version: 66.03
glider: 16
mission: 9
dive: 44
start: 6 14 108 3 18 21
data:
$ID,16
$MISSION,9
$DIVE,44
$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,-2093471.5
$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,21
$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
$GPS1,030855,6009.747,-607.856,41,1.7,41,-7.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-54.8
$GPS2,031727,6009.723,-607.926,13,1.7,13,-7.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_2
$TGT_LATLONG,6015.000,-645.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.169,0.143
$KALMAN_X,3601.3,-415.4,-2128.7,-47034.2,2738.5
$KALMAN_Y,-33834.0,-430.7,-540.1,-35418.9,-3903.5
$MHEAD_RNG_PITCHd_Wd,293.3,35445,-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,-146.6,0.0,0.0,0,87,0.00,0.00,-61.30,0.000,2,0.000,0.000,70,2301,2817
$GC,91,-0.85,-146.6,3.0,-3.9,3,126,11.25,2.72,-16.00,0.000,4,0.162,0.089,2108,3713,3380
$GC,226,-0.65,-146.6,18.3,-10.3,9,231,0.25,2.60,0.00,0.000,6,0.093,0.054,2157,2299,3380
$GC,553,-0.61,-146.6,48.7,-7.7,25,558,0.00,2.65,0.00,0.000,4,0.000,0.066,2157,874,3380
$GC,661,-0.61,-146.6,57.7,-8.0,30,666,0.00,2.65,0.00,0.000,6,0.000,0.058,2157,2303,3380
$GC,988,-0.57,-146.6,85.0,-8.6,46,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2303,3380
$GC,1297,-0.57,-146.6,111.4,-8.7,61,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2303,3381
$GC,1606,-0.57,-146.6,137.7,-8.2,76,1611,0.00,2.65,0.00,0.000,4,0.000,0.064,2157,878,3380
$GC,1669,-0.57,-146.6,142.9,-7.8,79,1674,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2299,3381
$GC,1995,-0.57,-146.6,168.7,-8.3,95,2000,0.00,2.65,0.00,0.000,4,0.000,0.066,2157,877,3381
$GC,2028,-0.57,-146.6,171.6,-8.5,96,2034,0.00,2.65,0.00,0.000,6,0.000,0.059,2157,2305,3381
$GC,2344,-0.57,-146.6,198.5,-8.6,112,2348,0.00,2.65,0.00,0.000,4,0.000,0.066,2157,881,3381
$GC,2388,-0.57,-146.6,202.4,-9.0,114,2392,0.00,2.62,0.00,0.000,6,0.000,0.059,2157,2298,3381
$GC,2708,-0.57,-146.6,228.2,-7.5,130,2713,0.00,2.65,0.00,0.000,4,0.000,0.066,2157,876,3381
$GC,2758,-0.57,-146.6,232.1,-7.6,132,2763,0.00,2.65,0.00,0.000,6,0.000,0.061,2157,2303,3381
$GC,3074,-0.57,-146.6,255.6,-7.6,147,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2303,3381
$GC,3383,-0.57,-146.6,281.4,-8.7,162,3387,0.00,2.65,0.00,0.000,4,0.000,0.066,2157,878,3381
$GC,3445,-0.57,-146.6,286.9,-8.8,165,3449,0.00,2.65,0.00,0.000,6,0.000,0.061,2157,2300,3381
$GC,3771,-0.57,-146.6,314.8,-8.5,181,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2300,3381
$GC,4081,-0.57,-146.6,339.4,-7.6,196,4085,0.00,2.65,0.00,0.000,4,0.000,0.066,2157,874,3381
$GC,4143,-0.57,-146.6,344.2,-7.6,199,4147,0.00,2.65,0.00,0.000,6,0.000,0.061,2157,2301,3381
$GC,4469,-0.57,-146.6,367.2,-6.7,215,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2301,3381
$GC,4778,-0.57,-146.6,388.0,-6.9,230,4782,0.00,2.65,0.00,0.000,4,0.000,0.066,2157,875,3381
$GC,4850,-0.57,-146.6,393.1,-7.1,233,4854,0.00,2.65,0.00,0.000,6,0.000,0.060,2157,2305,3381
$GC,5165,-0.57,-146.6,415.9,-7.4,248,5170,0.00,2.65,0.00,0.000,4,0.000,0.065,2157,874,3381
$GC,5205,-0.57,-146.6,418.8,-7.8,250,5210,0.00,2.65,0.00,0.000,6,0.000,0.060,2157,2306,3381
$GC,5533,-0.57,-146.6,445.0,-8.3,266,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2307,3381
$GC,5842,-0.57,-146.6,467.6,-7.2,281,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2307,3381
$GC,6151,-0.57,-146.6,488.0,-6.3,296,6156,0.00,2.65,0.00,0.000,4,0.000,0.065,2157,881,3381
$GC,6218,-0.62,-146.6,492.5,-6.2,299,6223,0.00,2.62,0.00,0.000,6,0.000,0.060,2157,2304,3381
$GC,6539,-0.62,-146.6,515.2,-7.6,315,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2305,3381
$GC,6848,-0.62,-146.6,536.6,-6.5,330,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2304,3380
$GC,7157,-0.62,-146.6,556.5,-6.6,345,7162,0.00,2.65,0.00,0.000,4,0.000,0.065,2157,876,3380
$GC,7220,-0.67,-146.6,560.8,-6.8,348,7225,0.00,2.65,0.00,0.000,6,0.000,0.061,2157,2305,3380
$GC,7546,-0.67,-146.6,582.4,-6.8,364,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2305,3380
$GC,7855,-0.67,-146.6,602.1,-6.0,379,7860,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,881,3380
$GC,7884,-0.72,-146.6,603.7,-5.8,380,7888,0.00,2.62,0.00,0.000,6,0.000,0.060,2157,2301,3379
$GC,8200,-0.72,-146.6,621.0,-5.8,395,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2302,3380
$GC,8508,-0.72,-146.6,641.4,-6.2,410,8513,0.00,2.65,0.00,0.000,4,0.000,0.069,2157,883,3379
$GC,8564,-0.78,-146.6,644.9,-6.1,412,8571,0.12,2.62,0.00,0.000,6,0.051,0.063,2118,2300,3379
$GC,8881,-0.69,-146.6,666.4,-6.8,428,8886,0.15,2.65,0.00,0.000,4,0.091,0.070,2151,883,3378
$GC,8921,-0.74,-146.6,668.7,-5.8,430,8926,0.00,2.67,0.00,0.000,6,0.000,0.066,2151,2306,3378
$GC,9249,-0.74,-146.6,689.4,-6.7,446,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2306,3377
$GC,9558,-0.74,-146.6,710.6,-6.8,461,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2306,3376
$GC,9867,-0.74,-146.6,729.2,-6.3,476,9871,0.00,2.67,0.00,0.000,4,0.000,0.074,2151,884,3375
$GC,9917,-0.80,-146.6,732.5,-6.2,478,9922,0.12,2.67,0.00,0.000,6,0.052,0.068,2114,2303,3374
$GC,10233,-0.71,-146.6,756.4,-8.3,493,10235,0.15,0.00,0.00,0.000,6,0.097,0.000,2142,2303,3373
$GC,10542,-0.71,-146.6,780.4,-7.6,508,10543,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2303,3372
$GC,10852,-0.71,-146.6,801.0,-5.9,523,10856,0.00,2.70,0.00,0.000,4,0.000,0.077,2142,883,3371
$GC,10896,-0.71,-146.6,803.5,-5.3,525,10901,0.00,2.67,0.00,0.000,6,0.000,0.071,2142,2298,3371
$GC,11218,-0.71,-146.6,823.8,-6.6,541,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2298,3370
$GC,11527,-0.71,-146.6,843.8,-6.5,556,11528,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2298,3368
$GC,11836,-0.71,-146.6,865.4,-7.0,571,11838,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2298,3367
$GC,12146,-0.71,-146.6,886.0,-6.4,586,12151,0.00,2.70,0.00,0.000,4,0.000,0.077,2142,880,3366
$GC,12185,-0.71,-146.6,888.5,-6.1,588,12190,0.00,2.70,0.00,0.000,6,0.000,0.070,2142,2305,3365
$GC,12512,-0.71,-146.6,911.8,-7.9,604,12517,0.00,2.70,0.00,0.000,4,0.000,0.075,2142,885,3364
$GC,12553,-0.76,-146.6,914.9,-7.0,606,12557,0.00,2.67,0.00,0.000,6,0.000,0.069,2141,2307,3364
$GC,12879,-0.76,-146.6,938.5,-7.4,622,12880,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2307,3364
$GC,13188,-0.76,-146.6,960.1,-6.3,637,13192,0.00,2.70,0.00,0.000,4,0.000,0.076,2142,886,3363
$GC,13228,-0.80,-146.6,962.6,-5.9,639,13233,0.00,2.65,0.00,0.000,6,0.000,0.069,2142,2303,3363
$GC,13555,-0.80,-146.6,983.5,-5.7,655,13557,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2303,3362
$STATE,13676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13677,begin apogee
$GC,13683,-0.31,0.0,991.0,6.3,661,13819,0.45,0.00,132.23,1.295,6,0.104,0.000,2231,2303,2781
$STATE,13820,end apogee,CONTROL_FINISHED_OK
$STATE,13820,begin climb
$GC,13823,0.85,146.6,997.1,0.0,668,13966,1.23,2.85,135.30,1.253,4,0.084,0.095,2483,3707,2183
$GC,14008,0.82,186.7,994.3,4.9,677,14053,0.00,2.70,38.08,1.284,6,0.000,0.069,2483,2292,2020
$GC,14378,0.84,198.5,974.3,5.7,695,14400,0.00,2.78,12.43,1.174,4,0.000,0.077,2483,897,1971
$GC,14446,0.84,198.5,970.1,6.3,698,14450,0.00,2.67,0.00,0.000,6,0.000,0.066,2483,2303,1971
$GC,14772,0.84,201.8,950.6,5.9,714,14778,0.00,0.00,4.60,0.885,6,0.000,0.000,2483,2303,1958
$GC,15081,0.84,202.3,932.1,6.0,729,15086,0.00,2.72,0.00,0.000,4,0.000,0.077,2483,887,1958
$GC,15126,0.84,202.3,928.8,7.2,731,15130,0.00,2.70,0.00,0.000,6,0.000,0.065,2483,2307,1958
$GC,15446,0.84,202.3,906.2,7.0,747,15451,0.00,2.78,0.00,0.000,4,0.000,0.094,2483,3716,1958
$GC,15486,0.84,202.3,903.2,7.5,749,15491,0.00,2.70,0.00,0.000,6,0.000,0.069,2483,2297,1958
$GC,15813,0.85,212.9,882.5,5.7,765,15827,0.00,0.00,11.57,1.158,6,0.000,0.000,2483,2297,1913
$GC,16122,0.87,232.5,866.1,5.5,780,16147,0.00,2.78,19.33,1.217,4,0.000,0.079,2483,887,1833
$GC,16182,0.88,241.9,862.4,5.7,782,16197,0.00,2.70,10.55,1.131,6,0.000,0.067,2483,2299,1794
$GC,16514,0.93,241.9,842.4,6.4,799,16515,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2299,1794
$GC,16823,0.99,241.9,822.4,6.6,814,16828,0.15,2.72,0.00,0.000,4,0.063,0.077,2518,881,1793
$GC,16873,0.92,241.9,818.3,8.4,816,16878,0.00,2.70,0.00,0.000,6,0.000,0.066,2518,2306,1793
$GC,17190,0.87,241.9,794.7,7.5,831,17191,0.15,0.00,0.00,0.000,6,0.102,0.000,2489,2306,1793
$GC,17498,0.87,241.9,775.3,6.4,846,17503,0.00,2.75,0.00,0.000,4,0.000,0.078,2489,878,1793
$GC,17548,0.87,241.9,772.0,6.8,848,17553,0.00,2.70,0.00,0.000,6,0.000,0.067,2489,2304,1792
$GC,17864,0.89,254.3,754.4,5.7,863,17882,0.00,0.00,12.65,1.116,6,0.000,0.000,2490,2304,1744
$GC,18193,0.93,254.3,734.3,6.6,879,18194,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2304,1744
$GC,18502,0.97,254.3,713.7,6.9,894,18507,0.00,2.72,0.00,0.000,4,0.000,0.079,2490,886,1744
$GC,18557,0.97,254.3,709.6,7.9,896,18563,0.00,2.65,0.00,0.000,6,0.000,0.067,2489,2301,1743
$GC,18873,1.02,254.3,687.1,6.9,912,18875,0.15,0.00,0.00,0.000,6,0.059,0.000,2525,2301,1743
$GC,19183,0.96,254.3,664.7,6.9,927,19187,0.00,2.72,0.00,0.000,4,0.000,0.078,2526,886,1743
$GC,19233,0.90,254.3,661.1,7.1,929,19238,0.15,2.67,0.00,0.000,6,0.100,0.066,2497,2301,1743
$GC,19548,0.90,254.3,643.0,6.1,944,19549,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2301,1743
$GC,19858,0.93,280.1,625.4,5.3,959,19887,0.00,2.78,24.23,1.096,4,0.000,0.076,2497,886,1637
$GC,19921,0.99,287.5,621.4,5.8,962,19937,0.00,2.70,8.45,0.960,6,0.000,0.064,2497,2302,1608
$GC,20247,1.09,318.4,602.2,5.2,978,20283,0.17,2.80,27.90,1.082,4,0.054,0.076,2542,893,1483
$GC,20322,1.09,318.4,596.3,7.7,981,20326,0.00,2.65,0.00,0.000,6,0.000,0.064,2542,2300,1482
$GC,20638,1.03,318.4,566.9,8.8,996,20643,0.00,2.70,0.00,0.000,4,0.000,0.074,2541,886,1482
$GC,20689,0.98,318.4,562.5,8.3,998,20694,0.15,2.65,0.00,0.000,6,0.096,0.062,2512,2302,1482
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$STATE,27646,end climb,SURFACE_DEPTH_REACHED
$STATE,27647,begin surface coast
$FINISH,0.8,1.027099
$STATE,27667,end surface coast,CONTROL_FINISHED_OK
$STATE,27667,begin surface
$SM_CCo,27748,0.00,0.000,0,0,1486,317.66
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1832
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$XPDR_PINGS,70
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$24V_AH,23.4,9.743
$10V_AH,10.1,4.527
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$DEVICE_SECS,25.950,256.275,440.850,0.000,0.000,36.076,54.738,224.756,26.250,0.000,0.000,13.078,2439.301,21633.441,634.056,2820.910,723.093,33.360,2059.212,0.000,2759.883,0.000,57.766
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$SENSOR_SECS,990.865,913.271,706.295,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69381,1336
$CAP_FILE_SIZE,203614,0
$CFSIZE,260165632,255827968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,140608,110207,6010.927,-617.850,41,1.0,41,-7.3