version: 66.02
glider: 16
mission: 6
dive: 231
start: 12 30 107 19 1 14
data:
$ID,16
$MISSION,6
$DIVE,231
$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,-2081178.5
$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,24
$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
$GPS1,185338,6313.614,-536.790,34,1.3,34,-7.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-45.5
$GPS2,190021,6313.602,-536.734,14,1.7,14,-7.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.106,-0.194
$KALMAN_X,-14242.0,-176.5,-237.4,198486.3,7554.8
$KALMAN_Y,40913.0,74.0,-249.2,135956.3,-2782.6
$MHEAD_RNG_PITCHd_Wd,216.5,66711,-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,-102.12,0.000,2,0.000,0.000,74,2417,3161
$GC,127,-0.85,-146.6,4.4,-3.2,5,151,12.25,2.75,-5.53,0.000,4,0.176,0.074,2220,982,3417
$GC,223,-0.85,-146.6,18.4,-9.6,9,228,0.00,2.60,0.00,0.000,6,0.000,0.055,2220,2396,3419
$GC,544,-0.85,-146.6,42.2,-7.3,25,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2396,3418
$GC,854,-0.85,-146.6,62.9,-7.5,40,858,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,981,3419
$GC,903,-0.85,-146.6,67.0,-7.9,42,907,0.00,2.60,0.00,0.000,6,0.000,0.055,2220,2401,3419
$GC,1219,-0.85,-146.6,83.6,-4.9,57,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3419
$GC,1528,-0.85,-146.6,100.7,-8.1,72,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3419
$GC,1838,-0.85,-146.6,134.0,-10.4,87,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3420
$GC,2146,-0.85,-146.6,161.4,-8.0,102,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3418
$GC,2455,-0.85,-146.6,183.0,-7.2,117,2460,0.00,2.70,0.00,0.000,4,0.000,0.072,2220,979,3418
$GC,2544,-0.85,-146.6,190.3,-9.4,121,2548,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2407,3419
$GC,2864,-0.85,-146.6,215.4,-7.1,137,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3419
$GC,3173,-0.85,-146.6,238.3,-7.8,152,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3418
$GC,3482,-0.85,-146.6,261.9,-7.3,167,3486,0.00,2.72,0.00,0.000,4,0.000,0.074,2220,973,3419
$GC,3570,-0.85,-146.6,268.5,-6.6,171,3574,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2400,3419
$GC,3897,-0.85,-146.6,290.8,-6.9,187,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3419
$GC,4206,-0.85,-146.6,312.4,-7.2,202,4210,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,979,3419
$GC,4255,-0.85,-146.6,316.3,-8.1,204,4259,0.00,2.62,0.00,0.000,6,0.000,0.060,2220,2402,3419
$GC,4576,-0.85,-146.6,341.3,-7.7,220,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3420
$GC,4885,-0.85,-146.6,364.6,-7.2,235,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3420
$GC,5194,-0.85,-146.6,386.0,-6.9,250,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3420
$GC,5504,-0.85,-146.6,406.7,-6.8,265,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3421
$GC,5813,-0.85,-146.6,430.6,-8.3,280,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3421
$GC,6122,-0.85,-146.6,455.7,-7.9,295,6126,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,982,3421
$GC,6210,-0.85,-146.6,462.6,-7.5,299,6215,0.00,2.65,0.00,0.000,6,0.000,0.065,2220,2408,3421
$GC,6531,-0.85,-146.6,482.6,-6.0,315,6535,0.00,2.75,0.00,0.000,4,0.000,0.082,2220,982,3420
$GC,6579,-0.85,-146.6,485.8,-6.8,317,6584,0.00,2.65,0.00,0.000,6,0.000,0.068,2220,2398,3420
$GC,6901,-0.85,-146.6,508.1,-7.0,333,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3419
$GC,7210,-0.85,-146.6,530.7,-6.9,348,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,7520,-0.85,-146.6,548.6,-5.2,363,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3417
$GC,7829,-0.85,-146.6,565.0,-5.2,378,7833,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,983,3416
$GC,7900,-0.85,-146.6,569.1,-6.2,381,7904,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2405,3416
$GC,8222,-0.85,-146.6,586.7,-5.7,397,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3415
$GC,8531,-0.85,-146.6,603.0,-5.3,412,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3414
$GC,8840,-0.85,-146.6,618.4,-5.1,427,8844,0.00,2.78,0.00,0.000,4,0.000,0.087,2220,977,3413
$GC,8912,-0.85,-146.6,622.3,-5.6,430,8916,0.00,2.70,0.00,0.000,6,0.000,0.072,2220,2402,3413
$GC,9227,-0.85,-146.6,638.6,-5.1,445,9228,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3412
$GC,9536,-0.85,-146.6,656.2,-5.4,460,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3411
$GC,9846,-0.85,-146.6,674.3,-5.9,475,9850,0.00,2.78,0.00,0.000,4,0.000,0.090,2220,983,3411
$GC,9911,-0.85,-146.6,678.6,-6.6,478,9916,0.00,2.67,0.00,0.000,6,0.000,0.074,2220,2400,3410
$GC,10241,-0.85,-146.6,698.2,-6.1,494,10242,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3409
$GC,10548,-0.85,-146.6,714.7,-4.9,509,10552,0.00,2.78,0.00,0.000,4,0.000,0.089,2220,979,3408
$GC,10596,-0.85,-146.6,717.6,-6.7,511,10601,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2398,3408
$GC,10918,-0.85,-146.6,733.8,-4.7,527,10919,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3407
$GC,11227,-0.85,-146.6,747.6,-3.9,542,11232,0.00,2.78,0.00,0.000,4,0.000,0.089,2220,977,3406
$GC,11282,-0.85,-146.6,750.0,-4.7,544,11292,0.00,2.70,0.00,0.000,6,0.000,0.071,2220,2407,3406
$GC,11598,-0.85,-146.6,763.3,-4.4,560,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3405
$GC,11906,-0.85,-146.6,778.8,-5.5,575,11911,0.00,2.80,0.00,0.000,4,0.000,0.089,2220,976,3405
$GC,11967,-0.85,-146.6,782.7,-7.2,578,11972,0.00,2.70,0.00,0.000,6,0.000,0.073,2220,2398,3406
$GC,12293,-0.85,-146.6,804.5,-7.1,594,12294,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3404
$GC,12602,-0.85,-146.6,826.7,-7.5,609,12606,0.00,2.78,0.00,0.000,4,0.000,0.091,2220,983,3404
$GC,12656,-0.85,-146.6,831.0,-7.7,611,12663,0.00,2.70,0.00,0.000,6,0.000,0.073,2220,2407,3404
$GC,12972,-0.85,-146.6,855.1,-7.9,627,12974,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3403
$GC,13281,-0.85,-146.6,877.8,-7.3,642,13286,0.00,2.80,0.00,0.000,4,0.000,0.091,2220,980,3402
$GC,13337,-0.85,-146.6,882.2,-7.6,644,13343,0.00,2.70,0.00,0.000,6,0.000,0.073,2220,2404,3402
$GC,13652,-0.85,-146.6,903.7,-6.6,660,13653,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3402
$GC,13961,-0.85,-146.6,922.3,-5.6,675,13962,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3402
$GC,14271,-0.85,-146.6,939.3,-5.5,690,14275,0.00,2.78,0.00,0.000,4,0.000,0.087,2220,983,3402
$GC,14327,-0.85,-146.6,942.5,-5.7,692,14333,0.00,2.67,0.00,0.000,6,0.000,0.068,2220,2403,3401
$GC,14642,-0.85,-146.6,958.6,-5.0,708,14643,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3401
$GC,14953,-0.85,-146.6,975.5,-5.6,723,14954,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3401
$STATE,15217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15218,begin apogee
$GC,15223,-0.31,0.0,990.1,5.4,736,15350,0.60,0.00,123.72,1.362,6,0.118,0.000,2336,2199,2817
$STATE,15350,end apogee,CONTROL_FINISHED_OK
$STATE,15351,begin climb
$GC,15353,0.85,146.6,993.5,0.0,742,15485,1.25,2.85,124.57,1.330,4,0.099,0.084,2586,784,2218
$GC,15502,0.85,146.6,987.8,6.5,749,15507,0.00,2.67,0.00,0.000,6,0.000,0.059,2586,2201,2218
$GC,15824,0.85,146.6,966.3,6.7,765,15825,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2201,2218
$GC,16133,0.85,146.6,946.2,6.6,780,16134,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2201,2217
$GC,16442,0.85,147.8,926.9,6.0,795,16443,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2201,2217
$GC,16752,0.85,147.8,908.0,6.2,810,16753,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2201,2216
$GC,17061,0.85,147.8,887.9,6.6,825,17062,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2201,2216
$GC,17370,0.85,147.8,868.6,6.0,840,17371,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2201,2215
$GC,17679,0.85,147.8,848.3,6.8,855,17680,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2201,2215
$GC,17989,0.85,147.8,827.4,7.1,870,17990,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2201,2214
$GC,18298,0.85,147.8,806.0,6.8,885,18302,0.00,2.78,0.00,0.000,4,0.000,0.084,2586,779,2214
$GC,18346,0.85,147.8,802.3,7.7,887,18351,0.00,2.67,0.00,0.000,6,0.000,0.061,2586,2211,2214
$GC,18667,0.85,147.8,780.7,6.6,903,18668,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2211,2214
$GC,18976,0.85,147.8,761.0,6.2,918,18977,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2211,2214
$GC,19285,0.85,147.8,741.3,6.7,933,19286,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2211,2214
$GC,19595,0.85,147.8,720.0,6.8,948,19600,0.00,2.78,0.00,0.000,4,0.000,0.082,2586,781,2214
$GC,19649,0.85,147.8,716.1,7.3,950,19657,0.00,2.70,0.00,0.000,6,0.000,0.064,2586,2200,2214
$GC,19965,0.85,147.8,695.7,6.5,966,19966,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2199,2214
$GC,20275,0.85,147.8,676.5,6.2,981,20280,0.00,2.75,0.00,0.000,4,0.000,0.087,2586,3613,2214
$GC,20314,0.85,147.8,674.0,6.0,983,20318,0.00,2.72,0.00,0.000,6,0.000,0.078,2586,2199,2214
$GC,20639,0.85,152.1,654.8,5.9,999,20646,0.00,0.00,5.50,0.928,6,0.000,0.000,2586,2199,2196
$GC,20949,0.86,156.2,636.3,5.9,1014,20956,0.00,0.00,5.32,0.903,6,0.000,0.000,2586,2198,2180
$GC,21258,0.87,169.6,618.7,5.6,1029,21279,0.00,2.85,12.85,1.101,4,0.000,0.085,2586,786,2124
$GC,21318,0.88,175.2,615.1,5.8,1031,21329,0.00,2.70,6.25,0.942,6,0.000,0.065,2586,2204,2101
$GC,21650,0.90,196.0,596.8,5.4,1048,21671,0.00,0.00,19.00,1.127,6,0.000,0.000,2586,2204,2017
$GC,21979,0.93,226.4,578.9,5.2,1064,22013,0.12,2.85,26.12,1.134,4,0.080,0.084,2615,785,1892
$GC,22042,0.95,239.9,575.2,5.6,1067,22064,0.00,2.70,12.73,1.054,6,0.000,0.063,2615,2202,1839
$GC,22372,0.95,239.9,554.2,6.6,1083,22377,0.00,2.78,0.00,0.000,4,0.000,0.086,2615,786,1838
$GC,22412,0.95,239.9,551.4,7.8,1085,22416,0.00,2.67,0.00,0.000,6,0.000,0.063,2615,2205,1836
$GC,22738,0.95,239.9,527.9,7.7,1101,22739,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2205,1837
$GC,23047,0.95,239.9,503.3,8.2,1116,23051,0.00,2.78,0.00,0.000,4,0.000,0.085,2615,785,1836
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$STATE,28783,end climb,SURFACE_DEPTH_REACHED
$STATE,28783,begin surface coast
$FINISH,0.9,1.001480
$STATE,28805,end surface coast,CONTROL_FINISHED_OK
$STATE,28805,begin surface
$SM_CCo,28826,106.22,0.661,2,0,509,566.15
$SM_GC,1.41,0.00,0.00,106.22,0.000,0.000,0.661,73,2406,509,-10.75,0.17,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2049
$TCM_TEMP,15.20
$XPDR_PINGS,126
$24V_AH,23.3,40.766
$10V_AH,10.1,20.984
$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
$DEVICE_SECS,25.925,163.800,456.225,106.225,0.000,32.589,38.915,208.588,40.000,0.000,0.000,14.603,2428.891,22849.670,745.886,2745.466,569.688,33.383,2094.172,0.000,2693.983,0.000,57.286
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.402,960.478,704.968,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69546,1395
$CFSIZE,260165632,245018624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,2,0
$GPS,311207,030525,6308.236,-534.573,56,1.9,73,-7.9