version: 66.03
glider: 16
mission: 9
dive: 48
start: 6 15 108 11 41 38
data:
$ID,16
$MISSION,9
$DIVE,48
$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,-2093571.8
$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,17
$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
$GPS1,113055,6018.145,-645.245,38,1.4,38,-7.6
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-62.4
$GPS2,114047,6018.193,-645.261,12,2.1,31,-7.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_3
$TGT_LATLONG,6030.000,-715.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.105,0.195
$KALMAN_X,-12829.2,-223.2,-899.0,-65857.5,-2533.7
$KALMAN_Y,-34565.2,941.5,484.4,-21479.1,-1547.7
$MHEAD_RNG_PITCHd_Wd,316.5,34838,-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,-60.40,0.000,2,0.000,0.000,73,2305,2742
$GC,90,-0.85,-146.6,3.1,-3.9,3,132,11.25,2.78,-20.65,0.000,4,0.163,0.088,2109,3718,3380
$GC,241,-0.67,-146.6,19.5,-11.8,9,248,0.22,2.60,0.00,0.000,6,0.093,0.056,2153,2299,3380
$GC,559,-0.61,-146.6,45.2,-7.8,25,563,0.00,2.62,0.00,0.000,4,0.000,0.065,2153,883,3380
$GC,626,-0.61,-146.6,50.9,-7.6,28,630,0.00,2.62,0.00,0.000,6,0.000,0.057,2153,2300,3380
$GC,947,-0.56,-146.6,76.2,-7.8,44,952,0.12,2.65,0.00,0.000,4,0.099,0.064,2177,881,3380
$GC,1014,-0.64,-146.6,81.0,-6.8,47,1018,0.00,2.62,0.00,0.000,6,0.000,0.057,2177,2301,3380
$GC,1335,-0.64,-146.6,99.6,-5.6,63,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2301,3380
$GC,1645,-0.64,-146.6,117.4,-5.8,78,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2301,3380
$GC,1954,-0.64,-146.6,135.8,-6.0,93,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2301,3381
$GC,2262,-0.64,-146.6,155.8,-6.4,108,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2302,3381
$GC,2572,-0.64,-146.6,174.9,-6.6,123,2577,0.00,2.65,0.00,0.000,4,0.000,0.064,2177,877,3381
$GC,2622,-0.73,-146.6,178.4,-6.7,125,2627,0.17,2.65,0.00,0.000,6,0.040,0.058,2122,2307,3381
$GC,2944,-0.60,-146.6,208.0,-9.4,141,2949,0.20,2.67,0.00,0.000,4,0.087,0.066,2165,877,3381
$GC,3000,-0.66,-146.6,212.5,-6.7,143,3006,0.00,2.65,0.00,0.000,6,0.000,0.059,2165,2305,3381
$GC,3315,-0.66,-146.6,234.9,-7.1,159,3320,0.00,2.65,0.00,0.000,4,0.000,0.066,2165,883,3381
$GC,3382,-0.71,-146.6,239.7,-7.1,162,3386,0.00,2.62,0.00,0.000,6,0.000,0.058,2166,2300,3381
$GC,3702,-0.71,-146.6,260.5,-6.3,178,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2300,3381
$GC,4012,-0.71,-146.6,278.6,-5.5,193,4016,0.00,2.65,0.00,0.000,4,0.000,0.067,2166,879,3381
$GC,4056,-0.77,-146.6,281.2,-5.9,195,4062,0.15,2.62,0.00,0.000,6,0.044,0.060,2118,2298,3381
$GC,4379,-0.64,-146.6,306.1,-8.3,211,4384,0.17,2.65,0.00,0.000,4,0.091,0.067,2156,883,3381
$GC,4441,-0.64,-146.6,310.7,-6.9,214,4445,0.00,2.65,0.00,0.000,6,0.000,0.061,2156,2304,3381
$GC,4767,-0.64,-146.6,332.7,-7.0,230,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2305,3381
$GC,5076,-0.64,-146.6,356.1,-8.0,245,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2304,3381
$GC,5385,-0.64,-146.6,382.5,-8.3,260,5390,0.00,2.67,0.00,0.000,4,0.000,0.067,2156,875,3380
$GC,5452,-0.64,-146.6,388.3,-9.0,263,5456,0.00,2.65,0.00,0.000,6,0.000,0.061,2156,2301,3380
$GC,5772,-0.64,-146.6,413.3,-7.5,279,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2301,3380
$GC,6082,-0.64,-146.6,435.3,-6.5,294,6086,0.00,2.65,0.00,0.000,4,0.000,0.069,2156,885,3380
$GC,6121,-0.64,-146.6,438.0,-6.8,296,6126,0.00,2.62,0.00,0.000,6,0.000,0.063,2156,2300,3380
$GC,6448,-0.64,-146.6,460.2,-6.9,312,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2300,3380
$GC,6757,-0.64,-146.6,479.7,-6.6,327,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2300,3380
$GC,7067,-0.64,-146.6,499.2,-6.4,342,7071,0.00,2.72,0.00,0.000,4,0.000,0.087,2156,3716,3379
$GC,7099,-0.64,-146.6,501.6,-7.9,343,7105,0.00,2.62,0.00,0.000,6,0.000,0.060,2156,2293,3380
$GC,7415,-0.64,-146.6,521.6,-5.9,359,7419,0.00,2.65,0.00,0.000,4,0.000,0.072,2158,880,3378
$GC,7459,-0.70,-146.6,524.7,-7.0,361,7464,0.00,2.65,0.00,0.000,6,0.000,0.063,2156,2300,3379
$GC,7780,-0.70,-146.6,546.1,-6.9,377,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2300,3378
$GC,8090,-0.70,-146.6,566.6,-6.3,392,8094,0.00,2.67,0.00,0.000,4,0.000,0.071,2156,880,3377
$GC,8145,-0.76,-146.6,570.6,-7.4,394,8151,0.00,2.67,0.00,0.000,6,0.000,0.064,2156,2305,3377
$GC,8461,-0.76,-146.6,594.3,-7.3,410,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2305,3377
$GC,8770,-0.76,-146.6,615.8,-6.9,425,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2304,3376
$GC,9080,-0.76,-146.6,634.3,-5.2,440,9081,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2305,3376
$GC,9389,-0.76,-146.6,648.5,-3.9,455,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2305,3374
$GC,9698,-0.76,-146.6,661.1,-4.2,470,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2305,3374
$GC,10008,-0.76,-146.6,675.3,-4.7,485,10009,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2305,3373
$GC,10316,-0.76,-146.6,693.1,-6.4,500,10321,0.00,2.70,0.00,0.000,4,0.000,0.076,2156,888,3373
$GC,10360,-0.82,-146.6,696.2,-7.2,502,10366,0.17,2.67,0.00,0.000,6,0.054,0.070,2110,2303,3373
$GC,10682,-0.71,-146.6,724.9,-9.0,518,10690,0.15,2.75,0.00,0.000,4,0.099,0.098,2141,3700,3371
$GC,10712,-0.66,-146.6,727.9,-9.7,519,10717,0.00,2.62,0.00,0.000,6,0.000,0.068,2141,2301,3371
$GC,11034,-0.66,-146.6,753.2,-7.8,535,11038,0.00,2.70,0.00,0.000,4,0.000,0.081,2141,885,3370
$GC,11073,-0.66,-146.6,756.3,-8.0,537,11078,0.00,2.67,0.00,0.000,6,0.000,0.071,2141,2297,3370
$GC,11399,-0.66,-146.6,782.6,-8.3,553,11400,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2298,3369
$GC,11708,-0.66,-146.6,809.5,-8.9,568,11710,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2298,3368
$GC,12018,-0.66,-146.6,835.8,-8.3,583,12022,0.00,2.70,0.00,0.000,4,0.000,0.079,2141,880,3367
$GC,12063,-0.66,-146.6,839.4,-7.2,585,12067,0.00,2.70,0.00,0.000,6,0.000,0.071,2141,2303,3368
$GC,12384,-0.66,-146.6,864.4,-7.4,601,12385,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2303,3366
$GC,12693,-0.66,-146.6,886.4,-6.9,616,12698,0.00,2.70,0.00,0.000,4,0.000,0.078,2141,889,3365
$GC,12733,-0.66,-146.6,889.2,-7.6,618,12738,0.00,2.67,0.00,0.000,6,0.000,0.071,2141,2305,3365
$GC,13060,-0.66,-146.6,911.3,-6.5,634,13061,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2305,3364
$GC,13369,-0.66,-146.6,931.8,-6.6,649,13370,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2305,3364
$GC,13678,-0.66,-146.6,952.6,-6.7,664,13683,0.00,2.70,0.00,0.000,4,0.000,0.077,2141,888,3364
$GC,13718,-0.66,-146.6,955.3,-6.3,666,13723,0.00,2.67,0.00,0.000,6,0.000,0.069,2141,2305,3363
$GC,14045,-0.66,-146.6,976.2,-5.9,682,14046,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2305,3363
$STATE,14289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14289,begin apogee
$GC,14296,-0.31,0.0,991.1,5.9,694,14439,0.45,0.00,135.05,1.282,6,0.107,0.000,2230,2305,2781
$STATE,14440,end apogee,CONTROL_FINISHED_OK
$STATE,14440,begin climb
$GC,14443,0.85,146.6,996.0,0.0,701,14587,1.20,2.90,136.05,1.260,4,0.088,0.092,2478,3710,2183
$GC,14685,0.87,168.1,988.1,5.4,712,14713,0.00,2.70,21.48,1.243,6,0.000,0.066,2478,2291,2095
$GC,15030,0.87,168.1,968.1,6.2,729,15034,0.00,2.70,0.00,0.000,4,0.000,0.078,2478,887,2095
$GC,15085,0.90,197.2,964.6,5.2,731,15134,0.00,2.67,32.00,1.142,6,0.000,0.064,2478,2303,1976
$GC,15463,0.90,197.2,941.8,6.1,750,15464,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2303,1976
$GC,15772,0.90,197.2,923.0,6.2,765,15776,0.00,2.72,0.00,0.000,4,0.000,0.077,2478,889,1976
$GC,15827,0.90,197.2,919.3,6.8,767,15833,0.00,2.67,0.00,0.000,6,0.000,0.066,2478,2299,1975
$GC,16142,0.90,197.2,899.8,6.4,783,16144,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2299,1975
$GC,16452,0.90,197.2,878.9,6.9,798,16456,0.00,2.72,0.00,0.000,4,0.000,0.077,2478,884,1975
$GC,16507,0.90,197.2,874.9,7.2,800,16513,0.00,2.67,0.00,0.000,6,0.000,0.068,2478,2299,1975
$GC,16823,0.90,197.2,853.9,6.6,816,16824,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2299,1975
$GC,17132,0.90,197.2,834.0,6.3,831,17136,0.00,2.72,0.00,0.000,4,0.000,0.078,2478,881,1974
$GC,17194,0.91,207.4,830.0,5.7,834,17210,0.00,2.67,10.50,1.124,6,0.000,0.069,2478,2299,1934
$GC,17520,0.93,221.7,811.2,5.6,849,17540,0.10,0.00,14.73,1.129,6,0.075,0.000,2505,2299,1877
$GC,17849,0.93,221.7,788.4,7.2,865,17850,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2299,1876
$GC,18158,0.93,221.7,765.3,7.6,880,18163,0.00,2.70,0.00,0.000,4,0.000,0.080,2505,889,1876
$GC,18208,0.93,221.7,761.2,8.2,882,18213,0.00,2.65,0.00,0.000,6,0.000,0.069,2505,2298,1875
$GC,18524,0.93,221.7,735.9,8.2,897,18525,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2298,1875
$GC,18833,0.93,221.7,712.0,7.4,912,18837,0.00,2.72,0.00,0.000,4,0.000,0.080,2505,883,1875
$GC,18888,0.93,221.7,707.7,8.2,914,18894,0.00,2.67,0.00,0.000,6,0.000,0.069,2505,2301,1875
$GC,19204,0.93,221.7,685.4,7.1,930,19205,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2301,1875
$GC,19513,0.93,221.7,662.9,7.5,945,19517,0.00,2.72,0.00,0.000,4,0.000,0.081,2504,889,1875
$GC,19552,0.93,221.7,659.9,6.8,947,19557,0.00,2.67,0.00,0.000,6,0.000,0.070,2505,2303,1875
$GC,19878,0.93,221.7,634.0,8.3,963,19879,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2303,1875
$GC,20187,0.93,221.7,609.6,7.7,978,20192,0.00,2.72,0.00,0.000,4,0.000,0.081,2505,889,1875
$GC,20250,0.93,221.7,604.7,7.8,981,20255,0.00,2.65,0.00,0.000,6,0.000,0.071,2505,2299,1874
$GC,20576,0.93,221.7,582.8,6.2,997,20578,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2299,1874
$GC,20886,0.93,221.7,563.0,6.3,1012,20890,0.00,2.72,0.00,0.000,4,0.000,0.080,2504,885,1875
$GC,20947,0.93,221.7,558.6,7.8,1015,20952,0.00,2.67,0.00,0.000,6,0.000,0.070,2505,2305,1874
$GC,21275,0.93,221.7,534.3,8.0,1031,21279,0.00,2.72,0.00,0.000,4,0.000,0.080,2505,887,1874
$GC,21318,0.93,221.7,530.6,7.4,1033,21323,0.00,2.70,0.00,0.000,6,0.000,0.069,2505,2306,1874
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$STATE,28163,end climb,SURFACE_DEPTH_REACHED
$STATE,28163,begin surface coast
$FINISH,0.6,1.025232
$STATE,28185,end surface coast,CONTROL_FINISHED_OK
$STATE,28185,begin surface
$SM_CCo,28266,0.00,0.000,0,0,1493,315.70
$SM_GC,1.42,10.65,0.00,0.00,0.038,0.000,0.000,73,2306,1493,-10.18,0.20,315.70
$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1839
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$XPDR_PINGS,84
$ALTIM_TOP_PING,18.9,17.6
$24V_AH,23.4,10.454
$10V_AH,10.1,5.024
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$DEVICE_SECS,25.575,246.300,438.450,0.000,0.000,19.846,30.077,340.821,29.750,0.000,0.000,32.295,2468.007,21982.266,639.107,2917.337,816.728,33.359,2094.800,0.000,2834.101,0.000,57.545
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.726,934.297,735.751,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69484,1366
$CAP_FILE_SIZE,203521,0
$CFSIZE,260165632,255475712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,3,0
$GPS,150608,193401,6022.593,-657.448,40,1.4,40,-7.8