version: 66.02
glider: 16
mission: 6
dive: 226
start: 12 29 107 2 55 46
data:
$ID,16
$MISSION,6
$DIVE,226
$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,-2081029.1
$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,14
$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
$GPS1,023907,6337.433,-557.438,40,1.7,40,-8.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-54.3
$GPS2,025456,6337.299,-557.157,16,1.6,33,-8.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.035,-0.219
$KALMAN_X,-41257.2,-204.6,-659.3,207944.1,9247.4
$KALMAN_Y,49082.4,542.0,85.5,170857.7,-3871.6
$MHEAD_RNG_PITCHd_Wd,197.3,106327,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-100.30,0.000,2,0.000,0.000,73,2412,2941
$GC,127,-0.85,-146.6,3.3,-2.1,5,159,12.15,2.60,-13.45,0.000,4,0.172,0.085,2221,3764,3417
$GC,412,-0.85,-146.6,30.6,-10.7,18,416,0.00,2.50,0.00,0.000,6,0.000,0.051,2221,2397,3417
$GC,738,-0.85,-146.6,60.8,-8.2,34,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3417
$GC,1047,-0.85,-146.6,83.2,-6.6,49,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3417
$GC,1356,-0.85,-146.6,107.9,-7.5,64,1360,0.00,2.65,0.00,0.000,4,0.000,0.069,2221,985,3417
$GC,1405,-0.85,-146.6,111.6,-7.0,66,1409,0.00,2.60,0.00,0.000,6,0.000,0.057,2221,2404,3417
$GC,1727,-0.85,-146.6,136.1,-8.5,82,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3417
$GC,2035,-0.85,-146.6,161.4,-8.4,97,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,2344,-0.85,-146.6,187.7,-8.4,112,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,2654,-0.85,-146.6,214.5,-8.9,127,2658,0.00,2.67,0.00,0.000,4,0.000,0.070,2221,984,3418
$GC,2697,-0.85,-146.6,218.3,-9.1,129,2701,0.00,2.60,0.00,0.000,6,0.000,0.059,2221,2397,3419
$GC,3024,-0.85,-146.6,244.8,-7.6,145,3028,0.00,2.65,0.00,0.000,4,0.000,0.084,2221,3768,3419
$GC,3134,-0.85,-146.6,253.3,-7.6,150,3139,0.00,2.53,0.00,0.000,6,0.000,0.057,2221,2400,3419
$GC,3456,-0.85,-146.6,273.6,-6.3,166,3460,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,983,3419
$GC,3594,-0.85,-146.6,283.0,-6.7,172,3599,0.00,2.62,0.00,0.000,6,0.000,0.062,2221,2403,3419
$GC,3909,-0.85,-146.6,305.6,-7.6,187,3914,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,982,3418
$GC,3954,-0.85,-146.6,309.0,-8.1,189,3959,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2403,3419
$GC,4275,-0.85,-146.6,331.8,-7.0,205,4279,0.00,2.65,0.00,0.000,4,0.000,0.087,2221,3766,3419
$GC,4358,-0.85,-146.6,338.1,-7.7,209,4362,0.00,2.55,0.00,0.000,6,0.000,0.061,2221,2403,3419
$GC,4684,-0.85,-146.6,364.1,-8.0,225,4688,0.00,2.70,0.00,0.000,4,0.000,0.076,2221,979,3419
$GC,4738,-0.85,-146.6,368.8,-9.3,227,4745,0.00,2.65,0.00,0.000,6,0.000,0.062,2221,2404,3419
$GC,5054,-0.85,-146.6,392.6,-7.2,243,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3417
$GC,5363,-0.85,-146.6,415.2,-7.3,258,5368,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,982,3417
$GC,5440,-0.85,-146.6,421.2,-7.9,261,5447,0.00,2.65,0.00,0.000,6,0.000,0.062,2221,2408,3417
$GC,5756,-0.85,-146.6,443.7,-7.1,277,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2408,3415
$GC,6066,-0.85,-146.6,465.2,-6.9,292,6070,0.00,2.72,0.00,0.000,4,0.000,0.074,2222,979,3414
$GC,6154,-0.85,-146.6,471.9,-7.4,296,6158,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2404,3415
$GC,6480,-0.85,-146.6,496.0,-7.6,312,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3414
$GC,6790,-0.85,-146.6,519.4,-7.5,327,6794,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,982,3412
$GC,6844,-0.85,-146.6,523.8,-7.9,329,6851,0.00,2.65,0.00,0.000,6,0.000,0.062,2221,2408,3412
$GC,7160,-0.85,-146.6,548.2,-7.5,345,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2408,3411
$GC,7470,-0.85,-146.6,572.6,-8.1,360,7474,0.00,2.72,0.00,0.000,4,0.000,0.073,2221,977,3411
$GC,7524,-0.85,-146.6,577.3,-8.6,362,7530,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2401,3411
$GC,7839,-0.85,-146.6,603.5,-8.5,378,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3410
$GC,8149,-0.85,-146.6,629.9,-8.4,393,8153,0.00,2.70,0.00,0.000,4,0.000,0.072,2221,979,3408
$GC,8203,-0.85,-146.6,634.9,-8.9,395,8210,0.00,2.67,0.00,0.000,6,0.000,0.063,2221,2397,3408
$GC,8519,-0.85,-146.6,660.7,-8.2,411,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3408
$GC,8829,-0.85,-146.6,685.2,-7.8,426,8833,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,980,3407
$GC,8883,-0.85,-146.6,689.8,-8.8,428,8890,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2404,3407
$GC,9199,-0.85,-146.6,713.3,-7.4,444,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3406
$GC,9508,-0.85,-146.6,736.5,-7.5,459,9513,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,983,3406
$GC,9580,-0.85,-146.6,742.3,-8.2,462,9584,0.00,2.62,0.00,0.000,6,0.000,0.064,2221,2400,3405
$GC,9901,-0.85,-146.6,766.7,-7.4,478,9902,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3405
$GC,10211,-0.85,-146.6,790.1,-7.7,493,10215,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,983,3404
$GC,10272,-0.85,-146.6,795.1,-8.4,496,10277,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2400,3404
$GC,10599,-0.85,-146.6,819.9,-7.5,512,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3403
$GC,10908,-0.85,-146.6,842.6,-7.3,527,10912,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,983,3403
$GC,10962,-0.85,-146.6,846.8,-7.7,529,10969,0.00,2.62,0.00,0.000,6,0.000,0.064,2221,2395,3403
$GC,11278,-0.85,-146.6,868.7,-6.9,545,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2396,3402
$GC,11586,-0.85,-146.6,889.5,-6.5,560,11591,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,980,3402
$GC,11625,-0.85,-146.6,892.2,-6.6,562,11630,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2403,3402
$GC,11951,-0.85,-146.6,913.7,-6.7,578,11955,0.00,2.67,0.00,0.000,4,0.000,0.093,2221,3767,3402
$GC,12000,-0.85,-146.6,917.3,-7.0,580,12004,0.00,2.55,0.00,0.000,6,0.000,0.059,2221,2393,3401
$GC,12321,-0.85,-146.6,937.6,-6.2,596,12322,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2393,3401
$GC,12631,-0.85,-146.6,956.6,-6.0,611,12632,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2393,3401
$GC,12941,-0.85,-146.6,975.9,-6.5,626,12942,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2393,3401
$STATE,13164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13164,begin apogee
$GC,13169,-0.31,0.0,990.5,6.5,637,13296,0.60,0.00,123.55,1.371,6,0.121,0.000,2336,2195,2817
$STATE,13297,end apogee,CONTROL_FINISHED_OK
$STATE,13297,begin climb
$GC,13299,0.85,146.6,994.7,0.0,643,13432,1.27,2.78,124.28,1.338,4,0.105,0.076,2587,794,2219
$GC,13462,0.85,146.6,989.4,6.4,651,13466,0.00,2.65,0.00,0.000,6,0.000,0.056,2587,2205,2218
$GC,13788,0.85,147.7,970.1,6.0,667,13789,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2218
$GC,14097,0.85,153.7,952.0,5.8,682,14111,0.00,2.80,7.50,1.124,4,0.000,0.082,2587,3604,2190
$GC,14141,0.85,153.7,949.1,7.0,684,14146,0.00,2.62,0.00,0.000,6,0.000,0.061,2587,2204,2189
$GC,14466,0.85,153.7,929.2,6.2,700,14468,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2190
$GC,14776,0.86,157.6,910.6,5.9,715,14783,0.00,0.00,5.07,0.981,6,0.000,0.000,2587,2204,2174
$GC,15086,0.87,167.3,892.5,5.7,730,15097,0.00,0.00,9.65,1.172,6,0.000,0.000,2587,2204,2135
$GC,15394,0.88,181.3,874.9,5.6,745,15414,0.00,0.00,13.48,1.203,6,0.000,0.000,2587,2204,2078
$GC,15723,0.89,183.2,855.7,5.9,761,15725,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2078
$GC,16033,0.89,183.2,836.2,6.4,776,16034,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2077
$GC,16342,0.89,183.2,816.0,6.6,791,16343,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2077
$GC,16653,0.89,183.2,796.7,6.2,806,16654,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2077
$GC,16961,0.89,183.2,777.1,6.4,821,16962,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2077
$GC,17270,0.89,183.2,757.1,6.3,836,17271,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2077
$GC,17579,0.89,191.4,738.7,5.8,851,17591,0.00,0.00,10.15,1.113,6,0.000,0.000,2587,2204,2036
$GC,17889,0.91,202.0,721.2,5.7,866,17901,0.00,0.00,10.30,1.068,6,0.000,0.000,2587,2204,1992
$GC,18197,0.91,204.8,703.2,5.9,881,18203,0.00,0.00,4.18,0.831,6,0.000,0.000,2587,2203,1981
$GC,18507,0.91,205.1,684.2,6.0,896,18511,0.00,2.72,0.00,0.000,4,0.000,0.079,2587,788,1981
$GC,18539,0.91,205.1,682.1,6.6,897,18545,0.00,2.65,0.00,0.000,6,0.000,0.058,2587,2205,1980
$GC,18854,0.91,205.1,662.3,6.5,913,18855,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,1980
$GC,19163,0.91,205.1,642.0,6.6,928,19164,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2205,1980
$GC,19473,0.91,205.1,621.5,6.6,943,19474,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,1980
$GC,19782,0.91,205.1,601.2,6.4,958,19783,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,1980
$GC,20091,0.91,205.1,581.9,6.1,973,20092,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,1980
$GC,20401,0.91,205.1,562.1,6.3,988,20405,0.00,2.72,0.00,0.000,4,0.000,0.076,2587,782,1980
$GC,20432,0.91,205.1,559.9,6.7,989,20439,0.00,2.62,0.00,0.000,6,0.000,0.057,2587,2202,1980
$GC,20748,0.92,216.2,540.7,5.7,1005,20762,0.12,0.00,11.02,1.045,6,0.082,0.000,2615,2202,1934
$GC,21058,0.92,216.2,519.2,7.0,1020,21059,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2202,1934
$GC,21366,0.92,216.2,497.7,6.9,1035,21371,0.00,2.72,0.00,0.000,4,0.000,0.077,2615,785,1933
$GC,21398,0.92,216.2,495.3,8.0,1036,21405,0.00,2.65,0.00,0.000,6,0.000,0.058,2615,2205,1933
$GC,21714,0.92,216.2,473.1,7.0,1052,21716,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2205,1933
$GC,22023,0.92,216.2,450.7,7.4,1067,22024,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2204,1933
$GC,22332,0.92,216.2,427.8,7.1,1082,22337,0.00,2.72,0.00,0.000,4,0.000,0.078,2615,789,1933
$GC,22364,0.92,216.2,425.3,7.8,1083,22371,0.00,2.62,0.00,0.000,6,0.000,0.059,2615,2198,1933
$GC,22679,0.92,216.2,402.7,7.3,1099,22680,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2198,1933
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$STATE,27787,end climb,SURFACE_DEPTH_REACHED
$STATE,27787,begin surface coast
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$STATE,27804,end surface coast,CONTROL_FINISHED_OK
$STATE,27805,begin surface
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$SM_GC,1.47,0.00,0.00,162.35,0.000,0.000,0.673,77,2408,509,-10.73,0.23,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2029
$TCM_TEMP,16.30
$XPDR_PINGS,125
$24V_AH,23.3,39.835
$10V_AH,10.1,20.399
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$DEVICE_SECS,25.750,166.050,379.575,162.350,0.000,97.948,107.010,470.585,39.750,0.000,0.000,33.914,2370.442,22132.717,766.438,2700.047,965.147,33.376,2060.184,0.000,2629.959,0.000,56.110
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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,69420,1349
$CFSIZE,260165632,245420032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,291207,104351,6332.935,-552.467,36,3.8,55,-8.2