version: 66.03
glider: 16
mission: 9
dive: 47
start: 6 15 108 3 22 44
data:
$ID,16
$MISSION,9
$DIVE,47
$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,-2093538.9
$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,14
$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
$GPS1,030458,6016.418,-635.712,30,2.6,49,-7.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-60.7
$GPS2,032153,6016.667,-635.888,15,2.8,34,-7.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_2
$TGT_LATLONG,6015.000,-645.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.104,0.002
$KALMAN_X,-8766.0,730.3,-878.8,-62431.3,-4977.6
$KALMAN_Y,-37482.3,784.4,508.0,-21279.7,-3076.3
$MHEAD_RNG_PITCHd_Wd,257.3,8926,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,88,0.00,0.00,-60.83,0.000,2,0.000,0.000,69,2301,2794
$GC,92,-0.85,-146.6,3.2,-4.3,3,119,11.30,2.70,-9.27,0.000,4,0.170,0.085,2108,3709,3115
$GC,315,-0.58,-146.6,29.3,-10.9,13,325,0.32,2.60,-3.20,0.000,6,0.092,0.054,2171,2288,3381
$GC,641,-0.58,-146.6,54.9,-7.7,29,646,0.00,2.62,0.00,0.000,4,0.000,0.066,2171,878,3382
$GC,720,-0.63,-146.6,60.8,-7.4,32,727,0.00,2.62,0.00,0.000,6,0.000,0.054,2171,2301,3382
$GC,1036,-0.63,-146.6,83.1,-7.0,48,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2301,3382
$GC,1345,-0.63,-146.6,104.2,-6.7,63,1349,0.00,2.65,0.00,0.000,4,0.000,0.065,2171,883,3382
$GC,1400,-0.68,-146.6,108.3,-7.0,65,1407,0.00,2.62,0.00,0.000,6,0.000,0.057,2171,2305,3382
$GC,1716,-0.68,-146.6,128.6,-6.6,81,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2304,3382
$GC,2027,-0.68,-146.6,149.5,-6.9,96,2031,0.00,2.67,0.00,0.000,4,0.000,0.067,2171,876,3383
$GC,2067,-0.74,-146.6,152.3,-7.4,98,2072,0.15,2.65,0.00,0.000,6,0.042,0.058,2123,2304,3382
$GC,2394,-0.62,-146.6,185.0,-10.7,114,2399,0.17,2.67,0.00,0.000,4,0.084,0.067,2163,878,3383
$GC,2434,-0.66,-146.6,188.8,-9.5,116,2438,0.00,2.65,0.00,0.000,6,0.000,0.058,2162,2308,3383
$GC,2760,-0.66,-146.6,217.4,-8.1,132,2765,0.00,2.67,0.00,0.000,4,0.000,0.067,2162,878,3382
$GC,2793,-0.66,-146.6,220.0,-7.9,133,2799,0.00,2.62,0.00,0.000,6,0.000,0.058,2162,2302,3382
$GC,3108,-0.66,-146.6,245.4,-8.1,149,3113,0.00,2.65,0.00,0.000,4,0.000,0.067,2162,880,3382
$GC,3141,-0.66,-146.6,248.2,-8.4,150,3148,0.00,2.62,0.00,0.000,6,0.000,0.058,2162,2300,3383
$GC,3458,-0.66,-146.6,274.3,-8.5,166,3462,0.00,2.65,0.00,0.000,4,0.000,0.066,2163,877,3382
$GC,3497,-0.66,-146.6,277.5,-8.3,168,3501,0.00,2.62,0.00,0.000,6,0.000,0.058,2163,2299,3382
$GC,3825,-0.66,-146.6,301.2,-6.7,184,3830,0.00,2.62,0.00,0.000,4,0.000,0.067,2162,884,3382
$GC,3853,-0.66,-146.6,303.3,-7.0,185,3857,0.00,2.60,0.00,0.000,6,0.000,0.058,2162,2299,3382
$GC,4168,-0.66,-146.6,324.2,-7.0,200,4173,0.00,2.65,0.00,0.000,4,0.000,0.067,2162,880,3382
$GC,4202,-0.70,-146.6,326.7,-7.3,201,4208,0.00,2.62,0.00,0.000,6,0.000,0.058,2163,2298,3382
$GC,4520,-0.70,-146.6,351.1,-7.8,217,4524,0.00,2.65,0.00,0.000,4,0.000,0.068,2163,880,3382
$GC,4569,-0.75,-146.6,355.6,-8.1,219,4574,0.12,2.62,0.00,0.000,6,0.048,0.059,2121,2301,3382
$GC,4885,-0.63,-146.6,389.4,-11.4,234,4891,0.20,2.62,0.00,0.000,4,0.084,0.068,2164,883,3382
$GC,4975,-0.68,-146.6,397.9,-8.7,238,4979,0.00,2.60,0.00,0.000,6,0.000,0.059,2164,2301,3382
$GC,5295,-0.68,-146.6,424.5,-7.7,254,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2302,3382
$GC,5605,-0.68,-146.6,446.3,-6.9,269,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2302,3382
$GC,5914,-0.68,-146.6,468.2,-7.0,284,5918,0.00,2.65,0.00,0.000,4,0.000,0.069,2164,886,3382
$GC,5954,-0.74,-146.6,470.8,-7.0,286,5959,0.12,2.62,0.00,0.000,6,0.048,0.061,2123,2307,3382
$GC,6281,-0.64,-146.6,498.4,-8.7,302,6286,0.15,2.67,0.00,0.000,4,0.087,0.069,2157,880,3383
$GC,6321,-0.70,-146.6,501.4,-7.2,304,6326,0.00,2.62,0.00,0.000,6,0.000,0.061,2157,2301,3382
$GC,6647,-0.70,-146.6,524.1,-7.3,320,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2301,3382
$GC,6956,-0.70,-146.6,546.1,-6.9,335,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2301,3381
$GC,7266,-0.70,-146.6,567.6,-6.8,350,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2302,3380
$GC,7575,-0.70,-146.6,587.4,-6.1,365,7580,0.00,2.72,0.00,0.000,4,0.000,0.089,2157,3710,3380
$GC,7608,-0.70,-146.6,589.7,-7.1,366,7614,0.00,2.62,0.00,0.000,6,0.000,0.063,2158,2296,3380
$GC,7923,-0.70,-146.6,609.4,-6.4,382,7928,0.00,2.67,0.00,0.000,4,0.000,0.075,2157,876,3379
$GC,7963,-0.76,-146.6,612.1,-6.9,384,7968,0.12,2.67,0.00,0.000,6,0.052,0.066,2120,2304,3378
$GC,8290,-0.67,-146.6,639.5,-8.6,400,8292,0.17,0.00,0.00,0.000,6,0.091,0.000,2154,2305,3377
$GC,8599,-0.67,-146.6,660.1,-6.4,415,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2305,3377
$GC,8909,-0.67,-146.6,677.3,-5.4,430,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2305,3375
$GC,9218,-0.67,-146.6,693.1,-5.1,445,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2305,3374
$GC,9527,-0.67,-146.6,709.6,-5.4,460,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2304,3373
$GC,9836,-0.67,-146.6,724.7,-4.2,475,9841,0.00,2.72,0.00,0.000,4,0.000,0.080,2154,878,3372
$GC,9870,-0.73,-146.6,726.2,-4.6,476,9875,0.00,2.70,0.00,0.000,6,0.000,0.071,2153,2298,3372
$GC,10186,-0.73,-146.6,740.7,-4.0,491,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2298,3370
$GC,10496,-0.73,-146.6,750.3,-2.3,506,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2298,3369
$GC,10805,-0.73,-146.6,764.3,-5.5,521,10809,0.00,2.70,0.00,0.000,4,0.000,0.081,2153,885,3368
$GC,10833,-0.78,-146.6,765.9,-5.9,522,10838,0.12,2.70,0.00,0.000,6,0.061,0.071,2120,2307,3368
$GC,11149,-0.70,-146.6,786.3,-6.9,537,11150,0.12,0.00,0.00,0.000,6,0.102,0.000,2142,2307,3366
$GC,11457,-0.70,-146.6,805.0,-6.1,552,11462,0.00,2.72,0.00,0.000,4,0.000,0.081,2143,886,3365
$GC,11497,-0.70,-146.6,807.4,-6.0,554,11502,0.00,2.67,0.00,0.000,6,0.000,0.072,2143,2301,3365
$GC,11825,-0.70,-146.6,825.7,-5.4,570,11826,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2301,3365
$GC,12134,-0.70,-146.6,843.1,-6.0,585,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2301,3364
$GC,12443,-0.70,-146.6,862.3,-6.1,600,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2301,3364
$GC,12752,-0.70,-146.6,881.8,-6.0,615,12756,0.00,2.70,0.00,0.000,4,0.000,0.081,2143,886,3363
$GC,12779,-0.70,-146.6,883.5,-6.1,616,12783,0.00,2.65,0.00,0.000,6,0.000,0.071,2143,2301,3363
$GC,13095,-0.70,-146.6,902.4,-6.1,631,13096,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2301,3362
$GC,13404,-0.70,-146.6,921.2,-6.0,646,13405,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2302,3362
$GC,13714,-0.70,-146.6,940.2,-6.3,661,13718,0.00,2.70,0.00,0.000,4,0.000,0.080,2143,886,3361
$GC,13741,-0.70,-146.6,942.2,-7.1,662,13745,0.00,2.65,0.00,0.000,6,0.000,0.070,2144,2302,3361
$GC,14057,-0.70,-146.6,962.2,-6.2,677,14058,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2302,3360
$GC,14365,-0.70,-146.6,982.2,-6.4,692,14367,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2303,3360
$STATE,14507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14507,begin apogee
$GC,14514,-0.31,0.0,991.1,6.1,699,14651,0.45,0.00,132.15,1.296,6,0.110,0.000,2231,2303,2781
$STATE,14651,end apogee,CONTROL_FINISHED_OK
$STATE,14651,begin climb
$GC,14654,0.85,146.6,996.4,0.0,706,14798,1.20,2.90,136.10,1.265,4,0.087,0.092,2478,3710,2183
$GC,14874,0.83,178.8,990.6,5.1,716,14911,0.00,2.70,31.52,1.279,6,0.000,0.067,2478,2292,2051
$GC,15220,0.84,184.3,970.8,5.9,733,15234,0.00,2.75,6.68,1.037,4,0.000,0.080,2478,890,2029
$GC,15269,0.84,189.5,967.8,5.9,735,15285,0.00,2.70,6.60,1.031,6,0.000,0.065,2478,2305,2008
$GC,15595,0.87,209.1,949.6,5.5,751,15616,0.00,0.00,19.55,1.242,6,0.000,0.000,2478,2305,1928
$GC,15924,0.89,229.6,931.7,5.4,767,15949,0.00,2.83,20.30,1.239,4,0.000,0.078,2478,882,1844
$GC,15989,0.95,229.6,928.0,6.3,770,15994,0.15,2.72,0.00,0.000,6,0.085,0.065,2507,2307,1844
$GC,16310,0.95,229.6,908.2,6.0,786,16315,0.00,2.75,0.00,0.000,4,0.000,0.079,2508,889,1844
$GC,16350,0.95,229.6,905.7,6.5,788,16355,0.00,2.67,0.00,0.000,6,0.000,0.066,2508,2302,1844
$GC,16677,0.95,229.6,885.8,6.3,804,16681,0.00,2.75,0.00,0.000,4,0.000,0.079,2508,881,1843
$GC,16710,0.95,229.6,883.5,6.5,805,16716,0.00,2.70,0.00,0.000,6,0.000,0.067,2508,2307,1843
$GC,17026,0.95,233.0,864.7,5.9,821,17036,0.00,2.75,4.65,0.881,4,0.000,0.080,2508,889,1831
$GC,17069,0.95,233.0,861.9,6.3,823,17074,0.00,2.70,0.00,0.000,6,0.000,0.067,2508,2305,1831
$GC,17391,0.95,233.0,839.5,7.2,839,17395,0.00,2.75,0.00,0.000,4,0.000,0.080,2508,885,1831
$GC,17423,0.95,233.0,837.0,8.3,840,17430,0.00,2.70,0.00,0.000,6,0.000,0.068,2508,2305,1831
$GC,17739,0.95,233.0,814.4,7.1,856,17744,0.00,2.75,0.00,0.000,4,0.000,0.079,2508,881,1831
$GC,17766,0.95,233.0,812.1,7.9,857,17771,0.00,2.70,0.00,0.000,6,0.000,0.067,2508,2303,1831
$GC,18082,0.95,233.0,790.1,6.7,872,18086,0.00,2.75,0.00,0.000,4,0.000,0.080,2508,882,1831
$GC,18109,0.95,233.0,788.2,6.8,873,18113,0.00,2.67,0.00,0.000,6,0.000,0.068,2508,2301,1831
$GC,18424,0.95,233.0,766.5,6.8,888,18426,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2301,1831
$GC,18734,0.95,233.0,742.9,7.9,903,18738,0.00,2.72,0.00,0.000,4,0.000,0.081,2508,883,1831
$GC,18789,0.95,233.0,738.4,7.9,905,18795,0.00,2.67,0.00,0.000,6,0.000,0.070,2508,2306,1831
$GC,19105,0.95,233.0,716.8,6.3,921,19106,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2306,1831
$GC,19415,0.97,248.0,698.7,5.6,936,19436,0.00,2.80,15.23,1.116,4,0.000,0.081,2508,889,1768
$GC,19464,0.97,248.0,695.5,7.2,938,19469,0.00,2.72,0.00,0.000,6,0.000,0.067,2508,2306,1767
$GC,19785,0.97,248.0,675.2,6.8,954,19789,0.00,2.75,0.00,0.000,4,0.000,0.081,2508,887,1768
$GC,19825,0.97,248.0,672.4,7.8,956,19829,0.00,2.70,0.00,0.000,6,0.000,0.068,2508,2304,1768
$GC,20151,0.97,248.0,648.0,7.3,972,20152,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2304,1768
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$STATE,29155,end climb,SURFACE_DEPTH_REACHED
$STATE,29155,begin surface coast
$FINISH,0.6,1.027268
$STATE,29178,end surface coast,CONTROL_FINISHED_OK
$STATE,29179,begin surface
$SM_CCo,29200,11.93,0.574,0,0,1557,300.00
$SM_GC,1.76,0.00,0.00,11.93,0.000,0.000,0.574,73,2304,1557,-10.24,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1838
$TCM_TEMP,17.50
$XPDR_PINGS,117
$ALTIM_TOP_PING,19.2,18.6
$24V_AH,23.4,10.277
$10V_AH,10.1,4.901
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$DEVICE_SECS,25.775,262.525,404.875,11.925,0.000,73.964,108.060,430.407,38.000,0.000,0.000,35.546,2542.336,23038.969,621.007,2915.840,1079.235,33.363,2079.762,0.000,2833.771,0.000,57.769
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1039.119,964.012,761.424,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72567,1409
$CAP_FILE_SIZE,214763,1
$CFSIZE,260165632,255549440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,150608,113055,6018.145,-645.245,38,1.4,38,-7.6