version: 66.03
glider: 16
mission: 9
dive: 46
start: 6 14 108 18 59 44
data:
$ID,16
$MISSION,9
$DIVE,46
$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,-2093502.8
$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,16
$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
$GPS1,184756,6013.239,-625.015,40,1.2,40,-7.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-60.2
$GPS2,185851,6013.377,-624.907,12,1.2,12,-7.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_2
$TGT_LATLONG,6015.000,-645.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.176,0.135
$KALMAN_X,-5408.7,-719.9,1314.3,-56592.5,-4919.5
$KALMAN_Y,-39892.9,717.2,903.8,-25240.7,-7129.9
$MHEAD_RNG_PITCHd_Wd,286.6,18708,-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,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-60.67,0.000,2,0.000,0.000,71,2306,2789
$GC,90,-0.85,-146.6,3.3,-4.8,3,125,11.32,2.70,-15.25,0.000,4,0.170,0.091,2106,3706,3320
$GC,335,-0.65,-146.6,32.4,-12.4,14,342,0.25,2.62,-0.73,0.000,6,0.092,0.056,2155,2291,3383
$GC,665,-0.59,-146.6,63.6,-8.7,30,670,0.00,2.62,0.00,0.000,4,0.000,0.066,2155,879,3384
$GC,751,-0.59,-146.6,71.9,-9.8,34,755,0.00,2.62,0.00,0.000,6,0.000,0.056,2155,2298,3384
$GC,1077,-0.59,-146.6,97.2,-6.9,50,1082,0.00,2.65,0.00,0.000,4,0.000,0.065,2155,878,3384
$GC,1127,-0.59,-146.6,100.7,-7.1,52,1132,0.00,2.62,0.00,0.000,6,0.000,0.055,2155,2303,3385
$GC,1444,-0.55,-146.6,118.4,-5.4,67,1446,0.12,0.00,0.00,0.000,6,0.096,0.000,2180,2303,3385
$GC,1752,-0.55,-146.6,136.7,-6.6,82,1757,0.00,2.65,0.00,0.000,4,0.000,0.065,2180,878,3385
$GC,1797,-0.64,-146.6,139.7,-6.9,84,1801,0.00,2.62,0.00,0.000,6,0.000,0.057,2180,2298,3385
$GC,2118,-0.69,-146.6,163.0,-7.4,100,2120,0.15,0.00,0.00,0.000,6,0.041,0.000,2130,2298,3385
$GC,2427,-0.58,-146.6,192.9,-9.6,115,2432,0.17,2.65,0.00,0.000,4,0.084,0.067,2170,880,3385
$GC,2494,-0.64,-146.6,198.4,-7.6,118,2499,0.00,2.62,0.00,0.000,6,0.000,0.059,2170,2301,3385
$GC,2815,-0.64,-146.6,219.7,-6.6,134,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2301,3385
$GC,3125,-0.64,-146.6,243.0,-7.9,149,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2302,3385
$GC,3434,-0.64,-146.6,269.3,-8.5,164,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2302,3385
$GC,3743,-0.64,-146.6,296.1,-8.6,179,3747,0.00,2.65,0.00,0.000,4,0.000,0.067,2170,880,3385
$GC,3783,-0.71,-146.6,299.8,-9.4,181,3791,0.08,2.62,0.00,0.000,6,0.036,0.058,2132,2300,3385
$GC,4121,-0.61,-146.6,334.4,-10.1,197,4123,0.15,0.00,0.00,0.000,6,0.086,0.000,2162,2299,3384
$GC,4427,-0.61,-146.6,360.2,-8.1,212,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2300,3385
$GC,4737,-0.61,-146.6,385.8,-8.5,227,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2300,3385
$GC,5046,-0.61,-146.6,410.9,-7.4,242,5050,0.00,2.65,0.00,0.000,4,0.000,0.066,2163,876,3385
$GC,5113,-0.66,-146.6,415.8,-7.5,245,5117,0.00,2.62,0.00,0.000,6,0.000,0.057,2163,2302,3385
$GC,5434,-0.66,-146.6,438.6,-6.9,261,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2301,3385
$GC,5743,-0.66,-146.6,459.3,-6.6,276,5748,0.00,2.62,0.00,0.000,4,0.000,0.064,2163,880,3385
$GC,5816,-0.72,-146.6,464.2,-6.6,279,5821,0.00,2.60,0.00,0.000,6,0.000,0.056,2163,2301,3384
$GC,6132,-0.72,-146.6,484.4,-7.0,294,6136,0.00,2.62,0.00,0.000,4,0.000,0.064,2163,880,3385
$GC,6204,-0.80,-146.6,489.9,-7.5,297,6209,0.17,2.60,0.00,0.000,6,0.041,0.056,2108,2304,3384
$GC,6520,-0.63,-146.6,519.3,-9.3,312,6525,0.22,2.67,0.00,0.000,4,0.087,0.080,2157,3707,3385
$GC,6560,-0.63,-146.6,523.0,-8.4,314,6564,0.00,2.58,0.00,0.000,6,0.000,0.056,2156,2300,3384
$GC,6886,-0.63,-146.6,546.3,-6.3,330,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2300,3384
$GC,7196,-0.63,-146.6,564.5,-5.6,345,7200,0.00,2.62,0.00,0.000,4,0.000,0.068,2157,881,3384
$GC,7229,-0.70,-146.6,566.5,-6.5,346,7235,0.00,2.62,0.00,0.000,6,0.000,0.059,2157,2300,3384
$GC,7544,-0.70,-146.6,586.3,-7.0,362,7548,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,880,3384
$GC,7571,-0.75,-146.6,588.3,-7.1,363,7576,0.00,2.62,0.00,0.000,6,0.000,0.061,2157,2299,3384
$GC,7887,-0.75,-146.6,606.7,-5.6,378,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2300,3384
$GC,8196,-0.75,-146.6,623.5,-6.0,393,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2299,3383
$GC,8506,-0.75,-146.6,641.3,-5.4,408,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2299,3381
$GC,8815,-0.75,-146.6,658.6,-5.7,423,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2299,3381
$GC,9124,-0.75,-146.6,677.6,-6.5,438,9128,0.00,2.70,0.00,0.000,4,0.000,0.075,2157,878,3379
$GC,9151,-0.82,-146.6,679.5,-7.5,439,9156,0.17,2.67,0.00,0.000,6,0.049,0.067,2109,2300,3379
$GC,9467,-0.69,-146.6,707.6,-8.8,454,9469,0.20,0.00,0.00,0.000,6,0.095,0.000,2148,2300,3377
$GC,9776,-0.69,-146.6,729.5,-6.6,469,9780,0.00,2.70,0.00,0.000,4,0.000,0.077,2148,879,3376
$GC,9816,-0.69,-146.6,732.2,-6.5,471,9821,0.00,2.67,0.00,0.000,6,0.000,0.069,2148,2298,3376
$GC,10143,-0.69,-146.6,751.1,-5.6,487,10144,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2298,3374
$GC,10451,-0.69,-146.6,769.7,-6.1,502,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2298,3373
$GC,10761,-0.69,-146.6,788.7,-6.2,517,10762,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2298,3372
$GC,11070,-0.69,-146.6,810.6,-7.3,532,11074,0.00,2.70,0.00,0.000,4,0.000,0.078,2148,881,3371
$GC,11103,-0.74,-146.6,813.0,-7.6,533,11109,0.00,2.67,0.00,0.000,6,0.000,0.070,2148,2302,3371
$GC,11419,-0.74,-146.6,835.6,-7.4,549,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2301,3369
$GC,11728,-0.74,-146.6,856.6,-6.6,564,11729,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2302,3368
$GC,12038,-0.74,-146.6,875.8,-6.1,579,12039,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2302,3367
$GC,12347,-0.74,-146.6,894.1,-5.7,594,12348,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2302,3366
$GC,12656,-0.74,-146.6,911.8,-5.5,609,12657,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2302,3365
$GC,12965,-0.74,-146.6,929.0,-5.6,624,12967,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2302,3364
$GC,13275,-0.74,-146.6,946.5,-5.7,639,13276,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2302,3364
$GC,13584,-0.74,-146.6,964.5,-5.6,654,13585,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2302,3363
$GC,13893,-0.74,-146.6,983.5,-6.3,669,13897,0.00,2.70,0.00,0.000,4,0.000,0.077,2148,885,3363
$GC,13926,-0.79,-146.6,985.7,-6.5,670,13932,0.00,2.65,0.00,0.000,6,0.000,0.067,2148,2300,3363
$STATE,14012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14012,begin apogee
$GC,14018,-0.31,0.0,991.2,6.3,675,14155,0.40,0.00,132.95,1.295,6,0.103,0.000,2227,2300,2781
$STATE,14156,end apogee,CONTROL_FINISHED_OK
$STATE,14156,begin climb
$GC,14159,0.85,146.6,996.6,0.0,682,14304,1.25,2.88,136.25,1.260,4,0.084,0.094,2482,3700,2183
$GC,14364,0.76,146.6,991.5,6.2,692,14368,0.00,2.70,0.00,0.000,6,0.000,0.071,2482,2302,2183
$GC,14691,0.72,147.9,973.1,6.0,708,14696,0.12,2.75,0.00,0.000,4,0.107,0.082,2459,884,2182
$GC,14754,0.77,154.7,969.4,5.8,711,14768,0.00,2.70,8.80,1.117,6,0.000,0.066,2459,2299,2150
$GC,15086,0.83,172.4,950.9,5.5,727,15107,0.10,0.00,18.00,1.232,6,0.064,0.000,2484,2299,2078
$GC,15415,0.83,172.4,929.2,6.6,743,15419,0.00,2.75,0.00,0.000,4,0.000,0.082,2484,879,2077
$GC,15460,0.84,176.7,926.3,5.9,745,15471,0.00,2.70,6.03,0.999,6,0.000,0.067,2484,2301,2060
$GC,15781,0.84,176.7,905.2,6.6,760,15782,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2301,2060
$GC,16090,0.84,176.7,884.2,6.9,775,16091,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2301,2060
$GC,16400,0.84,176.7,863.0,6.7,790,16404,0.00,2.75,0.00,0.000,4,0.000,0.083,2484,876,2059
$GC,16461,0.84,176.7,858.5,7.1,793,16466,0.00,2.70,0.00,0.000,6,0.000,0.067,2484,2303,2059
$GC,16787,0.84,176.7,836.5,6.7,809,16788,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2304,2059
$GC,17097,0.84,176.7,816.4,6.5,824,17101,0.00,2.75,0.00,0.000,4,0.000,0.081,2484,881,2058
$GC,17141,0.84,177.5,813.5,6.0,826,17145,0.00,2.67,0.00,0.000,6,0.000,0.065,2484,2303,2058
$GC,17461,0.84,177.5,793.7,6.2,842,17462,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2303,2058
$GC,17771,0.84,177.5,774.1,6.1,857,17775,0.00,2.75,0.00,0.000,4,0.000,0.081,2484,876,2058
$GC,17814,0.84,177.5,771.2,6.6,859,17819,0.00,2.67,0.00,0.000,6,0.000,0.064,2484,2304,2058
$GC,18135,0.84,177.5,751.9,6.1,875,18137,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2304,2058
$GC,18445,0.86,195.4,734.5,5.5,890,18470,0.00,2.85,17.60,1.129,4,0.000,0.081,2484,884,1984
$GC,18516,0.86,199.4,730.2,5.9,893,18526,0.00,2.70,5.47,0.833,6,0.000,0.064,2484,2303,1967
$GC,18836,0.88,215.7,712.5,5.6,908,18856,0.00,0.00,16.23,1.087,6,0.000,0.000,2484,2303,1901
$GC,19165,0.88,215.7,693.5,6.1,924,19170,0.00,2.72,0.00,0.000,4,0.000,0.081,2484,884,1901
$GC,19215,0.88,215.7,690.0,6.9,926,19219,0.00,2.67,0.00,0.000,6,0.000,0.064,2484,2308,1901
$GC,19531,0.88,215.7,667.8,7.2,941,19532,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2308,1901
$GC,19840,0.88,215.7,646.5,6.5,956,19845,0.00,2.75,0.00,0.000,4,0.000,0.080,2484,884,1901
$GC,19885,0.88,215.7,643.7,6.2,958,19889,0.00,2.65,0.00,0.000,6,0.000,0.065,2484,2302,1900
$GC,20206,0.91,241.5,627.0,5.3,974,20232,0.00,0.00,24.42,1.116,6,0.000,0.000,2484,2302,1796
$GC,20535,0.97,241.5,605.8,7.1,990,20537,0.15,0.00,0.00,0.000,6,0.082,0.000,2515,2302,1796
$GC,20844,0.97,241.5,580.4,8.2,1005,20845,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2302,1796
$GC,21153,0.97,241.5,557.8,7.5,1020,21158,0.00,2.75,0.00,0.000,4,0.000,0.079,2515,875,1796
$GC,21238,0.92,241.5,551.3,7.1,1024,21242,0.00,2.65,0.00,0.000,6,0.000,0.064,2515,2301,1795
$GC,21564,0.92,241.5,525.8,7.8,1040,21568,0.00,2.72,0.00,0.000,4,0.000,0.077,2515,880,1795
$GC,21630,0.92,241.5,520.5,7.6,1043,21635,0.00,2.65,0.00,0.000,6,0.000,0.061,2515,2303,1795
$GC,21951,0.92,241.5,497.2,6.8,1059,21953,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2303,1795
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$STATE,28972,end climb,SURFACE_DEPTH_REACHED
$STATE,28972,begin surface coast
$FINISH,0.5,1.009611
$STATE,28994,end surface coast,CONTROL_FINISHED_OK
$STATE,28994,begin surface
$SM_CCo,29015,8.82,0.537,0,0,1557,300.00
$SM_GC,2.26,0.00,0.00,8.82,0.000,0.000,0.537,70,2301,1557,-10.25,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1836
$TCM_TEMP,17.90
$XPDR_PINGS,91
$ALTIM_TOP_PING,19.7,18.6
$24V_AH,23.4,10.095
$10V_AH,10.1,4.772
$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,25.550,218.600,411.200,8.825,0.000,38.007,52.227,323.749,31.500,0.000,0.000,14.390,2510.674,22840.332,610.709,2855.537,833.670,33.364,2020.533,0.000,2794.531,0.000,57.792
$DEVICE_MAMPS,169.507,93.574,1295.463,536.900,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.334,960.913,764.677,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72601,1401
$CAP_FILE_SIZE,204189,1
$CFSIZE,260165632,255647744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,150608,030458,6016.418,-635.712,30,2.6,49,-7.5