version: 66.03
glider: 16
mission: 9
dive: 52
start: 6 16 108 18 36 38
data:
$ID,16
$MISSION,9
$DIVE,52
$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,-2093650.4
$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,16
$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
$GPS1,182850,6024.883,-716.275,39,2.0,52,-7.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-55.6
$GPS2,183547,6024.871,-716.296,12,3.2,31,-7.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_3
$TGT_LATLONG,6030.000,-715.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.142,0.170
$KALMAN_X,-44698.5,791.4,776.2,-64768.1,-13411.0
$KALMAN_Y,-47589.2,360.9,1167.4,3867.7,-8025.9
$MHEAD_RNG_PITCHd_Wd,15.0,9573,-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,-146.6,0.0,0.0,0,116,0.00,0.00,-90.80,0.000,2,0.000,0.000,66,2308,2938
$GC,120,-0.85,-146.6,3.8,-3.0,5,150,11.32,2.70,-10.93,0.000,4,0.166,0.072,2107,880,3379
$GC,398,-0.70,-146.6,38.4,-11.9,17,403,0.20,2.65,0.00,0.000,6,0.095,0.057,2146,2305,3379
$GC,714,-0.63,-146.6,66.1,-8.5,32,718,0.00,2.65,0.00,0.000,4,0.000,0.062,2146,880,3379
$GC,799,-0.63,-146.6,74.1,-9.8,36,803,0.00,2.62,0.00,0.000,6,0.000,0.056,2146,2302,3380
$GC,1127,-0.56,-146.6,104.9,-10.0,52,1129,0.15,0.00,0.00,0.000,6,0.104,0.000,2174,2302,3380
$GC,1435,-0.56,-146.6,124.5,-5.3,67,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2301,3380
$GC,1744,-0.56,-146.6,143.4,-6.1,82,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2301,3381
$GC,2053,-0.56,-146.6,162.0,-5.5,97,2058,0.00,2.65,0.00,0.000,4,0.000,0.065,2174,881,3381
$GC,2098,-0.63,-146.6,164.8,-6.0,99,2102,0.00,2.62,0.00,0.000,6,0.000,0.058,2174,2300,3381
$GC,2419,-0.63,-146.6,185.0,-6.1,115,2423,0.00,2.65,0.00,0.000,4,0.000,0.066,2174,883,3381
$GC,2481,-0.72,-146.6,189.0,-7.5,118,2486,0.15,2.62,0.00,0.000,6,0.044,0.058,2126,2299,3381
$GC,2808,-0.60,-146.6,218.9,-9.2,134,2813,0.17,2.65,0.00,0.000,4,0.085,0.067,2165,883,3381
$GC,2880,-0.66,-146.6,224.2,-7.0,137,2885,0.00,2.62,0.00,0.000,6,0.000,0.058,2165,2299,3381
$GC,3196,-0.66,-146.6,245.6,-6.7,152,3200,0.00,2.65,0.00,0.000,4,0.000,0.067,2165,879,3381
$GC,3258,-0.72,-146.6,249.5,-6.0,155,3263,0.00,2.65,0.00,0.000,6,0.000,0.059,2165,2305,3381
$GC,3586,-0.72,-146.6,268.3,-5.6,171,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2305,3381
$GC,3895,-0.72,-146.6,284.8,-5.4,186,3900,0.00,2.67,0.00,0.000,4,0.000,0.067,2165,879,3381
$GC,3951,-0.78,-146.6,287.9,-5.6,188,3957,0.15,2.65,0.00,0.000,6,0.045,0.060,2118,2302,3381
$GC,4267,-0.65,-146.6,315.7,-8.7,204,4269,0.20,0.00,0.00,0.000,6,0.085,0.000,2158,2302,3381
$GC,4576,-0.65,-146.6,339.3,-7.9,219,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2302,3381
$GC,4885,-0.65,-146.6,360.4,-5.6,234,4890,0.00,2.67,0.00,0.000,4,0.000,0.069,2158,879,3380
$GC,5009,-0.73,-146.6,368.1,-5.4,239,5015,0.00,2.62,0.00,0.000,6,0.000,0.061,2158,2298,3380
$GC,5325,-0.73,-146.6,386.5,-5.7,255,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2298,3380
$GC,5634,-0.73,-146.6,403.1,-6.0,270,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2298,3379
$GC,5943,-0.73,-146.6,424.4,-6.7,285,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2298,3379
$GC,6253,-0.73,-146.6,446.6,-7.8,300,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2298,3379
$GC,6562,-0.73,-146.6,472.5,-8.2,315,6566,0.00,2.67,0.00,0.000,4,0.000,0.071,2158,880,3378
$GC,6617,-0.79,-146.6,477.7,-9.7,317,6624,0.15,2.67,0.00,0.000,6,0.048,0.064,2114,2304,3378
$GC,6933,-0.67,-146.6,509.5,-9.8,333,6938,0.15,2.67,0.00,0.000,4,0.091,0.070,2148,879,3377
$GC,7018,-0.67,-146.6,516.3,-7.8,337,7022,0.00,2.67,0.00,0.000,6,0.000,0.064,2148,2304,3377
$GC,7344,-0.67,-146.6,538.3,-7.1,353,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2305,3376
$GC,7654,-0.67,-146.6,557.3,-5.6,368,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2304,3376
$GC,7962,-0.67,-146.6,576.5,-6.4,383,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2305,3375
$GC,8272,-0.67,-146.6,598.7,-7.5,398,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2304,3374
$GC,8581,-0.67,-146.6,621.0,-7.3,413,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2304,3373
$GC,8890,-0.67,-146.6,644.1,-7.6,428,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2304,3372
$GC,9200,-0.67,-146.6,666.3,-6.9,443,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2305,3372
$GC,9509,-0.67,-146.6,688.1,-6.6,458,9513,0.00,2.72,0.00,0.000,4,0.000,0.077,2148,883,3371
$GC,9553,-0.67,-146.6,691.1,-7.0,460,9557,0.00,2.70,0.00,0.000,6,0.000,0.070,2148,2304,3371
$GC,9874,-0.67,-146.6,709.9,-5.7,476,9875,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2304,3370
$GC,10184,-0.67,-146.6,725.7,-5.1,491,10189,0.00,2.70,0.00,0.000,4,0.000,0.078,2148,886,3369
$GC,10240,-0.72,-146.6,728.8,-5.9,493,10246,0.00,2.67,0.00,0.000,6,0.000,0.069,2148,2300,3369
$GC,10556,-0.72,-146.6,745.3,-5.5,509,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2299,3368
$GC,10865,-0.72,-146.6,761.6,-5.5,524,10866,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2299,3367
$GC,11174,-0.72,-146.6,779.2,-6.2,539,11175,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2300,3366
$GC,11485,-0.72,-146.6,800.6,-7.2,554,11486,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2300,3365
$GC,11793,-0.72,-146.6,822.8,-7.0,569,11797,0.00,2.70,0.00,0.000,4,0.000,0.079,2148,888,3364
$GC,11834,-0.78,-146.6,825.3,-6.1,571,11838,0.00,2.65,0.00,0.000,6,0.000,0.072,2148,2300,3364
$GC,12160,-0.78,-146.6,844.2,-5.3,587,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2299,3363
$GC,12469,-0.78,-146.6,859.1,-4.6,602,12471,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2299,3362
$GC,12781,-0.78,-146.6,875.2,-6.0,617,12785,0.00,2.70,0.00,0.000,4,0.000,0.078,2148,886,3362
$GC,12821,-0.85,-146.6,877.7,-5.5,619,12826,0.15,2.67,0.00,0.000,6,0.057,0.071,2108,2303,3362
$GC,13148,-0.74,-146.6,901.8,-7.7,635,13150,0.15,0.00,0.00,0.000,6,0.104,0.000,2136,2303,3362
$GC,13457,-0.74,-146.6,920.0,-6.1,650,13458,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2303,3361
$GC,13766,-0.74,-146.6,940.9,-6.9,665,13768,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2303,3361
$GC,14076,-0.74,-146.6,962.6,-6.5,680,14080,0.00,2.70,0.00,0.000,4,0.000,0.078,2136,889,3360
$GC,14125,-0.74,-146.6,966.3,-6.9,682,14130,0.00,2.65,0.00,0.000,6,0.000,0.068,2136,2300,3360
$STATE,14438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14438,begin apogee
$GC,14444,-0.31,0.0,990.5,7.2,697,14581,0.47,0.00,133.70,1.315,6,0.104,0.000,2230,2300,2782
$STATE,14582,end apogee,CONTROL_FINISHED_OK
$STATE,14582,begin climb
$GC,14585,0.85,146.6,997.4,0.0,704,14730,1.20,2.92,136.57,1.284,4,0.093,0.092,2477,3712,2183
$GC,14789,0.80,168.6,993.8,5.4,713,14823,0.00,2.67,24.17,1.182,6,0.000,0.064,2477,2293,2093
$GC,15154,0.87,231.8,979.4,4.3,731,15228,0.00,2.83,61.75,1.290,4,0.000,0.077,2477,892,1835
$GC,15283,0.93,240.2,972.5,5.8,737,15298,0.12,2.67,9.70,1.143,6,0.064,0.064,2508,2301,1801
$GC,15609,0.93,244.1,952.7,5.9,752,15615,0.00,0.00,4.72,0.910,6,0.000,0.000,2508,2301,1787
$GC,15918,0.93,244.1,933.6,6.2,767,15922,0.00,2.72,0.00,0.000,4,0.000,0.077,2508,890,1787
$GC,15963,0.93,244.1,930.5,6.9,769,15967,0.00,2.67,0.00,0.000,6,0.000,0.064,2508,2301,1786
$GC,16283,0.93,244.1,906.8,7.0,785,16288,0.00,2.72,0.00,0.000,4,0.000,0.077,2508,890,1786
$GC,16327,0.93,244.1,903.5,7.2,787,16332,0.00,2.65,0.00,0.000,6,0.000,0.064,2508,2302,1786
$GC,16648,0.93,244.1,880.4,7.2,803,16649,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2302,1785
$GC,16958,0.93,244.1,856.9,7.8,818,16962,0.00,2.70,0.00,0.000,4,0.000,0.077,2508,896,1785
$GC,17035,0.93,244.1,850.6,7.2,821,17041,0.00,2.65,0.00,0.000,6,0.000,0.065,2508,2306,1785
$GC,17351,0.93,244.1,827.1,7.5,837,17352,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2306,1785
$GC,17660,0.93,244.1,804.2,7.4,852,17665,0.00,2.72,0.00,0.000,4,0.000,0.079,2508,895,1784
$GC,17722,0.89,244.1,799.5,7.5,855,17727,0.00,2.67,0.00,0.000,6,0.000,0.066,2508,2304,1784
$GC,18050,0.89,244.1,776.6,6.9,871,18054,0.00,2.72,0.00,0.000,4,0.000,0.078,2508,892,1784
$GC,18090,0.85,244.1,773.7,8.0,873,18095,0.12,2.65,0.00,0.000,6,0.102,0.066,2484,2300,1784
$GC,18416,0.86,254.6,754.9,5.7,889,18437,0.00,0.00,13.48,0.998,6,0.000,0.000,2484,2300,1742
$GC,18746,0.91,294.7,737.5,4.9,905,18788,0.00,2.83,37.08,1.167,4,0.000,0.077,2484,895,1579
$GC,18839,0.97,294.7,732.5,6.0,909,18844,0.12,2.70,0.00,0.000,6,0.061,0.065,2517,2304,1577
$GC,19161,0.92,294.7,710.5,7.1,925,19165,0.00,2.72,0.00,0.000,4,0.000,0.079,2517,896,1577
$GC,19205,0.87,294.7,707.4,6.6,927,19210,0.15,2.67,0.00,0.000,6,0.101,0.067,2489,2304,1577
$GC,19526,0.87,294.7,688.0,6.2,943,19527,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2304,1577
$GC,19835,0.87,294.7,668.0,6.6,958,19840,0.00,2.72,0.00,0.000,4,0.000,0.079,2488,894,1577
$GC,19908,0.87,294.7,663.0,6.8,961,19912,0.00,2.67,0.00,0.000,6,0.000,0.067,2488,2303,1577
$GC,20224,0.87,294.7,641.3,6.6,976,20228,0.00,2.72,0.00,0.000,4,0.000,0.080,2488,895,1577
$GC,20268,0.87,294.7,638.3,7.4,978,20272,0.00,2.65,0.00,0.000,6,0.000,0.067,2488,2304,1577
$GC,20588,0.87,294.7,618.7,6.0,994,20593,0.00,2.72,0.00,0.000,4,0.000,0.079,2488,893,1576
$GC,20632,0.87,294.7,616.0,6.5,996,20636,0.00,2.65,0.00,0.000,6,0.000,0.067,2488,2303,1577
$GC,20953,0.87,294.7,597.8,6.0,1012,20954,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2303,1577
$GC,21262,0.87,294.7,576.7,7.2,1027,21266,0.00,2.70,0.00,0.000,4,0.000,0.079,2488,896,1577
$GC,21328,0.87,294.7,571.3,8.0,1030,21332,0.00,2.65,0.00,0.000,6,0.000,0.066,2489,2300,1577
$GC,21649,0.87,294.7,542.3,9.5,1046,21654,0.00,2.70,0.00,0.000,4,0.000,0.079,2488,896,1577
$GC,21716,0.87,294.7,535.7,8.5,1049,21720,0.00,2.65,0.00,0.000,6,0.000,0.067,2488,2306,1578
$GC,22036,0.87,294.7,507.7,8.2,1065,22037,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2306,1577
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$GC,23200,0.96,340.9,418.7,4.7,1119,23247,0.00,2.65,41.20,0.999,6,0.000,0.064,2488,2304,1391
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$STATE,27681,end climb,SURFACE_DEPTH_REACHED
$STATE,27682,begin surface coast
$FINISH,0.4,1.003138
$STATE,27703,end surface coast,CONTROL_FINISHED_OK
$STATE,27703,begin surface
$SM_CCo,27785,0.00,0.000,0,0,1397,339.25
$SM_GC,1.44,10.57,0.00,0.00,0.032,0.000,0.000,67,2304,1397,-10.19,0.11,339.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1869
$TCM_TEMP,17.70
$XPDR_PINGS,73
$ALTIM_TOP_PING,19.7,19.0
$24V_AH,23.3,11.206
$10V_AH,10.1,5.490
$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,25.875,224.650,462.375,0.000,0.000,18.105,27.019,218.809,27.000,0.000,0.000,32.634,2421.642,21553.695,643.966,2913.625,657.238,33.364,2093.470,0.000,2832.980,0.000,58.089
$DEVICE_MAMPS,165.672,92.040,1314.638,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,995.853,912.828,684.172,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69524,1334
$CAP_FILE_SIZE,194479,0
$CFSIZE,260165632,255143936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,3,0
$GPS,170608,022116,6025.841,-723.208,36,2.2,55,-8.0