version: 66.03
glider: 16
mission: 9
dive: 400
start: 8 23 108 6 31 27
data:
$ID,16
$MISSION,9
$DIVE,400
$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,2
$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,557.32159
$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,-2102280
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2330
$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,2230
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,20
$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,0
$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
$GPS1,062428,6345.070,-720.650,25,2.3,44,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-53.1
$GPS2,063107,6345.100,-720.665,16,1.4,32,-9.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.063,-0.212
$KALMAN_X,-156115.9,12.1,3.6,-35086.5,18146.7
$KALMAN_Y,22619.4,-3049.0,-1719.4,156073.3,43365.0
$MHEAD_RNG_PITCHd_Wd,45.1,102734,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-121.30,0.000,2,0.000,0.000,72,2250,2815
$GC,151,-0.85,-146.6,3.4,-2.6,6,186,11.73,2.60,-14.85,0.000,4,0.172,0.074,2140,3643,3379
$GC,313,-0.71,-146.6,24.5,-10.7,13,318,0.17,2.55,0.00,0.000,6,0.102,0.041,2172,2220,3379
$GC,636,-0.71,-146.6,52.1,-7.7,29,640,0.00,2.55,0.00,0.000,4,0.000,0.052,2173,817,3380
$GC,700,-0.71,-146.6,57.1,-7.8,32,705,0.00,2.55,0.00,0.000,6,0.000,0.044,2172,2232,3380
$GC,1028,-0.71,-146.6,85.4,-8.0,48,1032,0.00,2.62,0.00,0.000,4,0.000,0.065,2172,3647,3380
$GC,1094,-0.71,-146.6,91.3,-8.3,51,1098,0.00,2.53,0.00,0.000,6,0.000,0.041,2172,2230,3381
$GC,1416,-0.71,-146.6,112.9,-5.9,67,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2230,3381
$GC,1725,-0.71,-146.6,131.2,-6.0,82,1729,0.00,2.65,0.00,0.000,4,0.000,0.068,2172,3641,3381
$GC,1764,-0.71,-146.6,133.9,-6.9,84,1769,0.00,2.53,0.00,0.000,6,0.000,0.044,2172,2231,3381
$GC,2092,-0.71,-146.6,154.5,-6.7,100,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2231,3381
$GC,2401,-0.71,-146.6,172.7,-5.8,115,2405,0.00,2.65,0.00,0.000,4,0.000,0.071,2172,3638,3381
$GC,2433,-0.71,-146.6,174.7,-6.2,116,2443,0.00,2.55,0.00,0.000,6,0.000,0.045,2172,2223,3381
$GC,2750,-0.71,-146.6,192.5,-6.0,132,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2223,3381
$GC,3058,-0.71,-146.6,212.9,-6.5,147,3063,0.00,2.67,0.00,0.000,4,0.000,0.073,2172,3637,3381
$GC,3102,-0.71,-146.6,215.9,-6.7,149,3106,0.00,2.55,0.00,0.000,6,0.000,0.048,2172,2230,3381
$GC,3423,-0.71,-146.6,236.1,-6.3,165,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2230,3381
$GC,3732,-0.71,-146.6,257.3,-7.1,180,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2229,3380
$GC,4041,-0.71,-146.6,280.3,-7.8,195,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2229,3379
$GC,4351,-0.71,-146.6,305.0,-8.0,210,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2229,3378
$GC,4660,-0.71,-146.6,329.4,-7.6,225,4664,0.00,2.70,0.00,0.000,4,0.000,0.079,2172,3638,3377
$GC,4704,-0.71,-146.6,333.1,-7.8,227,4708,0.00,2.58,0.00,0.000,6,0.000,0.052,2172,2233,3377
$GC,5025,-0.76,-146.6,356.1,-6.6,243,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2233,3376
$GC,5334,-0.76,-146.6,376.1,-6.2,258,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2233,3375
$GC,5643,-0.80,-146.6,394.7,-6.1,273,5648,0.00,2.70,0.00,0.000,4,0.000,0.081,2172,3638,3374
$GC,5688,-0.80,-146.6,397.7,-7.0,275,5692,0.00,2.60,0.00,0.000,6,0.000,0.053,2172,2220,3374
$GC,6010,-0.84,-146.6,416.8,-5.8,291,6011,0.12,0.00,0.00,0.000,6,0.061,0.000,2137,2223,3372
$GC,6319,-0.77,-146.6,441.1,-8.0,306,6321,0.12,0.00,0.00,0.000,6,0.102,0.000,2160,2221,3372
$GC,6628,-0.77,-146.6,463.3,-6.9,321,6629,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2221,3372
$GC,6937,-0.77,-146.6,484.5,-6.8,336,6941,0.00,2.72,0.00,0.000,4,0.000,0.080,2160,3641,3371
$GC,6970,-0.77,-146.6,486.9,-7.6,337,6976,0.00,2.58,0.00,0.000,6,0.000,0.053,2160,2233,3370
$GC,7286,-0.77,-146.6,508.4,-7.1,353,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2232,3370
$GC,7595,-0.77,-146.6,529.8,-6.8,368,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2233,3369
$GC,7906,-0.77,-146.6,550.4,-6.6,383,7907,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2232,3369
$GC,8213,-0.77,-146.6,570.6,-6.6,398,8218,0.00,2.70,0.00,0.000,4,0.000,0.080,2160,3640,3368
$GC,8247,-0.77,-146.6,573.0,-7.6,399,8253,0.00,2.58,0.00,0.000,6,0.000,0.052,2160,2228,3368
$GC,8563,-0.77,-146.6,594.7,-7.0,415,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2228,3367
$GC,8871,-0.77,-146.6,616.0,-6.9,430,8876,0.00,2.67,0.00,0.000,4,0.000,0.081,2160,3637,3366
$GC,8905,-0.77,-146.6,618.5,-7.9,431,8910,0.00,2.58,0.00,0.000,6,0.000,0.051,2160,2224,3367
$GC,9221,-0.77,-146.6,640.9,-7.2,447,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2224,3366
$GC,9529,-0.77,-146.6,663.2,-7.1,462,9531,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2224,3364
$GC,9839,-0.77,-146.6,685.4,-7.1,477,9843,0.00,2.70,0.00,0.000,4,0.000,0.080,2160,3637,3365
$GC,9882,-0.77,-146.6,688.9,-7.7,479,9887,0.00,2.58,0.00,0.000,6,0.000,0.051,2160,2222,3364
$GC,10204,-0.77,-146.6,712.1,-7.4,495,10205,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2222,3365
$GC,10512,-0.77,-146.6,735.1,-7.5,510,10517,0.00,2.72,0.00,0.000,4,0.000,0.081,2160,3641,3364
$GC,10552,-0.77,-146.6,738.4,-9.0,512,10557,0.00,2.58,0.00,0.000,6,0.000,0.053,2159,2229,3364
$GC,10880,-0.77,-146.6,762.7,-7.4,528,10881,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2229,3363
$GC,11188,-0.77,-146.6,785.4,-7.3,543,11193,0.00,2.70,0.00,0.000,4,0.000,0.083,2160,3635,3363
$GC,11229,-0.77,-146.6,788.6,-7.7,545,11233,0.00,2.58,0.00,0.000,6,0.000,0.054,2160,2224,3363
$GC,11555,-0.77,-146.6,812.2,-7.1,561,11557,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2224,3364
$GC,11865,-0.77,-146.6,833.6,-6.8,576,11866,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2224,3363
$GC,12175,-0.77,-146.6,854.0,-6.6,591,12179,0.00,2.70,0.00,0.000,4,0.000,0.082,2160,3638,3363
$GC,12219,-0.77,-146.6,857.3,-7.1,593,12224,0.00,2.58,0.00,0.000,6,0.000,0.054,2160,2230,3363
$GC,12541,-0.77,-146.6,877.4,-6.2,609,12542,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2230,3362
$GC,12851,-0.77,-146.6,896.6,-6.3,624,12855,0.00,2.67,0.00,0.000,4,0.000,0.080,2160,3636,3362
$GC,12883,-0.77,-146.6,899.0,-7.3,625,12890,0.00,2.55,0.00,0.000,6,0.000,0.052,2160,2230,3362
$GC,13200,-0.77,-146.6,918.9,-6.5,641,13201,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2229,3362
$GC,13509,-0.77,-146.6,938.7,-6.4,656,13511,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2230,3362
$GC,13818,-0.77,-146.6,958.3,-6.4,671,13822,0.00,2.67,0.00,0.000,4,0.000,0.077,2160,3637,3362
$GC,13862,-0.77,-146.6,961.4,-7.5,673,13866,0.00,2.55,0.00,0.000,6,0.000,0.051,2160,2230,3361
$GC,14183,-0.77,-146.6,981.6,-6.4,689,14184,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2230,3362
$STATE,14326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14326,begin apogee
$GC,14333,-0.31,0.0,991.0,6.4,696,14476,0.52,0.00,135.75,1.301,6,0.119,0.000,2260,2228,2781
$STATE,14477,end apogee,CONTROL_FINISHED_OK
$STATE,14477,begin climb
$GC,14480,0.85,146.6,997.5,0.0,703,14624,1.20,2.72,136.00,1.293,4,0.084,0.063,2506,832,2183
$GC,14707,0.77,173.2,994.2,5.3,713,14746,0.00,2.62,28.30,1.215,6,0.000,0.051,2506,2245,2074
$GC,15072,0.73,187.5,974.1,5.6,731,15089,0.00,0.00,14.80,1.224,6,0.000,0.000,2506,2245,2016
$GC,15398,0.73,190.0,954.7,5.9,747,15404,0.00,0.00,4.12,0.844,6,0.000,0.000,2506,2245,2006
$GC,15707,0.74,195.1,936.8,5.9,762,15715,0.00,0.00,6.57,1.041,6,0.000,0.000,2506,2245,1984
$GC,16017,0.74,195.1,918.6,6.0,777,16018,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2245,1984
$GC,16325,0.74,195.1,900.3,6.0,792,16330,0.00,2.65,0.00,0.000,4,0.000,0.064,2506,833,1984
$GC,16381,0.74,195.1,896.7,6.1,794,16387,0.00,2.60,0.00,0.000,6,0.000,0.052,2506,2245,1983
$GC,16698,0.74,195.7,877.7,6.0,810,16699,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2245,1984
$GC,17006,0.74,195.8,859.1,6.0,825,17007,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2246,1983
$GC,17315,0.74,195.8,840.1,6.3,840,17319,0.00,2.65,0.00,0.000,4,0.000,0.064,2506,832,1983
$GC,17356,0.75,207.0,837.7,5.7,842,17380,0.00,2.60,14.18,1.030,6,0.000,0.052,2506,2243,1937
$GC,17708,0.75,207.0,815.1,6.3,859,17709,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2243,1937
$GC,18017,0.75,207.0,796.1,6.1,874,18019,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2243,1937
$GC,18328,0.76,215.9,777.8,5.8,889,18340,0.00,0.00,10.05,1.105,6,0.000,0.000,2506,2243,1900
$GC,18636,0.77,222.4,759.3,5.8,904,18650,0.00,2.72,7.25,1.020,4,0.000,0.064,2506,829,1875
$GC,18682,0.77,222.4,756.5,6.2,906,18686,0.00,2.60,0.00,0.000,6,0.000,0.052,2506,2241,1875
$GC,19008,0.77,224.9,737.1,5.9,922,19014,0.00,0.00,4.15,0.801,6,0.000,0.000,2506,2241,1864
$GC,19317,0.77,224.9,717.8,6.5,937,19319,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2241,1864
$GC,19627,0.77,224.9,696.9,6.8,952,19632,0.00,2.65,0.00,0.000,4,0.000,0.065,2507,826,1864
$GC,19667,0.77,224.9,693.9,7.8,954,19672,0.00,2.60,0.00,0.000,6,0.000,0.053,2506,2241,1864
$GC,19994,0.77,224.9,670.8,7.3,970,19995,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2241,1864
$GC,20304,0.77,224.9,648.7,6.8,985,20305,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2241,1864
$GC,20613,0.77,224.9,627.5,6.9,1000,20614,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2241,1864
$GC,20922,0.77,224.9,607.2,6.4,1015,20926,0.00,2.65,0.00,0.000,4,0.000,0.065,2506,830,1864
$GC,20979,0.77,224.9,603.4,6.3,1017,20985,0.00,2.60,0.00,0.000,6,0.000,0.053,2506,2244,1864
$GC,21295,0.77,224.9,582.7,6.4,1033,21296,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2244,1864
$GC,21604,0.77,224.9,562.4,6.7,1048,21605,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2244,1864
$GC,21914,0.77,224.9,542.2,6.6,1063,21915,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2244,1863
$GC,22223,0.77,224.9,522.0,6.4,1078,22227,0.00,2.67,0.00,0.000,4,0.000,0.067,2506,827,1863
$GC,22272,0.77,224.9,518.5,6.8,1080,22277,0.00,2.60,0.00,0.000,6,0.000,0.054,2506,2239,1864
$GC,22589,0.77,224.9,496.3,7.4,1095,22590,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2239,1864
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$GC,29583,0.89,290.0,17.1,5.6,1435,29605,0.00,2.67,12.75,0.658,4,0.000,0.058,2518,833,1597
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$STATE,29793,end climb,SURFACE_DEPTH_REACHED
$STATE,29793,begin surface coast
$FINISH,0.6,1.002375
$STATE,29818,end surface coast,CONTROL_FINISHED_OK
$STATE,29818,begin surface
$SM_CCo,29840,126.62,0.656,1,0,509,557.32
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1916
$TCM_TEMP,16.60
$XPDR_PINGS,91
$ALTIM_TOP_PING,19.2,17.9
$24V_AH,23.1,64.830
$10V_AH,10.1,32.246
$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
$DEVICE_SECS,25.350,167.925,445.900,126.625,0.000,18.064,27.619,186.181,31.500,0.000,0.000,32.030,2510.203,23549.621,802.231,2797.906,703.899,0.000,2168.602,0.000,2729.441,0.000,57.727
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1083.735,992.470,775.952,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72542,1446
$CAP_FILE_SIZE,184833,0
$CFSIZE,260165632,235806720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,4,0
$GPS,230808,145227,6346.778,-715.835,26,2.5,45,-9.1