version: 66.02
glider: 16
mission: 6
dive: 435
start: 2 8 108 22 38 10
data:
$ID,16
$MISSION,6
$DIVE,435
$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,-2087694.5
$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,15
$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
$GPS1,222928,6148.398,-231.883,29,2.4,48,-5.9
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-59.3
$GPS2,223753,6148.429,-231.932,14,2.6,33,-5.9
$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,244.5,72619,-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,24,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-60.25,0.000,2,0.000,0.000,71,2405,3101
$GC,91,-0.85,-146.6,4.2,-5.9,3,113,12.15,0.00,-6.97,0.000,6,0.170,0.000,2222,2406,3417
$GC,423,-0.85,-146.6,44.1,-9.1,19,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3420
$GC,731,-0.85,-146.6,70.1,-8.4,34,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2406,3420
$GC,1041,-0.85,-146.6,94.0,-7.6,49,1046,0.00,2.70,0.00,0.000,4,0.000,0.069,2222,980,3420
$GC,1096,-0.85,-146.6,98.7,-8.8,51,1102,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2400,3420
$GC,1412,-0.85,-146.6,125.8,-8.7,67,1416,0.00,2.67,0.00,0.000,4,0.000,0.070,2222,980,3420
$GC,1479,-0.85,-146.6,131.9,-8.6,70,1484,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2400,3420
$GC,1801,-0.85,-146.6,158.9,-8.2,86,1805,0.00,2.70,0.00,0.000,4,0.000,0.071,2222,973,3420
$GC,1862,-0.85,-146.6,164.2,-8.3,89,1867,0.00,2.65,0.00,0.000,6,0.000,0.062,2222,2403,3420
$GC,2190,-0.85,-146.6,189.9,-8.0,105,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3421
$GC,2498,-0.85,-146.6,213.9,-7.7,120,2503,0.00,2.67,0.00,0.000,4,0.000,0.072,2222,979,3421
$GC,2571,-0.85,-146.6,219.3,-7.1,123,2575,0.00,2.65,0.00,0.000,6,0.000,0.062,2222,2400,3421
$GC,2887,-0.85,-146.6,243.0,-7.8,138,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3421
$GC,3196,-0.85,-146.6,266.8,-8.1,153,3200,0.00,2.70,0.00,0.000,4,0.000,0.073,2222,976,3421
$GC,3258,-0.85,-146.6,271.8,-7.9,156,3262,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2399,3421
$GC,3585,-0.85,-146.6,294.0,-6.5,172,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3421
$GC,3893,-0.85,-146.6,315.3,-7.2,187,3898,0.00,2.70,0.00,0.000,4,0.000,0.074,2224,980,3422
$GC,4005,-0.85,-146.6,322.9,-6.7,192,4010,0.00,2.67,0.00,0.000,6,0.000,0.065,2222,2401,3422
$GC,4327,-0.85,-146.6,346.0,-7.1,208,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3422
$GC,4635,-0.85,-146.6,364.2,-5.7,223,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3422
$GC,4945,-0.85,-146.6,382.9,-6.2,238,4950,0.00,2.72,0.00,0.000,4,0.000,0.078,2222,982,3423
$GC,5041,-0.85,-146.6,390.1,-7.5,242,5045,0.00,2.70,0.00,0.000,6,0.000,0.068,2221,2406,3422
$GC,5356,-0.85,-146.6,413.6,-7.3,257,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3423
$GC,5667,-0.85,-146.6,434.8,-6.5,272,5671,0.00,2.75,0.00,0.000,4,0.000,0.079,2222,977,3422
$GC,5744,-0.85,-146.6,440.1,-7.2,275,5750,0.00,2.70,0.00,0.000,6,0.000,0.070,2222,2400,3422
$GC,6060,-0.85,-146.6,459.8,-6.1,291,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3421
$GC,6370,-0.85,-146.6,479.4,-6.5,306,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3420
$GC,6679,-0.85,-146.6,501.3,-7.2,321,6684,0.00,2.72,0.00,0.000,4,0.000,0.081,2222,982,3419
$GC,6764,-0.85,-146.6,507.7,-7.4,325,6769,0.00,2.70,0.00,0.000,6,0.000,0.072,2222,2403,3418
$GC,7092,-0.85,-146.6,531.0,-7.2,341,7096,0.00,2.75,0.00,0.000,4,0.000,0.081,2222,979,3417
$GC,7158,-0.85,-146.6,535.8,-6.9,344,7162,0.00,2.72,0.00,0.000,6,0.000,0.072,2222,2405,3417
$GC,7479,-0.85,-146.6,556.0,-6.1,360,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3416
$GC,7788,-0.85,-146.6,574.6,-6.0,375,7792,0.00,2.75,0.00,0.000,4,0.000,0.082,2222,984,3414
$GC,7843,-0.85,-146.6,578.0,-6.5,377,7849,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2400,3414
$GC,8159,-0.85,-146.6,597.2,-6.3,393,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3413
$GC,8467,-0.85,-146.6,616.9,-6.7,408,8472,0.00,2.72,0.00,0.000,4,0.000,0.083,2222,983,3412
$GC,8539,-0.85,-146.6,621.9,-6.8,411,8544,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2400,3412
$GC,8856,-0.85,-146.6,643.1,-6.7,426,8858,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3411
$GC,9165,-0.85,-146.6,664.3,-7.0,441,9169,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,981,3411
$GC,9249,-0.85,-146.6,670.6,-7.2,445,9253,0.00,2.72,0.00,0.000,6,0.000,0.076,2222,2404,3410
$GC,9576,-0.85,-146.6,694.0,-7.1,461,9577,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3409
$GC,9885,-0.85,-146.6,716.1,-7.1,476,9889,0.00,2.75,0.00,0.000,4,0.000,0.083,2222,983,3408
$GC,9969,-0.85,-146.6,722.3,-7.6,480,9973,0.00,2.72,0.00,0.000,6,0.000,0.077,2222,2404,3409
$GC,10296,-0.85,-146.6,745.3,-7.0,496,10297,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3407
$GC,10605,-0.85,-146.6,767.1,-7.0,511,10609,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,985,3405
$GC,10677,-0.85,-146.6,772.4,-7.6,514,10681,0.00,2.72,0.00,0.000,6,0.000,0.076,2222,2402,3406
$GC,10993,-0.85,-146.6,794.1,-7.0,529,10994,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3405
$GC,11301,-0.85,-146.6,814.3,-6.4,544,11306,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,985,3405
$GC,11375,-0.85,-146.6,819.3,-7.5,547,11379,0.00,2.70,0.00,0.000,6,0.000,0.076,2222,2398,3404
$GC,11691,-0.85,-146.6,838.4,-5.9,562,11692,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3404
$GC,12000,-0.85,-146.6,856.8,-6.0,577,12004,0.00,2.75,0.00,0.000,4,0.000,0.083,2222,981,3404
$GC,12063,-0.85,-146.6,860.9,-6.6,580,12068,0.00,2.70,0.00,0.000,6,0.000,0.075,2222,2401,3404
$GC,12390,-0.85,-146.6,881.1,-6.2,596,12391,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3403
$GC,12701,-0.85,-146.6,900.2,-6.3,611,12706,0.00,2.75,0.00,0.000,4,0.000,0.082,2222,979,3403
$GC,12765,-0.85,-146.6,904.5,-6.4,614,12769,0.00,2.72,0.00,0.000,6,0.000,0.074,2222,2406,3403
$GC,13091,-0.85,-146.6,923.9,-5.8,630,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3403
$GC,13401,-0.85,-146.6,942.0,-6.0,645,13405,0.00,2.75,0.00,0.000,4,0.000,0.080,2222,981,3402
$GC,13478,-0.85,-146.6,947.1,-6.3,648,13485,0.00,2.70,0.00,0.000,6,0.000,0.071,2222,2404,3402
$GC,13794,-0.85,-146.6,966.0,-6.1,664,13795,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3402
$GC,14104,-0.85,-146.6,984.3,-5.8,679,14109,0.00,2.72,0.00,0.000,4,0.000,0.079,2222,985,3402
$GC,14171,-0.85,-146.6,988.5,-6.5,682,14175,0.00,2.70,0.00,0.000,6,0.000,0.070,2222,2407,3402
$STATE,14201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14201,begin apogee
$GC,14208,-0.31,0.0,990.4,5.9,684,14347,0.60,0.00,130.00,1.338,6,0.121,0.000,2337,2192,2817
$STATE,14347,end apogee,CONTROL_FINISHED_OK
$STATE,14347,begin climb
$GC,14351,0.85,146.6,995.2,0.0,691,14495,1.23,2.85,130.77,1.310,4,0.085,0.077,2589,790,2218
$GC,14543,0.85,146.6,988.1,6.5,700,14548,0.00,2.67,0.00,0.000,6,0.000,0.063,2589,2199,2216
$GC,14871,0.85,146.6,967.9,6.2,716,14872,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2216
$GC,15179,0.85,146.6,948.5,6.3,731,15183,0.00,2.80,0.00,0.000,4,0.000,0.093,2589,3614,2216
$GC,15218,0.85,146.6,945.9,7.4,733,15223,0.00,2.65,0.00,0.000,6,0.000,0.066,2589,2204,2216
$GC,15546,0.85,151.4,925.9,5.9,749,15553,0.00,0.00,5.47,1.000,6,0.000,0.000,2589,2203,2199
$GC,15854,0.85,153.6,907.4,5.9,764,15855,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2198
$GC,16163,0.87,166.1,889.5,5.7,779,16182,0.00,0.00,14.18,1.224,6,0.000,0.000,2589,2204,2139
$GC,16493,0.87,168.7,870.1,5.9,795,16499,0.00,0.00,3.85,0.786,6,0.000,0.000,2589,2204,2129
$GC,16803,0.88,180.4,852.1,5.7,810,16825,0.00,2.90,11.62,1.142,4,0.000,0.094,2589,3611,2081
$GC,16854,0.88,180.4,848.7,6.7,812,16858,0.00,2.70,0.00,0.000,6,0.000,0.068,2589,2202,2081
$GC,17174,0.88,180.4,828.3,6.4,828,17175,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,2080
$GC,17483,0.88,180.4,808.9,6.2,843,17485,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2080
$GC,17794,0.88,181.9,790.5,6.0,858,17795,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,2080
$GC,18102,0.88,181.9,771.1,6.2,873,18103,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,2081
$GC,18411,0.88,181.9,751.8,6.1,888,18412,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,2079
$GC,18721,0.88,181.9,732.8,6.2,903,18722,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,2079
$GC,19030,0.90,199.6,715.0,5.5,918,19050,0.00,0.00,17.65,1.161,6,0.000,0.000,2589,2202,2003
$GC,19361,0.91,201.8,694.9,5.9,934,19365,0.00,2.78,0.00,0.000,4,0.000,0.087,2589,787,2002
$GC,19401,0.91,201.8,692.2,6.2,936,19406,0.00,2.67,0.00,0.000,6,0.000,0.064,2589,2203,2001
$GC,19727,0.91,201.8,671.7,6.2,952,19729,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2002
$GC,20037,0.91,201.8,652.2,6.3,967,20038,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2001
$GC,20347,0.91,201.8,633.4,6.1,982,20348,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2001
$GC,20655,0.91,201.8,614.9,6.0,997,20656,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2002
$GC,20965,0.91,206.5,596.6,5.9,1012,20974,0.00,0.00,7.43,0.978,6,0.000,0.000,2589,2203,1975
$GC,21275,0.92,211.5,578.6,5.9,1027,21283,0.00,0.00,6.07,0.920,6,0.000,0.000,2589,2203,1954
$GC,21583,0.92,211.5,558.4,6.7,1042,21584,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,1953
$GC,21892,0.92,211.5,537.6,6.8,1057,21893,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,1953
$GC,22202,0.92,211.5,517.3,6.6,1072,22207,0.00,2.75,0.00,0.000,4,0.000,0.082,2589,786,1953
$GC,22252,0.92,211.5,513.6,7.8,1074,22257,0.00,2.67,0.00,0.000,6,0.000,0.065,2589,2200,1953
$GC,22568,0.92,211.5,493.2,6.4,1089,22569,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,1953
$GC,22878,0.92,211.5,472.9,6.5,1104,22879,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,1953
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$GC,23906,0.92,211.5,407.5,8.2,1154,23910,0.00,2.67,0.00,0.000,6,0.000,0.065,2589,2203,1952
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$STATE,29284,end climb,SURFACE_DEPTH_REACHED
$STATE,29284,begin surface coast
$FINISH,1.1,1.027519
$STATE,29307,end surface coast,CONTROL_FINISHED_OK
$STATE,29308,begin surface
$SM_CCo,29331,51.30,0.651,2,0,1594,300.00
$SM_GC,2.18,0.00,0.00,51.30,0.000,0.000,0.651,73,2404,1594,-10.75,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2083
$TCM_TEMP,16.10
$XPDR_PINGS,137
$24V_AH,23.1,67.586
$10V_AH,10.1,36.914
$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,25.575,168.950,337.750,51.300,0.000,32.605,33.713,256.571,42.750,0.000,0.000,34.168,2489.432,23245.260,579.692,2795.375,776.234,0.000,1915.622,0.000,2719.420,0.000,56.117
$DEVICE_MAMPS,170.274,93.574,1338.415,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1056.006,976.253,718.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72552,1416
$CFSIZE,260165632,234205184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,14,4,0
$GPS,090208,064928,6145.399,-239.702,27,3.1,46,-5.9