version: 66.02
glider: 16
mission: 6
dive: 197
start: 12 19 107 3 33 56
data:
$ID,16
$MISSION,6
$DIVE,197
$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,-2079981.9
$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,13
$R_STBD_OVSHOOT,15
$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
$GPS1,032627,6402.579,-706.701,36,3.6,55,-9.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-51.7
$GPS2,033303,6402.602,-706.569,14,1.8,14,-9.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.032,0.219
$KALMAN_X,-96273.5,-398.9,225.2,201192.3,1931.2
$KALMAN_Y,84309.2,219.4,54.3,182840.5,-4441.2
$MHEAD_RNG_PITCHd_Wd,17.3,70601,-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,18,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-101.70,0.000,2,0.000,0.000,72,2403,2896
$GC,126,-0.85,-146.6,3.9,-2.6,5,161,12.38,2.72,-14.38,0.000,4,0.179,0.082,2222,980,3415
$GC,415,-0.85,-146.6,34.1,-6.4,18,419,0.00,2.67,0.00,0.000,6,0.000,0.061,2222,2405,3415
$GC,741,-0.85,-146.6,59.9,-7.2,34,745,0.00,2.72,0.00,0.000,4,0.000,0.071,2222,978,3416
$GC,789,-0.85,-146.6,64.3,-9.4,36,794,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2400,3416
$GC,1111,-0.85,-146.6,92.5,-7.7,52,1115,0.00,2.70,0.00,0.000,4,0.000,0.072,2222,982,3416
$GC,1173,-0.85,-146.6,97.3,-7.5,55,1177,0.00,2.67,0.00,0.000,6,0.000,0.061,2222,2405,3416
$GC,1500,-0.85,-146.6,123.9,-8.4,71,1504,0.00,2.72,0.00,0.000,4,0.000,0.074,2222,982,3416
$GC,1532,-0.85,-146.6,126.9,-8.6,72,1539,0.00,2.67,0.00,0.000,6,0.000,0.063,2222,2392,3416
$GC,1847,-0.85,-146.6,153.5,-8.7,88,1852,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,980,3417
$GC,1918,-0.85,-146.6,159.8,-8.6,91,1923,0.00,2.67,0.00,0.000,6,0.000,0.064,2222,2406,3417
$GC,2239,-0.85,-146.6,186.1,-8.0,107,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3417
$GC,2549,-0.85,-146.6,210.6,-7.7,122,2554,0.00,2.67,0.00,0.000,4,0.000,0.091,2222,3768,3417
$GC,2569,-0.85,-146.6,212.4,-8.6,123,2574,0.00,2.60,0.00,0.000,6,0.000,0.064,2222,2403,3417
$GC,2896,-0.85,-146.6,237.2,-7.5,139,2901,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,982,3417
$GC,2974,-0.85,-146.6,243.3,-7.6,142,2980,0.00,2.67,0.00,0.000,6,0.000,0.067,2222,2399,3417
$GC,3289,-0.85,-146.6,265.0,-6.5,158,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3417
$GC,3598,-0.85,-146.6,285.0,-6.4,173,3603,0.00,2.75,0.00,0.000,4,0.000,0.080,2222,977,3417
$GC,3647,-0.85,-146.6,288.2,-6.1,175,3652,0.00,2.70,0.00,0.000,6,0.000,0.068,2222,2403,3417
$GC,3962,-0.85,-146.6,308.2,-6.6,190,3967,0.00,2.75,0.00,0.000,4,0.000,0.081,2222,976,3417
$GC,3995,-0.85,-146.6,310.5,-7.3,191,4001,0.00,2.70,0.00,0.000,6,0.000,0.068,2222,2398,3417
$GC,4310,-0.85,-146.6,330.0,-6.0,207,4315,0.00,2.75,0.00,0.000,4,0.000,0.081,2223,979,3417
$GC,4349,-0.85,-146.6,332.5,-7.0,209,4354,0.00,2.70,0.00,0.000,6,0.000,0.069,2222,2400,3417
$GC,4676,-0.85,-146.6,350.5,-5.3,225,4681,0.00,2.75,0.00,0.000,4,0.000,0.081,2222,977,3417
$GC,4720,-0.85,-146.6,353.1,-5.7,227,4725,0.00,2.70,0.00,0.000,6,0.000,0.069,2222,2405,3415
$GC,5041,-0.85,-146.6,369.7,-5.4,243,5045,0.00,2.75,0.00,0.000,4,0.000,0.081,2222,982,3416
$GC,5073,-0.85,-146.6,371.5,-5.6,244,5079,0.00,2.67,0.00,0.000,6,0.000,0.069,2222,2401,3416
$GC,5389,-0.85,-146.6,389.8,-5.7,260,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3415
$GC,5697,-0.85,-146.6,407.6,-6.0,275,5702,0.00,2.75,0.00,0.000,4,0.000,0.081,2222,976,3416
$GC,5736,-0.85,-146.6,410.0,-6.1,277,5740,0.00,2.70,0.00,0.000,6,0.000,0.068,2222,2401,3414
$GC,6061,-0.85,-146.6,429.6,-6.3,293,6066,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,982,3414
$GC,6100,-0.85,-146.6,432.1,-6.7,295,6105,0.00,2.67,0.00,0.000,6,0.000,0.069,2222,2402,3414
$GC,6426,-0.85,-146.6,453.9,-7.1,311,6431,0.00,2.75,0.00,0.000,4,0.000,0.081,2222,982,3413
$GC,6458,-0.85,-146.6,456.3,-7.6,312,6465,0.00,2.67,0.00,0.000,6,0.000,0.068,2222,2402,3413
$GC,6774,-0.85,-146.6,478.8,-7.1,328,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3413
$GC,7084,-0.85,-146.6,500.7,-7.0,343,7088,0.00,2.75,0.00,0.000,4,0.000,0.081,2222,979,3412
$GC,7138,-0.85,-146.6,504.8,-7.9,345,7145,0.00,2.70,0.00,0.000,6,0.000,0.068,2223,2394,3412
$GC,7455,-0.85,-146.6,526.3,-6.7,361,7459,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,982,3412
$GC,7480,-0.85,-146.6,528.3,-7.5,362,7485,0.00,2.67,0.00,0.000,6,0.000,0.067,2222,2402,3412
$GC,7803,-0.85,-146.6,550.1,-6.8,378,7807,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,983,3412
$GC,7834,-0.85,-146.6,552.6,-6.8,379,7841,0.00,2.67,0.00,0.000,6,0.000,0.067,2222,2404,3413
$GC,8150,-0.85,-146.6,574.6,-6.9,395,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3412
$GC,8460,-0.85,-146.6,596.9,-7.3,410,8464,0.00,2.75,0.00,0.000,4,0.000,0.079,2222,979,3411
$GC,8503,-0.85,-146.6,600.0,-7.1,412,8508,0.00,2.67,0.00,0.000,6,0.000,0.066,2222,2406,3411
$GC,8829,-0.85,-146.6,621.1,-6.3,428,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3411
$GC,9138,-0.85,-146.6,640.5,-6.4,443,9143,0.00,2.75,0.00,0.000,4,0.000,0.078,2222,978,3410
$GC,9165,-0.85,-146.6,642.3,-6.9,444,9170,0.00,2.67,0.00,0.000,6,0.000,0.065,2222,2409,3410
$GC,9486,-0.85,-146.6,663.6,-6.4,460,9491,0.00,2.72,0.00,0.000,4,0.000,0.078,2222,982,3410
$GC,9519,-0.85,-146.6,665.9,-7.4,461,9525,0.00,2.67,0.00,0.000,6,0.000,0.065,2222,2402,3410
$GC,9834,-0.85,-146.6,687.0,-6.7,477,9838,0.00,2.72,0.00,0.000,4,0.000,0.078,2222,983,3410
$GC,9854,-0.85,-146.6,688.4,-6.7,478,9859,0.00,2.65,0.00,0.000,6,0.000,0.065,2222,2400,3410
$GC,10181,-0.85,-146.6,708.8,-6.4,494,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3410
$GC,10491,-0.85,-146.6,727.8,-5.8,509,10496,0.00,2.72,0.00,0.000,4,0.000,0.078,2222,983,3409
$GC,10523,-0.85,-146.6,729.9,-6.1,510,10530,0.00,2.67,0.00,0.000,6,0.000,0.066,2222,2397,3409
$GC,10839,-0.85,-146.6,748.6,-5.9,526,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3409
$GC,11149,-0.85,-146.6,765.8,-5.4,541,11154,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,982,3409
$GC,11176,-0.85,-146.6,767.5,-6.1,542,11180,0.00,2.67,0.00,0.000,6,0.000,0.065,2222,2395,3409
$GC,11497,-0.85,-146.6,784.8,-5.4,558,11499,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2395,3409
$GC,11807,-0.85,-146.6,802.2,-5.6,573,11811,0.00,2.72,0.00,0.000,4,0.000,0.078,2222,980,3409
$GC,11833,-0.85,-146.6,803.9,-5.7,574,11838,0.00,2.65,0.00,0.000,6,0.000,0.065,2222,2398,3409
$GC,12149,-0.85,-146.6,822.7,-6.0,589,12150,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3409
$GC,12458,-0.85,-146.6,841.4,-6.1,604,12463,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,985,3409
$GC,12490,-0.85,-146.6,843.5,-6.4,605,12497,0.00,2.65,0.00,0.000,6,0.000,0.065,2222,2404,3409
$GC,12806,-0.85,-146.6,862.4,-6.0,621,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3409
$GC,13116,-0.85,-146.6,880.9,-6.1,636,13120,0.00,2.75,0.00,0.000,4,0.000,0.077,2222,979,3409
$GC,13154,-0.85,-146.6,883.4,-6.8,638,13159,0.00,2.67,0.00,0.000,6,0.000,0.064,2222,2406,3409
$GC,13480,-0.85,-146.6,902.1,-5.6,654,13481,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3409
$GC,13789,-0.85,-146.6,919.1,-5.5,669,13793,0.00,2.72,0.00,0.000,4,0.000,0.076,2222,979,3409
$GC,13821,-0.85,-146.6,920.8,-5.4,670,13828,0.00,2.67,0.00,0.000,6,0.000,0.062,2222,2401,3409
$GC,14137,-0.85,-146.6,937.4,-5.3,686,14138,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3408
$GC,14446,-0.85,-146.6,954.3,-5.6,701,14450,0.00,2.70,0.00,0.000,4,0.000,0.073,2222,984,3408
$GC,14485,-0.85,-146.6,956.4,-5.6,703,14489,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2404,3408
$GC,14811,-0.85,-146.6,973.9,-5.5,719,14812,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3408
$STATE,15117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15118,begin apogee
$GC,15123,-0.31,0.0,990.3,5.4,734,15250,0.60,0.00,124.10,1.384,6,0.118,0.000,2338,2183,2817
$STATE,15251,end apogee,CONTROL_FINISHED_OK
$STATE,15251,begin climb
$GC,15253,0.85,146.6,993.6,0.0,740,15381,1.23,0.00,123.30,1.365,6,0.087,0.000,2587,2183,2219
$GC,15684,0.85,146.6,966.8,7.3,761,15688,0.00,2.78,0.00,0.000,4,0.000,0.079,2587,3614,2217
$GC,15710,0.85,146.6,964.6,8.0,762,15714,0.00,2.62,0.00,0.000,6,0.000,0.057,2587,2207,2217
$GC,16031,0.85,146.6,940.8,7.5,778,16036,0.00,2.72,0.00,0.000,4,0.000,0.077,2587,789,2217
$GC,16070,0.85,146.6,937.7,7.9,780,16074,0.00,2.60,0.00,0.000,6,0.000,0.052,2587,2202,2216
$GC,16395,0.85,146.6,913.4,7.4,796,16400,0.00,2.70,0.00,0.000,4,0.000,0.079,2588,3607,2216
$GC,16445,0.85,146.6,909.4,8.8,798,16449,0.00,2.60,0.00,0.000,6,0.000,0.058,2586,2200,2216
$GC,16760,0.85,146.6,886.2,7.5,813,16761,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2200,2216
$GC,17069,0.85,146.6,863.0,7.6,828,17070,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2200,2216
$GC,17379,0.85,146.6,840.1,7.3,843,17380,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2200,2216
$GC,17688,0.85,146.6,818.0,7.1,858,17692,0.00,2.72,0.00,0.000,4,0.000,0.081,2587,3607,2216
$GC,17726,0.85,146.6,815.2,7.8,860,17731,0.00,2.65,0.00,0.000,6,0.000,0.062,2587,2196,2216
$GC,18052,0.85,146.6,792.3,6.9,876,18053,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2196,2216
$GC,18361,0.85,146.6,770.6,7.0,891,18362,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2196,2216
$GC,18670,0.85,146.6,750.3,6.4,906,18671,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2196,2216
$GC,18980,0.85,146.6,730.3,6.2,921,18981,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2194,2216
$GC,19289,0.85,147.2,711.6,6.0,936,19293,0.00,2.75,0.00,0.000,4,0.000,0.086,2587,3607,2216
$GC,19332,0.85,147.2,708.8,6.3,938,19336,0.00,2.65,0.00,0.000,6,0.000,0.064,2587,2194,2216
$GC,19659,0.85,147.2,688.9,6.0,954,19660,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2194,2216
$GC,19968,0.85,152.3,670.3,5.9,969,19976,0.00,0.00,6.18,0.996,6,0.000,0.000,2587,2194,2196
$GC,20277,0.85,152.3,651.6,6.0,984,20278,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2194,2196
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$STATE,29276,end climb,SURFACE_DEPTH_REACHED
$STATE,29276,begin surface coast
$FINISH,1.2,1.027526
$STATE,29297,end surface coast,CONTROL_FINISHED_OK
$STATE,29298,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,2042
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$XPDR_PINGS,168
$24V_AH,23.2,34.168
$10V_AH,10.1,16.849
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$DEVICE_SECS,25.975,227.300,312.875,229.100,0.000,32.589,34.878,207.779,50.500,0.000,0.000,14.585,2513.491,23255.689,821.762,2808.240,552.376,33.377,2204.198,0.000,2752.746,0.000,56.103
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72548,1423
$CFSIZE,260165632,247808000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,3,0
$GPS,191207,114807,6404.460,-703.797,48,1.7,53,-9.0