version: 66.02
glider: 16
mission: 6
dive: 190
start: 12 16 107 17 40 56
data:
$ID,16
$MISSION,6
$DIVE,190
$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,-2079739.1
$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,12
$R_STBD_OVSHOOT,16
$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
$GPS1,173328,6350.028,-753.719,43,2.9,62,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-45.9
$GPS2,174003,6350.029,-753.569,17,1.7,17,-9.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.166,0.147
$KALMAN_X,-105048.8,-216.3,415.8,168267.5,4768.7
$KALMAN_Y,100520.8,-234.2,-31.8,143885.0,3095.9
$MHEAD_RNG_PITCHd_Wd,57.9,113899,-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,20,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-101.90,0.000,2,0.000,0.000,69,2403,3074
$GC,126,-0.85,-146.6,3.8,-2.6,5,153,12.32,2.65,-8.35,0.000,4,0.176,0.091,2223,3768,3415
$GC,404,-0.85,-146.6,24.1,-6.5,17,411,0.00,2.58,0.00,0.000,6,0.000,0.058,2223,2403,3416
$GC,720,-0.85,-146.6,51.7,-8.1,33,725,0.00,2.62,0.00,0.000,4,0.000,0.077,2222,3767,3416
$GC,747,-0.85,-146.6,54.6,-10.3,34,751,0.00,2.55,0.00,0.000,6,0.000,0.057,2223,2391,3416
$GC,1069,-0.85,-146.6,85.5,-9.1,50,1073,0.00,2.67,0.00,0.000,4,0.000,0.073,2223,979,3416
$GC,1123,-0.85,-146.6,90.4,-8.6,52,1130,0.00,2.65,0.00,0.000,6,0.000,0.059,2222,2395,3416
$GC,1439,-0.85,-146.6,114.2,-7.2,68,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2395,3416
$GC,1748,-0.85,-146.6,137.1,-7.9,83,1752,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,982,3416
$GC,1813,-0.85,-146.6,142.5,-7.7,86,1817,0.00,2.62,0.00,0.000,6,0.000,0.060,2223,2400,3416
$GC,2140,-0.85,-146.6,169.4,-8.3,102,2144,0.00,2.67,0.00,0.000,4,0.000,0.073,2223,982,3417
$GC,2189,-0.85,-146.6,173.6,-8.2,104,2193,0.00,2.62,0.00,0.000,6,0.000,0.061,2223,2399,3416
$GC,2510,-0.85,-146.6,199.9,-8.2,120,2517,0.00,2.62,0.00,0.000,4,0.000,0.083,2223,3766,3417
$GC,2535,-0.85,-146.6,202.0,-9.2,121,2539,0.00,2.55,0.00,0.000,6,0.000,0.059,2223,2398,3417
$GC,2860,-0.85,-146.6,228.4,-8.0,137,2864,0.00,2.70,0.00,0.000,4,0.000,0.078,2223,981,3417
$GC,2944,-0.85,-146.6,235.5,-8.8,141,2948,0.00,2.65,0.00,0.000,6,0.000,0.066,2223,2398,3417
$GC,3269,-0.85,-146.6,260.9,-7.6,157,3274,0.00,2.70,0.00,0.000,4,0.000,0.075,2223,982,3417
$GC,3296,-0.85,-146.6,262.8,-7.3,158,3300,0.00,2.65,0.00,0.000,6,0.000,0.065,2223,2401,3417
$GC,3617,-0.85,-146.6,285.3,-7.2,174,3621,0.00,2.70,0.00,0.000,4,0.000,0.076,2223,982,3417
$GC,3671,-0.85,-146.6,289.2,-7.1,176,3678,0.00,2.65,0.00,0.000,6,0.000,0.065,2223,2400,3417
$GC,3987,-0.85,-146.6,307.9,-5.9,192,3991,0.00,2.72,0.00,0.000,4,0.000,0.077,2223,977,3417
$GC,4058,-0.85,-146.6,312.6,-6.5,195,4062,0.00,2.70,0.00,0.000,6,0.000,0.067,2222,2402,3416
$GC,4380,-0.85,-146.6,333.8,-7.2,211,4384,0.00,2.72,0.00,0.000,4,0.000,0.080,2223,983,3416
$GC,4411,-0.85,-146.6,336.2,-7.3,212,4418,0.00,2.67,0.00,0.000,6,0.000,0.069,2223,2404,3416
$GC,4727,-0.85,-146.6,359.2,-6.9,228,4731,0.00,2.72,0.00,0.000,4,0.000,0.080,2223,982,3416
$GC,4776,-0.85,-146.6,362.9,-7.8,230,4780,0.00,2.67,0.00,0.000,6,0.000,0.070,2223,2402,3416
$GC,5091,-0.85,-146.6,382.9,-6.2,245,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2402,3415
$GC,5400,-0.85,-146.6,403.3,-6.7,260,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2402,3415
$GC,5712,-0.85,-146.6,425.0,-7.4,275,5716,0.00,2.75,0.00,0.000,4,0.000,0.082,2223,979,3414
$GC,5800,-0.85,-146.6,432.0,-7.7,279,5804,0.00,2.70,0.00,0.000,6,0.000,0.071,2223,2406,3414
$GC,6127,-0.85,-146.6,454.7,-6.5,295,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3413
$GC,6436,-0.85,-146.6,474.9,-6.6,310,6441,0.00,2.75,0.00,0.000,4,0.000,0.082,2223,978,3412
$GC,6484,-0.85,-146.6,478.3,-7.1,312,6489,0.00,2.70,0.00,0.000,6,0.000,0.071,2223,2402,3412
$GC,6812,-0.85,-146.6,500.8,-7.0,328,6817,0.00,2.75,0.00,0.000,4,0.000,0.084,2223,982,3411
$GC,6839,-0.85,-146.6,502.9,-7.8,329,6843,0.00,2.70,0.00,0.000,6,0.000,0.072,2223,2407,3411
$GC,7160,-0.85,-146.6,524.7,-6.5,345,7168,0.00,2.72,0.00,0.000,4,0.000,0.083,2223,991,3410
$GC,7195,-0.85,-146.6,527.1,-6.6,346,7199,0.00,2.67,0.00,0.000,6,0.000,0.073,2223,2398,3409
$GC,7515,-0.85,-146.6,547.5,-6.4,362,7520,0.00,2.75,0.00,0.000,4,0.000,0.084,2223,980,3409
$GC,7541,-0.85,-146.6,549.4,-7.4,363,7546,0.00,2.70,0.00,0.000,6,0.000,0.073,2223,2401,3409
$GC,7863,-0.85,-146.6,570.8,-6.7,379,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3408
$GC,8172,-0.85,-146.6,591.2,-6.7,394,8177,0.00,2.75,0.00,0.000,4,0.000,0.084,2223,982,3408
$GC,8221,-0.85,-146.6,594.7,-7.1,396,8225,0.00,2.72,0.00,0.000,6,0.000,0.074,2223,2400,3408
$GC,8542,-0.85,-146.6,615.6,-6.4,412,8546,0.00,2.75,0.00,0.000,4,0.000,0.084,2223,983,3407
$GC,8574,-0.85,-146.6,617.8,-6.7,413,8580,0.00,2.70,0.00,0.000,6,0.000,0.074,2223,2401,3407
$GC,8889,-0.85,-146.6,637.3,-6.0,429,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3406
$GC,9198,-0.85,-146.6,654.9,-5.6,444,9203,0.00,2.75,0.00,0.000,4,0.000,0.083,2223,984,3405
$GC,9247,-0.85,-146.6,657.8,-6.3,446,9252,0.00,2.70,0.00,0.000,6,0.000,0.074,2223,2407,3405
$GC,9568,-0.85,-146.6,677.0,-6.4,462,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2407,3404
$GC,9877,-0.85,-146.6,696.8,-6.3,477,9882,0.00,2.75,0.00,0.000,4,0.000,0.082,2223,985,3404
$GC,9927,-0.85,-146.6,700.1,-6.6,479,9931,0.00,2.70,0.00,0.000,6,0.000,0.074,2223,2404,3404
$GC,10241,-0.85,-146.6,719.7,-6.3,494,10242,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3403
$GC,10551,-0.85,-146.6,739.4,-6.4,509,10555,0.00,2.75,0.00,0.000,4,0.000,0.083,2223,982,3403
$GC,10599,-0.85,-146.6,743.0,-7.0,511,10604,0.00,2.70,0.00,0.000,6,0.000,0.074,2223,2406,3402
$GC,10920,-0.85,-146.6,764.0,-7.0,527,10921,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2406,3402
$GC,11229,-0.85,-146.6,784.3,-6.7,542,11234,0.00,2.75,0.00,0.000,4,0.000,0.082,2223,979,3402
$GC,11256,-0.85,-146.6,786.1,-6.9,543,11260,0.00,2.70,0.00,0.000,6,0.000,0.074,2223,2400,3401
$GC,11571,-0.85,-146.6,808.0,-7.2,558,11572,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3401
$GC,11880,-0.85,-146.6,829.6,-7.0,573,11885,0.00,2.75,0.00,0.000,4,0.000,0.084,2223,982,3401
$GC,11913,-0.85,-146.6,832.2,-7.7,574,11919,0.00,2.70,0.00,0.000,6,0.000,0.074,2223,2400,3401
$GC,12228,-0.85,-146.6,854.6,-6.8,590,12232,0.00,2.75,0.00,0.000,4,0.000,0.084,2223,984,3400
$GC,12254,-0.85,-146.6,856.4,-7.5,591,12258,0.00,2.70,0.00,0.000,6,0.000,0.073,2223,2405,3400
$GC,12575,-0.85,-146.6,877.2,-6.5,607,12576,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2405,3400
$GC,12884,-0.85,-146.6,896.6,-6.6,622,12889,0.00,2.75,0.00,0.000,4,0.000,0.083,2223,978,3400
$GC,12934,-0.85,-146.6,900.0,-6.6,624,12938,0.00,2.72,0.00,0.000,6,0.000,0.071,2223,2408,3399
$GC,13249,-0.85,-146.6,921.5,-6.9,639,13250,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2408,3399
$GC,13557,-0.85,-146.6,943.1,-6.9,654,13562,0.00,2.75,0.00,0.000,4,0.000,0.080,2223,982,3399
$GC,13589,-0.85,-146.6,945.4,-7.2,655,13596,0.00,2.70,0.00,0.000,6,0.000,0.070,2223,2397,3399
$GC,13906,-0.85,-146.6,966.4,-6.3,671,13910,0.00,2.72,0.00,0.000,4,0.000,0.079,2223,982,3399
$GC,13926,-0.85,-146.6,967.8,-6.5,672,13931,0.00,2.70,0.00,0.000,6,0.000,0.068,2223,2400,3399
$GC,14253,-0.85,-146.6,988.1,-6.2,688,14257,0.00,2.72,0.00,0.000,4,0.000,0.079,2223,985,3398
$GC,14273,-0.85,-146.6,989.4,-6.4,689,14278,0.00,2.65,0.00,0.000,6,0.000,0.067,2223,2401,3399
$STATE,14283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14283,begin apogee
$GC,14288,-0.31,0.0,990.3,7.1,690,14413,0.60,0.00,122.20,1.371,6,0.120,0.000,2338,2184,2817
$STATE,14414,end apogee,CONTROL_FINISHED_OK
$STATE,14414,begin climb
$GC,14416,0.85,146.6,994.9,0.0,696,14547,1.23,2.78,123.25,1.345,4,0.086,0.078,2589,794,2219
$GC,14587,0.86,159.7,990.3,5.6,704,14605,0.00,2.65,12.60,1.235,6,0.000,0.061,2589,2199,2166
$GC,14912,0.86,159.7,970.7,6.4,720,14917,0.00,2.78,0.00,0.000,4,0.000,0.091,2589,3617,2165
$GC,14956,0.86,159.7,967.7,7.2,722,14960,0.00,2.67,0.00,0.000,6,0.000,0.065,2589,2204,2165
$GC,15276,0.86,159.7,948.0,6.2,738,15281,0.00,2.75,0.00,0.000,4,0.000,0.082,2589,786,2165
$GC,15315,0.86,159.7,945.2,8.1,740,15320,0.00,2.65,0.00,0.000,6,0.000,0.061,2589,2200,2165
$GC,15642,0.86,159.7,923.3,6.9,756,15646,0.00,2.78,0.00,0.000,4,0.000,0.091,2589,3614,2165
$GC,15696,0.86,159.7,919.1,7.6,758,15703,0.00,2.67,0.00,0.000,6,0.000,0.066,2589,2191,2165
$GC,16011,0.86,159.7,898.5,6.3,774,16012,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2191,2164
$GC,16321,0.86,159.7,879.2,6.2,789,16322,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2191,2164
$GC,16630,0.86,159.7,859.9,6.2,804,16634,0.00,2.80,0.00,0.000,4,0.000,0.093,2589,3614,2165
$GC,16661,0.86,159.7,857.7,6.7,805,16669,0.00,2.67,0.00,0.000,6,0.000,0.067,2589,2203,2164
$GC,16978,0.86,159.7,838.0,6.2,821,16982,0.00,2.75,0.00,0.000,4,0.000,0.084,2589,785,2164
$GC,17009,0.86,159.7,835.7,6.7,822,17016,0.00,2.67,0.00,0.000,6,0.000,0.063,2588,2204,2164
$GC,17325,0.86,159.7,815.5,6.4,838,17329,0.00,2.78,0.00,0.000,4,0.000,0.094,2589,3616,2164
$GC,17356,0.86,159.7,813.2,7.3,839,17363,0.00,2.67,0.00,0.000,6,0.000,0.067,2589,2201,2164
$GC,17672,0.86,159.7,792.6,6.5,855,17673,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,2164
$GC,17981,0.86,159.7,772.1,6.9,870,17982,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,2164
$GC,18290,0.86,159.7,750.8,7.3,885,18295,0.00,2.80,0.00,0.000,4,0.000,0.094,2589,3616,2164
$GC,18329,0.86,159.7,747.9,8.7,887,18334,0.00,2.70,0.00,0.000,6,0.000,0.069,2589,2194,2164
$GC,18654,0.86,159.7,724.5,7.0,903,18655,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2194,2164
$GC,18963,0.86,159.7,702.3,6.9,918,18968,0.00,2.80,0.00,0.000,4,0.000,0.094,2589,3616,2164
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$STATE,28716,end climb,SURFACE_DEPTH_REACHED
$STATE,28716,begin surface coast
$FINISH,1.0,1.027434
$STATE,28737,end surface coast,CONTROL_FINISHED_OK
$STATE,28737,begin surface
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$SM_GC,1.51,0.00,0.00,159.27,0.000,0.000,0.685,77,2399,509,-10.73,-0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2032
$TCM_TEMP,16.10
$XPDR_PINGS,151
$24V_AH,23.3,32.801
$10V_AH,10.1,15.973
$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
$DEVICE_SECS,25.625,292.725,384.475,159.275,0.000,32.588,41.782,199.964,46.250,0.000,0.000,17.316,2498.949,22519.834,847.756,2902.483,550.371,33.369,2315.522,0.000,2831.887,0.000,56.141
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1031.260,958.598,729.320,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72627,1394
$CFSIZE,260165632,248410112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,30,3,0
$GPS,171207,014425,6353.058,-745.743,25,1.6,42,-9.4