version: 66.03
glider: 16
mission: 9
dive: 49
start: 6 15 108 19 40 50
data:
$ID,16
$MISSION,9
$DIVE,49
$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,-2093585.6
$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,18
$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
$GPS1,193401,6022.593,-657.448,40,1.4,40,-7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-63.2
$GPS2,193957,6022.683,-657.431,11,2.0,11,-7.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_3
$TGT_LATLONG,6030.000,-715.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.110,0.192
$KALMAN_X,-20776.7,-1033.0,162.9,-69122.6,-5430.7
$KALMAN_Y,-31466.9,77.2,290.3,-15179.1,1387.5
$MHEAD_RNG_PITCHd_Wd,318.0,20984,-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,23,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-60.88,0.000,2,0.000,0.000,73,2307,2670
$GC,90,-0.85,-146.6,3.1,-4.3,3,133,11.25,2.67,-24.30,0.000,4,0.164,0.088,2106,3710,3378
$GC,180,-0.63,-146.6,11.1,-10.1,7,185,0.28,2.62,0.00,0.000,6,0.094,0.056,2161,2295,3378
$GC,508,-0.63,-146.6,35.8,-7.5,23,513,0.00,2.62,0.00,0.000,4,0.000,0.067,2161,883,3378
$GC,639,-0.63,-146.6,45.8,-8.1,29,643,0.00,2.62,0.00,0.000,6,0.000,0.058,2161,2298,3378
$GC,965,-0.63,-146.6,75.0,-9.5,45,969,0.00,2.65,0.00,0.000,4,0.000,0.064,2161,877,3379
$GC,1051,-0.63,-146.6,82.9,-9.5,49,1056,0.00,2.65,0.00,0.000,6,0.000,0.057,2161,2308,3379
$GC,1378,-0.63,-146.6,109.3,-7.9,65,1382,0.00,2.65,0.00,0.000,4,0.000,0.064,2161,882,3380
$GC,1445,-0.67,-146.6,114.7,-8.4,68,1449,0.00,2.62,0.00,0.000,6,0.000,0.057,2161,2300,3380
$GC,1766,-0.67,-146.6,136.4,-6.0,84,1771,0.00,2.65,0.00,0.000,4,0.000,0.064,2161,878,3380
$GC,1807,-0.67,-146.6,138.9,-5.9,86,1811,0.00,2.62,0.00,0.000,6,0.000,0.057,2161,2301,3380
$GC,2133,-0.67,-146.6,156.2,-5.0,102,2138,0.00,2.70,0.00,0.000,4,0.000,0.080,2161,3715,3380
$GC,2184,-0.67,-146.6,159.2,-5.2,104,2188,0.00,2.60,0.00,0.000,6,0.000,0.055,2161,2296,3380
$GC,2499,-0.67,-146.6,178.6,-7.7,119,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2297,3380
$GC,2809,-0.67,-146.6,202.5,-7.6,134,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2296,3380
$GC,3118,-0.67,-146.6,224.5,-6.9,149,3122,0.00,2.65,0.00,0.000,4,0.000,0.068,2161,875,3380
$GC,3158,-0.71,-146.6,227.3,-7.5,151,3163,0.00,2.65,0.00,0.000,6,0.000,0.061,2161,2300,3380
$GC,3484,-0.71,-146.6,253.5,-8.3,167,3488,0.00,2.65,0.00,0.000,4,0.000,0.067,2161,884,3380
$GC,3517,-0.76,-146.6,256.1,-7.9,168,3524,0.12,2.65,0.00,0.000,6,0.049,0.061,2121,2308,3380
$GC,3833,-0.64,-146.6,283.6,-8.8,184,3838,0.15,2.70,0.00,0.000,4,0.091,0.070,2154,876,3380
$GC,3873,-0.64,-146.6,286.4,-7.0,186,3878,0.00,2.65,0.00,0.000,6,0.000,0.061,2154,2301,3380
$GC,4199,-0.64,-146.6,310.2,-8.3,202,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2302,3380
$GC,4508,-0.64,-146.6,332.9,-6.4,217,4513,0.00,2.67,0.00,0.000,4,0.000,0.070,2154,876,3379
$GC,4616,-0.64,-146.6,339.7,-6.7,222,4620,0.00,2.62,0.00,0.000,6,0.000,0.062,2154,2303,3380
$GC,4942,-0.64,-146.6,366.8,-8.9,238,4946,0.00,2.67,0.00,0.000,4,0.000,0.068,2154,876,3379
$GC,4991,-0.64,-146.6,371.7,-9.9,240,4996,0.00,2.65,0.00,0.000,6,0.000,0.062,2154,2300,3379
$GC,5308,-0.64,-146.6,401.5,-9.0,255,5312,0.00,2.65,0.00,0.000,4,0.000,0.070,2154,886,3378
$GC,5347,-0.64,-146.6,405.1,-9.2,257,5352,0.00,2.62,0.00,0.000,6,0.000,0.063,2154,2300,3378
$GC,5673,-0.64,-146.6,428.4,-6.8,273,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2301,3378
$GC,5983,-0.64,-146.6,453.1,-7.6,288,5987,0.00,2.67,0.00,0.000,4,0.000,0.072,2154,881,3378
$GC,6045,-0.64,-146.6,458.2,-8.1,291,6050,0.00,2.67,0.00,0.000,6,0.000,0.064,2154,2305,3378
$GC,6371,-0.64,-146.6,483.1,-6.5,307,6376,0.00,2.72,0.00,0.000,4,0.000,0.091,2153,3713,3378
$GC,6427,-0.64,-146.6,487.3,-8.1,309,6433,0.00,2.62,0.00,0.000,6,0.000,0.064,2154,2301,3377
$GC,6742,-0.64,-146.6,511.4,-8.6,325,6747,0.00,2.67,0.00,0.000,4,0.000,0.075,2154,880,3377
$GC,6787,-0.70,-146.6,515.4,-9.0,327,6792,0.00,2.67,0.00,0.000,6,0.000,0.066,2154,2302,3376
$GC,7108,-0.70,-146.6,539.0,-5.8,343,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2302,3375
$GC,7417,-0.70,-146.6,552.7,-4.7,358,7422,0.00,2.67,0.00,0.000,4,0.000,0.074,2154,886,3374
$GC,7457,-0.70,-146.6,554.8,-6.3,360,7462,0.00,2.65,0.00,0.000,6,0.000,0.067,2154,2303,3374
$GC,7784,-0.70,-146.6,577.9,-7.9,376,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2301,3374
$GC,8094,-0.70,-146.6,600.8,-7.1,391,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2302,3373
$GC,8402,-0.70,-146.6,622.5,-6.9,406,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2302,3372
$GC,8711,-0.70,-146.6,645.6,-7.4,421,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2302,3371
$GC,9021,-0.70,-146.6,667.3,-6.9,436,9025,0.00,2.70,0.00,0.000,4,0.000,0.077,2154,884,3370
$GC,9061,-0.74,-146.6,670.1,-7.2,438,9065,0.00,2.67,0.00,0.000,6,0.000,0.070,2154,2302,3370
$GC,9387,-0.74,-146.6,691.6,-6.1,454,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2302,3369
$GC,9697,-0.74,-146.6,709.6,-5.9,469,9698,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2302,3368
$GC,10006,-0.74,-146.6,728.6,-6.2,484,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2302,3366
$GC,10315,-0.74,-146.6,750.6,-7.4,499,10317,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2302,3366
$GC,10624,-0.74,-146.6,774.3,-8.1,514,10628,0.00,2.70,0.00,0.000,4,0.000,0.079,2153,886,3365
$GC,10657,-0.80,-146.6,777.1,-8.7,515,10664,0.15,2.67,0.00,0.000,6,0.058,0.071,2114,2301,3365
$GC,10973,-0.71,-146.6,807.7,-9.7,531,10975,0.15,0.00,0.00,0.000,6,0.105,0.000,2142,2301,3364
$GC,11283,-0.71,-146.6,832.8,-7.9,546,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2301,3364
$GC,11592,-0.71,-146.6,854.5,-7.0,561,11593,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2301,3363
$GC,11901,-0.71,-146.6,873.2,-6.0,576,11905,0.00,2.70,0.00,0.000,4,0.000,0.078,2142,886,3362
$GC,11934,-0.71,-146.6,875.4,-5.6,577,11940,0.00,2.67,0.00,0.000,6,0.000,0.071,2144,2299,3362
$GC,12250,-0.71,-146.6,891.0,-4.2,593,12254,0.00,2.80,0.00,0.000,4,0.000,0.101,2142,3717,3362
$GC,12283,-0.71,-146.6,892.6,-4.9,594,12289,0.00,2.65,0.00,0.000,6,0.000,0.068,2142,2300,3362
$GC,12599,-0.71,-146.6,908.2,-5.4,610,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2299,3361
$GC,12908,-0.71,-146.6,925.5,-5.7,625,12910,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2299,3361
$GC,13217,-0.71,-146.6,942.1,-5.3,640,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2299,3360
$GC,13526,-0.71,-146.6,958.3,-5.2,655,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2299,3360
$GC,13836,-0.71,-146.6,976.2,-5.9,670,13837,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2299,3360
$STATE,14080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14080,begin apogee
$GC,14086,-0.31,0.0,990.9,5.9,682,14223,0.45,0.00,133.12,1.303,6,0.107,0.000,2231,2297,2782
$STATE,14224,end apogee,CONTROL_FINISHED_OK
$STATE,14224,begin climb
$GC,14227,0.85,146.6,995.0,0.0,689,14372,1.20,2.92,136.35,1.271,4,0.086,0.090,2478,3714,2183
$GC,14470,0.80,146.6,985.4,6.4,700,14474,0.00,2.67,0.00,0.000,6,0.000,0.064,2478,2296,2183
$GC,14791,0.83,176.8,966.5,5.2,716,14826,0.00,2.78,29.30,1.273,4,0.000,0.077,2478,893,2061
$GC,14866,0.83,176.8,961.7,6.1,718,14872,0.00,2.67,0.00,0.000,6,0.000,0.064,2478,2303,2059
$GC,15181,0.83,176.8,940.0,7.9,734,15182,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2303,2060
$GC,15490,0.83,176.8,916.7,7.7,749,15495,0.00,2.70,0.00,0.000,4,0.000,0.076,2478,892,2059
$GC,15546,0.83,176.8,912.1,8.2,751,15552,0.00,2.65,0.00,0.000,6,0.000,0.066,2478,2301,2059
$GC,15862,0.83,176.8,887.5,7.9,767,15863,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2301,2059
$GC,16171,0.83,176.8,863.2,7.9,782,16172,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2302,2059
$GC,16480,0.83,176.8,842.0,6.4,797,16484,0.00,2.70,0.00,0.000,4,0.000,0.078,2479,893,2059
$GC,16530,0.83,176.8,838.6,6.7,799,16534,0.00,2.67,0.00,0.000,6,0.000,0.067,2478,2304,2058
$GC,16845,0.83,176.8,818.3,6.5,814,16846,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2304,2058
$GC,17154,0.83,176.8,798.9,6.0,829,17159,0.00,2.72,0.00,0.000,4,0.000,0.078,2479,887,2058
$GC,17212,0.86,201.1,795.5,5.3,831,17241,0.00,2.67,23.17,1.188,6,0.000,0.067,2478,2301,1961
$GC,17571,0.87,204.9,773.2,5.9,849,17578,0.00,0.00,5.18,0.913,6,0.000,0.000,2478,2301,1945
$GC,17878,0.91,248.5,757.8,4.8,864,17925,0.00,2.80,40.75,1.169,4,0.000,0.077,2478,893,1766
$GC,17964,0.95,287.3,753.5,4.9,868,18006,0.15,2.70,35.78,1.124,6,0.074,0.067,2512,2300,1609
$GC,18328,0.95,287.3,729.4,6.9,886,18332,0.00,2.72,0.00,0.000,4,0.000,0.080,2512,893,1608
$GC,18383,0.91,287.3,725.0,6.9,888,18390,0.00,2.67,0.00,0.000,6,0.000,0.067,2512,2300,1608
$GC,18699,0.91,287.3,701.9,7.2,904,18703,0.00,2.72,0.00,0.000,4,0.000,0.081,2512,893,1608
$GC,18743,0.87,287.3,698.3,6.7,906,18748,0.12,2.67,0.00,0.000,6,0.106,0.067,2490,2301,1608
$GC,19064,0.87,287.3,675.5,7.7,922,19069,0.00,2.72,0.00,0.000,4,0.000,0.081,2489,893,1608
$GC,19103,0.87,287.3,672.4,8.5,924,19108,0.00,2.67,0.00,0.000,6,0.000,0.067,2489,2305,1608
$GC,19430,0.87,287.3,647.9,7.0,940,19431,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2305,1608
$GC,19739,0.87,287.3,626.1,7.0,955,19744,0.00,2.72,0.00,0.000,4,0.000,0.080,2489,893,1608
$GC,19795,0.87,287.3,622.1,7.0,957,19801,0.00,2.65,0.00,0.000,6,0.000,0.067,2489,2303,1608
$GC,20110,0.87,287.3,600.1,7.2,973,20112,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2303,1607
$GC,20420,0.87,287.3,576.1,8.3,988,20424,0.00,2.72,0.00,0.000,4,0.000,0.080,2489,890,1608
$GC,20475,0.87,287.3,570.9,8.9,990,20481,0.00,2.65,0.00,0.000,6,0.000,0.067,2489,2303,1607
$GC,20791,0.87,287.3,544.5,7.5,1006,20792,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2303,1607
$GC,21100,0.87,287.3,520.6,7.8,1021,21104,0.00,2.70,0.00,0.000,4,0.000,0.078,2489,891,1607
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$STATE,27176,end climb,SURFACE_DEPTH_REACHED
$STATE,27176,begin surface coast
$FINISH,0.6,1.027238
$STATE,27199,end surface coast,CONTROL_FINISHED_OK
$STATE,27199,begin surface
$SM_CCo,27283,0.00,0.000,0,0,1467,322.32
$SM_GC,1.36,10.52,0.00,0.00,0.033,0.000,0.000,68,2302,1467,-10.18,0.06,322.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1862
$TCM_TEMP,19.70
$XPDR_PINGS,81
$ALTIM_TOP_PING,18.6,17.3
$24V_AH,23.3,10.625
$10V_AH,10.1,5.140
$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,25.100,251.175,437.450,0.000,0.000,17.984,31.769,174.830,29.000,0.000,0.000,13.270,2384.780,21184.930,628.484,2814.875,613.742,33.361,2047.147,0.000,2750.251,0.000,57.741
$DEVICE_MAMPS,164.138,101.244,1303.133,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,975.331,899.841,695.917,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66214,1315
$CAP_FILE_SIZE,194444,0
$CFSIZE,260165632,255401984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,160608,031637,6023.038,-712.424,27,1.2,27,-7.9