version: 66.02
glider: 16
mission: 6
dive: 196
start: 12 18 107 19 29 53
data:
$ID,16
$MISSION,6
$DIVE,196
$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,-2079966.6
$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,18
$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
$GPS1,191432,6400.803,-711.758,44,1.6,44,-9.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-47.2
$GPS2,192902,6400.804,-711.496,64,1.2,64,-9.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.107,0.194
$KALMAN_X,-99271.2,1208.2,769.2,197686.0,-690.0
$KALMAN_Y,87365.0,52.0,208.1,176469.2,-3752.8
$MHEAD_RNG_PITCHd_Wd,38.1,75727,-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,-146.6,0.0,0.0,0,125,0.00,0.00,-102.00,0.000,2,0.000,0.000,71,2408,2877
$GC,128,-0.85,-146.6,4.1,-2.6,5,163,12.40,2.78,-14.98,0.000,4,0.181,0.082,2220,976,3416
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$GC,495,-0.85,-146.6,43.7,-9.4,23,499,0.00,2.72,0.00,0.000,4,0.000,0.075,2220,981,3417
$GC,751,-0.85,-146.6,67.8,-9.3,34,758,0.00,2.67,0.00,0.000,6,0.000,0.062,2220,2397,3417
$GC,1069,-0.85,-146.6,92.3,-7.4,50,1073,0.00,2.72,0.00,0.000,4,0.000,0.075,2221,979,3417
$GC,1140,-0.85,-146.6,97.9,-7.8,53,1144,0.00,2.65,0.00,0.000,6,0.000,0.063,2220,2400,3417
$GC,1455,-0.85,-146.6,120.9,-6.9,68,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3417
$GC,1765,-0.85,-146.6,143.7,-7.3,83,1769,0.00,2.72,0.00,0.000,4,0.000,0.076,2220,980,3418
$GC,1836,-0.85,-146.6,149.1,-7.3,86,1841,0.00,2.67,0.00,0.000,6,0.000,0.065,2220,2401,3417
$GC,2152,-0.85,-146.6,171.6,-6.9,101,2156,0.00,2.75,0.00,0.000,4,0.000,0.077,2220,975,3418
$GC,2178,-0.85,-146.6,173.5,-6.9,102,2182,0.00,2.67,0.00,0.000,6,0.000,0.066,2220,2400,3418
$GC,2499,-0.85,-146.6,195.3,-7.3,118,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,2808,-0.85,-146.6,222.1,-9.0,133,2812,0.00,2.75,0.00,0.000,4,0.000,0.080,2220,978,3418
$GC,2891,-0.85,-146.6,230.1,-9.6,137,2896,0.00,2.70,0.00,0.000,6,0.000,0.067,2221,2403,3418
$GC,3217,-0.85,-146.6,256.4,-7.7,153,3221,0.00,2.75,0.00,0.000,4,0.000,0.081,2220,981,3418
$GC,3260,-0.85,-146.6,259.7,-7.2,155,3264,0.00,2.67,0.00,0.000,6,0.000,0.068,2220,2398,3418
$GC,3587,-0.85,-146.6,283.0,-7.1,171,3591,0.00,2.75,0.00,0.000,4,0.000,0.081,2221,976,3417
$GC,3636,-0.85,-146.6,286.6,-7.4,173,3640,0.00,2.70,0.00,0.000,6,0.000,0.069,2220,2402,3418
$GC,3951,-0.85,-146.6,307.4,-6.5,188,3955,0.00,2.75,0.00,0.000,4,0.000,0.081,2220,982,3418
$GC,3999,-0.85,-146.6,310.9,-6.9,190,4004,0.00,2.70,0.00,0.000,6,0.000,0.070,2220,2405,3417
$GC,4321,-0.85,-146.6,333.5,-7.3,206,4326,0.00,2.75,0.00,0.000,4,0.000,0.081,2220,982,3418
$GC,4375,-0.85,-146.6,337.8,-8.2,208,4382,0.00,2.67,0.00,0.000,6,0.000,0.070,2221,2400,3417
$GC,4691,-0.85,-146.6,363.0,-8.3,224,4695,0.00,2.75,0.00,0.000,4,0.000,0.081,2221,976,3417
$GC,4717,-0.85,-146.6,365.2,-8.6,225,4721,0.00,2.70,0.00,0.000,6,0.000,0.070,2220,2406,3417
$GC,5038,-0.85,-146.6,389.9,-7.2,241,5043,0.00,2.78,0.00,0.000,4,0.000,0.081,2220,975,3416
$GC,5064,-0.85,-146.6,392.0,-7.7,242,5069,0.00,2.70,0.00,0.000,6,0.000,0.070,2220,2401,3416
$GC,5386,-0.85,-146.6,414.2,-6.7,258,5390,0.00,2.75,0.00,0.000,4,0.000,0.082,2220,982,3416
$GC,5413,-0.85,-146.6,416.1,-7.1,259,5417,0.00,2.70,0.00,0.000,6,0.000,0.070,2221,2401,3416
$GC,5728,-0.85,-146.6,437.4,-6.8,274,5732,0.00,2.75,0.00,0.000,4,0.000,0.081,2220,981,3415
$GC,5753,-0.85,-146.6,439.3,-6.9,275,5758,0.00,2.70,0.00,0.000,6,0.000,0.069,2220,2407,3415
$GC,6075,-0.85,-146.6,459.6,-6.2,291,6080,0.00,2.78,0.00,0.000,4,0.000,0.081,2221,976,3415
$GC,6114,-0.85,-146.6,462.0,-6.5,293,6118,0.00,2.70,0.00,0.000,6,0.000,0.070,2220,2400,3414
$GC,6440,-0.85,-146.6,481.5,-5.9,309,6444,0.00,2.75,0.00,0.000,4,0.000,0.081,2220,978,3414
$GC,6472,-0.85,-146.6,483.5,-5.7,310,6479,0.00,2.67,0.00,0.000,6,0.000,0.070,2221,2398,3413
$GC,6788,-0.85,-146.6,502.2,-5.9,326,6792,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,982,3413
$GC,6808,-0.85,-146.6,503.6,-6.6,327,6812,0.00,2.67,0.00,0.000,6,0.000,0.069,2220,2401,3414
$GC,7135,-0.85,-146.6,524.6,-6.5,343,7140,0.00,2.75,0.00,0.000,4,0.000,0.080,2221,978,3413
$GC,7162,-0.85,-146.6,526.4,-7.0,344,7166,0.00,2.70,0.00,0.000,6,0.000,0.068,2220,2408,3413
$GC,7483,-0.85,-146.6,547.6,-6.5,360,7487,0.00,2.75,0.00,0.000,4,0.000,0.081,2220,981,3411
$GC,7522,-0.85,-146.6,550.2,-6.8,362,7527,0.00,2.67,0.00,0.000,6,0.000,0.069,2221,2400,3412
$GC,7849,-0.85,-146.6,569.4,-5.8,378,7853,0.00,2.75,0.00,0.000,4,0.000,0.081,2220,978,3412
$GC,7880,-0.85,-146.6,571.5,-6.8,379,7887,0.00,2.70,0.00,0.000,6,0.000,0.069,2221,2404,3412
$GC,8196,-0.85,-146.6,591.6,-6.7,395,8201,0.00,2.75,0.00,0.000,4,0.000,0.081,2221,978,3412
$GC,8234,-0.85,-146.6,594.3,-6.4,397,8239,0.00,2.70,0.00,0.000,6,0.000,0.069,2220,2400,3412
$GC,8560,-0.85,-146.6,616.5,-6.7,413,8565,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,982,3411
$GC,8609,-0.85,-146.6,619.9,-7.4,415,8614,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2400,3412
$GC,8924,-0.85,-146.6,640.0,-6.2,430,8928,0.00,2.75,0.00,0.000,4,0.000,0.080,2220,979,3411
$GC,8972,-0.85,-146.6,643.2,-6.4,432,8977,0.00,2.70,0.00,0.000,6,0.000,0.068,2220,2393,3411
$GC,9294,-0.85,-146.6,661.6,-5.5,448,9299,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,982,3410
$GC,9327,-0.85,-146.6,663.7,-5.8,449,9333,0.00,2.67,0.00,0.000,6,0.000,0.068,2221,2402,3410
$GC,9642,-0.85,-146.6,681.3,-5.6,465,9647,0.00,2.75,0.00,0.000,4,0.000,0.079,2222,976,3410
$GC,9669,-0.85,-146.6,683.0,-6.4,466,9673,0.00,2.70,0.00,0.000,6,0.000,0.067,2220,2406,3410
$GC,9986,-0.85,-146.6,700.5,-5.5,481,9990,0.00,2.75,0.00,0.000,4,0.000,0.079,2221,982,3410
$GC,10028,-0.85,-146.6,703.3,-6.0,483,10033,0.00,2.67,0.00,0.000,6,0.000,0.069,2220,2400,3410
$GC,10356,-0.85,-146.6,724.0,-6.3,499,10360,0.00,2.72,0.00,0.000,4,0.000,0.079,2221,982,3409
$GC,10398,-0.85,-146.6,727.1,-6.5,501,10403,0.00,2.67,0.00,0.000,6,0.000,0.068,2220,2401,3410
$GC,10725,-0.85,-146.6,748.8,-6.8,517,10730,0.00,2.75,0.00,0.000,4,0.000,0.080,2221,976,3409
$GC,10747,-0.85,-146.6,750.7,-8.1,518,10751,0.00,2.70,0.00,0.000,6,0.000,0.067,2221,2406,3409
$GC,11067,-0.85,-146.6,772.8,-6.8,534,11072,0.00,2.75,0.00,0.000,4,0.000,0.078,2220,979,3409
$GC,11107,-0.85,-146.6,775.5,-7.4,536,11111,0.00,2.67,0.00,0.000,6,0.000,0.068,2220,2401,3409
$GC,11433,-0.85,-146.6,798.1,-7.0,552,11437,0.00,2.75,0.00,0.000,4,0.000,0.079,2219,976,3409
$GC,11464,-0.85,-146.6,800.5,-7.2,553,11471,0.00,2.70,0.00,0.000,6,0.000,0.068,2220,2404,3409
$GC,11780,-0.85,-146.6,821.2,-6.6,569,11784,0.00,2.75,0.00,0.000,4,0.000,0.080,2220,978,3409
$GC,11812,-0.85,-146.6,823.4,-7.2,570,11819,0.00,2.70,0.00,0.000,6,0.000,0.068,2220,2393,3409
$GC,12127,-0.85,-146.6,843.3,-6.4,586,12128,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2393,3409
$GC,12437,-0.85,-146.6,862.4,-6.0,601,12441,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,983,3409
$GC,12486,-0.85,-146.6,865.8,-6.8,603,12490,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2405,3409
$GC,12801,-0.85,-146.6,885.3,-6.2,618,12805,0.00,2.75,0.00,0.000,4,0.000,0.077,2220,978,3409
$GC,12821,-0.85,-146.6,886.6,-6.8,619,12826,0.00,2.70,0.00,0.000,6,0.000,0.066,2220,2400,3409
$GC,13148,-0.85,-146.6,906.9,-6.3,635,13153,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,982,3409
$GC,13180,-0.85,-146.6,909.1,-6.5,636,13187,0.00,2.65,0.00,0.000,6,0.000,0.065,2220,2398,3409
$GC,13496,-0.85,-146.6,929.7,-6.9,652,13497,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3409
$GC,13806,-0.85,-146.6,950.4,-6.6,667,13811,0.00,2.72,0.00,0.000,4,0.000,0.075,2220,978,3409
$GC,13849,-0.85,-146.6,953.6,-7.9,669,13854,0.00,2.65,0.00,0.000,6,0.000,0.064,2220,2400,3409
$GC,14176,-0.85,-146.6,974.7,-6.5,685,14180,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,983,3409
$GC,14197,-0.85,-146.6,976.0,-5.4,686,14202,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2401,3409
$STATE,14433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14433,begin apogee
$GC,14438,-0.31,0.0,990.4,6.0,698,14566,0.62,0.00,124.40,1.378,6,0.121,0.000,2341,2182,2817
$STATE,14567,end apogee,CONTROL_FINISHED_OK
$STATE,14567,begin climb
$GC,14569,0.85,146.6,994.4,0.0,704,14701,1.25,2.75,123.62,1.359,4,0.103,0.074,2587,797,2219
$GC,14723,0.85,149.7,989.1,5.9,711,14733,0.00,2.65,4.50,0.917,6,0.000,0.054,2586,2207,2206
$GC,15061,0.85,149.7,967.5,6.5,728,15065,0.00,2.72,0.00,0.000,4,0.000,0.084,2586,3610,2206
$GC,15122,0.85,149.7,963.4,6.4,731,15127,0.00,2.62,0.00,0.000,6,0.000,0.058,2586,2207,2205
$GC,15448,0.85,149.7,943.4,6.0,747,15449,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2207,2205
$GC,15758,0.85,154.7,925.6,5.9,762,15765,0.00,0.00,5.62,1.036,6,0.000,0.000,2586,2207,2186
$GC,16067,0.85,154.7,906.7,6.3,777,16068,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2207,2186
$GC,16376,0.87,165.1,888.1,5.7,792,16389,0.00,0.00,10.57,1.150,6,0.000,0.000,2586,2207,2144
$GC,16686,0.87,165.1,869.6,6.1,807,16687,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2207,2143
$GC,16995,0.88,176.5,851.2,5.7,822,17008,0.00,0.00,11.15,1.148,6,0.000,0.000,2586,2207,2097
$GC,17304,0.90,196.2,834.0,5.5,837,17325,0.00,0.00,17.77,1.198,6,0.000,0.000,2586,2207,2016
$GC,17634,0.92,215.7,815.7,5.5,853,17659,0.12,2.88,17.58,1.188,4,0.082,0.081,2615,788,1937
$GC,17680,0.92,215.7,812.4,6.4,855,17685,0.00,2.65,0.00,0.000,6,0.000,0.058,2615,2200,1936
$GC,18008,0.92,215.7,789.5,7.0,871,18009,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2200,1936
$GC,18317,0.92,215.7,765.7,7.9,886,18318,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2200,1936
$GC,18626,0.92,215.7,742.0,7.6,901,18631,0.00,2.72,0.00,0.000,4,0.000,0.077,2615,790,1935
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$STATE,28241,end climb,SURFACE_DEPTH_REACHED
$STATE,28241,begin surface coast
$FINISH,1.2,1.020521
$STATE,28265,end surface coast,CONTROL_FINISHED_OK
$STATE,28265,begin surface
$SM_CCo,28285,195.73,0.725,4,0,509,566.15
$SM_GC,1.70,0.00,0.00,195.73,0.000,0.000,0.725,73,2402,509,-10.75,0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2066
$TCM_TEMP,14.70
$XPDR_PINGS,181
$24V_AH,23.2,33.980
$10V_AH,10.1,16.727
$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
$DEVICE_SECS,26.050,298.575,361.700,195.725,0.000,97.915,125.768,342.567,53.750,0.000,0.000,65.420,2489.228,22215.961,857.709,2936.798,863.689,33.369,2319.052,0.000,2817.179,0.000,56.091
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.451,943.549,722.053,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69383,1370
$CFSIZE,260165632,247881728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,4,0
$GPS,191207,032627,6402.579,-706.701,36,3.6,55,-9.1