version: 66.02
glider: 16
mission: 6
dive: 230
start: 12 30 107 10 49 14
data:
$ID,16
$MISSION,6
$DIVE,230
$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,-2081163.2
$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,22
$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
$GPS1,104158,6318.855,-539.833,30,2.8,49,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-58.5
$GPS2,104821,6318.803,-539.655,12,1.7,12,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.092,-0.201
$KALMAN_X,-18731.2,-985.9,-366.2,201342.0,9926.6
$KALMAN_Y,44188.7,-351.9,-45.9,142531.0,-1484.7
$MHEAD_RNG_PITCHd_Wd,212.6,75026,-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,-102.03,0.000,2,0.000,0.000,69,2406,3155
$GC,127,-0.85,-146.6,4.2,-3.0,5,148,12.38,0.00,-5.93,0.000,6,0.176,0.000,2221,2406,3416
$GC,454,-0.85,-146.6,34.7,-7.3,21,459,0.00,2.67,0.00,0.000,4,0.000,0.066,2221,981,3417
$GC,509,-0.85,-146.6,39.9,-9.1,23,516,0.00,2.62,0.00,0.000,6,0.000,0.054,2221,2398,3417
$GC,825,-0.85,-146.6,70.0,-9.0,39,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3417
$GC,1135,-0.85,-146.6,96.7,-7.9,54,1139,0.00,2.67,0.00,0.000,4,0.000,0.067,2220,976,3417
$GC,1178,-0.85,-146.6,100.5,-8.4,56,1182,0.00,2.62,0.00,0.000,6,0.000,0.056,2220,2413,3417
$GC,1505,-0.85,-146.6,128.8,-9.1,72,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2413,3417
$GC,1814,-0.85,-146.6,154.0,-10.0,87,1818,0.00,2.70,0.00,0.000,4,0.000,0.069,2220,981,3418
$GC,1875,-0.85,-146.6,159.1,-8.5,90,1879,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2403,3418
$GC,2201,-0.85,-146.6,185.2,-8.5,106,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3418
$GC,2511,-0.85,-146.6,211.5,-8.4,121,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3418
$GC,2819,-0.85,-146.6,237.5,-7.9,136,2824,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,981,3418
$GC,2887,-0.85,-146.6,242.6,-7.5,139,2891,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2402,3418
$GC,3207,-0.85,-146.6,265.8,-7.2,155,3211,0.00,2.62,0.00,0.000,4,0.000,0.080,2221,3772,3418
$GC,3256,-0.85,-146.6,269.8,-8.1,157,3260,0.00,2.58,0.00,0.000,6,0.000,0.058,2221,2396,3419
$GC,3577,-0.85,-146.6,294.5,-7.4,173,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3418
$GC,3886,-0.85,-146.6,319.8,-8.6,188,3891,0.00,2.67,0.00,0.000,4,0.000,0.073,2220,979,3418
$GC,3986,-0.85,-146.6,328.0,-7.7,192,3992,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2402,3418
$GC,4302,-0.85,-146.6,350.3,-6.8,208,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3419
$GC,4610,-0.85,-146.6,370.7,-6.6,223,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3419
$GC,4920,-0.85,-146.6,392.3,-6.8,238,4924,0.00,2.65,0.00,0.000,4,0.000,0.087,2221,3768,3419
$GC,4991,-0.85,-146.6,397.7,-7.7,241,4996,0.00,2.58,0.00,0.000,6,0.000,0.066,2221,2401,3420
$GC,5307,-0.85,-146.6,417.7,-5.9,256,5312,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,983,3419
$GC,5391,-0.85,-146.6,422.8,-6.1,260,5396,0.00,2.65,0.00,0.000,6,0.000,0.067,2221,2405,3419
$GC,5718,-0.85,-146.6,442.8,-6.5,276,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3419
$GC,6027,-0.85,-146.6,463.5,-6.8,291,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3418
$GC,6336,-0.85,-146.6,482.9,-6.2,306,6341,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,985,3417
$GC,6403,-0.85,-146.6,487.3,-6.3,309,6407,0.00,2.65,0.00,0.000,6,0.000,0.069,2221,2399,3417
$GC,6723,-0.85,-146.6,507.0,-6.0,325,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3415
$GC,7033,-0.85,-146.6,525.9,-6.3,340,7038,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,979,3415
$GC,7099,-0.85,-146.6,530.1,-6.4,343,7103,0.00,2.65,0.00,0.000,6,0.000,0.068,2221,2400,3414
$GC,7426,-0.85,-146.6,549.8,-6.1,359,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3413
$GC,7736,-0.85,-146.6,567.8,-5.7,374,7740,0.00,2.72,0.00,0.000,4,0.000,0.082,2220,985,3412
$GC,7784,-0.85,-146.6,570.9,-6.0,376,7789,0.00,2.62,0.00,0.000,6,0.000,0.062,2221,2402,3412
$GC,8106,-0.85,-146.6,587.9,-5.2,392,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3411
$GC,8416,-0.85,-146.6,603.2,-4.8,407,8420,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,985,3411
$GC,8493,-0.85,-146.6,607.3,-5.0,410,8500,0.00,2.62,0.00,0.000,6,0.000,0.064,2221,2403,3410
$GC,8809,-0.85,-146.6,623.0,-5.1,426,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3409
$GC,9119,-0.85,-146.6,637.8,-4.7,441,9123,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,985,3408
$GC,9185,-0.85,-146.6,641.4,-5.2,444,9189,0.00,2.65,0.00,0.000,6,0.000,0.067,2220,2405,3406
$GC,9505,-0.85,-146.6,658.3,-5.7,460,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3407
$GC,9816,-0.85,-146.6,676.1,-5.6,475,9820,0.00,2.75,0.00,0.000,4,0.000,0.081,2221,979,3406
$GC,9877,-0.85,-146.6,679.9,-6.2,478,9881,0.00,2.67,0.00,0.000,6,0.000,0.067,2221,2406,3407
$GC,10205,-0.85,-146.6,700.5,-6.4,494,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3405
$GC,10511,-0.85,-146.6,720.8,-6.6,509,10516,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,986,3405
$GC,10566,-0.85,-146.6,724.6,-6.7,511,10573,0.00,2.65,0.00,0.000,6,0.000,0.070,2221,2399,3405
$GC,10882,-0.85,-146.6,743.5,-5.9,527,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3403
$GC,11191,-0.85,-146.6,760.9,-5.6,542,11196,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,982,3403
$GC,11253,-0.85,-146.6,764.6,-6.1,545,11257,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2400,3403
$GC,11579,-0.85,-146.6,782.7,-5.6,561,11581,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3403
$GC,11890,-0.85,-146.6,800.1,-5.8,576,11895,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,982,3402
$GC,11939,-0.85,-146.6,803.2,-6.3,578,11944,0.00,2.67,0.00,0.000,6,0.000,0.072,2221,2402,3402
$GC,12261,-0.85,-146.6,821.6,-6.0,594,12266,0.00,2.75,0.00,0.000,4,0.000,0.090,2221,986,3402
$GC,12310,-0.85,-146.6,824.8,-7.0,596,12314,0.00,2.65,0.00,0.000,6,0.000,0.070,2221,2400,3402
$GC,12631,-0.85,-146.6,844.2,-6.1,612,12632,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3401
$GC,12940,-0.85,-146.6,863.2,-6.0,627,12944,0.00,2.72,0.00,0.000,4,0.000,0.080,2221,985,3401
$GC,13001,-0.85,-146.6,867.3,-6.9,630,13005,0.00,2.67,0.00,0.000,6,0.000,0.069,2221,2401,3401
$GC,13327,-0.85,-146.6,887.4,-6.2,646,13328,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3401
$GC,13636,-0.85,-146.6,907.9,-6.9,661,13640,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,986,3400
$GC,13690,-0.85,-146.6,911.8,-6.8,663,13697,0.00,2.65,0.00,0.000,6,0.000,0.068,2221,2405,3400
$GC,14006,-0.85,-146.6,932.3,-6.4,679,14007,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3399
$GC,14315,-0.85,-146.6,952.3,-6.6,694,14319,0.00,2.75,0.00,0.000,4,0.000,0.081,2221,982,3399
$GC,14376,-0.85,-146.6,956.4,-6.4,697,14380,0.00,2.67,0.00,0.000,6,0.000,0.068,2220,2403,3399
$GC,14703,-0.85,-146.6,976.3,-6.3,713,14704,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3399
$STATE,14926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14926,begin apogee
$GC,14932,-0.31,0.0,991.0,6.7,724,15058,0.60,0.00,123.32,1.364,6,0.119,0.000,2337,2188,2817
$STATE,15059,end apogee,CONTROL_FINISHED_OK
$STATE,15059,begin climb
$GC,15061,0.85,146.6,996.0,0.0,730,15190,1.30,0.00,125.30,1.336,6,0.105,0.000,2589,2188,2219
$GC,15500,0.86,160.5,976.5,5.6,752,15521,0.00,2.88,13.25,1.244,4,0.000,0.085,2589,3609,2162
$GC,15537,0.87,170.9,974.1,5.7,753,15553,0.00,2.67,10.43,1.196,6,0.000,0.064,2589,2199,2120
$GC,15869,0.87,170.9,954.5,6.1,770,15870,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2119
$GC,16177,0.87,170.9,935.9,6.1,785,16179,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2118
$GC,16487,0.87,170.9,916.5,6.3,800,16488,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2118
$GC,16797,0.88,174.2,897.2,5.9,815,16803,0.00,0.00,4.47,0.920,6,0.000,0.000,2589,2199,2107
$GC,17105,0.88,175.3,878.9,6.0,830,17107,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,2106
$GC,17415,0.90,193.1,861.2,5.5,845,17435,0.00,0.00,17.33,1.232,6,0.000,0.000,2589,2199,2029
$GC,17745,0.90,197.8,841.6,5.9,861,17752,0.00,0.00,5.68,1.016,6,0.000,0.000,2589,2199,2010
$GC,18053,0.90,197.8,822.6,6.5,876,18055,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2009
$GC,18363,0.90,197.8,802.3,6.5,891,18368,0.00,2.72,0.00,0.000,4,0.000,0.083,2589,785,2009
$GC,18396,0.90,197.8,799.9,6.7,892,18402,0.00,2.65,0.00,0.000,6,0.000,0.062,2589,2200,2008
$GC,18711,0.90,197.8,780.2,6.1,908,18712,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,2008
$GC,19021,0.91,206.1,761.8,5.8,923,19032,0.00,0.00,8.70,1.082,6,0.000,0.000,2589,2200,1976
$GC,19330,0.92,218.4,744.6,5.7,938,19344,0.10,0.00,11.57,1.104,6,0.086,0.000,2612,2200,1926
$GC,19638,0.92,218.4,722.8,7.3,953,19639,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2200,1926
$GC,19948,0.92,218.4,700.4,7.3,968,19952,0.00,2.75,0.00,0.000,4,0.000,0.082,2611,782,1925
$GC,19992,0.92,218.4,696.8,9.5,970,19997,0.00,2.67,0.00,0.000,6,0.000,0.066,2612,2200,1924
$GC,20313,0.92,218.4,671.4,7.9,986,20314,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2200,1925
$GC,20623,0.92,218.4,646.2,7.8,1001,20627,0.00,2.75,0.00,0.000,4,0.000,0.084,2611,786,1925
$GC,20667,0.92,218.4,642.6,7.9,1003,20672,0.00,2.65,0.00,0.000,6,0.000,0.061,2611,2200,1925
$GC,20988,0.92,218.4,617.4,7.7,1019,20989,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2200,1925
$GC,21298,0.92,218.4,595.7,6.5,1034,21302,0.00,2.75,0.00,0.000,4,0.000,0.084,2611,789,1925
$GC,21336,0.92,218.4,593.1,7.7,1036,21341,0.00,2.65,0.00,0.000,6,0.000,0.061,2611,2200,1925
$GC,21663,0.95,243.5,573.9,5.3,1052,21687,0.00,0.00,22.45,1.132,6,0.000,0.000,2611,2200,1824
$GC,21992,0.95,243.5,553.8,6.6,1068,21997,0.00,2.75,0.00,0.000,4,0.000,0.080,2611,782,1822
$GC,22037,0.95,243.5,550.3,7.4,1070,22042,0.00,2.65,0.00,0.000,6,0.000,0.059,2611,2200,1822
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$GC,24643,0.95,246.6,343.3,8.3,1196,24648,0.00,2.65,0.00,0.000,6,0.000,0.061,2611,2202,1809
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$STATE,28754,end climb,SURFACE_DEPTH_REACHED
$STATE,28754,begin surface coast
$FINISH,1.1,1.018012
$STATE,28777,end surface coast,CONTROL_FINISHED_OK
$STATE,28777,begin surface
$SM_CCo,28798,190.98,0.664,1,0,509,566.15
$SM_GC,1.64,0.00,0.00,190.98,0.000,0.000,0.664,75,2414,509,-10.74,0.40,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2000
$TCM_TEMP,16.80
$XPDR_PINGS,123
$24V_AH,23.3,40.576
$10V_AH,10.1,20.866
$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,25.625,167.175,346.550,190.975,0.000,32.588,33.088,195.828,39.250,0.000,0.000,12.220,2449.351,22925.812,779.230,2667.602,550.599,33.380,2058.183,0.000,2622.632,0.000,56.122
$DEVICE_MAMPS,176.410,89.739,1364.493,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.799,962.514,716.960,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69312,1397
$CFSIZE,260165632,245100544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
$GPS,301207,185338,6313.614,-536.790,34,1.3,34,-7.9