version: 66.03
glider: 16
mission: 9
dive: 51
start: 6 16 108 10 59 26
data:
$ID,16
$MISSION,9
$DIVE,51
$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,-2093617.1
$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,23
$R_STBD_OVSHOOT,19
$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
$GPS1,105237,6022.478,-714.092,36,1.4,36,-7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-59.3
$GPS2,105833,6022.419,-713.985,15,1.5,15,-7.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_3
$TGT_LATLONG,6030.000,-715.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.132,0.178
$KALMAN_X,-38190.2,627.1,610.4,-68842.9,-11561.1
$KALMAN_Y,-42244.8,-1421.1,-943.8,-2054.8,-480.8
$MHEAD_RNG_PITCHd_Wd,4.1,14070,-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,24,-0.85,-146.6,0.0,0.0,0,127,0.00,0.00,-101.22,0.000,2,0.000,0.000,74,2302,3096
$GC,130,-0.85,-146.6,4.6,-3.9,5,154,11.35,2.67,-6.05,0.000,4,0.167,0.077,2108,888,3381
$GC,407,-0.72,-146.6,42.8,-11.4,17,412,0.17,2.60,0.00,0.000,6,0.095,0.055,2143,2300,3382
$GC,729,-0.64,-146.6,73.1,-9.0,33,733,0.00,2.62,0.00,0.000,4,0.000,0.063,2143,887,3382
$GC,791,-0.64,-146.6,78.3,-8.3,36,795,0.00,2.60,0.00,0.000,6,0.000,0.054,2143,2299,3382
$GC,1118,-0.56,-146.6,105.2,-8.0,52,1120,0.17,0.00,0.00,0.000,6,0.090,0.000,2178,2299,3383
$GC,1427,-0.56,-146.6,123.3,-5.8,67,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2299,3383
$GC,1736,-0.56,-146.6,139.9,-5.3,82,1741,0.00,2.62,0.00,0.000,4,0.000,0.062,2178,883,3383
$GC,1800,-0.66,-146.6,143.3,-5.4,85,1804,0.00,2.60,0.00,0.000,6,0.000,0.054,2178,2301,3383
$GC,2127,-0.66,-146.6,162.4,-5.8,101,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2301,3383
$GC,2436,-0.66,-146.6,182.0,-6.1,116,2440,0.00,2.62,0.00,0.000,4,0.000,0.061,2178,882,3384
$GC,2498,-0.77,-146.6,186.1,-6.2,119,2503,0.20,2.60,0.00,0.000,6,0.039,0.054,2118,2303,3384
$GC,2825,-0.62,-146.6,214.5,-8.9,135,2827,0.22,0.00,0.00,0.000,6,0.083,0.000,2164,2303,3383
$GC,3134,-0.62,-146.6,237.2,-8.0,150,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2303,3384
$GC,3443,-0.62,-146.6,267.0,-10.0,165,3447,0.00,2.65,0.00,0.000,4,0.000,0.065,2164,883,3383
$GC,3499,-0.67,-146.6,272.4,-9.5,167,3505,0.00,2.62,0.00,0.000,6,0.000,0.057,2164,2303,3384
$GC,3814,-0.67,-146.6,299.5,-7.5,183,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2303,3384
$GC,4123,-0.67,-146.6,321.1,-6.8,198,4128,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,887,3384
$GC,4191,-0.74,-146.6,325.5,-6.5,201,4196,0.12,2.62,0.00,0.000,6,0.048,0.057,2122,2307,3384
$GC,4512,-0.61,-146.6,348.5,-6.9,217,4514,0.20,0.00,0.00,0.000,6,0.087,0.000,2162,2307,3383
$GC,4821,-0.61,-146.6,362.0,-5.3,232,4825,0.00,2.65,0.00,0.000,4,0.000,0.067,2162,887,3383
$GC,4888,-0.67,-146.6,366.9,-7.0,235,4892,0.00,2.62,0.00,0.000,6,0.000,0.058,2162,2306,3383
$GC,5209,-0.67,-146.6,388.0,-7.4,251,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2306,3383
$GC,5518,-0.67,-146.6,406.1,-5.9,266,5523,0.00,2.65,0.00,0.000,4,0.000,0.066,2162,885,3382
$GC,5581,-0.75,-146.6,409.9,-5.2,269,5586,0.12,2.60,0.00,0.000,6,0.050,0.060,2123,2300,3382
$GC,5908,-0.64,-146.6,436.6,-8.7,285,5913,0.15,2.65,0.00,0.000,4,0.093,0.066,2156,886,3381
$GC,5987,-0.70,-146.6,443.7,-7.7,288,5993,0.00,2.62,0.00,0.000,6,0.000,0.059,2156,2302,3381
$GC,6302,-0.70,-146.6,462.4,-7.2,304,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2302,3381
$GC,6611,-0.70,-146.6,487.7,-8.5,319,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2302,3381
$GC,6921,-0.70,-146.6,515.0,-9.5,334,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2302,3380
$GC,7230,-0.70,-146.6,544.0,-9.1,349,7234,0.00,2.65,0.00,0.000,4,0.000,0.071,2156,889,3380
$GC,7297,-0.77,-146.6,549.9,-8.4,352,7302,0.08,2.65,0.00,0.000,6,0.044,0.063,2124,2310,3380
$GC,7624,-0.69,-146.6,578.5,-8.3,368,7629,0.12,2.72,0.00,0.000,4,0.097,0.091,2147,3710,3378
$GC,7657,-0.69,-146.6,581.1,-7.8,369,7663,0.00,2.62,0.00,0.000,6,0.000,0.062,2147,2297,3378
$GC,7973,-0.69,-146.6,600.4,-6.4,385,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2296,3377
$GC,8282,-0.69,-146.6,620.2,-6.5,400,8286,0.00,2.67,0.00,0.000,4,0.000,0.077,2147,881,3376
$GC,8331,-0.69,-146.6,623.8,-7.4,402,8336,0.00,2.65,0.00,0.000,6,0.000,0.067,2147,2297,3376
$GC,8647,-0.69,-146.6,643.9,-6.5,417,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2298,3375
$GC,8956,-0.69,-146.6,665.0,-7.2,432,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2297,3374
$GC,9265,-0.69,-146.6,686.1,-6.7,447,9270,0.00,2.67,0.00,0.000,4,0.000,0.075,2147,888,3373
$GC,9309,-0.69,-146.6,689.0,-6.8,449,9313,0.00,2.65,0.00,0.000,6,0.000,0.067,2147,2306,3373
$GC,9630,-0.69,-146.6,709.9,-6.3,465,9631,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2305,3371
$GC,9939,-0.69,-146.6,728.6,-5.7,480,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2306,3371
$GC,10248,-0.69,-146.6,746.5,-5.6,495,10253,0.00,2.70,0.00,0.000,4,0.000,0.077,2147,887,3370
$GC,10298,-0.74,-146.6,749.6,-6.2,497,10303,0.00,2.67,0.00,0.000,6,0.000,0.068,2147,2304,3370
$GC,10614,-0.74,-146.6,770.3,-6.9,512,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2304,3369
$GC,10923,-0.74,-146.6,789.3,-5.9,527,10925,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2304,3368
$GC,11233,-0.74,-146.6,809.8,-6.9,542,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2304,3367
$GC,11542,-0.74,-146.6,830.8,-6.8,557,11546,0.00,2.70,0.00,0.000,4,0.000,0.077,2147,888,3366
$GC,11581,-0.79,-146.6,833.6,-7.6,559,11586,0.00,2.65,0.00,0.000,6,0.000,0.068,2147,2300,3366
$GC,11908,-0.79,-146.6,855.5,-6.9,575,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2300,3365
$GC,12217,-0.79,-146.6,878.7,-8.4,590,12218,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2300,3364
$GC,12527,-0.79,-146.6,902.0,-7.0,605,12531,0.00,2.70,0.00,0.000,4,0.000,0.076,2147,880,3364
$GC,12571,-0.84,-146.6,905.1,-6.4,607,12576,0.15,2.67,0.00,0.000,6,0.060,0.068,2108,2300,3363
$GC,12892,-0.73,-146.6,932.6,-8.8,623,12894,0.17,0.00,0.00,0.000,6,0.105,0.000,2140,2300,3363
$GC,13201,-0.73,-146.6,953.9,-6.2,638,13206,0.00,2.70,0.00,0.000,4,0.000,0.077,2140,886,3363
$GC,13235,-0.73,-146.6,956.0,-5.8,639,13241,0.00,2.67,0.00,0.000,6,0.000,0.067,2141,2304,3363
$GC,13550,-0.73,-146.6,976.5,-6.7,655,13551,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2305,3362
$STATE,13795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13795,begin apogee
$GC,13801,-0.31,0.0,991.5,6.5,667,13945,0.45,0.00,135.70,1.293,6,0.107,0.000,2229,2304,2781
$STATE,13946,end apogee,CONTROL_FINISHED_OK
$STATE,13946,begin climb
$GC,13949,0.85,146.6,996.7,0.0,674,14121,1.23,2.85,143.77,1.220,4,0.087,0.074,2478,880,2183
$GC,14199,0.82,175.1,987.5,5.2,686,14233,0.00,2.70,28.15,1.282,6,0.000,0.064,2478,2301,2067
$GC,14564,0.84,189.9,967.5,5.6,704,14582,0.00,0.00,15.05,1.223,6,0.000,0.000,2478,2301,2007
$GC,14891,0.84,189.9,948.7,6.9,720,14896,0.00,2.70,0.00,0.000,4,0.000,0.073,2478,885,2006
$GC,14936,0.84,189.9,945.6,7.4,722,14940,0.00,2.65,0.00,0.000,6,0.000,0.064,2478,2302,2006
$GC,15256,0.84,189.9,923.4,6.4,738,15257,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2301,2006
$GC,15566,0.86,211.3,903.7,5.4,753,15589,0.00,0.00,21.17,1.254,6,0.000,0.000,2478,2301,1920
$GC,15895,0.91,211.3,882.1,7.2,769,15900,0.00,2.70,0.00,0.000,4,0.000,0.076,2478,889,1919
$GC,15940,0.91,211.3,879.0,6.5,771,15944,0.00,2.65,0.00,0.000,6,0.000,0.066,2479,2299,1919
$GC,16261,0.91,215.6,859.3,5.9,787,16268,0.00,0.00,5.72,0.986,6,0.000,0.000,2478,2299,1902
$GC,16570,0.96,217.5,841.2,5.9,802,16580,0.15,2.72,3.67,0.761,4,0.082,0.076,2510,883,1894
$GC,16620,0.91,217.5,837.8,6.8,804,16625,0.00,2.70,0.00,0.000,6,0.000,0.066,2510,2303,1894
$GC,16942,0.86,217.5,815.8,6.8,820,16944,0.12,0.00,0.00,0.000,6,0.107,0.000,2486,2303,1894
$GC,17251,0.86,217.5,796.7,6.3,835,17255,0.00,2.72,0.00,0.000,4,0.000,0.077,2486,887,1894
$GC,17313,0.86,217.5,792.6,6.4,838,17317,0.00,2.67,0.00,0.000,6,0.000,0.067,2486,2305,1894
$GC,17639,0.86,217.5,772.2,6.3,854,17643,0.00,2.72,0.00,0.000,4,0.000,0.077,2486,887,1894
$GC,17688,0.86,217.5,768.9,7.3,856,17693,0.00,2.65,0.00,0.000,6,0.000,0.067,2486,2303,1893
$GC,18004,0.86,217.5,748.4,6.3,871,18005,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2303,1893
$GC,18314,0.88,241.2,730.9,5.4,886,18343,0.00,2.80,22.77,1.149,4,0.000,0.077,2486,897,1797
$GC,18401,0.89,247.5,725.9,5.8,890,18415,0.00,2.65,7.18,0.932,6,0.000,0.067,2486,2299,1772
$GC,18734,0.96,261.6,707.4,5.6,906,18753,0.10,0.00,14.52,1.128,6,0.067,0.000,2511,2299,1714
$GC,19062,0.96,261.6,685.5,6.6,922,19066,0.00,2.72,0.00,0.000,4,0.000,0.079,2511,889,1714
$GC,19112,0.98,277.4,682.2,5.6,924,19133,0.00,2.67,15.75,1.118,6,0.000,0.067,2512,2299,1649
$GC,19449,0.99,287.3,661.7,5.7,941,19462,0.00,0.00,10.50,1.047,6,0.000,0.000,2511,2299,1610
$GC,19759,1.00,291.1,644.3,5.9,956,19769,0.00,2.75,5.05,0.854,4,0.000,0.078,2511,889,1594
$GC,19843,1.01,302.3,639.3,5.7,960,19864,0.00,2.67,11.85,1.052,6,0.000,0.067,2511,2299,1548
$GC,20174,1.06,348.4,622.1,4.7,976,20218,0.00,0.00,42.40,1.141,6,0.000,0.000,2511,2300,1360
$GC,20523,1.15,391.1,604.9,4.8,993,20568,0.17,2.80,38.75,1.117,4,0.080,0.079,2552,890,1186
$GC,20643,1.11,391.1,596.5,7.7,998,20648,0.00,2.70,0.00,0.000,6,0.000,0.067,2552,2300,1185
$GC,20960,1.06,391.1,565.9,10.4,1013,20964,0.00,2.72,0.00,0.000,4,0.000,0.080,2552,889,1185
$GC,21044,1.06,391.1,556.6,11.3,1017,21048,0.00,2.65,0.00,0.000,6,0.000,0.067,2552,2301,1185
$GC,21370,1.06,391.1,522.7,9.6,1033,21374,0.00,2.72,0.00,0.000,4,0.000,0.079,2552,888,1185
$GC,21454,1.06,391.1,515.4,9.7,1037,21459,0.12,2.67,0.00,0.000,6,0.105,0.066,2529,2304,1186
$GC,21781,1.06,391.1,488.9,8.1,1053,21785,0.00,2.72,0.00,0.000,4,0.000,0.076,2529,887,1186
$GC,21865,1.06,391.1,481.9,9.3,1057,21870,0.00,2.65,0.00,0.000,6,0.000,0.064,2529,2302,1185
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$GC,22236,1.16,391.1,447.8,9.3,1075,22241,0.10,2.67,0.00,0.000,6,0.061,0.064,2554,2299,1186
$GC,22557,1.16,391.1,407.5,13.3,1091,22558,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2299,1186
$GC,22866,1.16,391.1,370.6,11.5,1106,22871,0.00,2.70,0.00,0.000,4,0.000,0.074,2555,886,1187
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$STATE,26767,end climb,SURFACE_DEPTH_REACHED
$STATE,26767,begin surface coast
$FINISH,0.6,1.027229
$STATE,26791,end surface coast,CONTROL_FINISHED_OK
$STATE,26791,begin surface
$SM_CCo,26875,0.00,0.000,0,0,1194,389.29
$SM_GC,1.33,10.77,0.00,0.00,0.037,0.000,0.000,67,2305,1194,-10.19,0.14,389.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1852
$TCM_TEMP,19.60
$XPDR_PINGS,70
$ALTIM_TOP_PING,19.5,18.2
$ALTIM_BOTTOM_PING,950.2,66.6
$24V_AH,23.3,11.024
$10V_AH,10.1,5.371
$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,26.475,224.325,522.025,0.000,0.000,17.946,29.491,173.697,26.250,0.000,0.000,17.355,2344.112,20742.367,743.313,2791.191,599.803,33.354,2133.275,0.000,2725.574,0.000,59.133
$DEVICE_MAMPS,167.206,91.273,1293.162,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,958.255,884.679,673.538,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66299,1293
$CAP_FILE_SIZE,190408,0
$CFSIZE,260165632,255234048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,5,0
$GPS,160608,182850,6024.883,-716.275,39,2.0,52,-7.9