version: 66.02
glider: 16
mission: 6
dive: 432
start: 2 7 108 22 0 53
data:
$ID,16
$MISSION,6
$DIVE,432
$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,0
$FERRY_MAX,22
$KALMAN_USE,2
$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,300
$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,-2087601.2
$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,16
$R_STBD_OVSHOOT,17
$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
$GPS1,214708,6154.726,-209.009,55,1.9,55,-5.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-62.6
$GPS2,220033,6154.852,-209.074,13,1.9,13,-5.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.202,-0.090
$KALMAN_X,109567.5,-3587.3,-866.2,330188.0,76350.7
$KALMAN_Y,54287.1,-2872.2,-674.1,-29543.7,60742.0
$MHEAD_RNG_PITCHd_Wd,244.5,96077,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,87,0.00,0.00,-60.70,0.000,2,0.000,0.000,67,2412,3123
$GC,91,-0.85,-146.6,3.9,-4.3,3,112,12.43,0.00,-6.72,0.000,6,0.175,0.000,2222,2412,3417
$GC,418,-0.85,-146.6,37.1,-7.4,19,422,0.00,2.72,0.00,0.000,4,0.000,0.071,2222,982,3419
$GC,468,-0.85,-146.6,41.1,-7.2,21,472,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2398,3418
$GC,785,-0.85,-146.6,62.7,-6.4,36,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3419
$GC,1093,-0.85,-146.6,86.6,-9.6,51,1097,0.00,2.67,0.00,0.000,4,0.000,0.070,2222,983,3418
$GC,1149,-0.85,-146.6,90.5,-6.2,53,1155,0.00,2.65,0.00,0.000,6,0.000,0.062,2222,2404,3419
$GC,1465,-0.85,-146.6,109.0,-5.5,69,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3419
$GC,1774,-0.85,-146.6,132.0,-6.8,84,1778,0.00,2.67,0.00,0.000,4,0.000,0.070,2222,982,3419
$GC,1875,-0.85,-146.6,140.4,-8.7,88,1881,0.00,2.65,0.00,0.000,6,0.000,0.062,2222,2404,3419
$GC,2190,-0.85,-146.6,167.9,-7.7,104,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3419
$GC,2500,-0.85,-146.6,188.5,-6.1,119,2504,0.00,2.70,0.00,0.000,4,0.000,0.072,2222,979,3419
$GC,2556,-0.85,-146.6,192.5,-7.0,121,2561,0.00,2.65,0.00,0.000,6,0.000,0.062,2222,2399,3419
$GC,2871,-0.85,-146.6,216.9,-8.2,137,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3419
$GC,3180,-0.85,-146.6,240.9,-7.0,152,3185,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,982,3419
$GC,3254,-0.85,-146.6,246.4,-8.1,155,3258,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2400,3419
$GC,3569,-0.85,-146.6,273.7,-8.5,170,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3419
$GC,3880,-0.85,-146.6,296.0,-6.7,185,3884,0.00,2.67,0.00,0.000,4,0.000,0.072,2222,983,3419
$GC,3970,-0.85,-146.6,302.4,-6.8,189,3974,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2399,3419
$GC,4291,-0.85,-146.6,325.0,-7.5,205,4295,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,979,3419
$GC,4357,-0.85,-146.6,330.5,-8.3,208,4362,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2399,3420
$GC,4679,-0.85,-146.6,355.4,-8.0,224,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3420
$GC,4987,-0.85,-146.6,379.6,-7.4,239,4991,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,980,3421
$GC,5060,-0.85,-146.6,385.1,-7.6,242,5064,0.00,2.67,0.00,0.000,6,0.000,0.065,2222,2405,3421
$GC,5376,-0.85,-146.6,405.7,-5.8,257,5380,0.00,2.70,0.00,0.000,4,0.000,0.076,2222,984,3421
$GC,5431,-0.85,-146.6,409.3,-6.6,259,5437,0.00,2.67,0.00,0.000,6,0.000,0.066,2222,2405,3422
$GC,5747,-0.85,-146.6,428.8,-6.9,275,5751,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,981,3421
$GC,5803,-0.85,-146.6,433.3,-7.9,277,5810,0.00,2.67,0.00,0.000,6,0.000,0.067,2222,2398,3421
$GC,6119,-0.85,-146.6,459.3,-8.3,293,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3421
$GC,6429,-0.85,-146.6,481.2,-6.7,308,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3420
$GC,6738,-0.85,-146.6,501.0,-6.5,323,6743,0.00,2.72,0.00,0.000,4,0.000,0.080,2222,980,3419
$GC,6811,-0.85,-146.6,506.4,-7.6,326,6815,0.00,2.70,0.00,0.000,6,0.000,0.070,2222,2401,3419
$GC,7128,-0.85,-146.6,529.7,-7.9,341,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3418
$GC,7438,-0.85,-146.6,550.2,-6.2,356,7443,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,985,3418
$GC,7528,-0.85,-146.6,556.1,-6.2,360,7532,0.00,2.70,0.00,0.000,6,0.000,0.071,2222,2404,3417
$GC,7850,-0.85,-146.6,576.5,-6.4,376,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3416
$GC,8159,-0.85,-146.6,595.4,-5.7,391,8163,0.00,2.75,0.00,0.000,4,0.000,0.081,2222,980,3415
$GC,8244,-0.85,-146.6,600.5,-6.3,395,8248,0.00,2.67,0.00,0.000,6,0.000,0.072,2222,2400,3414
$GC,8571,-0.85,-146.6,618.6,-5.5,411,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3413
$GC,8880,-0.85,-146.6,635.1,-5.3,426,8884,0.00,2.75,0.00,0.000,4,0.000,0.082,2222,980,3412
$GC,8959,-0.85,-146.6,639.7,-5.9,429,8965,0.00,2.72,0.00,0.000,6,0.000,0.072,2222,2405,3412
$GC,9275,-0.85,-146.6,657.7,-6.0,445,9276,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3410
$GC,9583,-0.85,-146.6,676.9,-6.5,460,9588,0.00,2.75,0.00,0.000,4,0.000,0.081,2222,985,3410
$GC,9662,-0.85,-146.6,682.5,-7.5,463,9668,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2400,3410
$GC,9977,-0.85,-146.6,703.5,-6.4,479,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3409
$GC,10287,-0.85,-146.6,723.3,-6.2,494,10291,0.00,2.75,0.00,0.000,4,0.000,0.082,2222,981,3408
$GC,10365,-0.85,-146.6,728.6,-7.2,497,10371,0.00,2.72,0.00,0.000,6,0.000,0.074,2222,2405,3408
$GC,10681,-0.85,-146.6,747.7,-5.8,513,10682,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3407
$GC,10991,-0.85,-146.6,765.9,-6.0,528,10995,0.00,2.75,0.00,0.000,4,0.000,0.082,2221,985,3406
$GC,11064,-0.85,-146.6,770.5,-6.8,531,11069,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2399,3406
$GC,11381,-0.85,-146.6,790.0,-5.8,546,11382,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3406
$GC,11690,-0.85,-146.6,808.7,-6.1,561,11695,0.00,2.72,0.00,0.000,4,0.000,0.083,2222,986,3405
$GC,11753,-0.85,-146.6,812.8,-6.9,564,11757,0.00,2.70,0.00,0.000,6,0.000,0.075,2222,2398,3405
$GC,12079,-0.85,-146.6,833.7,-6.5,580,12080,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3404
$GC,12389,-0.85,-146.6,853.8,-6.6,595,12393,0.00,2.72,0.00,0.000,4,0.000,0.083,2222,988,3403
$GC,12473,-0.85,-146.6,859.5,-6.4,599,12478,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2401,3403
$GC,12801,-0.85,-146.6,878.2,-5.4,615,12802,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3403
$GC,13110,-0.85,-146.6,894.6,-5.3,630,13114,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,988,3402
$GC,13154,-0.85,-146.6,897.3,-5.8,632,13158,0.00,2.67,0.00,0.000,6,0.000,0.074,2222,2402,3402
$GC,13476,-0.85,-146.6,915.2,-5.5,648,13477,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3402
$GC,13784,-0.85,-146.6,932.1,-5.7,663,13785,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3402
$GC,14093,-0.85,-146.6,949.8,-5.9,678,14098,0.00,2.70,0.00,0.000,4,0.000,0.081,2222,988,3402
$GC,14155,-0.85,-146.6,953.7,-6.4,680,14163,0.00,2.70,0.00,0.000,6,0.000,0.071,2222,2407,3402
$GC,14471,-0.85,-146.6,972.9,-6.1,696,14472,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3402
$STATE,14756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14756,begin apogee
$GC,14764,-0.31,0.0,990.7,6.1,710,14903,0.60,0.00,130.75,1.327,6,0.120,0.000,2337,2193,2817
$STATE,14904,end apogee,CONTROL_FINISHED_OK
$STATE,14904,begin climb
$GC,14907,0.85,146.6,996.1,0.0,717,15056,1.23,2.83,132.02,1.362,4,0.084,0.078,2589,798,2217
$GC,15075,0.86,157.1,991.3,5.7,725,15099,0.00,2.67,13.82,1.046,6,0.000,0.061,2589,2203,2176
$GC,15427,0.86,157.1,969.1,6.3,742,15431,0.00,2.80,0.00,0.000,4,0.000,0.094,2589,3613,2175
$GC,15470,0.86,157.1,965.9,7.3,744,15475,0.00,2.67,0.00,0.000,6,0.000,0.067,2589,2205,2175
$GC,15792,0.86,157.1,945.2,6.5,760,15793,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2205,2175
$GC,16101,0.87,171.0,927.0,5.6,775,16120,0.00,0.00,13.35,1.244,6,0.000,0.000,2589,2205,2119
$GC,16430,0.88,179.0,908.1,5.8,791,16441,0.00,0.00,8.62,1.151,6,0.000,0.000,2589,2205,2086
$GC,16742,0.89,188.4,890.5,5.7,806,16757,0.00,0.00,9.65,1.161,6,0.000,0.000,2589,2205,2049
$GC,17067,0.90,193.0,871.2,5.9,822,17075,0.00,0.00,6.00,1.037,6,0.000,0.000,2589,2204,2030
$GC,17377,0.90,193.0,852.7,6.2,837,17378,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2205,2029
$GC,17686,0.90,193.0,832.4,6.6,852,17687,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2205,2029
$GC,17995,0.90,193.0,811.0,6.9,867,17996,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,2029
$GC,18305,0.90,195.1,791.5,5.9,882,18307,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,2029
$GC,18614,0.93,225.1,774.9,5.2,897,18645,0.12,0.00,28.48,1.189,6,0.068,0.000,2620,2205,1899
$GC,18943,0.93,226.0,755.0,6.0,913,18948,0.00,2.78,0.00,0.000,4,0.000,0.087,2620,784,1896
$GC,18994,0.93,226.8,751.7,6.0,915,18998,0.00,2.70,0.00,0.000,6,0.000,0.066,2620,2205,1895
$GC,19309,0.93,226.8,729.9,7.0,930,19310,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2205,1895
$GC,19618,0.93,226.8,708.9,6.7,945,19623,0.00,2.75,0.00,0.000,4,0.000,0.083,2620,790,1895
$GC,19664,0.93,226.8,705.9,6.0,947,19668,0.00,2.67,0.00,0.000,6,0.000,0.066,2620,2204,1895
$GC,19984,0.93,226.8,685.5,6.4,963,19985,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2205,1895
$GC,20293,0.93,226.8,664.0,7.4,978,20298,0.00,2.75,0.00,0.000,4,0.000,0.082,2620,788,1895
$GC,20327,0.93,226.8,661.2,8.9,979,20333,0.00,2.67,0.00,0.000,6,0.000,0.065,2620,2204,1894
$GC,20642,0.93,226.8,634.0,8.8,995,20644,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2204,1894
$GC,20952,0.93,226.8,607.9,8.2,1010,20953,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2204,1894
$GC,21262,0.93,226.8,584.7,7.5,1025,21266,0.00,2.72,0.00,0.000,4,0.000,0.081,2620,789,1895
$GC,21306,0.93,226.8,581.1,7.4,1027,21310,0.00,2.67,0.00,0.000,6,0.000,0.066,2620,2204,1894
$GC,21626,0.93,226.8,555.6,8.5,1043,21627,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2204,1894
$GC,21936,0.93,226.8,528.6,9.0,1058,21941,0.00,2.72,0.00,0.000,4,0.000,0.081,2620,788,1894
$GC,21999,0.93,226.8,522.7,9.6,1061,22004,0.00,2.67,0.00,0.000,6,0.000,0.066,2620,2207,1894
$GC,22325,0.93,226.8,493.3,8.5,1077,22326,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2207,1894
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$STATE,28602,end climb,SURFACE_DEPTH_REACHED
$STATE,28602,begin surface coast
$FINISH,1.0,1.018278
$STATE,28624,end surface coast,CONTROL_FINISHED_OK
$STATE,28624,begin surface
$SM_CCo,28647,45.70,0.640,2,0,1594,300.00
$SM_GC,1.95,0.00,0.00,45.70,0.000,0.000,0.640,73,2404,1594,-10.75,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2066
$TCM_TEMP,15.20
$XPDR_PINGS,133
$24V_AH,23.1,67.058
$10V_AH,10.1,36.547
$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,26.175,184.575,346.650,45.700,0.000,97.868,152.952,278.425,41.750,0.000,0.000,13.358,2445.633,22724.865,607.381,2746.418,975.839,0.000,1941.419,0.000,2688.264,0.000,56.132
$DEVICE_MAMPS,174.876,93.574,1362.192,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1032.423,951.328,727.243,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69319,1382
$CFSIZE,260165632,234455040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,5,0
$GPS,080208,060032,6152.361,-218.822,38,1.7,38,-5.8