,514,10682,0.00,2.67,0.00,0.000,4,0.000,0.067,2158,820,3365
$GC,10711,-0.83,-146.6,773.9,-7.2,515,10717,0.00,2.60,0.00,0.000,6,0.000,0.055,2158,2237,3365
$GC,11027,-0.83,-146.6,795.0,-6.6,531,11028,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2237,3364
$GC,11337,-0.83,-146.6,814.9,-6.4,546,11341,0.00,2.67,0.00,0.000,4,0.000,0.083,2158,3634,3364
$GC,11370,-0.83,-146.6,817.4,-7.2,547,11376,0.00,2.58,0.00,0.000,6,0.000,0.054,2158,2229,3364
$GC,11685,-0.83,-146.6,837.9,-6.6,563,11686,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2229,3364
$GC,11995,-0.83,-146.6,857.4,-6.3,578,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2230,3364
$GC,12304,-0.83,-146.6,876.5,-6.1,593,12305,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2229,3363
$GC,12613,-0.83,-146.6,896.0,-6.3,608,12617,0.00,2.70,0.00,0.000,4,0.000,0.080,2158,3638,3363
$GC,12646,-0.83,-146.6,898.5,-7.4,609,12653,0.00,2.58,0.00,0.000,6,0.000,0.054,2158,2228,3363
$GC,12962,-0.83,-146.6,918.7,-6.4,625,12963,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2228,3363
$GC,13271,-0.83,-146.6,939.5,-6.8,640,13272,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2228,3363
$GC,13581,-0.83,-146.6,961.0,-6.9,655,13586,0.00,2.67,0.00,0.000,4,0.000,0.078,2158,3641,3363
$GC,13621,-0.83,-146.6,964.0,-8.1,657,13626,0.00,2.55,0.00,0.000,6,0.000,0.051,2158,2230,3363
$GC,13948,-0.83,-146.6,986.8,-7.1,673,13949,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2230,3363
$STATE,14007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14008,begin apogee
$GC,14015,-0.31,0.0,990.9,6.7,676,14159,0.50,0.00,136.43,1.302,6,0.098,0.000,2258,2230,2781
$STATE,14160,end apogee,CONTROL_FINISHED_OK
$STATE,14160,begin climb
$GC,14163,0.85,146.6,998.3,0.0,683,14307,1.20,2.75,136.27,1.295,4,0.080,0.063,2508,832,2183
$GC,14380,0.77,186.3,996.4,4.9,693,14431,0.00,2.62,40.40,1.263,6,0.000,0.051,2508,2242,2021
$GC,14750,0.75,210.0,977.0,5.4,711,14775,0.00,0.00,23.10,1.279,6,0.000,0.000,2508,2243,1925
$GC,15097,0.76,218.4,957.1,5.8,728,15109,0.00,0.00,9.85,1.160,6,0.000,0.000,2508,2243,1889
$GC,15405,0.76,218.4,939.0,6.0,743,15406,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2242,1890
$GC,15716,0.76,218.4,920.5,6.2,758,15717,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2242,1889
$GC,16024,0.76,218.4,901.2,6.3,773,16026,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2243,1889
$GC,16333,0.76,218.4,881.0,6.7,788,16334,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2243,1889
$GC,16642,0.76,218.4,860.0,6.7,803,16643,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2242,1889
$GC,16952,0.76,218.4,838.9,7.0,818,16953,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2243,1890
$GC,17261,0.76,218.4,817.3,6.9,833,17262,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2243,1889
$GC,17570,0.76,218.4,794.7,7.0,848,17571,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2242,1889
$GC,17880,0.76,218.4,773.6,6.7,863,17884,0.00,2.65,0.00,0.000,4,0.000,0.066,2508,831,1888
$GC,17919,0.76,218.4,770.7,7.1,865,17924,0.00,2.60,0.00,0.000,6,0.000,0.054,2508,2245,1888
$GC,18247,0.76,218.4,749.7,6.1,881,18248,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2244,1888
$GC,18557,0.76,218.4,730.9,6.1,896,18558,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2244,1888
$GC,18865,0.77,221.6,712.4,5.9,911,18871,0.00,0.00,4.28,0.811,6,0.000,0.000,2508,2244,1877
$GC,19175,0.77,225.3,694.0,5.9,926,19182,0.00,0.00,5.28,0.895,6,0.000,0.000,2508,2244,1862
$GC,19485,0.77,228.6,675.8,5.9,941,19491,0.00,0.00,4.82,0.854,6,0.000,0.000,2508,2244,1848
$GC,19793,0.77,228.6,657.3,6.1,956,19794,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2244,1848
$GC,20102,0.77,228.6,637.8,6.3,971,20103,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2244,1848
$GC,20412,0.77,228.6,617.5,6.6,986,20413,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2244,1848
$GC,20721,0.77,228.6,597.1,6.7,1001,20725,0.00,2.67,0.00,0.000,4,0.000,0.067,2509,827,1848
$GC,20760,0.77,228.6,594.3,6.4,1003,20764,0.00,2.60,0.00,0.000,6,0.000,0.054,2508,2239,1848
$GC,21087,0.77,228.6,573.3,6.3,1019,21088,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2239,1848
$GC,21396,0.78,239.1,554.5,5.7,1034,21409,0.00,0.00,11.10,1.012,6,0.000,0.000,2508,2239,1806
$GC,21705,0.80,256.6,537.2,5.5,1049,21725,0.00,0.00,17.20,1.047,6,0.000,0.000,2508,2239,1734
$GC,22036,0.86,265.3,518.1,5.8,1065,22050,0.00,2.70,9.18,0.961,4,0.000,0.067,2508,833,1699
$GC,22084,0.91,265.3,515.0,6.1,1067,22089,0.00,2.62,0.00,0.000,6,0.000,0.054,2508,2242,1699
$GC,22406,0.96,265.3,496.2,6.0,1083,22408,0.15,0.00,0.00,0.000,6,0.067,0.000,2543,2242,1699
$GC,22715,0.91,265.3,472.0,8.0,1098,22716,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2242,1699
$GC,23024,0.85,265.3,447.1,8.0,1113,23026,0.15,0.00,0.00,0.000,6,0.101,0.000,2514,2242,1699
$GC,23334,0.85,265.3,423.9,7.4,1128,23335,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2242,1699
$GC,23642,0.85,265.3,400.9,7.5,1143,23643,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2242,1699
$GC,23951,0.85,265.3,378.2,7.4,1158,23956,0.00,2.67,0.00,0.000,4,0.000,0.068,2514,828,1699
$GC,23998,0.85,265.3,374.8,6.9,1160,24002,0.00,2.60,0.00,0.000,6,0.000,0.054,2514,2239,1698
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$GC,29177,0.95,307.9,26.1,8.2,1411,29181,0.00,2.62,0.00,0.000,4,0.000,0.058,2543,830,1533
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$STATE,29483,end climb,SURFACE_DEPTH_REACHED
$STATE,29484,begin surface coast
$FINISH,0.6,1.006143
$STATE,29504,end surface coast,CONTROL_FINISHED_OK
$STATE,29504,begin surface
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$SM_GC,1.40,0.00,0.00,129.00,0.000,0.000,0.659,73,2242,508,-10.38,0.34,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1908
$TCM_TEMP,16.80
$XPDR_PINGS,76
$ALTIM_TOP_PING,19.6,17.8
$24V_AH,23.1,64.451
$10V_AH,10.1,32.000
$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,25.500,115.475,435.525,129.000,0.000,18.107,27.032,195.332,27.750,0.000,0.000,33.111,2440.687,23534.615,742.535,2660.661,680.827,0.000,2018.131,0.000,2595.489,0.000,57.720
$DEVICE_MAMPS,171.041,82.836,1302.366,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1065.940,978.655,762.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72559,1426
$CAP_FILE_SIZE,172855,0
$CFSIZE,260165632,235982848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,220808,215958,6342.762,-730.958,34,4.8,53,-9.2