version: 66.03
glider: 16
mission: 9
dive: 399
start: 8 22 108 22 6 56
data:
$ID,16
$MISSION,9
$DIVE,399
$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,-2102247.2
$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,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,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
$GPS1,215958,6342.762,-730.958,34,4.8,53,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-54.1
$GPS2,220637,6342.784,-730.810,38,1.3,42,-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,47.2,111029,-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,-101.53,0.000,2,0.000,0.000,72,2243,2452
$GC,132,-0.85,-146.6,3.0,-1.7,5,188,11.68,2.62,-35.40,0.000,4,0.169,0.064,2143,818,3379
$GC,401,-0.77,-146.6,28.2,-10.1,17,406,0.00,2.55,0.00,0.000,6,0.000,0.044,2143,2229,3380
$GC,724,-0.65,-146.6,57.6,-9.7,33,726,0.22,0.00,0.00,0.000,6,0.091,0.000,2187,2229,3380
$GC,1034,-0.65,-146.6,76.1,-4.8,48,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2228,3381
$GC,1342,-0.65,-146.6,91.2,-5.5,63,1346,0.00,2.62,0.00,0.000,4,0.000,0.066,2187,3641,3380
$GC,1387,-0.70,-146.6,94.4,-7.0,65,1391,0.00,2.53,0.00,0.000,6,0.000,0.044,2187,2229,3381
$GC,1709,-0.75,-146.6,115.7,-6.5,81,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2230,3381
$GC,2018,-0.80,-146.6,134.6,-5.8,96,2020,0.15,0.00,0.00,0.000,6,0.044,0.000,2140,2229,3381
$GC,2328,-0.70,-146.6,158.1,-7.0,111,2330,0.17,0.00,0.00,0.000,6,0.088,0.000,2175,2229,3381
$GC,2637,-0.70,-146.6,175.7,-6.2,126,2641,0.00,2.65,0.00,0.000,4,0.000,0.070,2175,3637,3381
$GC,2676,-0.70,-146.6,178.4,-7.0,128,2680,0.00,2.55,0.00,0.000,6,0.000,0.047,2175,2228,3381
$GC,3003,-0.70,-146.6,199.7,-7.0,144,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2228,3381
$GC,3312,-0.70,-146.6,218.6,-5.9,159,3316,0.00,2.67,0.00,0.000,4,0.000,0.074,2175,3640,3381
$GC,3345,-0.70,-146.6,220.9,-6.6,160,3351,0.00,2.55,0.00,0.000,6,0.000,0.049,2175,2231,3381
$GC,3662,-0.70,-146.6,241.5,-6.7,176,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2231,3380
$GC,3970,-0.70,-146.6,263.5,-7.3,191,3974,0.00,2.67,0.00,0.000,4,0.000,0.076,2175,3637,3380
$GC,4002,-0.70,-146.6,266.2,-8.5,192,4009,0.00,2.58,0.00,0.000,6,0.000,0.051,2174,2225,3381
$GC,4319,-0.74,-146.6,289.1,-7.0,208,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2225,3379
$GC,4628,-0.79,-146.6,308.9,-6.4,223,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2225,3377
$GC,4938,-0.79,-146.6,327.9,-5.9,238,4942,0.00,2.67,0.00,0.000,4,0.000,0.079,2175,3634,3377
$GC,4965,-0.79,-146.6,329.9,-6.9,239,4969,0.00,2.58,0.00,0.000,6,0.000,0.053,2173,2228,3377
$GC,5280,-0.79,-146.6,348.8,-6.3,254,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2228,3376
$GC,5590,-0.84,-146.6,368.6,-6.6,269,5595,0.12,2.70,0.00,0.000,4,0.056,0.079,2140,3637,3375
$GC,5624,-0.75,-146.6,371.5,-8.9,270,5631,0.12,2.58,0.00,0.000,6,0.102,0.054,2162,2231,3375
$GC,5940,-0.75,-146.6,395.0,-7.4,286,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2231,3374
$GC,6251,-0.75,-146.6,417.0,-7.1,301,6255,0.00,2.70,0.00,0.000,4,0.000,0.080,2162,3638,3373
$GC,6290,-0.75,-146.6,420.2,-8.6,303,6295,0.00,2.58,0.00,0.000,6,0.000,0.054,2162,2231,3372
$GC,6617,-0.75,-146.6,444.4,-7.6,319,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2231,3372
$GC,6927,-0.75,-146.6,466.6,-7.3,334,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2231,3372
$GC,7236,-0.75,-146.6,489.5,-7.3,349,7240,0.00,2.70,0.00,0.000,4,0.000,0.080,2163,3638,3371
$GC,7279,-0.75,-146.6,493.0,-8.0,351,7284,0.00,2.58,0.00,0.000,6,0.000,0.054,2162,2231,3371
$GC,7601,-0.75,-146.6,515.1,-6.7,367,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2231,3370
$GC,7910,-0.75,-146.6,536.9,-7.0,382,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2231,3369
$GC,8219,-0.75,-146.6,560.1,-7.6,397,8223,0.00,2.70,0.00,0.000,4,0.000,0.080,2162,3640,3368
$GC,8263,-0.75,-146.6,563.8,-8.2,399,8267,0.00,2.58,0.00,0.000,6,0.000,0.053,2162,2230,3368
$GC,8584,-0.75,-146.6,588.0,-7.3,415,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2230,3368
$GC,8893,-0.75,-146.6,610.8,-7.4,430,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2230,3367
$GC,9203,-0.75,-146.6,632.7,-6.9,445,9207,0.00,2.67,0.00,0.000,4,0.000,0.079,2162,3634,3366
$GC,9247,-0.75,-146.6,636.2,-7.4,447,9251,0.00,2.55,0.00,0.000,6,0.000,0.052,2162,2224,3366
$GC,9567,-0.75,-146.6,656.4,-6.0,463,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2223,3366
$GC,9878,-0.75,-146.6,674.7,-5.8,478,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2224,3365
$GC,10186,-0.75,-146.6,693.9,-6.2,493,10190,0.00,2.70,0.00,0.000,4,0.000,0.080,2162,3634,3364
$GC,10230,-0.75,-146.6,696.8,-6.4,495,10234,0.00,2.58,0.00,0.000,6,0.000,0.052,2162,2222,3364
$GC,10552,-0.75,-146.6,717.1,-6.5,511,10553,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2221,3364
$GC,10860,-0.75,-146.6,737.4,-6.7,526,10864,0.00,2.72,0.00,0.000,4,0.000,0.081,2162,3640,3364
$GC,10899,-0.75,-146.6,740.5,-7.7,528,10904,0.00,2.58,0.00,0.000,6,0.000,0.053,2162,2225,3364
$GC,11227,-0.75,-146.6,764.2,-7.1,544,11228,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2226,3363
$GC,11535,-0.75,-146.6,785.0,-6.7,559,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2225,3363
$GC,11845,-0.75,-146.6,805.3,-6.5,574,11849,0.00,2.70,0.00,0.000,4,0.000,0.082,2162,3640,3363
$GC,11889,-0.75,-146.6,808.6,-7.3,576,11894,0.00,2.58,0.00,0.000,6,0.000,0.054,2162,2227,3362
$GC,12211,-0.79,-146.6,829.8,-6.6,592,12212,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2227,3363
$GC,12520,-0.79,-146.6,852.1,-7.5,607,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2227,3363
$GC,12832,-0.79,-146.6,875.3,-7.7,622,12837,0.00,2.70,0.00,0.000,4,0.000,0.081,2162,3637,3363
$GC,12865,-0.79,-146.6,878.4,-8.8,623,12871,0.00,2.58,0.00,0.000,6,0.000,0.053,2162,2224,3362
$GC,13181,-0.83,-146.6,902.5,-7.4,639,13182,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2224,3362
$GC,13492,-0.88,-146.6,925.1,-6.9,654,13494,0.12,0.00,0.00,0.000,6,0.061,0.000,2131,2224,3362
$GC,13802,-0.81,-146.6,951.5,-8.8,669,13807,0.10,2.70,0.00,0.000,4,0.106,0.077,2148,3640,3362
$GC,13835,-0.81,-146.6,954.8,-8.6,670,13842,0.00,2.58,0.00,0.000,6,0.000,0.053,2148,2224,3362
$GC,14152,-0.81,-146.6,979.0,-7.5,686,14153,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2224,3361
$STATE,14313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14313,begin apogee
$GC,14319,-0.31,0.0,991.4,7.4,694,14464,0.55,0.00,136.07,1.305,6,0.099,0.000,2257,2223,2781
$STATE,14464,end apogee,CONTROL_FINISHED_OK
$STATE,14465,begin climb
$GC,14468,0.85,146.6,998.7,0.0,701,14612,1.23,2.70,135.40,1.295,4,0.084,0.064,2508,827,2183
$GC,14699,0.80,194.6,996.0,4.7,711,14750,0.00,2.62,45.83,1.321,6,0.000,0.052,2508,2240,1987
$GC,15075,0.80,194.6,973.7,6.4,730,15076,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1986
$GC,15381,0.80,194.6,954.9,6.1,745,15382,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1986
$GC,15692,0.81,208.2,937.6,5.6,760,15710,0.00,0.00,13.93,1.210,6,0.000,0.000,2508,2240,1931
$GC,16021,0.81,210.5,918.3,5.9,776,16030,0.00,2.67,4.03,0.820,4,0.000,0.064,2508,830,1922
$GC,16070,0.81,210.5,915.2,6.7,778,16074,0.00,2.60,0.00,0.000,6,0.000,0.052,2508,2240,1922
$GC,16391,0.81,210.5,896.2,6.0,794,16393,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1922
$GC,16700,0.81,210.5,877.3,6.1,809,16704,0.00,2.65,0.00,0.000,4,0.000,0.065,2508,831,1921
$GC,16740,0.81,210.5,874.7,7.0,811,16744,0.00,2.60,0.00,0.000,6,0.000,0.052,2508,2241,1921
$GC,17067,0.81,211.5,854.4,6.0,827,17068,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,1921
$GC,17375,0.82,212.8,835.5,6.0,842,17377,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,1921
$GC,17684,0.82,212.8,816.9,6.1,857,17689,0.00,2.65,0.00,0.000,4,0.000,0.066,2508,831,1921
$GC,17735,0.82,212.8,813.6,7.1,859,17740,0.00,2.60,0.00,0.000,6,0.000,0.053,2508,2245,1921
$GC,18051,0.82,212.8,793.9,6.3,874,18052,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2245,1921
$GC,18360,0.82,212.8,772.5,7.2,889,18364,0.00,2.65,0.00,0.000,4,0.000,0.065,2508,829,1920
$GC,18400,0.82,212.8,769.7,7.1,891,18404,0.00,2.60,0.00,0.000,6,0.000,0.053,2508,2242,1921
$GC,18727,0.82,212.8,747.8,6.7,907,18728,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,1921
$GC,19036,0.82,212.8,726.8,6.7,922,19037,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,1921
$GC,19345,0.82,212.8,706.7,6.3,937,19349,0.00,2.65,0.00,0.000,4,0.000,0.066,2508,827,1920
$GC,19395,0.82,212.8,703.2,6.9,939,19400,0.00,2.60,0.00,0.000,6,0.000,0.054,2508,2240,1920
$GC,19711,0.82,212.8,683.4,6.1,954,19712,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1920
$GC,20020,0.82,212.8,664.1,6.2,969,20021,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1920
$GC,20330,0.82,212.8,644.9,6.3,984,20335,0.00,2.65,0.00,0.000,4,0.000,0.066,2508,829,1920
$GC,20371,0.82,212.8,642.3,6.1,986,20375,0.00,2.60,0.00,0.000,6,0.000,0.054,2509,2241,1920
$GC,20697,0.82,212.8,621.7,6.4,1002,20698,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1920
$GC,21007,0.82,212.8,601.8,6.4,1017,21008,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1920
$GC,21316,0.82,219.7,583.4,5.8,1032,21331,0.00,2.67,9.68,0.999,4,0.000,0.066,2508,832,1885
$GC,21370,0.82,219.8,580.1,6.0,1033,21376,0.00,2.62,0.00,0.000,6,0.000,0.053,2508,2246,1885
$GC,21686,0.82,219.8,559.9,6.6,1049,21688,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2246,1885
$GC,21995,0.82,219.8,538.2,7.2,1064,21996,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2246,1885
$GC,22304,0.82,219.8,515.6,7.4,1079,22308,0.00,2.65,0.00,0.000,4,0.000,0.065,2508,830,1885
$GC,22354,0.82,219.8,511.8,7.2,1081,22359,0.00,2.60,0.00,0.000,6,0.000,0.053,2508,2243,1885
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$STATE,29595,end climb,SURFACE_DEPTH_REACHED
$STATE,29595,begin surface coast
$FINISH,0.7,1.026695
$STATE,29617,end surface coast,CONTROL_FINISHED_OK
$STATE,29617,begin surface
$SM_CCo,29640,120.72,0.658,1,0,508,557.32
$SM_GC,1.38,0.00,0.00,120.72,0.000,0.000,0.658,74,2249,508,-10.38,0.54,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1908
$TCM_TEMP,16.70
$XPDR_PINGS,86
$ALTIM_TOP_PING,19.9,21.8
$24V_AH,23.1,64.641
$10V_AH,10.1,32.123
$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,25.550,163.000,446.725,120.725,0.000,18.255,27.610,178.122,30.250,0.000,0.000,42.854,2477.999,23436.902,763.439,2796.417,682.565,0.000,2125.535,0.000,2713.939,0.000,57.724
$DEVICE_MAMPS,168.740,82.069,1320.774,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1071.189,982.402,774.284,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72598,1432
$CAP_FILE_SIZE,183065,0
$CFSIZE,260165632,235892736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
$GPS,230808,062428,6345.070,-720.650,25,2.3,44,-9.1