version: 66.02
glider: 16
mission: 6
dive: 187
start: 12 15 107 18 13 44
data:
$ID,16
$MISSION,6
$DIVE,187
$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,300
$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,1
$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,566.1524
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-2079673.6
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2410
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$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,-20.08235
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$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,3
$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,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,180632,6348.491,-814.660,38,1.7,38,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-55.0
$GPS2,181251,6348.510,-814.550,17,1.7,17,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.132,-0.173
$KALMAN_X,-111796.6,-265.3,-1076.1,158086.7,8453.6
$KALMAN_Y,94142.4,-362.3,612.9,146928.0,-791.8
$MHEAD_RNG_PITCHd_Wd,152.3,13575,-11.3,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.86,-140.2,0.0,0.0,0,124,0.00,0.00,-102.03,0.000,2,0.000,0.000,75,2411,3070
$GC,126,-0.87,-146.6,3.9,-2.7,5,153,12.23,2.60,-8.45,0.000,4,0.176,0.088,2217,3765,3414
$GC,316,-0.87,-146.6,25.2,-8.0,13,322,0.00,2.53,0.00,0.000,6,0.000,0.055,2217,2396,3415
$GC,631,-0.87,-146.6,53.2,-9.4,29,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2396,3415
$GC,940,-0.87,-146.6,77.4,-7.6,44,945,0.00,2.67,0.00,0.000,4,0.000,0.073,2217,983,3415
$GC,979,-0.87,-146.6,80.6,-7.8,46,983,0.00,2.60,0.00,0.000,6,0.000,0.059,2217,2397,3415
$GC,1304,-0.87,-146.6,105.8,-7.8,62,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2397,3415
$GC,1614,-0.87,-146.6,130.4,-8.3,77,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2397,3415
$GC,1922,-0.87,-146.6,157.0,-8.5,92,1927,0.00,2.67,0.00,0.000,4,0.000,0.071,2217,983,3416
$GC,1971,-0.87,-146.6,161.2,-8.6,94,1975,0.00,2.60,0.00,0.000,6,0.000,0.058,2218,2399,3416
$GC,2292,-0.87,-146.6,187.1,-8.5,110,2297,0.00,2.60,0.00,0.000,4,0.000,0.078,2218,3765,3416
$GC,2392,-0.87,-146.6,196.0,-9.1,114,2399,0.00,2.55,0.00,0.000,6,0.000,0.058,2217,2387,3416
$GC,2707,-0.87,-146.6,219.4,-7.4,130,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2387,3416
$GC,3017,-0.87,-146.6,242.1,-7.4,145,3021,0.00,2.65,0.00,0.000,4,0.000,0.081,2217,3764,3416
$GC,3088,-0.87,-146.6,248.2,-8.0,148,3092,0.00,2.53,0.00,0.000,6,0.000,0.058,2217,2400,3416
$GC,3409,-0.87,-146.6,273.3,-8.2,164,3413,0.00,2.67,0.00,0.000,4,0.000,0.077,2217,982,3417
$GC,3503,-0.87,-146.6,281.6,-8.9,168,3507,0.00,2.62,0.00,0.000,6,0.000,0.063,2217,2399,3417
$GC,3823,-0.87,-146.6,307.5,-7.2,184,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2398,3417
$GC,4133,-0.87,-146.6,327.4,-6.3,199,4138,0.00,2.70,0.00,0.000,4,0.000,0.076,2218,981,3417
$GC,4172,-0.87,-146.6,329.9,-6.7,201,4176,0.00,2.65,0.00,0.000,6,0.000,0.064,2217,2404,3417
$GC,4497,-0.87,-146.6,351.5,-6.6,217,4501,0.00,2.62,0.00,0.000,4,0.000,0.087,2217,3766,3416
$GC,4551,-0.87,-146.6,355.6,-7.5,219,4558,0.00,2.55,0.00,0.000,6,0.000,0.064,2217,2400,3416
$GC,4867,-0.87,-146.6,376.9,-6.8,235,4871,0.00,2.72,0.00,0.000,4,0.000,0.082,2218,979,3416
$GC,4910,-0.87,-146.6,380.1,-7.3,237,4914,0.00,2.67,0.00,0.000,6,0.000,0.068,2217,2405,3417
$GC,5237,-0.87,-146.6,403.4,-7.7,253,5241,0.00,2.72,0.00,0.000,4,0.000,0.080,2217,983,3416
$GC,5285,-0.87,-146.6,407.3,-8.0,255,5290,0.00,2.67,0.00,0.000,6,0.000,0.069,2217,2405,3416
$GC,5607,-0.87,-146.6,431.2,-7.7,271,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2405,3415
$GC,5916,-0.87,-146.6,453.1,-7.1,286,5921,0.00,2.75,0.00,0.000,4,0.000,0.082,2217,981,3414
$GC,5970,-0.87,-146.6,457.3,-7.8,288,5977,0.00,2.70,0.00,0.000,6,0.000,0.071,2217,2397,3415
$GC,6286,-0.87,-146.6,480.5,-7.5,304,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2397,3414
$GC,6596,-0.87,-146.6,502.1,-7.0,319,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2397,3412
$GC,6904,-0.87,-146.6,523.8,-7.0,334,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2397,3412
$GC,7214,-0.87,-146.6,546.0,-7.3,349,7218,0.00,2.75,0.00,0.000,4,0.000,0.084,2217,979,3410
$GC,7269,-0.87,-146.6,550.2,-8.4,351,7275,0.00,2.70,0.00,0.000,6,0.000,0.072,2217,2400,3410
$GC,7583,-0.87,-146.6,572.6,-7.2,367,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2400,3409
$GC,7893,-0.87,-146.6,594.2,-6.8,382,7897,0.00,2.75,0.00,0.000,4,0.000,0.085,2219,982,3409
$GC,7947,-0.87,-146.6,598.1,-7.7,384,7953,0.00,2.67,0.00,0.000,6,0.000,0.072,2217,2400,3409
$GC,8263,-0.87,-146.6,618.6,-6.4,400,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2401,3408
$GC,8572,-0.87,-146.6,637.2,-6.0,415,8576,0.00,2.75,0.00,0.000,4,0.000,0.084,2217,984,3407
$GC,8615,-0.87,-146.6,640.0,-6.6,417,8619,0.00,2.67,0.00,0.000,6,0.000,0.074,2217,2400,3407
$GC,8942,-0.87,-146.6,658.2,-5.7,433,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2400,3406
$GC,9251,-0.87,-146.6,676.4,-5.9,448,9256,0.00,2.75,0.00,0.000,4,0.000,0.085,2217,980,3405
$GC,9294,-0.87,-146.6,679.3,-6.2,450,9299,0.00,2.70,0.00,0.000,6,0.000,0.074,2217,2406,3405
$GC,9615,-0.87,-146.6,698.3,-6.0,466,9617,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2406,3404
$GC,9925,-0.87,-146.6,717.8,-6.4,481,9929,0.00,2.78,0.00,0.000,4,0.000,0.085,2217,978,3404
$GC,9979,-0.87,-146.6,721.4,-6.5,483,9986,0.00,2.70,0.00,0.000,6,0.000,0.073,2217,2406,3403
$GC,10294,-0.87,-146.6,741.0,-6.1,499,10295,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2406,3403
$GC,10603,-0.87,-146.6,760.1,-6.2,514,10605,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2406,3402
$GC,10913,-0.87,-146.6,780.0,-6.6,529,10918,0.00,2.75,0.00,0.000,4,0.000,0.083,2218,985,3402
$GC,10956,-0.87,-146.6,783.1,-7.2,531,10960,0.00,2.67,0.00,0.000,6,0.000,0.073,2217,2399,3402
$GC,11283,-0.87,-146.6,802.8,-5.8,547,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2400,3402
$GC,11592,-0.87,-146.6,821.3,-6.3,562,11593,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2400,3401
$GC,11901,-0.87,-146.6,840.3,-6.3,577,11906,0.00,2.75,0.00,0.000,4,0.000,0.084,2218,980,3401
$GC,11944,-0.87,-146.6,843.1,-6.7,579,11948,0.00,2.67,0.00,0.000,6,0.000,0.072,2217,2401,3400
$GC,12271,-0.87,-146.6,863.9,-6.3,595,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2401,3400
$GC,12580,-0.87,-146.6,883.1,-5.9,610,12585,0.00,2.75,0.00,0.000,4,0.000,0.084,2217,984,3400
$GC,12629,-0.87,-146.6,886.5,-6.8,612,12634,0.00,2.70,0.00,0.000,6,0.000,0.071,2218,2398,3400
$GC,12951,-0.87,-146.6,906.8,-6.3,628,12952,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2398,3399
$GC,13260,-0.87,-146.6,926.7,-6.5,643,13264,0.00,2.72,0.00,0.000,4,0.000,0.083,2217,986,3399
$GC,13298,-0.87,-146.6,929.3,-7.0,645,13303,0.00,2.67,0.00,0.000,6,0.000,0.071,2217,2403,3399
$GC,13624,-0.87,-146.6,950.5,-6.6,661,13625,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2403,3399
$GC,13933,-0.87,-146.6,971.6,-6.5,676,13934,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2403,3399
$STATE,14241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14241,begin apogee
$GC,14246,-0.31,0.0,990.9,5.9,691,14372,0.62,0.00,122.28,1.361,6,0.123,0.000,2338,2190,2817
$STATE,14372,end apogee,CONTROL_FINISHED_OK
$STATE,14373,begin climb
$GC,14374,0.87,146.6,994.9,0.0,697,14505,1.33,2.85,123.32,1.335,4,0.107,0.079,2594,788,2219
$GC,14533,0.87,146.6,989.6,7.2,705,14537,0.00,2.67,0.00,0.000,6,0.000,0.061,2594,2203,2219
$GC,14855,0.87,147.3,969.8,6.0,721,14859,0.00,2.75,0.00,0.000,4,0.000,0.087,2594,3612,2218
$GC,14880,0.87,147.3,967.9,6.6,722,14885,0.00,2.67,0.00,0.000,6,0.000,0.065,2594,2204,2219
$GC,15202,0.87,147.5,949.4,6.0,738,15203,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2204,2218
$GC,15511,0.87,151.6,930.9,5.9,753,15519,0.00,0.00,5.97,1.057,6,0.000,0.000,2594,2204,2198
$GC,15820,0.88,156.1,912.0,5.9,768,15828,0.00,0.00,5.60,1.030,6,0.000,0.000,2594,2204,2180
$GC,16130,0.88,156.1,893.5,6.1,783,16131,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2204,2179
$GC,16439,0.88,156.1,875.2,6.1,798,16443,0.00,2.75,0.00,0.000,4,0.000,0.084,2594,784,2179
$GC,16470,0.88,156.1,873.0,7.2,799,16477,0.00,2.67,0.00,0.000,6,0.000,0.061,2594,2207,2179
$GC,16786,0.88,156.1,853.0,6.4,815,16787,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2207,2179
$GC,17095,0.88,156.1,833.6,6.2,830,17096,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2208,2180
$GC,17404,0.88,156.1,814.3,6.3,845,17405,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2208,2179
$GC,17714,0.88,156.1,794.2,6.7,860,17715,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2207,2179
$GC,18023,0.88,156.1,774.0,6.4,875,18024,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2208,2179
$GC,18332,0.88,156.1,754.2,6.3,890,18333,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2208,2179
$GC,18642,0.88,156.1,734.8,6.4,905,18643,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2208,2179
$GC,18951,0.88,161.3,716.2,5.9,920,18958,0.00,0.00,5.72,0.951,6,0.000,0.000,2594,2208,2158
$GC,19260,0.88,161.3,697.3,6.2,935,19261,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2208,2159
$GC,19569,0.88,161.3,678.1,6.2,950,19570,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2208,2159
$GC,19878,0.89,167.4,659.4,5.8,965,19887,0.00,0.00,7.10,0.959,6,0.000,0.000,2594,2208,2134
$GC,20188,0.90,173.1,641.3,5.8,980,20196,0.00,0.00,6.32,0.907,6,0.000,0.000,2594,2207,2111
$GC,20497,0.90,177.7,622.8,5.9,995,20508,0.00,2.75,5.60,0.862,4,0.000,0.087,2594,3611,2091
$GC,20540,0.90,177.7,620.0,7.1,997,20545,0.00,2.70,0.00,0.000,6,0.000,0.069,2593,2199,2091
$GC,20867,0.90,180.0,600.7,5.9,1013,20868,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2199,2091
$GC,21177,0.91,184.9,582.6,5.9,1028,21191,0.00,2.83,7.65,1.003,4,0.000,0.085,2594,789,2062
$GC,21207,0.91,184.9,580.6,6.1,1029,21212,0.00,2.65,0.00,0.000,6,0.000,0.062,2594,2201,2062
$GC,21528,0.91,184.9,560.4,6.4,1045,21530,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2201,2062
$GC,21838,0.91,184.9,541.0,6.2,1060,21839,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2201,2062
$GC,22147,0.91,184.9,521.3,6.3,1075,22148,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2200,2061
$GC,22456,0.91,184.9,500.1,6.9,1090,22457,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2201,2062
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$STATE,28742,end climb,SURFACE_DEPTH_REACHED
$STATE,28742,begin surface coast
$FINISH,1.2,1.027403
$STATE,28764,end surface coast,CONTROL_FINISHED_OK
$STATE,28764,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2027
$TCM_TEMP,16.50
$XPDR_PINGS,142
$ALTIM_BOTTOM_PING,925.4,84.4
$24V_AH,23.3,32.271
$10V_AH,10.1,15.615
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$DEVICE_SECS,25.575,167.125,348.300,196.300,0.000,32.657,35.198,193.988,44.000,0.000,0.000,17.112,2435.082,22957.592,780.261,2677.911,514.164,33.363,2069.412,0.000,2624.580,0.000,58.877
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1035.750,964.220,715.694,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69491,1397
$CFSIZE,260165632,248680448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
$GPS,161207,021828,6346.920,-805.507,38,3.6,57,-9.5