version: 66.02
glider: 16
mission: 6
dive: 194
start: 12 18 107 2 41 30
data:
$ID,16
$MISSION,6
$DIVE,194
$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,-2079868
$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,15
$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
$GPS1,022901,6357.495,-727.976,59,1.6,64,-9.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-50.6
$GPS2,024038,6357.529,-727.720,15,1.4,32,-9.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.154,0.159
$KALMAN_X,-103399.2,-550.4,158.8,189967.9,344.3
$KALMAN_Y,94468.2,-578.4,-230.3,164407.6,-747.2
$MHEAD_RNG_PITCHd_Wd,53.4,89254,-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,-101.68,0.000,2,0.000,0.000,73,2404,3038
$GC,126,-0.85,-146.6,4.2,-2.7,5,156,12.25,2.62,-9.05,0.000,4,0.175,0.087,2220,3766,3415
$GC,408,-0.85,-146.6,37.7,-12.9,17,415,0.00,2.53,0.00,0.000,6,0.000,0.055,2220,2400,3416
$GC,724,-0.85,-146.6,65.5,-9.1,33,728,0.00,2.67,0.00,0.000,4,0.000,0.072,2220,983,3416
$GC,744,-0.85,-146.6,67.4,-8.6,34,748,0.00,2.62,0.00,0.000,6,0.000,0.057,2221,2406,3416
$GC,1072,-0.85,-146.6,95.9,-8.1,50,1076,0.00,2.70,0.00,0.000,4,0.000,0.070,2220,979,3416
$GC,1114,-0.85,-146.6,100.0,-9.1,52,1119,0.00,2.62,0.00,0.000,6,0.000,0.057,2220,2401,3416
$GC,1442,-0.85,-146.6,127.4,-8.9,68,1446,0.00,2.70,0.00,0.000,4,0.000,0.071,2220,982,3417
$GC,1491,-0.85,-146.6,131.8,-8.9,70,1495,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2404,3417
$GC,1806,-0.85,-146.6,157.6,-7.4,85,1810,0.00,2.70,0.00,0.000,4,0.000,0.072,2220,982,3417
$GC,1871,-0.85,-146.6,162.9,-8.1,88,1875,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2401,3418
$GC,2198,-0.85,-146.6,183.9,-5.8,104,2203,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,979,3418
$GC,2264,-0.85,-146.6,188.5,-7.1,107,2268,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2401,3418
$GC,2590,-0.85,-146.6,212.2,-7.6,123,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,2900,-0.85,-146.6,236.9,-7.6,138,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3418
$GC,3209,-0.85,-146.6,260.3,-7.1,153,3213,0.00,2.72,0.00,0.000,4,0.000,0.078,2220,983,3418
$GC,3330,-0.85,-146.6,269.6,-7.6,158,3337,0.00,2.65,0.00,0.000,6,0.000,0.065,2221,2400,3417
$GC,3646,-0.85,-146.6,292.2,-7.1,174,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3417
$GC,3955,-0.85,-146.6,314.8,-7.3,189,3960,0.00,2.75,0.00,0.000,4,0.000,0.081,2220,977,3417
$GC,4004,-0.85,-146.6,318.5,-7.7,191,4009,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2400,3416
$GC,4326,-0.85,-146.6,340.5,-6.5,207,4330,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,984,3416
$GC,4364,-0.85,-146.6,343.1,-6.9,209,4369,0.00,2.67,0.00,0.000,6,0.000,0.068,2220,2400,3416
$GC,4689,-0.85,-146.6,363.8,-6.4,225,4694,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,987,3415
$GC,4711,-0.85,-146.6,365.0,-5.9,226,4716,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2400,3415
$GC,5031,-0.85,-146.6,385.2,-6.5,242,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3414
$GC,5341,-0.85,-146.6,405.8,-6.6,257,5345,0.00,2.75,0.00,0.000,4,0.000,0.081,2221,978,3413
$GC,5406,-0.85,-146.6,410.4,-7.0,260,5411,0.00,2.67,0.00,0.000,6,0.000,0.067,2221,2400,3412
$GC,5727,-0.85,-146.6,430.9,-6.4,276,5732,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,985,3412
$GC,5759,-0.85,-146.6,433.1,-6.7,277,5766,0.00,2.67,0.00,0.000,6,0.000,0.069,2221,2402,3412
$GC,6075,-0.85,-146.6,452.5,-6.2,293,6079,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,985,3411
$GC,6107,-0.85,-146.6,454.7,-6.6,294,6113,0.00,2.67,0.00,0.000,6,0.000,0.067,2221,2404,3410
$GC,6422,-0.85,-146.6,474.4,-6.1,310,6427,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,985,3410
$GC,6444,-0.85,-146.6,475.8,-6.3,311,6449,0.00,2.67,0.00,0.000,6,0.000,0.067,2221,2400,3410
$GC,6765,-0.85,-146.6,495.1,-5.9,327,6769,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,985,3410
$GC,6796,-0.85,-146.6,497.2,-6.2,328,6803,0.00,2.65,0.00,0.000,6,0.000,0.067,2221,2398,3409
$GC,7112,-0.85,-146.6,517.0,-6.5,344,7117,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,985,3409
$GC,7145,-0.85,-146.6,519.4,-7.1,345,7152,0.00,2.65,0.00,0.000,6,0.000,0.068,2221,2401,3409
$GC,7460,-0.85,-146.6,539.1,-6.3,361,7465,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,981,3409
$GC,7487,-0.85,-146.6,540.7,-6.6,362,7491,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2402,3408
$GC,7802,-0.85,-146.6,559.0,-5.5,377,7807,0.00,2.75,0.00,0.000,4,0.000,0.081,2221,979,3408
$GC,7823,-0.85,-146.6,560.3,-6.0,378,7828,0.00,2.70,0.00,0.000,6,0.000,0.067,2221,2397,3408
$GC,8151,-0.85,-146.6,579.4,-5.8,394,8155,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,985,3408
$GC,8177,-0.85,-146.6,581.2,-6.1,395,8181,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2405,3407
$GC,8499,-0.85,-146.6,600.1,-6.0,411,8504,0.00,2.75,0.00,0.000,4,0.000,0.080,2220,979,3406
$GC,8538,-0.85,-146.6,602.8,-7.4,413,8543,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2400,3406
$GC,8864,-0.85,-146.6,623.7,-6.5,429,8868,0.00,2.72,0.00,0.000,4,0.000,0.080,2221,983,3406
$GC,8890,-0.85,-146.6,625.6,-6.8,430,8895,0.00,2.70,0.00,0.000,6,0.000,0.067,2220,2401,3405
$GC,9212,-0.85,-146.6,647.2,-7.0,446,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3405
$GC,9521,-0.85,-146.6,668.9,-7.1,461,9526,0.00,2.72,0.00,0.000,4,0.000,0.080,2221,982,3405
$GC,9571,-0.85,-146.6,672.9,-7.5,463,9575,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2405,3405
$GC,9891,-0.85,-146.6,694.6,-6.4,479,9896,0.00,2.75,0.00,0.000,4,0.000,0.078,2221,979,3405
$GC,9931,-0.85,-146.6,697.2,-6.9,481,9936,0.00,2.67,0.00,0.000,6,0.000,0.066,2220,2400,3405
$GC,10256,-0.85,-146.6,717.3,-6.1,497,10261,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,985,3404
$GC,10288,-0.85,-146.6,719.3,-6.0,498,10295,0.00,2.67,0.00,0.000,6,0.000,0.067,2221,2404,3404
$GC,10604,-0.85,-146.6,738.6,-6.0,514,10609,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,987,3404
$GC,10631,-0.85,-146.6,740.3,-6.6,515,10635,0.00,2.65,0.00,0.000,6,0.000,0.067,2221,2400,3404
$GC,10953,-0.85,-146.6,759.4,-6.0,531,10958,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,985,3403
$GC,10986,-0.85,-146.6,761.5,-6.3,532,10992,0.00,2.65,0.00,0.000,6,0.000,0.067,2221,2398,3403
$GC,11301,-0.85,-146.6,780.8,-6.3,548,11306,0.00,2.72,0.00,0.000,4,0.000,0.078,2220,982,3404
$GC,11333,-0.85,-146.6,782.8,-6.0,549,11339,0.00,2.67,0.00,0.000,6,0.000,0.066,2220,2405,3403
$GC,11649,-0.85,-146.6,802.9,-6.5,565,11653,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,986,3403
$GC,11680,-0.85,-146.6,805.1,-6.7,566,11687,0.00,2.65,0.00,0.000,6,0.000,0.067,2220,2401,3403
$GC,11996,-0.85,-146.6,825.6,-6.3,582,12001,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,985,3402
$GC,12029,-0.85,-146.6,827.9,-6.6,583,12035,0.00,2.67,0.00,0.000,6,0.000,0.067,2221,2407,3402
$GC,12344,-0.85,-146.6,848.5,-6.6,599,12348,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,986,3402
$GC,12382,-0.85,-146.6,851.2,-6.8,601,12387,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2404,3402
$GC,12708,-0.85,-146.6,871.9,-6.4,617,12713,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,984,3402
$GC,12754,-0.85,-146.6,875.1,-6.4,619,12759,0.00,2.67,0.00,0.000,6,0.000,0.065,2220,2403,3402
$GC,13074,-0.85,-146.6,895.6,-6.2,635,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3401
$GC,13383,-0.85,-146.6,915.5,-6.5,650,13388,0.00,2.72,0.00,0.000,4,0.000,0.076,2220,984,3401
$GC,13432,-0.85,-146.6,918.9,-7.1,652,13437,0.00,2.67,0.00,0.000,6,0.000,0.064,2220,2400,3401
$GC,13754,-0.85,-146.6,938.8,-6.1,668,13758,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,985,3401
$GC,13780,-0.85,-146.6,940.6,-6.5,669,13784,0.00,2.65,0.00,0.000,6,0.000,0.063,2220,2407,3402
$GC,14101,-0.85,-146.6,959.5,-5.7,685,14106,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,986,3401
$GC,14133,-0.85,-146.6,961.6,-6.2,686,14140,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2401,3401
$GC,14450,-0.85,-146.6,979.7,-5.8,702,14451,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3400
$STATE,14633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14633,begin apogee
$GC,14638,-0.31,0.0,990.2,5.7,711,14764,0.60,0.00,122.95,1.369,6,0.119,0.000,2337,2191,2817
$STATE,14765,end apogee,CONTROL_FINISHED_OK
$STATE,14765,begin climb
$GC,14768,0.85,146.6,993.6,0.0,717,14898,1.25,0.00,123.55,1.344,6,0.096,0.000,2588,2191,2219
$GC,15219,0.85,146.6,968.7,6.4,739,15220,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2191,2218
$GC,15529,0.85,146.6,949.3,6.2,754,15530,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2191,2217
$GC,15838,0.85,146.6,929.4,6.6,769,15839,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2191,2217
$GC,16147,0.85,146.6,909.2,6.5,784,16148,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2191,2217
$GC,16457,0.85,146.6,888.3,7.0,799,16458,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2191,2217
$GC,16766,0.85,146.6,867.3,6.8,814,16767,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2190,2216
$GC,17075,0.85,146.6,846.9,6.6,829,17079,0.00,2.67,0.00,0.000,4,0.000,0.075,2588,795,2216
$GC,17095,0.85,146.6,845.4,7.4,830,17100,0.00,2.60,0.00,0.000,6,0.000,0.057,2588,2202,2216
$GC,17423,0.85,147.4,825.1,6.0,846,17428,0.00,2.72,0.00,0.000,4,0.000,0.086,2587,3610,2216
$GC,17461,0.85,147.4,822.6,6.1,848,17466,0.00,2.62,0.00,0.000,6,0.000,0.062,2588,2199,2217
$GC,17787,0.85,150.7,803.6,5.9,864,17797,0.00,2.75,4.85,0.897,4,0.000,0.080,2588,788,2201
$GC,17836,0.85,150.7,800.4,6.9,866,17840,0.00,2.62,0.00,0.000,6,0.000,0.058,2588,2204,2201
$GC,18156,0.86,158.2,781.8,5.8,882,18170,0.00,2.78,8.07,1.060,4,0.000,0.087,2588,3598,2171
$GC,18193,0.86,158.2,779.4,6.5,883,18200,0.00,2.65,0.00,0.000,6,0.000,0.063,2588,2201,2171
$GC,18509,0.86,158.2,760.4,6.1,899,18510,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2171
$GC,18818,0.86,158.2,740.9,6.4,914,18819,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,2170
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$STATE,29568,end climb,SURFACE_DEPTH_REACHED
$STATE,29568,begin surface coast
$FINISH,1.1,1.022521
$STATE,29589,end surface coast,CONTROL_FINISHED_OK
$STATE,29589,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,2063
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$XPDR_PINGS,167
$24V_AH,23.3,33.581
$10V_AH,10.1,16.478
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$DEVICE_SECS,26.000,274.950,386.650,171.750,0.000,65.186,133.245,301.986,50.250,0.000,0.000,32.268,2562.756,23336.910,851.093,2950.359,789.174,33.380,2327.488,0.000,2870.059,0.000,56.104
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$SENSOR_SECS,1067.450,989.030,743.144,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72672,1437
$CFSIZE,260165632,248053760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,4,0
$GPS,181207,105952,6358.518,-721.026,45,2.1,64,-9.2