version: 66.03
glider: 16
mission: 9
dive: 43
start: 6 13 108 19 28 56
data:
$ID,16
$MISSION,9
$DIVE,43
$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,120
$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,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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,-2093457.8
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2781
$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,-20.434687
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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,4
$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,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,191907,6011.763,-554.956,40,1.3,40,-7.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-59.9
$GPS2,192803,6011.755,-554.981,13,1.3,13,-7.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_1
$TGT_LATLONG,6010.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.209,0.072
$KALMAN_X,10937.0,-694.1,-3208.4,-41359.2,12174.1
$KALMAN_Y,-27513.1,440.9,-1180.3,-38210.6,-482.7
$MHEAD_RNG_PITCHd_Wd,257.8,9787,-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,24,-0.85,-146.6,0.0,0.0,0,106,0.00,0.00,-80.82,0.000,2,0.000,0.000,68,2300,3271
$GC,110,-0.85,-146.6,5.1,-5.4,4,132,11.30,2.72,-2.05,0.000,4,0.163,0.088,2108,3704,3381
$GC,308,-0.66,-146.6,37.9,-11.9,12,315,0.22,2.58,0.00,0.000,6,0.088,0.054,2153,2293,3382
$GC,624,-0.61,-146.6,63.0,-7.5,28,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2293,3382
$GC,935,-0.56,-146.6,87.2,-7.6,43,940,0.12,2.62,0.00,0.000,4,0.097,0.066,2177,881,3382
$GC,985,-0.63,-146.6,90.9,-6.2,45,990,0.00,2.62,0.00,0.000,6,0.000,0.056,2177,2303,3382
$GC,1302,-0.63,-146.6,111.2,-6.4,60,1307,0.00,2.65,0.00,0.000,4,0.000,0.064,2177,877,3383
$GC,1336,-0.70,-146.6,113.5,-6.9,61,1343,0.15,2.62,0.00,0.000,6,0.041,0.058,2128,2303,3383
$GC,1652,-0.60,-146.6,140.6,-9.0,77,1654,0.20,0.00,0.00,0.000,6,0.081,0.000,2168,2303,3382
$GC,1961,-0.60,-146.6,162.7,-7.0,92,1965,0.00,2.65,0.00,0.000,4,0.000,0.064,2168,875,3383
$GC,2033,-0.64,-146.6,168.3,-7.8,95,2038,0.00,2.65,0.00,0.000,6,0.000,0.058,2168,2306,3383
$GC,2348,-0.64,-146.6,190.3,-7.0,110,2353,0.00,2.65,0.00,0.000,4,0.000,0.064,2168,879,3383
$GC,2389,-0.69,-146.6,193.1,-6.9,112,2393,0.00,2.65,0.00,0.000,6,0.000,0.060,2168,2308,3383
$GC,2715,-0.69,-146.6,215.6,-6.8,128,2719,0.00,2.65,0.00,0.000,4,0.000,0.064,2168,883,3383
$GC,2748,-0.74,-146.6,218.0,-7.2,129,2755,0.15,2.62,0.00,0.000,6,0.043,0.061,2119,2303,3383
$GC,3064,-0.61,-146.6,247.3,-9.2,145,3066,0.22,0.00,0.00,0.000,6,0.082,0.000,2164,2303,3383
$GC,3373,-0.61,-146.6,268.8,-6.9,160,3377,0.00,2.65,0.00,0.000,4,0.000,0.066,2165,878,3383
$GC,3435,-0.65,-146.6,273.0,-6.8,163,3440,0.00,2.62,0.00,0.000,6,0.000,0.061,2165,2303,3383
$GC,3761,-0.65,-146.6,294.3,-6.4,179,3766,0.00,2.65,0.00,0.000,4,0.000,0.067,2164,876,3382
$GC,3795,-0.70,-146.6,296.5,-6.2,180,3801,0.00,2.62,0.00,0.000,6,0.000,0.061,2164,2300,3383
$GC,4111,-0.70,-146.6,316.2,-6.3,196,4115,0.00,2.65,0.00,0.000,4,0.000,0.067,2164,874,3383
$GC,4166,-0.75,-146.6,320.1,-6.7,198,4173,0.12,2.62,0.00,0.000,6,0.047,0.061,2121,2299,3383
$GC,4482,-0.63,-146.6,348.1,-9.3,214,4487,0.15,2.65,0.00,0.000,4,0.086,0.067,2156,877,3383
$GC,4515,-0.63,-146.6,350.8,-7.9,215,4522,0.00,2.62,0.00,0.000,6,0.000,0.061,2156,2298,3382
$GC,4831,-0.63,-146.6,374.2,-7.5,231,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2298,3382
$GC,5141,-0.63,-146.6,397.5,-7.5,246,5145,0.00,2.62,0.00,0.000,4,0.000,0.067,2156,883,3382
$GC,5225,-0.63,-146.6,403.8,-7.0,250,5229,0.00,2.62,0.00,0.000,6,0.000,0.061,2156,2306,3382
$GC,5551,-0.63,-146.6,427.6,-7.0,266,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2306,3382
$GC,5863,-0.63,-146.6,450.5,-7.5,281,5867,0.00,2.65,0.00,0.000,4,0.000,0.066,2156,880,3382
$GC,5907,-0.63,-146.6,454.1,-7.2,283,5911,0.00,2.62,0.00,0.000,6,0.000,0.061,2156,2300,3382
$GC,6228,-0.63,-146.6,478.6,-7.7,299,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2300,3382
$GC,6537,-0.63,-146.6,502.4,-7.5,314,6541,0.00,2.62,0.00,0.000,4,0.000,0.066,2156,883,3381
$GC,6570,-0.63,-146.6,504.8,-7.8,315,6576,0.00,2.62,0.00,0.000,6,0.000,0.061,2156,2307,3381
$GC,6886,-0.63,-146.6,526.3,-6.3,331,6890,0.00,2.65,0.00,0.000,4,0.000,0.065,2156,879,3381
$GC,6918,-0.63,-146.6,528.5,-6.8,332,6924,0.00,2.60,0.00,0.000,6,0.000,0.061,2156,2301,3381
$GC,7234,-0.63,-146.6,549.7,-7.1,348,7239,0.00,2.62,0.00,0.000,4,0.000,0.066,2156,877,3381
$GC,7274,-0.69,-146.6,552.4,-7.7,349,7280,0.00,2.62,0.00,0.000,6,0.000,0.061,2156,2302,3381
$GC,7589,-0.69,-146.6,573.1,-6.3,365,7594,0.00,2.70,0.00,0.000,4,0.000,0.085,2156,3706,3380
$GC,7629,-0.69,-146.6,575.8,-7.4,367,7633,0.00,2.55,0.00,0.000,6,0.000,0.057,2156,2301,3381
$GC,7955,-0.69,-146.6,598.0,-7.6,383,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2301,3380
$GC,8265,-0.69,-146.6,623.3,-8.2,398,8269,0.00,2.62,0.00,0.000,4,0.000,0.070,2156,886,3380
$GC,8314,-0.75,-146.6,627.5,-8.5,400,8319,0.00,2.62,0.00,0.000,6,0.000,0.062,2156,2295,3380
$GC,8630,-0.75,-146.6,652.5,-8.0,415,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2296,3379
$GC,8940,-0.75,-146.6,675.2,-6.9,430,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2296,3379
$GC,9249,-0.75,-146.6,692.7,-4.9,445,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2297,3378
$GC,9558,-0.75,-146.6,708.2,-4.8,460,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2296,3377
$GC,9868,-0.75,-146.6,725.5,-5.7,475,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2297,3376
$GC,10176,-0.75,-146.6,742.0,-5.5,490,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2297,3375
$GC,10485,-0.75,-146.6,760.1,-6.1,505,10487,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2297,3374
$GC,10795,-0.75,-146.6,780.5,-6.7,520,10796,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2297,3373
$GC,11105,-0.75,-146.6,800.4,-6.4,535,11106,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2297,3371
$GC,11413,-0.75,-146.6,820.8,-6.7,550,11414,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2297,3370
$GC,11722,-0.75,-146.6,842.5,-7.2,565,11724,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2297,3369
$GC,12032,-0.75,-146.6,863.9,-6.9,580,12033,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2297,3368
$GC,12341,-0.79,-146.6,884.5,-6.7,595,12343,0.12,0.00,0.00,0.000,6,0.058,0.000,2122,2296,3367
$GC,12651,-0.72,-146.6,909.7,-8.6,610,12655,0.00,2.70,0.00,0.000,4,0.000,0.078,2122,886,3366
$GC,12683,-0.72,-146.6,912.6,-9.0,611,12689,0.00,2.67,0.00,0.000,6,0.000,0.071,2122,2299,3366
$GC,12999,-0.66,-146.6,938.4,-8.1,627,13001,0.17,0.00,0.00,0.000,6,0.098,0.000,2155,2298,3365
$GC,13308,-0.66,-146.6,959.1,-6.6,642,13309,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2298,3364
$GC,13618,-0.70,-146.6,979.2,-6.3,657,13619,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2298,3363
$STATE,13800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13801,begin apogee
$GC,13807,-0.31,0.0,991.2,6.2,666,13943,0.38,0.00,132.85,1.287,6,0.097,0.000,2230,2298,2781
$STATE,13944,end apogee,CONTROL_FINISHED_OK
$STATE,13944,begin climb
$GC,13947,0.85,146.6,997.4,0.0,673,14091,1.17,2.88,135.00,1.246,4,0.081,0.094,2477,3709,2182
$GC,14178,0.83,169.3,992.1,5.4,683,14207,0.00,2.67,22.20,1.243,6,0.000,0.066,2477,2301,2090
$GC,14538,0.87,214.6,973.7,4.8,701,14594,0.00,2.78,44.47,1.243,4,0.000,0.079,2477,887,1905
$GC,14622,0.95,240.3,969.1,5.3,704,14654,0.12,2.70,25.40,1.253,6,0.068,0.065,2508,2298,1801
$GC,14966,0.95,240.3,943.5,7.9,720,14967,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2298,1800
$GC,15272,0.95,240.3,918.4,8.5,735,15276,0.00,2.72,0.00,0.000,4,0.000,0.077,2508,886,1799
$GC,15334,0.95,240.3,912.9,9.1,738,15339,0.00,2.67,0.00,0.000,6,0.000,0.066,2508,2301,1798
$GC,15660,0.95,240.3,884.8,8.6,754,15665,0.00,2.72,0.00,0.000,4,0.000,0.077,2508,887,1798
$GC,15705,0.95,240.3,880.6,9.4,756,15709,0.00,2.67,0.00,0.000,6,0.000,0.067,2508,2306,1798
$GC,16025,0.95,240.3,853.4,8.6,772,16030,0.00,2.72,0.00,0.000,4,0.000,0.077,2508,880,1798
$GC,16076,0.95,240.3,848.7,9.4,774,16080,0.00,2.70,0.00,0.000,6,0.000,0.067,2508,2303,1797
$GC,16391,0.95,240.3,823.8,7.8,789,16395,0.00,2.72,0.00,0.000,4,0.000,0.077,2508,886,1797
$GC,16435,0.95,240.3,820.4,7.0,791,16439,0.00,2.65,0.00,0.000,6,0.000,0.067,2508,2303,1797
$GC,16756,0.95,240.3,796.6,7.4,807,16760,0.00,2.70,0.00,0.000,4,0.000,0.076,2508,888,1797
$GC,16788,0.95,240.3,793.9,8.1,808,16794,0.00,2.67,0.00,0.000,6,0.000,0.066,2508,2303,1796
$GC,17104,0.95,240.3,769.1,8.0,824,17108,0.00,2.72,0.00,0.000,4,0.000,0.079,2507,887,1796
$GC,17136,0.95,240.3,766.4,8.1,825,17143,0.00,2.65,0.00,0.000,6,0.000,0.065,2508,2302,1796
$GC,17452,0.95,240.3,740.6,8.3,841,17457,0.00,2.70,0.00,0.000,4,0.000,0.079,2508,887,1796
$GC,17502,0.95,240.3,736.5,7.7,843,17507,0.00,2.67,0.00,0.000,6,0.000,0.066,2508,2304,1796
$GC,17818,0.95,240.3,713.4,7.3,858,17819,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2304,1796
$GC,18127,0.95,240.3,691.0,7.4,873,18132,0.00,2.72,0.00,0.000,4,0.000,0.077,2508,884,1796
$GC,18199,0.95,240.3,685.1,8.7,876,18203,0.00,2.67,0.00,0.000,6,0.000,0.065,2506,2304,1795
$GC,18515,0.95,240.3,659.2,7.9,891,18516,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2304,1795
$GC,18824,0.95,240.3,634.9,7.7,906,18829,0.00,2.70,0.00,0.000,4,0.000,0.075,2508,887,1795
$GC,18857,0.95,240.3,632.2,6.6,907,18863,0.00,2.65,0.00,0.000,6,0.000,0.064,2508,2302,1795
$GC,19173,0.95,240.3,609.6,7.1,923,19177,0.00,2.67,0.00,0.000,4,0.000,0.074,2508,887,1795
$GC,19218,0.95,240.3,606.3,7.8,925,19223,0.00,2.65,0.00,0.000,6,0.000,0.063,2508,2301,1795
$GC,19539,0.96,252.6,586.0,5.7,941,19552,0.00,0.00,11.35,0.992,6,0.000,0.000,2508,2301,1751
$GC,19848,0.97,263.0,568.8,5.7,956,19864,0.00,2.75,10.88,0.967,4,0.000,0.071,2508,880,1709
$GC,19927,0.97,263.0,563.8,6.1,958,19934,0.00,2.67,0.00,0.000,6,0.000,0.060,2508,2307,1709
$GC,20243,0.97,263.0,543.6,6.7,974,20244,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2307,1709
$GC,20552,0.97,263.0,522.0,7.3,989,20557,0.00,2.70,0.00,0.000,4,0.000,0.070,2508,881,1709
$GC,20592,0.97,263.0,518.9,8.4,991,20596,0.00,2.65,0.00,0.000,6,0.000,0.058,2508,2303,1710
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$STATE,27455,end climb,SURFACE_DEPTH_REACHED
$STATE,27455,begin surface coast
$FINISH,0.6,1.017148
$STATE,27478,end surface coast,CONTROL_FINISHED_OK
$STATE,27478,begin surface
$SM_CCo,27499,17.85,0.587,0,0,1557,300.00
$SM_GC,1.21,0.00,0.00,17.85,0.000,0.000,0.587,71,2301,1557,-10.25,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1845
$TCM_TEMP,18.10
$XPDR_PINGS,83
$ALTIM_TOP_PING,18.9,18.3
$24V_AH,23.4,9.567
$10V_AH,10.1,4.408
$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,25.375,233.850,386.125,17.850,0.000,36.445,59.929,242.240,29.500,0.000,0.000,13.830,2388.179,21575.027,614.534,2742.295,725.311,33.347,1986.771,0.000,2676.126,0.000,57.772
$DEVICE_MAMPS,163.371,93.574,1287.026,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,973.491,905.683,705.957,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69385,1327
$CAP_FILE_SIZE,193006,0
$CFSIZE,260165632,255926272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,140608,030855,6009.747,-607.856,41,1.7,41,-7.3