version: 66.02
glider: 16
mission: 6
dive: 203
start: 12 21 107 5 50 44
data:
$ID,16
$MISSION,6
$DIVE,203
$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,-2080189.1
$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,13
$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
$GPS1,054237,6415.780,-653.553,44,1.7,49,-9.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-56.8
$GPS2,054953,6415.729,-653.544,14,2.9,33,-9.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.037,0.218
$KALMAN_X,-87878.8,-1278.9,42.0,205347.3,3458.3
$KALMAN_Y,65746.9,-67.6,165.3,225883.3,-4309.7
$MHEAD_RNG_PITCHd_Wd,18.6,46869,-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,-102.00,0.000,2,0.000,0.000,72,2401,2845
$GC,127,-0.85,-146.6,3.6,-2.1,5,164,12.43,2.72,-17.55,0.000,4,0.181,0.084,2223,977,3416
$GC,404,-0.85,-146.6,26.4,-8.0,16,411,0.00,2.70,0.00,0.000,6,0.000,0.064,2223,2400,3417
$GC,720,-0.85,-146.6,48.8,-6.8,32,724,0.00,2.72,0.00,0.000,4,0.000,0.074,2223,979,3417
$GC,791,-0.85,-146.6,54.3,-8.2,35,795,0.00,2.67,0.00,0.000,6,0.000,0.063,2223,2406,3417
$GC,1114,-0.85,-146.6,81.2,-8.8,51,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2406,3417
$GC,1422,-0.85,-146.6,108.6,-8.7,66,1427,0.00,2.72,0.00,0.000,4,0.000,0.074,2223,982,3417
$GC,1454,-0.85,-146.6,111.5,-9.0,67,1461,0.00,2.67,0.00,0.000,6,0.000,0.064,2223,2397,3417
$GC,1771,-0.85,-146.6,136.6,-7.9,83,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2397,3417
$GC,2079,-0.85,-146.6,160.1,-7.1,98,2083,0.00,2.72,0.00,0.000,4,0.000,0.075,2223,976,3417
$GC,2122,-0.85,-146.6,163.4,-7.4,100,2127,0.00,2.67,0.00,0.000,6,0.000,0.064,2223,2404,3417
$GC,2443,-0.85,-146.6,189.4,-8.4,116,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3417
$GC,2752,-0.85,-146.6,214.5,-7.6,131,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3417
$GC,3062,-0.85,-146.6,237.8,-7.3,146,3067,0.00,2.75,0.00,0.000,4,0.000,0.077,2223,980,3418
$GC,3101,-0.85,-146.6,240.7,-7.6,148,3106,0.00,2.67,0.00,0.000,6,0.000,0.066,2223,2399,3417
$GC,3427,-0.85,-146.6,263.3,-6.9,164,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2398,3418
$GC,3737,-0.85,-146.6,285.4,-7.0,179,3741,0.00,2.72,0.00,0.000,4,0.000,0.079,2223,982,3418
$GC,3780,-0.85,-146.6,288.5,-7.5,181,3784,0.00,2.67,0.00,0.000,6,0.000,0.066,2223,2403,3418
$GC,4106,-0.85,-146.6,309.1,-6.1,197,4111,0.00,2.75,0.00,0.000,4,0.000,0.078,2224,978,3418
$GC,4133,-0.85,-146.6,310.8,-6.4,198,4138,0.00,2.67,0.00,0.000,6,0.000,0.066,2223,2401,3418
$GC,4448,-0.85,-146.6,332.1,-6.9,213,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3418
$GC,4757,-0.85,-146.6,353.3,-7.2,228,4762,0.00,2.72,0.00,0.000,4,0.000,0.079,2223,982,3418
$GC,4790,-0.85,-146.6,355.8,-7.2,229,4796,0.00,2.67,0.00,0.000,6,0.000,0.067,2223,2402,3418
$GC,5105,-0.85,-146.6,378.8,-7.4,245,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2402,3418
$GC,5415,-0.85,-146.6,400.1,-6.6,260,5419,0.00,2.75,0.00,0.000,4,0.000,0.078,2223,974,3417
$GC,5470,-0.85,-146.6,404.0,-7.6,262,5476,0.00,2.70,0.00,0.000,6,0.000,0.067,2223,2407,3417
$GC,5785,-0.85,-146.6,423.7,-6.1,278,5789,0.00,2.75,0.00,0.000,4,0.000,0.078,2223,981,3417
$GC,5806,-0.85,-146.6,425.3,-7.0,279,5810,0.00,2.67,0.00,0.000,6,0.000,0.066,2223,2401,3417
$GC,6126,-0.85,-146.6,446.4,-6.8,295,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3417
$GC,6435,-0.85,-146.6,468.2,-7.0,310,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3416
$GC,6744,-0.85,-146.6,489.3,-6.7,325,6748,0.00,2.72,0.00,0.000,4,0.000,0.078,2223,983,3416
$GC,6765,-0.85,-146.6,490.7,-6.7,326,6770,0.00,2.67,0.00,0.000,6,0.000,0.066,2223,2406,3416
$GC,7086,-0.85,-146.6,512.1,-6.8,342,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2407,3416
$GC,7395,-0.85,-146.6,534.6,-7.2,357,7399,0.00,2.72,0.00,0.000,4,0.000,0.076,2223,982,3415
$GC,7444,-0.85,-146.6,538.3,-7.6,359,7448,0.00,2.67,0.00,0.000,6,0.000,0.065,2223,2405,3415
$GC,7759,-0.85,-146.6,560.6,-7.3,374,7763,0.00,2.72,0.00,0.000,4,0.000,0.076,2223,983,3415
$GC,7785,-0.85,-146.6,562.5,-7.5,375,7789,0.00,2.67,0.00,0.000,6,0.000,0.064,2223,2406,3414
$GC,8107,-0.85,-146.6,586.2,-7.3,391,8111,0.00,2.72,0.00,0.000,4,0.000,0.076,2223,982,3413
$GC,8150,-0.85,-146.6,589.7,-7.5,393,8154,0.00,2.67,0.00,0.000,6,0.000,0.065,2223,2407,3414
$GC,8476,-0.85,-146.6,613.8,-7.2,409,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2407,3413
$GC,8786,-0.85,-146.6,635.2,-6.8,424,8791,0.00,2.72,0.00,0.000,4,0.000,0.076,2223,982,3413
$GC,8835,-0.85,-146.6,638.9,-7.0,426,8839,0.00,2.67,0.00,0.000,6,0.000,0.065,2223,2393,3413
$GC,9156,-0.85,-146.6,659.0,-6.1,442,9160,0.00,2.70,0.00,0.000,4,0.000,0.075,2223,982,3413
$GC,9187,-0.85,-146.6,661.1,-6.3,443,9194,0.00,2.65,0.00,0.000,6,0.000,0.066,2223,2403,3413
$GC,9503,-0.85,-146.6,681.3,-6.5,459,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2403,3413
$GC,9812,-0.85,-146.6,702.1,-6.7,474,9816,0.00,2.72,0.00,0.000,4,0.000,0.075,2223,978,3412
$GC,9851,-0.85,-146.6,704.8,-6.9,476,9855,0.00,2.67,0.00,0.000,6,0.000,0.065,2223,2399,3412
$GC,10176,-0.85,-146.6,727.6,-7.5,492,10181,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,982,3411
$GC,10197,-0.85,-146.6,729.5,-8.8,493,10202,0.00,2.67,0.00,0.000,6,0.000,0.064,2223,2400,3411
$GC,10524,-0.85,-146.6,752.2,-6.9,509,10528,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,982,3411
$GC,10544,-0.85,-146.6,753.7,-7.0,510,10549,0.00,2.65,0.00,0.000,6,0.000,0.064,2223,2400,3411
$GC,10872,-0.85,-146.6,777.3,-7.2,526,10876,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,983,3410
$GC,10898,-0.85,-146.6,779.2,-7.3,527,10902,0.00,2.65,0.00,0.000,6,0.000,0.064,2223,2400,3410
$GC,11220,-0.85,-146.6,801.0,-6.8,543,11221,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3410
$GC,11528,-0.85,-146.6,820.5,-6.3,558,11529,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3410
$GC,11837,-0.85,-146.6,840.6,-6.6,573,11838,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3410
$GC,12147,-0.85,-146.6,861.4,-6.9,588,12151,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,984,3409
$GC,12173,-0.85,-146.6,863.2,-7.1,589,12177,0.00,2.65,0.00,0.000,6,0.000,0.063,2223,2404,3410
$GC,12494,-0.85,-146.6,884.7,-6.8,605,12495,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3410
$GC,12804,-0.85,-146.6,906.5,-7.0,620,12808,0.00,2.70,0.00,0.000,4,0.000,0.072,2223,984,3409
$GC,12836,-0.85,-146.6,908.9,-6.8,621,12842,0.00,2.65,0.00,0.000,6,0.000,0.062,2223,2406,3409
$GC,13151,-0.85,-146.6,930.8,-6.9,637,13152,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2406,3409
$GC,13461,-0.85,-146.6,951.5,-6.6,652,13465,0.00,2.70,0.00,0.000,4,0.000,0.069,2223,982,3409
$GC,13487,-0.85,-146.6,953.5,-7.1,653,13491,0.00,2.65,0.00,0.000,6,0.000,0.060,2223,2397,3409
$GC,13809,-0.85,-146.6,975.2,-6.8,669,13810,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2398,3409
$STATE,14033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14033,begin apogee
$GC,14038,-0.31,0.0,991.1,6.9,680,14166,0.60,0.00,124.70,1.388,6,0.120,0.000,2339,2185,2817
$STATE,14167,end apogee,CONTROL_FINISHED_OK
$STATE,14167,begin climb
$GC,14169,0.85,146.6,996.4,0.0,686,14301,1.23,2.72,124.45,1.351,4,0.085,0.069,2590,800,2218
$GC,14331,0.88,177.6,992.7,5.2,694,14366,0.00,2.62,27.67,1.329,6,0.000,0.052,2590,2202,2091
$GC,14684,0.88,178.6,972.4,6.0,711,14688,0.00,2.72,0.00,0.000,4,0.000,0.081,2590,3607,2091
$GC,14722,0.88,178.6,969.9,6.6,713,14727,0.00,2.60,0.00,0.000,6,0.000,0.055,2590,2203,2090
$GC,15048,0.88,182.2,950.3,5.9,729,15058,0.00,2.72,5.07,0.984,4,0.000,0.073,2590,792,2073
$GC,15096,0.88,182.2,947.1,6.9,731,15101,0.00,2.62,0.00,0.000,6,0.000,0.054,2590,2198,2073
$GC,15418,0.88,182.2,927.2,6.4,747,15419,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2198,2073
$GC,15727,0.89,185.0,908.5,5.9,762,15733,0.00,0.00,4.55,0.933,6,0.000,0.000,2590,2198,2062
$GC,16036,0.90,195.2,890.4,5.7,777,16051,0.00,2.75,9.98,1.172,4,0.000,0.071,2590,790,2021
$GC,16079,0.90,195.2,887.7,6.3,778,16083,0.00,2.62,0.00,0.000,6,0.000,0.054,2590,2205,2020
$GC,16399,0.90,195.2,868.6,6.1,794,16401,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2204,2020
$GC,16709,0.90,195.2,849.8,6.0,809,16710,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2205,2020
$GC,17018,0.90,195.2,831.4,6.0,824,17023,0.00,2.70,0.00,0.000,4,0.000,0.072,2590,791,2020
$GC,17058,0.90,195.2,829.0,6.4,826,17062,0.00,2.60,0.00,0.000,6,0.000,0.055,2590,2200,2019
$GC,17383,0.90,195.2,809.0,6.2,842,17384,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2200,2019
$GC,17693,0.90,195.2,788.8,6.8,857,17694,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2199,2019
$GC,18002,0.90,195.2,767.9,6.9,872,18003,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2199,2019
$GC,18311,0.90,195.2,744.7,7.7,887,18315,0.00,2.70,0.00,0.000,4,0.000,0.074,2590,788,2019
$GC,18343,0.90,195.2,742.1,8.1,888,18350,0.00,2.60,0.00,0.000,6,0.000,0.056,2590,2197,2019
$GC,18658,0.90,195.2,719.4,6.9,904,18659,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2197,2019
$GC,18967,0.90,195.2,698.7,6.5,919,18968,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2197,2019
$GC,19277,0.90,195.2,679.1,6.2,934,19281,0.00,2.70,0.00,0.000,4,0.000,0.074,2590,785,2019
$GC,19320,0.90,195.2,676.1,7.8,936,19324,0.00,2.62,0.00,0.000,6,0.000,0.057,2590,2201,2019
$GC,19647,0.90,195.2,655.2,6.5,952,19648,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2201,2019
$GC,19956,0.90,195.2,634.1,7.0,967,19958,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2201,2019
$GC,20265,0.90,195.2,611.7,7.3,982,20270,0.00,2.70,0.00,0.000,4,0.000,0.074,2590,788,2019
$GC,20303,0.90,195.2,608.7,7.7,984,20308,0.00,2.60,0.00,0.000,6,0.000,0.057,2590,2202,2019
$GC,20629,0.90,195.2,584.4,7.6,1000,20630,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2202,2019
$GC,20938,0.90,195.2,561.1,7.6,1015,20942,0.00,2.70,0.00,0.000,4,0.000,0.073,2590,792,2019
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$GC,23534,0.92,211.9,374.5,5.5,1141,23554,0.00,0.00,15.00,0.990,6,0.000,0.000,2590,2200,1953
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$STATE,28260,end climb,SURFACE_DEPTH_REACHED
$STATE,28260,begin surface coast
$FINISH,1.3,1.027632
$STATE,28269,end surface coast,CONTROL_FINISHED_OK
$STATE,28270,begin surface
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$SM_GC,1.87,0.00,0.00,197.70,0.000,0.000,0.731,75,2401,509,-10.74,0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2060
$TCM_TEMP,17.70
$XPDR_PINGS,159
$24V_AH,23.2,35.338
$10V_AH,10.1,17.595
$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
$DEVICE_SECS,25.975,210.325,347.050,197.700,0.000,32.585,39.226,224.038,48.250,0.000,0.000,34.672,2411.451,22438.922,782.391,2719.001,573.086,33.374,2122.800,0.000,2646.290,0.000,57.173
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1022.972,942.815,728.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69400,1370
$CFSIZE,260165632,247312384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,2,0
$GPS,211207,134701,6418.353,-650.587,38,1.5,43,-9.0