version: 66.02
glider: 16
mission: 6
dive: 120
start: 12 2 107 18 41 25
data:
$ID,16
$MISSION,6
$DIVE,120
$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,1
$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,-2077879.9
$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,18
$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,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
$GPS1,182702,6203.862,-1058.248,39,1.6,39,-10.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-56.2
$GPS2,184033,6203.724,-1058.426,13,1.8,13,-10.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.221,0.007
$KALMAN_X,-43306.2,1179.3,251.9,-57345.6,-5421.4
$KALMAN_Y,118579.2,377.5,-2524.2,-69111.2,7014.6
$MHEAD_RNG_PITCHd_Wd,98.7,11995,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.85,-146.6,0.0,0.0,0,83,0.00,0.00,-61.90,0.000,2,0.000,0.000,73,2404,3196
$GC,85,-0.85,-146.6,4.5,-7.5,3,108,12.15,2.65,-4.60,0.000,4,0.173,0.074,2221,982,3417
$GC,254,-0.85,-146.6,32.3,-11.7,10,258,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2399,3417
$GC,568,-0.85,-146.6,68.2,-10.1,25,573,0.00,2.62,0.00,0.000,4,0.000,0.066,2221,985,3417
$GC,617,-0.85,-146.6,73.1,-9.9,27,622,0.00,2.60,0.00,0.000,6,0.000,0.055,2221,2397,3417
$GC,939,-0.85,-146.6,108.3,-8.4,43,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3417
$GC,1248,-0.85,-146.6,129.3,-6.6,58,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3417
$GC,1557,-0.85,-146.6,146.5,-6.3,73,1562,0.00,2.62,0.00,0.000,4,0.000,0.065,2221,983,3417
$GC,1600,-0.85,-146.6,149.3,-6.2,75,1605,0.00,2.60,0.00,0.000,6,0.000,0.057,2221,2400,3417
$GC,1927,-0.85,-146.6,175.0,-7.6,91,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3417
$GC,2237,-0.85,-146.6,196.9,-6.4,106,2241,0.00,2.62,0.00,0.000,4,0.000,0.066,2221,985,3417
$GC,2285,-0.85,-146.6,200.7,-7.9,108,2290,0.00,2.62,0.00,0.000,6,0.000,0.057,2221,2398,3417
$GC,2606,-0.85,-146.6,223.2,-6.1,124,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3417
$GC,2916,-0.85,-146.6,244.9,-7.3,139,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3417
$GC,3225,-0.85,-146.6,267.6,-7.4,154,3229,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,983,3417
$GC,3324,-0.85,-146.6,275.4,-8.1,158,3331,0.00,2.60,0.00,0.000,6,0.000,0.057,2221,2401,3417
$GC,3639,-0.85,-146.6,298.3,-7.5,174,3644,0.00,2.65,0.00,0.000,4,0.000,0.069,2221,978,3417
$GC,3678,-0.85,-146.6,301.7,-8.8,176,3683,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2400,3417
$GC,4004,-0.85,-146.6,330.5,-8.7,192,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3417
$GC,4313,-0.85,-146.6,356.7,-7.8,207,4317,0.00,2.62,0.00,0.000,4,0.000,0.068,2221,985,3417
$GC,4346,-0.85,-146.6,358.9,-7.0,208,4352,0.00,2.58,0.00,0.000,6,0.000,0.056,2221,2400,3417
$GC,4660,-0.85,-146.6,382.5,-7.9,224,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3417
$GC,4970,-0.85,-146.6,408.5,-8.8,239,4974,0.00,2.62,0.00,0.000,4,0.000,0.067,2222,985,3417
$GC,5025,-0.85,-146.6,413.6,-9.1,241,5031,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2402,3417
$GC,5339,-0.85,-146.6,441.6,-8.7,257,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3417
$GC,5648,-0.85,-146.6,467.1,-8.3,272,5653,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,983,3417
$GC,5680,-0.85,-146.6,469.8,-8.3,273,5687,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2391,3418
$GC,5995,-0.85,-146.6,496.9,-8.8,289,6000,0.00,2.58,0.00,0.000,4,0.000,0.077,2221,3766,3418
$GC,6029,-0.85,-146.6,500.0,-9.4,290,6036,0.00,2.45,0.00,0.000,6,0.000,0.052,2221,2401,3417
$GC,6344,-0.85,-146.6,527.2,-8.3,306,6348,0.00,2.62,0.00,0.000,4,0.000,0.073,2221,986,3418
$GC,6382,-0.85,-146.6,530.6,-9.1,308,6386,0.00,2.55,0.00,0.000,6,0.000,0.055,2221,2401,3418
$GC,6707,-0.85,-146.6,556.3,-7.7,324,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3418
$GC,7016,-0.85,-146.6,579.0,-7.3,339,7020,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,985,3418
$GC,7103,-0.85,-146.6,586.1,-8.0,343,7108,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2401,3418
$GC,7430,-0.85,-146.6,611.3,-7.9,359,7435,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,983,3418
$GC,7479,-0.85,-146.6,615.3,-7.6,361,7484,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2393,3418
$GC,7800,-0.85,-146.6,638.5,-6.9,377,7805,0.00,2.58,0.00,0.000,4,0.000,0.075,2221,3772,3418
$GC,7827,-0.85,-146.6,640.5,-7.4,378,7832,0.00,2.47,0.00,0.000,6,0.000,0.053,2221,2398,3418
$GC,8148,-0.85,-146.6,660.4,-6.0,394,8152,0.00,2.62,0.00,0.000,4,0.000,0.073,2221,987,3418
$GC,8179,-0.85,-146.6,662.5,-6.6,395,8187,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2400,3418
$GC,8496,-0.85,-146.6,681.8,-6.1,411,8500,0.00,2.62,0.00,0.000,4,0.000,0.069,2221,984,3418
$GC,8521,-0.85,-146.6,683.5,-6.7,412,8526,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2400,3418
$GC,8843,-0.85,-146.6,704.3,-6.9,428,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,9152,-0.85,-146.6,723.1,-5.9,443,9157,0.00,2.62,0.00,0.000,4,0.000,0.069,2221,985,3418
$GC,9185,-0.85,-146.6,725.0,-5.9,444,9192,0.00,2.58,0.00,0.000,6,0.000,0.056,2221,2407,3418
$GC,9500,-0.85,-146.6,742.2,-5.5,460,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3418
$GC,9809,-0.85,-146.6,763.4,-7.6,475,9810,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3417
$GC,10118,-0.85,-146.6,786.3,-7.1,490,10123,0.00,2.65,0.00,0.000,4,0.000,0.070,2221,983,3417
$GC,10157,-0.85,-146.6,789.3,-7.6,492,10161,0.00,2.55,0.00,0.000,6,0.000,0.055,2221,2400,3416
$GC,10483,-0.85,-146.6,811.9,-6.6,508,10487,0.00,2.62,0.00,0.000,4,0.000,0.069,2221,986,3417
$GC,10514,-0.85,-146.6,813.9,-6.7,509,10521,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2393,3417
$GC,10830,-0.85,-146.6,833.6,-6.6,525,10834,0.00,2.62,0.00,0.000,4,0.000,0.068,2221,982,3416
$GC,10878,-0.85,-146.6,836.9,-6.7,527,10883,0.00,2.58,0.00,0.000,6,0.000,0.055,2221,2392,3416
$GC,11199,-0.85,-146.6,857.8,-6.3,543,11203,0.00,2.60,0.00,0.000,4,0.000,0.067,2221,988,3416
$GC,11226,-0.85,-146.6,859.3,-6.7,544,11230,0.00,2.60,0.00,0.000,6,0.000,0.055,2221,2399,3416
$GC,11547,-0.85,-146.6,879.0,-6.5,560,11551,0.00,2.62,0.00,0.000,4,0.000,0.068,2221,986,3416
$GC,11589,-0.85,-146.6,881.9,-7.3,562,11594,0.00,2.60,0.00,0.000,6,0.000,0.054,2221,2393,3416
$GC,11916,-0.85,-146.6,903.4,-6.4,578,11921,0.00,2.62,0.00,0.000,4,0.000,0.069,2223,985,3416
$GC,12010,-0.85,-146.6,909.7,-6.4,582,12015,0.00,2.58,0.00,0.000,6,0.000,0.057,2221,2405,3416
$GC,12331,-0.85,-146.6,928.7,-6.4,598,12335,0.00,2.65,0.00,0.000,4,0.000,0.068,2222,983,3416
$GC,12363,-0.85,-146.6,931.0,-6.4,599,12370,0.00,2.58,0.00,0.000,6,0.000,0.055,2221,2403,3416
$GC,12679,-0.85,-146.6,951.7,-6.3,615,12680,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3416
$GC,12988,-0.85,-146.6,971.0,-6.4,630,12989,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3415
$STATE,13296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13296,begin apogee
$GC,13301,-0.31,0.0,990.7,6.4,645,13429,0.60,0.00,124.85,1.345,6,0.106,0.000,2341,2194,2817
$STATE,13429,end apogee,CONTROL_FINISHED_OK
$STATE,13429,begin climb
$GC,13431,0.85,146.6,994.1,0.0,651,13562,1.20,2.78,123.07,1.322,4,0.092,0.077,2586,3613,2218
$GC,13574,0.86,161.4,989.6,5.6,658,13596,0.00,2.65,13.75,1.176,6,0.000,0.057,2586,2202,2158
$GC,13904,0.86,161.4,969.5,6.1,674,13908,0.00,2.67,0.00,0.000,4,0.000,0.074,2586,788,2156
$GC,13929,0.86,161.4,967.7,6.8,675,13934,0.00,2.60,0.00,0.000,6,0.000,0.050,2586,2199,2156
$GC,14251,0.86,161.4,947.7,6.5,691,14255,0.00,2.67,0.00,0.000,4,0.000,0.075,2586,3613,2155
$GC,14299,0.86,161.4,944.0,7.3,693,14304,0.00,2.62,0.00,0.000,6,0.000,0.055,2586,2208,2155
$GC,14620,0.86,161.4,920.8,7.7,709,14625,0.00,2.67,0.00,0.000,4,0.000,0.074,2586,788,2154
$GC,14675,0.86,161.4,916.3,8.8,711,14682,0.00,2.60,0.00,0.000,6,0.000,0.050,2586,2196,2154
$GC,14991,0.86,161.9,896.3,6.0,727,14995,0.00,2.65,0.00,0.000,4,0.000,0.069,2586,788,2152
$GC,15045,0.90,193.6,893.3,5.1,729,15077,0.00,2.58,26.70,1.258,6,0.000,0.050,2586,2203,2027
$GC,15398,0.90,193.6,871.9,6.2,747,15402,0.00,2.67,0.00,0.000,4,0.000,0.069,2586,785,2025
$GC,15452,0.90,193.6,868.4,6.1,749,15459,0.00,2.60,0.00,0.000,6,0.000,0.048,2586,2196,2025
$GC,15767,0.90,193.6,849.0,6.2,765,15772,0.00,2.65,0.00,0.000,4,0.000,0.073,2586,3609,2024
$GC,15839,0.90,193.6,843.8,7.6,768,15843,0.00,2.60,0.00,0.000,6,0.000,0.056,2586,2197,2024
$GC,16160,0.90,193.6,823.2,6.2,784,16164,0.00,2.65,0.00,0.000,4,0.000,0.071,2586,785,2024
$GC,16191,0.90,193.6,821.0,6.4,785,16198,0.00,2.58,0.00,0.000,6,0.000,0.047,2586,2194,2023
$GC,16507,0.90,193.6,801.6,6.5,801,16509,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2194,2023
$GC,16816,0.90,193.6,779.8,7.3,816,16821,0.00,2.62,0.00,0.000,4,0.000,0.071,2586,3610,2023
$GC,16848,0.90,193.6,777.2,8.2,817,16855,0.00,2.60,0.00,0.000,6,0.000,0.054,2586,2206,2023
$GC,17164,0.90,193.6,754.7,6.8,833,17168,0.00,2.65,0.00,0.000,4,0.000,0.071,2587,781,2023
$GC,17190,0.90,193.6,752.8,7.4,834,17194,0.00,2.58,0.00,0.000,6,0.000,0.045,2586,2195,2023
$GC,17511,0.90,193.6,732.2,6.8,850,17512,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2195,2023
$GC,17820,0.90,193.6,711.8,6.8,865,17821,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2195,2023
$GC,18129,0.90,193.6,691.9,6.4,880,18130,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2195,2024
$GC,18438,0.90,193.6,671.3,6.9,895,18443,0.00,2.62,0.00,0.000,4,0.000,0.069,2586,3613,2025
$GC,18470,0.90,193.6,669.0,7.1,896,18477,0.00,2.60,0.00,0.000,6,0.000,0.054,2586,2203,2025
$GC,18786,0.90,193.6,648.1,6.4,912,18787,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2203,2025
$GC,19095,0.90,193.6,628.6,6.3,927,19096,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2203,2026
$GC,19404,0.90,193.6,608.4,6.2,942,19408,0.00,2.62,0.00,0.000,4,0.000,0.068,2586,785,2026
$GC,19436,0.90,193.6,606.3,6.6,943,19442,0.00,2.55,0.00,0.000,6,0.000,0.042,2586,2211,2026
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$GC,21027,0.92,216.6,509.2,5.4,1021,21053,0.12,2.70,20.10,0.950,4,0.061,0.067,2620,785,1933
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$STATE,27254,end climb,SURFACE_DEPTH_REACHED
$STATE,27254,begin surface coast
$FINISH,0.5,1.013264
$STATE,27276,end surface coast,CONTROL_FINISHED_OK
$STATE,27276,begin surface
$SM_CCo,27295,45.88,0.635,1,0,1593,300.00
$SM_GC,1.47,0.00,0.00,45.88,0.000,0.000,0.635,74,2401,1593,-10.75,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2070
$TCM_TEMP,17.40
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,926.3,85.7
$24V_AH,23.5,22.563
$10V_AH,10.2,10.446
$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,25.200,250.850,308.475,45.875,0.000,97.943,118.865,356.041,18.750,0.000,0.000,13.135,2363.127,21695.076,593.848,2711.242,792.019,33.350,1950.807,0.000,2649.600,0.000,55.978
$DEVICE_MAMPS,172.575,76.700,1344.551,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,922.481,955.936,684.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66247,1326
$CFSIZE,260165632,252387328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,031207,021826,6203.481,-1054.532,39,1.8,39,-10.5