version: 66.02
glider: 16
mission: 6
dive: 233
start: 12 31 107 11 17 7
data:
$ID,16
$MISSION,6
$DIVE,233
$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,-2081227.5
$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,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
$GPS1,110237,6304.080,-536.159,27,1.9,27,-7.9
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-55.5
$GPS2,111615,6303.996,-535.867,11,1.5,11,-7.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.143,-0.169
$KALMAN_X,-4892.2,-882.5,-671.8,191035.8,8474.2
$KALMAN_Y,34783.5,128.2,435.4,123533.7,-4208.6
$MHEAD_RNG_PITCHd_Wd,228.2,50878,-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,20,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-102.25,0.000,2,0.000,0.000,67,2401,3132
$GC,128,-0.85,-146.6,3.9,-2.6,5,150,12.43,0.00,-6.60,0.000,6,0.182,0.000,2219,2401,3415
$GC,459,-0.85,-146.6,41.0,-8.6,21,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3417
$GC,767,-0.85,-146.6,71.2,-10.3,36,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3417
$GC,1077,-0.85,-146.6,107.0,-11.3,51,1081,0.00,2.65,0.00,0.000,4,0.000,0.064,2219,979,3417
$GC,1139,-0.85,-146.6,113.7,-10.1,54,1143,0.00,2.60,0.00,0.000,6,0.000,0.055,2219,2401,3417
$GC,1464,-0.85,-146.6,135.2,-7.4,70,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3417
$GC,1774,-0.85,-146.6,158.4,-7.1,85,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3417
$GC,2082,-0.85,-146.6,180.5,-7.9,100,2087,0.00,2.67,0.00,0.000,4,0.000,0.067,2219,975,3418
$GC,2154,-0.85,-146.6,186.2,-8.1,103,2158,0.00,2.60,0.00,0.000,6,0.000,0.057,2219,2400,3417
$GC,2476,-0.85,-146.6,210.0,-7.2,119,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3417
$GC,2784,-0.85,-146.6,234.7,-8.4,134,2789,0.00,2.67,0.00,0.000,4,0.000,0.069,2220,976,3416
$GC,2839,-0.85,-146.6,238.9,-7.5,136,2846,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2404,3417
$GC,3155,-0.85,-146.6,261.6,-7.4,152,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3418
$GC,3464,-0.85,-146.6,285.1,-7.9,167,3468,0.00,2.70,0.00,0.000,4,0.000,0.071,2220,975,3417
$GC,3531,-0.85,-146.6,290.7,-8.6,170,3535,0.00,2.65,0.00,0.000,6,0.000,0.060,2219,2404,3417
$GC,3854,-0.85,-146.6,315.8,-7.7,186,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3418
$GC,4160,-0.85,-146.6,340.7,-8.2,201,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3418
$GC,4470,-0.85,-146.6,364.3,-7.0,216,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3418
$GC,4779,-0.85,-146.6,385.1,-6.6,231,4784,0.00,2.70,0.00,0.000,4,0.000,0.073,2220,976,3418
$GC,4886,-0.85,-146.6,392.8,-7.5,236,4891,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2400,3418
$GC,5213,-0.85,-146.6,414.7,-6.6,252,5217,0.00,2.65,0.00,0.000,4,0.000,0.086,2219,3771,3418
$GC,5279,-0.85,-146.6,419.6,-7.5,255,5283,0.00,2.58,0.00,0.000,6,0.000,0.064,2219,2392,3418
$GC,5605,-0.85,-146.6,440.3,-6.3,271,5610,0.00,2.65,0.00,0.000,4,0.000,0.077,2220,982,3418
$GC,5713,-0.85,-146.6,447.5,-6.7,276,5717,0.00,2.65,0.00,0.000,6,0.000,0.067,2219,2404,3418
$GC,6038,-0.85,-146.6,467.7,-6.1,292,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3418
$GC,6348,-0.85,-146.6,488.3,-7.1,307,6352,0.00,2.67,0.00,0.000,4,0.000,0.091,2219,3772,3418
$GC,6402,-0.85,-146.6,492.8,-8.7,309,6408,0.00,2.58,0.00,0.000,6,0.000,0.067,2219,2400,3418
$GC,6717,-0.85,-146.6,516.2,-7.7,325,6722,0.00,2.70,0.00,0.000,4,0.000,0.080,2219,982,3417
$GC,6772,-0.85,-146.6,521.0,-8.6,327,6779,0.00,2.65,0.00,0.000,6,0.000,0.068,2219,2398,3417
$GC,7088,-0.85,-146.6,545.2,-7.5,343,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3416
$GC,7397,-0.85,-146.6,565.8,-6.2,358,7401,0.00,2.72,0.00,0.000,4,0.000,0.080,2219,979,3415
$GC,7462,-0.85,-146.6,570.3,-7.3,361,7467,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2406,3415
$GC,7790,-0.85,-146.6,590.7,-6.3,377,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2406,3414
$GC,8098,-0.85,-146.6,610.2,-6.2,392,8103,0.00,2.72,0.00,0.000,4,0.000,0.080,2219,985,3413
$GC,8164,-0.85,-146.6,614.5,-6.7,395,8169,0.00,2.65,0.00,0.000,6,0.000,0.068,2219,2401,3413
$GC,8492,-0.85,-146.6,634.6,-6.0,411,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3412
$GC,8801,-0.85,-146.6,652.5,-5.7,426,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3411
$GC,9111,-0.85,-146.6,670.3,-5.9,441,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3410
$GC,9420,-0.85,-146.6,688.9,-6.0,456,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3408
$GC,9729,-0.85,-146.6,707.9,-6.3,471,9733,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,985,3407
$GC,9800,-0.85,-146.6,712.8,-6.7,474,9805,0.00,2.65,0.00,0.000,6,0.000,0.069,2219,2400,3407
$GC,10115,-0.85,-146.6,733.0,-6.2,489,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3406
$GC,10424,-0.85,-146.6,752.6,-6.3,504,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3405
$GC,10734,-0.85,-146.6,772.6,-7.1,519,10739,0.00,2.72,0.00,0.000,4,0.000,0.080,2219,983,3404
$GC,10800,-0.85,-146.6,777.9,-7.9,522,10804,0.00,2.67,0.00,0.000,6,0.000,0.069,2219,2405,3405
$GC,11129,-0.85,-146.6,800.5,-6.5,538,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3404
$GC,11436,-0.85,-146.6,819.9,-6.1,553,11441,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,986,3401
$GC,11514,-0.85,-146.6,825.0,-6.7,556,11521,0.00,2.67,0.00,0.000,6,0.000,0.070,2219,2400,3402
$GC,11829,-0.85,-146.6,844.4,-5.9,572,11830,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3402
$GC,12139,-0.85,-146.6,862.2,-6.0,587,12144,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,985,3402
$GC,12223,-0.85,-146.6,867.7,-6.7,591,12228,0.00,2.67,0.00,0.000,6,0.000,0.068,2219,2405,3401
$GC,12549,-0.85,-146.6,888.5,-6.3,607,12550,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3401
$GC,12859,-0.85,-146.6,907.6,-6.2,622,12860,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3401
$GC,13168,-0.85,-146.6,926.3,-6.2,637,13173,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,985,3400
$GC,13236,-0.85,-146.6,930.5,-6.3,640,13240,0.00,2.67,0.00,0.000,6,0.000,0.066,2219,2408,3400
$GC,13557,-0.85,-146.6,950.1,-6.3,656,13558,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2408,3400
$GC,13865,-0.85,-146.6,970.5,-6.8,671,13869,0.00,2.70,0.00,0.000,4,0.000,0.077,2219,986,3399
$GC,13942,-0.85,-146.6,976.1,-6.7,674,13949,0.00,2.65,0.00,0.000,6,0.000,0.065,2220,2405,3399
$STATE,14173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14173,begin apogee
$GC,14179,-0.31,0.0,990.4,6.1,686,14305,0.62,0.00,123.15,1.367,6,0.122,0.000,2340,2192,2817
$STATE,14306,end apogee,CONTROL_FINISHED_OK
$STATE,14306,begin climb
$GC,14308,0.85,146.6,994.7,0.0,692,14441,1.25,2.78,124.53,1.331,4,0.106,0.074,2587,787,2218
$GC,14480,0.85,146.6,989.4,6.1,700,14485,0.00,2.65,0.00,0.000,6,0.000,0.058,2587,2203,2218
$GC,14803,0.85,146.6,969.5,6.4,716,14807,0.00,2.75,0.00,0.000,4,0.000,0.084,2587,3616,2218
$GC,14845,0.85,146.6,966.6,6.4,718,14850,0.00,2.65,0.00,0.000,6,0.000,0.061,2587,2204,2218
$GC,15172,0.85,146.6,946.8,6.3,734,15173,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2217
$GC,15482,0.85,146.6,927.0,6.9,749,15483,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2216
$GC,15791,0.85,146.6,904.6,7.6,764,15792,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2216
$GC,16100,0.85,146.6,880.6,7.4,779,16101,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2215
$GC,16410,0.85,146.6,858.8,6.8,794,16414,0.00,2.72,0.00,0.000,4,0.000,0.079,2587,784,2215
$GC,16449,0.85,146.6,856.0,7.1,796,16453,0.00,2.62,0.00,0.000,6,0.000,0.059,2587,2200,2214
$GC,16774,0.85,147.1,836.2,6.0,812,16775,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2214
$GC,17084,0.85,147.1,816.5,6.5,827,17085,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2200,2215
$GC,17392,0.85,147.1,797.2,6.2,842,17394,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2200,2215
$GC,17702,0.85,149.6,778.4,5.9,857,17703,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2200,2215
$GC,18012,0.85,150.7,760.0,6.0,872,18018,0.00,0.00,4.53,0.875,6,0.000,0.000,2587,2200,2202
$GC,18321,0.87,164.7,742.2,5.6,887,18340,0.00,0.00,13.35,1.157,6,0.000,0.000,2587,2200,2145
$GC,18649,0.89,187.6,724.7,5.4,903,18672,0.00,0.00,20.73,1.170,6,0.000,0.000,2587,2201,2052
$GC,18979,0.89,187.6,704.5,6.7,919,18983,0.00,2.72,0.00,0.000,4,0.000,0.078,2587,785,2051
$GC,19018,0.89,187.6,701.7,8.0,921,19022,0.00,2.65,0.00,0.000,6,0.000,0.060,2587,2199,2050
$GC,19343,0.89,187.6,679.4,6.8,937,19344,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,2050
$GC,19653,0.89,187.6,659.4,6.1,952,19654,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,2050
$GC,19962,0.90,199.5,641.4,5.7,967,19982,0.00,2.78,11.32,1.088,4,0.000,0.077,2587,784,2002
$GC,20010,0.90,199.5,638.5,6.2,969,20014,0.00,2.67,0.00,0.000,6,0.000,0.060,2586,2204,2002
$GC,20337,0.95,240.8,621.4,4.9,985,20377,0.15,0.00,35.53,1.176,6,0.076,0.000,2622,2204,1834
$GC,20686,0.95,240.8,596.7,7.2,1002,20687,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2204,1833
$GC,20995,0.95,240.8,575.6,6.7,1017,20999,0.00,2.72,0.00,0.000,4,0.000,0.079,2622,788,1832
$GC,21040,0.95,240.8,572.5,7.1,1019,21044,0.00,2.65,0.00,0.000,6,0.000,0.059,2622,2203,1832
$GC,21360,0.95,240.8,549.1,7.6,1035,21361,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2203,1832
$GC,21669,0.95,240.8,524.8,7.8,1050,21673,0.00,2.75,0.00,0.000,4,0.000,0.078,2622,781,1832
$GC,21701,0.95,240.8,522.1,8.4,1051,21707,0.00,2.65,0.00,0.000,6,0.000,0.059,2622,2200,1832
$GC,22016,0.95,240.8,497.2,7.9,1067,22020,0.00,2.70,0.00,0.000,4,0.000,0.077,2622,789,1832
$GC,22048,0.95,240.8,494.7,7.2,1068,22054,0.00,2.62,0.00,0.000,6,0.000,0.058,2622,2199,1832
$GC,22364,0.95,240.8,471.5,8.0,1084,22365,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2199,1832
$GC,22673,0.95,240.8,445.1,8.6,1099,22674,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2199,1832
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$GC,23292,0.95,240.8,392.8,7.8,1129,23296,0.00,2.75,0.00,0.000,4,0.000,0.089,2622,3617,1832
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$STATE,27997,end climb,SURFACE_DEPTH_REACHED
$STATE,27997,begin surface coast
$FINISH,1.1,1.014541
$STATE,28028,end surface coast,CONTROL_FINISHED_OK
$STATE,28028,begin surface
$SM_CCo,28048,199.57,0.656,2,0,509,566.15
$SM_GC,1.61,0.00,0.00,199.57,0.000,0.000,0.656,74,2399,509,-10.75,-0.03,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2000
$TCM_TEMP,16.70
$XPDR_PINGS,115
$24V_AH,23.3,41.158
$10V_AH,10.1,21.221
$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,25.825,171.900,333.125,199.575,0.000,97.815,99.106,366.514,37.250,0.000,0.000,11.606,2392.808,22388.303,763.035,2665.961,860.904,33.374,2054.401,0.000,2612.761,0.000,56.142
$DEVICE_MAMPS,181.779,91.273,1366.794,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.896,936.964,698.073,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69638,1360
$CFSIZE,260165632,244858880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,15,2,0
$GPS,311207,190928,6300.209,-536.868,27,3.1,46,-7.9