version: 66.02
glider: 16
mission: 6
dive: 237
start: 1 1 108 19 55 43
data:
$ID,16
$MISSION,6
$DIVE,237
$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,-2081343.5
$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,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
$GPS1,194438,6256.651,-547.625,40,1.6,40,-8.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-47.2
$GPS2,195453,6256.673,-547.599,12,2.4,31,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.207,-0.078
$KALMAN_X,7313.0,120.0,-234.2,167048.1,4679.6
$KALMAN_Y,33337.4,454.9,216.3,111302.2,-1771.5
$MHEAD_RNG_PITCHd_Wd,257.4,34242,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,127,0.00,0.00,-101.80,0.000,2,0.000,0.000,75,2407,3079
$GC,129,-0.85,-146.6,3.3,-2.0,5,156,12.07,2.67,-8.85,0.000,4,0.170,0.075,2220,978,3415
$GC,312,-0.85,-146.6,17.8,-5.8,13,316,0.00,2.60,0.00,0.000,6,0.000,0.056,2220,2399,3416
$GC,634,-0.85,-146.6,43.5,-6.5,29,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3416
$GC,943,-0.85,-146.6,67.6,-9.7,44,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3416
$GC,1253,-0.85,-146.6,90.7,-7.0,59,1258,0.00,2.67,0.00,0.000,4,0.000,0.067,2220,974,3416
$GC,1297,-0.85,-146.6,94.2,-7.4,61,1302,0.00,2.62,0.00,0.000,6,0.000,0.057,2220,2403,3416
$GC,1618,-0.85,-146.6,118.8,-8.0,77,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3416
$GC,1927,-0.85,-146.6,144.1,-8.0,92,1932,0.00,2.67,0.00,0.000,4,0.000,0.068,2220,977,3416
$GC,1971,-0.85,-146.6,147.4,-7.7,94,1975,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2404,3416
$GC,2297,-0.85,-146.6,171.4,-7.8,110,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3416
$GC,2606,-0.85,-146.6,196.3,-8.5,125,2610,0.00,2.67,0.00,0.000,4,0.000,0.068,2220,976,3416
$GC,2650,-0.85,-146.6,200.0,-8.8,127,2655,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2398,3416
$GC,2972,-0.85,-146.6,225.1,-7.8,143,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3416
$GC,3279,-0.85,-146.6,249.9,-8.4,158,3284,0.00,2.67,0.00,0.000,4,0.000,0.069,2220,967,3416
$GC,3329,-0.85,-146.6,254.3,-8.8,160,3333,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2401,3416
$GC,3649,-0.85,-146.6,279.8,-8.2,176,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3415
$GC,3958,-0.85,-146.6,304.1,-7.6,191,3963,0.00,2.67,0.00,0.000,4,0.000,0.070,2220,976,3416
$GC,4020,-0.85,-146.6,308.7,-6.8,194,4025,0.00,2.60,0.00,0.000,6,0.000,0.060,2220,2401,3416
$GC,4346,-0.85,-146.6,332.8,-6.9,210,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3416
$GC,4655,-0.85,-146.6,354.2,-6.6,225,4660,0.00,2.65,0.00,0.000,4,0.000,0.071,2220,979,3416
$GC,4745,-0.85,-146.6,360.1,-7.2,229,4750,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2400,3416
$GC,5066,-0.85,-146.6,383.9,-7.7,245,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3416
$GC,5375,-0.85,-146.6,407.1,-7.5,260,5380,0.00,2.65,0.00,0.000,4,0.000,0.071,2221,979,3416
$GC,5419,-0.85,-146.6,410.6,-7.8,262,5423,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2406,3416
$GC,5746,-0.85,-146.6,437.5,-8.0,278,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3416
$GC,6056,-0.85,-146.6,459.5,-7.2,293,6060,0.00,2.70,0.00,0.000,4,0.000,0.072,2220,976,3417
$GC,6134,-0.85,-146.6,465.8,-8.4,296,6140,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2402,3417
$GC,6448,-0.85,-146.6,488.2,-6.6,312,6453,0.00,2.62,0.00,0.000,4,0.000,0.086,2220,3766,3417
$GC,6515,-0.85,-146.6,492.9,-7.3,315,6520,0.00,2.55,0.00,0.000,6,0.000,0.061,2220,2390,3416
$GC,6836,-0.85,-146.6,513.3,-6.1,331,6840,0.00,2.67,0.00,0.000,4,0.000,0.077,2220,977,3416
$GC,6913,-0.85,-146.6,518.4,-6.1,334,6919,0.00,2.65,0.00,0.000,6,0.000,0.066,2220,2400,3416
$GC,7229,-0.85,-146.6,536.9,-5.6,350,7233,0.00,2.70,0.00,0.000,4,0.000,0.077,2220,982,3416
$GC,7272,-0.85,-146.6,539.5,-5.7,352,7277,0.00,2.65,0.00,0.000,6,0.000,0.067,2220,2405,3416
$GC,7594,-0.85,-146.6,557.8,-6.0,368,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3415
$GC,7903,-0.85,-146.6,577.3,-6.5,383,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3414
$GC,8212,-0.85,-146.6,599.2,-7.4,398,8216,0.00,2.72,0.00,0.000,4,0.000,0.078,2220,980,3413
$GC,8288,-0.85,-146.6,605.0,-8.5,401,8295,0.00,2.65,0.00,0.000,6,0.000,0.068,2220,2400,3413
$GC,8604,-0.85,-146.6,629.6,-7.5,417,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3412
$GC,8913,-0.85,-146.6,652.6,-7.4,432,8918,0.00,2.70,0.00,0.000,4,0.000,0.079,2220,986,3412
$GC,8974,-0.85,-146.6,657.3,-7.8,435,8979,0.00,2.65,0.00,0.000,6,0.000,0.067,2220,2412,3411
$GC,9300,-0.85,-146.6,680.8,-7.0,451,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2413,3409
$GC,9609,-0.85,-146.6,702.8,-7.0,466,9614,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,987,3408
$GC,9671,-0.85,-146.6,707.2,-7.9,469,9675,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2406,3408
$GC,9996,-0.85,-146.6,729.3,-6.7,485,9997,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2406,3407
$GC,10306,-0.85,-146.6,749.2,-6.5,500,10310,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,986,3406
$GC,10355,-0.85,-146.6,752.5,-6.9,502,10359,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2401,3405
$GC,10670,-0.85,-146.6,772.2,-6.4,517,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3404
$GC,10979,-0.85,-146.6,791.6,-6.3,532,10983,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,983,3404
$GC,11022,-0.85,-146.6,794.6,-7.1,534,11027,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2404,3403
$GC,11342,-0.85,-146.6,814.4,-6.2,550,11344,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3402
$GC,11652,-0.85,-146.6,833.7,-6.3,565,11656,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,987,3401
$GC,11701,-0.85,-146.6,837.0,-6.6,567,11706,0.00,2.67,0.00,0.000,6,0.000,0.072,2220,2409,3401
$GC,12016,-0.85,-146.6,857.4,-6.5,582,12017,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2409,3401
$GC,12325,-0.85,-146.6,877.1,-6.4,597,12330,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,988,3400
$GC,12375,-0.85,-146.6,880.4,-6.6,599,12380,0.00,2.65,0.00,0.000,6,0.000,0.071,2220,2401,3400
$GC,12692,-0.85,-146.6,900.3,-6.4,614,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3399
$GC,12999,-0.85,-146.6,919.4,-6.1,629,13004,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,983,3399
$GC,13049,-0.85,-146.6,922.6,-6.4,631,13054,0.00,2.65,0.00,0.000,6,0.000,0.068,2220,2401,3399
$GC,13365,-0.85,-146.6,942.1,-6.2,646,13366,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3398
$GC,13674,-0.85,-146.6,961.8,-6.5,661,13678,0.00,2.70,0.00,0.000,4,0.000,0.077,2220,988,3398
$GC,13735,-0.85,-146.6,965.9,-6.6,664,13740,0.00,2.65,0.00,0.000,6,0.000,0.067,2220,2400,3398
$GC,14061,-0.85,-146.6,986.6,-6.4,680,14062,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3397
$STATE,14121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14121,begin apogee
$GC,14127,-0.31,0.0,990.3,6.2,683,14253,0.62,0.00,122.88,1.364,6,0.124,0.000,2340,2195,2816
$STATE,14254,end apogee,CONTROL_FINISHED_OK
$STATE,14254,begin climb
$GC,14256,0.85,146.6,994.4,0.0,689,14386,1.20,0.00,124.72,1.328,6,0.086,0.000,2586,2195,2219
$GC,14709,0.85,146.6,970.0,6.5,711,14710,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2195,2218
$GC,15018,0.85,146.6,950.1,6.4,726,15022,0.00,2.70,0.00,0.000,4,0.000,0.077,2586,789,2217
$GC,15050,0.85,146.6,947.9,6.1,727,15056,0.00,2.62,0.00,0.000,6,0.000,0.058,2586,2205,2216
$GC,15368,0.85,146.6,928.0,6.4,743,15369,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2216
$GC,15675,0.85,146.6,908.1,6.4,758,15676,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2205,2215
$GC,15984,0.85,146.6,888.1,6.4,773,15985,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2205,2215
$GC,16293,0.85,146.6,867.9,6.4,788,16294,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2215
$GC,16603,0.85,146.6,847.9,6.4,803,16607,0.00,2.72,0.00,0.000,4,0.000,0.085,2586,3612,2215
$GC,16646,0.85,146.6,844.7,6.2,805,16650,0.00,2.65,0.00,0.000,6,0.000,0.067,2586,2205,2215
$GC,16973,0.85,146.6,823.6,6.5,821,16974,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2205,2214
$GC,17283,0.85,146.6,804.0,6.3,836,17284,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2205,2214
$GC,17591,0.85,146.6,784.5,6.3,851,17593,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2205,2214
$GC,17901,0.85,146.6,765.2,6.1,866,17902,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2214
$GC,18211,0.85,146.6,745.5,6.4,881,18212,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2214
$GC,18519,0.85,146.6,726.0,6.2,896,18520,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2205,2214
$GC,18829,0.86,155.2,707.7,5.8,911,18839,0.00,0.00,8.15,1.081,6,0.000,0.000,2586,2204,2184
$GC,19139,0.87,167.2,689.5,5.7,926,19152,0.00,0.00,11.55,1.070,6,0.000,0.000,2586,2204,2135
$GC,19447,0.87,171.0,671.2,5.9,941,19453,0.00,0.00,4.68,0.825,6,0.000,0.000,2586,2204,2120
$GC,19756,0.87,171.0,652.6,6.0,956,19758,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2120
$GC,20065,0.87,171.0,633.4,6.2,971,20066,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2119
$GC,20374,0.87,171.0,613.8,6.6,986,20376,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2120
$GC,20684,0.87,171.0,594.0,6.4,1001,20685,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2120
$GC,20994,0.87,172.7,575.5,6.0,1016,20998,0.00,2.72,0.00,0.000,4,0.000,0.084,2586,789,2119
$GC,21048,0.87,172.7,571.7,6.4,1018,21055,0.00,2.62,0.00,0.000,6,0.000,0.063,2586,2198,2118
$GC,21364,0.87,172.7,552.1,6.5,1034,21365,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2198,2119
$GC,21674,0.88,173.3,533.2,6.0,1049,21680,0.00,0.00,4.03,0.756,6,0.000,0.000,2586,2198,2110
$GC,21982,0.90,195.5,515.4,5.4,1064,22004,0.00,0.00,19.73,1.087,6,0.000,0.000,2586,2198,2020
$GC,22312,0.95,238.3,498.6,4.8,1080,22352,0.15,0.00,36.38,1.104,6,0.071,0.000,2623,2198,1845
$GC,22661,0.95,238.3,474.1,7.2,1097,22665,0.00,2.72,0.00,0.000,4,0.000,0.079,2623,785,1843
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$STATE,28537,end climb,SURFACE_DEPTH_REACHED
$STATE,28537,begin surface coast
$FINISH,0.9,1.013620
$STATE,28557,end surface coast,CONTROL_FINISHED_OK
$STATE,28558,begin surface
$SM_CCo,28578,196.35,0.659,2,0,509,566.15
$SM_GC,1.59,0.00,0.00,196.35,0.000,0.000,0.659,73,2406,509,-10.75,0.17,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2025
$TCM_TEMP,16.80
$XPDR_PINGS,113
$24V_AH,23.3,41.900
$10V_AH,10.1,21.701
$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,25.225,165.975,332.100,196.350,0.000,65.208,88.068,248.451,36.750,0.000,0.000,32.455,2423.441,22795.920,746.492,2719.284,707.637,33.378,2044.585,0.000,2646.737,0.000,56.138
$DEVICE_MAMPS,170.274,85.904,1364.493,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.001,955.211,730.754,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69404,1384
$CFSIZE,260165632,244535296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,2,0
$GPS,020108,035658,6255.431,-552.982,34,3.4,53,-8.0