version: 66.02
glider: 16
mission: 6
dive: 189
start: 12 16 107 9 25 35
data:
$ID,16
$MISSION,6
$DIVE,189
$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,566.1524
$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,-2079721.1
$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,17
$R_STBD_OVSHOOT,17
$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
$GPS1,091758,6345.553,-802.572,24,3.0,43,-9.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-47.5
$GPS2,092444,6345.591,-802.505,29,1.3,35,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.095,0.200
$KALMAN_X,-107768.5,-802.2,-867.4,165000.0,6445.3
$KALMAN_Y,98164.0,126.9,290.3,137333.8,1020.9
$MHEAD_RNG_PITCHd_Wd,34.9,124666,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.85,-146.6,0.0,0.0,0,110,0.00,0.00,-86.85,0.000,2,0.000,0.000,69,2392,2713
$GC,112,-0.85,-146.6,3.1,-1.7,5,155,12.18,2.67,-21.60,0.000,4,0.171,0.087,2221,3766,3417
$GC,384,-0.85,-146.6,29.5,-8.8,17,389,0.00,2.53,0.00,0.000,6,0.000,0.052,2221,2407,3417
$GC,712,-0.85,-146.6,53.8,-8.1,33,716,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,983,3418
$GC,743,-0.85,-146.6,56.8,-9.5,34,750,0.00,2.65,0.00,0.000,6,0.000,0.058,2221,2420,3418
$GC,1060,-0.85,-146.6,82.4,-7.5,50,1065,0.00,2.72,0.00,0.000,4,0.000,0.071,2222,984,3418
$GC,1100,-0.85,-146.6,85.5,-7.8,52,1104,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2400,3418
$GC,1426,-0.85,-146.6,109.3,-7.3,68,1430,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,985,3418
$GC,1457,-0.85,-146.6,111.7,-6.9,69,1464,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2399,3418
$GC,1773,-0.85,-146.6,134.9,-7.8,85,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3418
$GC,2083,-0.85,-146.6,157.9,-7.6,100,2087,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,982,3418
$GC,2188,-0.85,-146.6,166.2,-7.9,105,2193,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2398,3418
$GC,2515,-0.85,-146.6,190.5,-7.4,121,2519,0.00,2.67,0.00,0.000,4,0.000,0.072,2222,985,3419
$GC,2557,-0.85,-146.6,193.9,-7.4,123,2562,0.00,2.62,0.00,0.000,6,0.000,0.060,2222,2406,3419
$GC,2884,-0.85,-146.6,217.6,-7.1,139,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3419
$GC,3193,-0.85,-146.6,241.4,-7.3,154,3198,0.00,2.70,0.00,0.000,4,0.000,0.076,2222,985,3419
$GC,3237,-0.85,-146.6,244.6,-7.3,156,3241,0.00,2.62,0.00,0.000,6,0.000,0.062,2222,2400,3419
$GC,3563,-0.85,-146.6,266.0,-6.5,172,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3420
$GC,3873,-0.85,-146.6,286.7,-7.2,187,3877,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,985,3419
$GC,3899,-0.85,-146.6,288.7,-7.7,188,3903,0.00,2.62,0.00,0.000,6,0.000,0.064,2222,2400,3419
$GC,4220,-0.85,-146.6,312.8,-7.9,204,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3419
$GC,4529,-0.85,-146.6,334.8,-6.7,219,4533,0.00,2.72,0.00,0.000,4,0.000,0.078,2220,979,3419
$GC,4578,-0.85,-146.6,338.2,-7.2,221,4582,0.00,2.65,0.00,0.000,6,0.000,0.066,2221,2401,3419
$GC,4894,-0.85,-146.6,358.1,-6.2,236,4898,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,984,3419
$GC,4914,-0.85,-146.6,359.7,-7.1,237,4918,0.00,2.65,0.00,0.000,6,0.000,0.066,2222,2401,3418
$GC,5241,-0.85,-146.6,384.2,-7.5,253,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3419
$GC,5550,-0.85,-146.6,406.1,-6.8,268,5554,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,980,3418
$GC,5598,-0.85,-146.6,409.9,-7.2,270,5603,0.00,2.67,0.00,0.000,6,0.000,0.069,2222,2401,3418
$GC,5920,-0.85,-146.6,434.0,-7.3,286,5925,0.00,2.75,0.00,0.000,4,0.000,0.087,2221,987,3417
$GC,5952,-0.85,-146.6,436.6,-7.5,287,5959,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2407,3417
$GC,6268,-0.85,-146.6,460.5,-7.7,303,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3416
$GC,6578,-0.85,-146.6,482.5,-6.7,318,6582,0.00,2.78,0.00,0.000,4,0.000,0.086,2221,981,3415
$GC,6626,-0.85,-146.6,486.0,-7.6,320,6631,0.00,2.67,0.00,0.000,6,0.000,0.070,2222,2404,3415
$GC,6947,-0.85,-146.6,507.4,-6.7,336,6952,0.00,2.75,0.00,0.000,4,0.000,0.086,2221,987,3414
$GC,6979,-0.85,-146.6,509.7,-7.5,337,6986,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2405,3414
$GC,7295,-0.85,-146.6,531.2,-6.7,353,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3413
$GC,7604,-0.85,-146.6,551.7,-6.6,368,7608,0.00,2.75,0.00,0.000,4,0.000,0.086,2221,988,3411
$GC,7666,-0.85,-146.6,555.9,-7.2,371,7670,0.00,2.67,0.00,0.000,6,0.000,0.071,2222,2401,3411
$GC,7991,-0.85,-146.6,577.0,-6.3,387,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3410
$GC,8300,-0.85,-146.6,596.6,-6.4,402,8304,0.00,2.72,0.00,0.000,4,0.000,0.084,2222,986,3409
$GC,8354,-0.85,-146.6,600.4,-7.0,404,8361,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2407,3409
$GC,8670,-0.85,-146.6,620.0,-6.1,420,8674,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,988,3407
$GC,8701,-0.85,-146.6,622.1,-6.8,421,8708,0.00,2.67,0.00,0.000,6,0.000,0.070,2222,2407,3407
$GC,9017,-0.85,-146.6,641.8,-6.4,437,9021,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,988,3407
$GC,9055,-0.85,-146.6,644.3,-7.4,439,9060,0.00,2.67,0.00,0.000,6,0.000,0.071,2222,2400,3407
$GC,9381,-0.85,-146.6,665.1,-6.6,455,9385,0.00,2.72,0.00,0.000,4,0.000,0.085,2221,988,3407
$GC,9414,-0.85,-146.6,667.5,-7.2,456,9420,0.00,2.67,0.00,0.000,6,0.000,0.070,2222,2401,3407
$GC,9729,-0.85,-146.6,687.2,-6.2,472,9733,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,982,3407
$GC,9755,-0.85,-146.6,689.0,-6.5,473,9759,0.00,2.67,0.00,0.000,6,0.000,0.070,2221,2402,3407
$GC,10076,-0.85,-146.6,709.2,-6.2,489,10080,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,982,3406
$GC,10104,-0.85,-146.6,710.9,-6.6,490,10108,0.00,2.70,0.00,0.000,6,0.000,0.071,2221,2404,3405
$GC,10418,-0.85,-146.6,730.4,-6.0,505,10423,0.00,2.75,0.00,0.000,4,0.000,0.082,2222,982,3404
$GC,10450,-0.85,-146.6,732.5,-6.3,506,10457,0.00,2.67,0.00,0.000,6,0.000,0.070,2222,2400,3404
$GC,10766,-0.85,-146.6,751.6,-6.2,522,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3403
$GC,11075,-0.85,-146.6,770.7,-6.4,537,11079,0.00,2.72,0.00,0.000,4,0.000,0.082,2222,987,3403
$GC,11123,-0.85,-146.6,773.9,-6.7,539,11128,0.00,2.65,0.00,0.000,6,0.000,0.070,2221,2399,3403
$GC,11445,-0.85,-146.6,793.9,-6.2,555,11449,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,983,3402
$GC,11465,-0.85,-146.6,795.3,-6.7,556,11470,0.00,2.67,0.00,0.000,6,0.000,0.068,2221,2405,3402
$GC,11792,-0.85,-146.6,815.4,-6.4,572,11796,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,988,3402
$GC,11813,-0.85,-146.6,816.7,-5.8,573,11818,0.00,2.65,0.00,0.000,6,0.000,0.069,2222,2401,3402
$GC,12133,-0.85,-146.6,836.5,-6.3,589,12138,0.00,2.72,0.00,0.000,4,0.000,0.082,2222,982,3402
$GC,12165,-0.85,-146.6,838.6,-6.4,590,12172,0.00,2.67,0.00,0.000,6,0.000,0.068,2222,2393,3402
$GC,12481,-0.85,-146.6,858.2,-6.1,606,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2393,3401
$GC,12790,-0.85,-146.6,877.5,-6.2,621,12795,0.00,2.70,0.00,0.000,4,0.000,0.081,2221,989,3401
$GC,12816,-0.85,-146.6,879.3,-6.5,622,12820,0.00,2.65,0.00,0.000,6,0.000,0.068,2221,2400,3401
$GC,13138,-0.85,-146.6,899.4,-6.2,638,13139,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3401
$GC,13446,-0.85,-146.6,919.2,-6.4,653,13451,0.00,2.72,0.00,0.000,4,0.000,0.079,2222,982,3401
$GC,13467,-0.85,-146.6,920.7,-6.6,654,13472,0.00,2.67,0.00,0.000,6,0.000,0.065,2221,2399,3400
$GC,13794,-0.85,-146.6,941.3,-6.1,670,13799,0.00,2.70,0.00,0.000,4,0.000,0.078,2222,988,3400
$GC,13815,-0.85,-146.6,942.7,-5.8,671,13819,0.00,2.62,0.00,0.000,6,0.000,0.064,2222,2401,3400
$GC,14142,-0.85,-146.6,962.4,-5.9,687,14146,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,988,3400
$GC,14164,-0.85,-146.6,963.9,-6.8,688,14168,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2404,3400
$GC,14484,-0.85,-146.6,982.5,-5.8,704,14485,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3400
$STATE,14626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14627,begin apogee
$GC,14632,-0.31,0.0,991.1,6.0,711,14757,0.60,0.00,122.28,1.365,6,0.118,0.000,2338,2194,2817
$STATE,14758,end apogee,CONTROL_FINISHED_OK
$STATE,14758,begin climb
$GC,14760,0.85,146.6,995.2,0.0,717,14891,1.25,2.78,123.40,1.340,4,0.099,0.076,2586,797,2219
$GC,14908,0.85,146.6,990.4,6.0,724,14913,0.00,2.65,0.00,0.000,6,0.000,0.056,2586,2204,2219
$GC,15230,0.85,146.6,970.6,6.3,740,15234,0.00,2.72,0.00,0.000,4,0.000,0.084,2586,3607,2219
$GC,15291,0.85,146.6,966.5,6.1,743,15295,0.00,2.62,0.00,0.000,6,0.000,0.061,2586,2206,2219
$GC,15616,0.85,146.6,945.8,6.5,759,15620,0.00,2.72,0.00,0.000,4,0.000,0.080,2586,790,2218
$GC,15648,0.85,146.6,943.7,6.3,760,15655,0.00,2.60,0.00,0.000,6,0.000,0.057,2586,2202,2218
$GC,15963,0.85,146.6,923.6,6.2,776,15968,0.00,2.70,0.00,0.000,4,0.000,0.085,2586,3607,2218
$GC,16013,0.85,146.6,919.9,7.2,778,16017,0.00,2.62,0.00,0.000,6,0.000,0.060,2587,2199,2218
$GC,16334,0.85,146.6,899.0,6.6,794,16335,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2199,2218
$GC,16643,0.85,146.6,879.5,6.1,809,16644,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2199,2218
$GC,16952,0.85,146.6,859.8,6.3,824,16953,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2199,2218
$GC,17262,0.85,146.6,840.0,6.4,839,17266,0.00,2.75,0.00,0.000,4,0.000,0.088,2586,3609,2217
$GC,17300,0.85,146.6,837.2,7.0,841,17305,0.00,2.65,0.00,0.000,6,0.000,0.064,2586,2201,2218
$GC,17626,0.85,146.6,816.4,6.4,857,17630,0.00,2.72,0.00,0.000,4,0.000,0.084,2586,791,2217
$GC,17665,0.85,146.6,813.8,6.4,859,17669,0.00,2.62,0.00,0.000,6,0.000,0.060,2586,2199,2217
$GC,17990,0.85,152.7,794.1,5.8,875,18003,0.00,2.78,6.53,0.989,4,0.000,0.089,2586,3610,2193
$GC,18043,0.85,152.7,790.7,6.3,877,18048,0.00,2.70,0.00,0.000,6,0.000,0.065,2587,2203,2193
$GC,18365,0.87,168.3,772.8,5.6,893,18385,0.00,0.00,14.55,1.144,6,0.000,0.000,2586,2203,2129
$GC,18694,0.88,180.3,754.2,5.7,909,18715,0.00,2.85,11.43,1.096,4,0.000,0.083,2586,787,2081
$GC,18738,0.91,207.1,751.6,5.3,911,18767,0.00,2.67,23.30,1.166,6,0.000,0.061,2586,2203,1972
$GC,19089,0.91,207.1,729.1,6.5,928,19091,0.10,0.00,0.00,0.000,6,0.088,0.000,2607,2203,1970
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$STATE,28941,end climb,SURFACE_DEPTH_REACHED
$STATE,28941,begin surface coast
$FINISH,1.0,1.013209
$STATE,28963,end surface coast,CONTROL_FINISHED_OK
$STATE,28963,begin surface
$SM_CCo,28982,181.12,0.688,2,0,508,566.15
$SM_GC,1.72,0.00,0.00,181.12,0.000,0.000,0.688,70,2401,508,-10.76,0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2052
$TCM_TEMP,16.40
$XPDR_PINGS,164
$24V_AH,23.3,32.615
$10V_AH,10.1,15.851
$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
$DEVICE_SECS,25.350,296.650,355.375,181.125,0.000,32.603,36.273,188.382,49.500,0.000,0.000,35.508,2535.599,22673.842,833.303,2982.416,551.380,33.371,2322.877,0.000,2894.626,0.000,56.117
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1036.098,969.055,760.008,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72651,1408
$CFSIZE,260165632,248496128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,2,0
$GPS,161207,173328,6350.028,-753.719,43,2.9,62,-9.4