version: 66.02
glider: 16
mission: 6
dive: 222
start: 12 27 107 18 30 27
data:
$ID,16
$MISSION,6
$DIVE,222
$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,-2080864.6
$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,26
$R_STBD_OVSHOOT,14
$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
$GPS1,181007,6351.279,-600.073,43,1.4,48,-8.4
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-46.0
$GPS2,182935,6351.242,-559.721,13,3.8,32,-8.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.126,-0.180
$KALMAN_X,-65011.8,201.3,-117.9,228490.4,3939.5
$KALMAN_Y,55482.4,-14.6,232.3,190683.7,-188.4
$MHEAD_RNG_PITCHd_Wd,223.4,132016,-11.1,-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,-143.9,0.0,0.0,0,144,0.00,0.00,-121.68,0.000,2,0.000,0.000,74,2403,3207
$GC,147,-0.85,-146.6,4.6,-3.6,6,172,12.55,2.70,-4.65,0.000,4,0.183,0.087,2218,3775,3416
$GC,261,-0.85,-146.6,24.0,-10.1,11,265,0.00,2.60,0.00,0.000,6,0.000,0.065,2218,2408,3418
$GC,584,-0.85,-146.6,51.2,-9.0,27,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2408,3418
$GC,892,-0.85,-146.6,79.6,-9.2,42,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2408,3418
$GC,1201,-0.85,-146.6,105.3,-7.7,57,1205,0.00,2.72,0.00,0.000,4,0.000,0.076,2218,984,3418
$GC,1295,-0.85,-146.6,111.8,-6.3,61,1299,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2405,3418
$GC,1616,-0.85,-146.6,131.8,-6.2,77,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3418
$GC,1926,-0.85,-146.6,151.3,-7.1,92,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3419
$GC,2237,-0.85,-146.6,175.4,-7.9,107,2241,0.00,2.72,0.00,0.000,4,0.000,0.073,2219,977,3418
$GC,2291,-0.85,-146.6,180.2,-8.4,109,2298,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2400,3419
$GC,2606,-0.85,-146.6,205.2,-8.1,125,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2400,3419
$GC,2916,-0.85,-146.6,229.4,-7.5,140,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2400,3419
$GC,3225,-0.85,-146.6,251.4,-6.9,155,3229,0.00,2.70,0.00,0.000,4,0.000,0.076,2219,983,3419
$GC,3279,-0.85,-146.6,255.3,-6.9,157,3286,0.00,2.62,0.00,0.000,6,0.000,0.062,2219,2397,3418
$GC,3596,-0.85,-146.6,276.3,-6.7,173,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2397,3418
$GC,3904,-0.85,-146.6,299.5,-8.2,188,3908,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,977,3419
$GC,3970,-0.85,-146.6,305.1,-8.6,191,3974,0.00,2.67,0.00,0.000,6,0.000,0.063,2219,2408,3419
$GC,4290,-0.85,-146.6,330.9,-8.0,207,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2408,3419
$GC,4600,-0.85,-146.6,355.8,-8.0,222,4604,0.00,2.75,0.00,0.000,4,0.000,0.077,2219,977,3419
$GC,4649,-0.85,-146.6,359.9,-8.6,224,4653,0.00,2.65,0.00,0.000,6,0.000,0.063,2218,2401,3418
$GC,4964,-0.85,-146.6,384.5,-7.6,239,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2402,3419
$GC,5273,-0.85,-146.6,409.3,-8.1,254,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3418
$GC,5583,-0.85,-146.6,433.6,-7.7,269,5587,0.00,2.72,0.00,0.000,4,0.000,0.076,2219,980,3418
$GC,5648,-0.85,-146.6,438.8,-7.9,272,5653,0.00,2.65,0.00,0.000,6,0.000,0.063,2218,2404,3418
$GC,5975,-0.85,-146.6,462.4,-7.3,288,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3418
$GC,6285,-0.85,-146.6,485.4,-7.5,303,6289,0.00,2.70,0.00,0.000,4,0.000,0.072,2219,985,3417
$GC,6339,-0.85,-146.6,489.6,-7.3,305,6346,0.00,2.65,0.00,0.000,6,0.000,0.061,2218,2398,3416
$GC,6655,-0.85,-146.6,512.7,-7.1,321,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3416
$GC,6964,-0.85,-146.6,533.3,-6.5,336,6969,0.00,2.70,0.00,0.000,4,0.000,0.072,2218,982,3416
$GC,7013,-0.85,-146.6,536.8,-7.2,338,7017,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2406,3416
$GC,7334,-0.85,-146.6,556.3,-6.1,354,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2407,3416
$GC,7645,-0.85,-146.6,575.3,-6.2,369,7649,0.00,2.72,0.00,0.000,4,0.000,0.072,2218,977,3416
$GC,7721,-0.85,-146.6,580.6,-6.7,372,7729,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2402,3415
$GC,8037,-0.85,-146.6,599.5,-5.9,388,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2402,3415
$GC,8347,-0.85,-146.6,618.1,-6.2,403,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2402,3415
$GC,8655,-0.85,-146.6,637.4,-6.4,418,8660,0.00,2.70,0.00,0.000,4,0.000,0.073,2218,985,3414
$GC,8710,-0.85,-146.6,641.1,-6.9,420,8718,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2398,3414
$GC,9027,-0.85,-146.6,661.7,-6.7,436,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3414
$GC,9335,-0.85,-146.6,682.5,-6.7,451,9340,0.00,2.70,0.00,0.000,4,0.000,0.071,2219,977,3413
$GC,9384,-0.85,-146.6,686.1,-7.1,453,9389,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2406,3413
$GC,9706,-0.85,-146.6,707.5,-6.6,469,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2406,3413
$GC,10015,-0.85,-146.6,727.8,-6.6,484,10019,0.00,2.70,0.00,0.000,4,0.000,0.071,2219,985,3413
$GC,10063,-0.85,-146.6,731.1,-6.6,486,10068,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2418,3413
$GC,10385,-0.85,-146.6,752.4,-6.9,502,10386,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2418,3413
$GC,10694,-0.85,-146.6,773.8,-6.9,517,10698,0.00,2.72,0.00,0.000,4,0.000,0.072,2219,986,3413
$GC,10759,-0.85,-146.6,778.8,-7.6,520,10764,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2400,3412
$GC,11087,-0.85,-146.6,801.8,-6.9,536,11088,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2401,3412
$GC,11396,-0.85,-146.6,822.7,-6.7,551,11400,0.00,2.70,0.00,0.000,4,0.000,0.073,2219,985,3412
$GC,11445,-0.85,-146.6,826.2,-6.9,553,11449,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2400,3412
$GC,11760,-0.85,-146.6,846.6,-6.4,568,11761,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3412
$GC,12069,-0.85,-146.6,866.2,-6.3,583,12070,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2400,3412
$GC,12379,-0.85,-146.6,885.0,-6.1,598,12383,0.00,2.70,0.00,0.000,4,0.000,0.071,2218,979,3411
$GC,12433,-0.85,-146.6,888.5,-6.0,600,12440,0.00,2.65,0.00,0.000,6,0.000,0.060,2219,2399,3411
$GC,12749,-0.85,-146.6,906.8,-5.6,616,12751,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3411
$GC,13059,-0.85,-146.6,924.1,-5.6,631,13060,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3411
$GC,13368,-0.85,-146.6,941.8,-5.9,646,13372,0.00,2.67,0.00,0.000,4,0.000,0.067,2219,982,3411
$GC,13433,-0.85,-146.6,945.8,-6.0,649,13438,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2401,3411
$GC,13761,-0.85,-146.6,964.8,-5.9,665,13762,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3410
$GC,14070,-0.85,-146.6,982.4,-5.6,680,14074,0.00,2.67,0.00,0.000,4,0.000,0.065,2219,979,3410
$GC,14124,-0.85,-146.6,985.7,-6.6,682,14130,0.00,2.60,0.00,0.000,6,0.000,0.057,2219,2401,3410
$STATE,14211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14211,begin apogee
$GC,14217,-0.31,0.0,990.7,5.7,687,14345,0.62,0.00,125.22,1.388,6,0.125,0.000,2338,2186,2818
$STATE,14346,end apogee,CONTROL_FINISHED_OK
$STATE,14346,begin climb
$GC,14348,0.85,146.6,994.6,0.0,693,14480,1.25,2.72,124.70,1.352,4,0.086,0.067,2593,795,2219
$GC,14515,0.85,146.6,988.4,6.8,701,14519,0.00,2.60,0.00,0.000,6,0.000,0.051,2593,2201,2217
$GC,14842,0.85,146.6,967.1,6.3,717,14843,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2201,2217
$GC,15151,0.85,146.6,947.7,6.2,732,15152,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2201,2216
$GC,15461,0.85,146.6,928.5,6.4,747,15462,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2201,2215
$GC,15769,0.85,146.6,908.4,6.4,762,15774,0.00,2.70,0.00,0.000,4,0.000,0.077,2592,3611,2215
$GC,15808,0.85,146.6,905.6,6.9,764,15813,0.00,2.60,0.00,0.000,6,0.000,0.054,2593,2208,2215
$GC,16134,0.85,146.6,884.2,6.4,780,16135,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2208,2215
$GC,16443,0.85,146.6,864.3,6.5,795,16444,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2208,2215
$GC,16752,0.85,146.6,844.1,6.5,810,16753,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2208,2215
$GC,17062,0.85,146.6,823.9,6.6,825,17066,0.00,2.72,0.00,0.000,4,0.000,0.079,2593,3615,2215
$GC,17100,0.85,146.6,821.3,6.2,827,17105,0.00,2.62,0.00,0.000,6,0.000,0.055,2592,2202,2215
$GC,17426,0.85,146.6,800.0,6.7,843,17427,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2202,2215
$GC,17735,0.85,146.6,780.1,6.3,858,17737,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2202,2215
$GC,18044,0.85,146.6,760.0,6.4,873,18049,0.00,2.72,0.00,0.000,4,0.000,0.080,2593,3609,2215
$GC,18088,0.85,146.6,757.0,6.4,875,18092,0.00,2.62,0.00,0.000,6,0.000,0.056,2593,2197,2215
$GC,18415,0.85,146.6,736.5,6.0,891,18417,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2197,2215
$GC,18724,0.85,146.6,717.2,6.3,906,18725,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2197,2215
$GC,19033,0.85,146.6,698.1,6.1,921,19038,0.00,2.72,0.00,0.000,4,0.000,0.081,2593,3608,2215
$GC,19095,0.85,146.6,693.9,7.0,924,19099,0.00,2.60,0.00,0.000,6,0.000,0.058,2593,2197,2215
$GC,19420,0.86,148.6,674.2,5.9,940,19422,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2197,2215
$GC,19730,0.87,159.7,655.9,5.7,955,19743,0.00,0.00,11.85,1.135,6,0.000,0.000,2593,2197,2164
$GC,20039,0.87,159.7,637.4,6.1,970,20040,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2197,2164
$GC,20348,0.88,168.0,619.1,5.8,985,20358,0.00,0.00,8.77,1.062,6,0.000,0.000,2592,2197,2132
$GC,20660,0.89,178.8,601.3,5.7,1000,20676,0.00,0.00,10.55,1.079,6,0.000,0.000,2593,2197,2086
$GC,20986,0.91,201.9,583.0,5.4,1016,21011,0.00,2.80,20.25,1.145,4,0.000,0.080,2593,3609,1994
$GC,21033,0.92,206.9,580.1,5.9,1018,21045,0.00,2.67,6.05,0.927,6,0.000,0.058,2593,2197,1972
$GC,21354,0.94,222.1,561.4,5.6,1034,21374,0.00,0.00,14.07,1.087,6,0.000,0.000,2593,2197,1910
$GC,21683,0.94,225.6,542.0,5.9,1050,21689,0.00,0.00,4.53,0.800,6,0.000,0.000,2592,2197,1898
$GC,21992,0.94,226.6,523.6,6.0,1065,21997,0.00,2.67,0.00,0.000,4,0.000,0.074,2593,792,1897
$GC,22035,0.96,244.9,520.9,5.5,1067,22061,0.12,2.58,17.52,1.084,6,0.074,0.051,2623,2202,1818
$GC,22383,0.96,244.9,495.2,7.6,1084,22384,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2202,1817
$GC,22691,0.96,244.9,472.0,7.5,1099,22696,0.00,2.70,0.00,0.000,4,0.000,0.072,2623,788,1817
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$STATE,28191,end climb,SURFACE_DEPTH_REACHED
$STATE,28191,begin surface coast
$FINISH,1.0,1.027666
$STATE,28215,end surface coast,CONTROL_FINISHED_OK
$STATE,28215,begin surface
$SM_CCo,28235,196.85,0.732,2,0,509,566.15
$SM_GC,1.53,0.00,0.00,196.85,0.000,0.000,0.732,73,2402,509,-10.75,0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2057
$TCM_TEMP,14.70
$XPDR_PINGS,153
$24V_AH,23.2,39.074
$10V_AH,10.1,19.924
$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,26.300,160.750,343.525,196.850,0.000,163.137,246.555,344.584,46.750,0.000,0.000,33.260,2387.839,22713.240,779.886,2658.822,1064.800,33.375,2057.978,0.000,2593.547,0.000,56.093
$DEVICE_MAMPS,183.313,87.438,1388.270,731.718,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1018.690,941.886,728.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69513,1367
$CFSIZE,260165632,245731328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,2,0
$GPS,281207,022558,6347.667,-600.048,33,7.2,52,-8.3