version: 66.02
glider: 16
mission: 6
dive: 193
start: 12 17 107 18 29 31
data:
$ID,16
$MISSION,6
$DIVE,193
$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,-2079835.1
$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,14
$R_STBD_OVSHOOT,15
$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
$GPS1,181607,6356.402,-732.635,41,1.8,52,-9.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-48.4
$GPS2,182839,6356.358,-732.353,16,1.8,16,-9.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.157,0.156
$KALMAN_X,-102370.5,-55.0,-140.5,184666.9,2565.5
$KALMAN_Y,98083.1,-565.7,-769.7,159157.2,1157.8
$MHEAD_RNG_PITCHd_Wd,54.7,93448,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-101.85,0.000,2,0.000,0.000,69,2405,3063
$GC,126,-0.85,-146.6,4.2,-2.6,5,153,12.23,2.65,-8.43,0.000,4,0.173,0.091,2221,3771,3414
$GC,158,-0.85,-146.6,10.5,-16.5,6,165,0.00,2.55,0.00,0.000,6,0.000,0.052,2221,2391,3414
$GC,473,-0.85,-146.6,38.3,-8.5,22,478,0.00,2.67,0.00,0.000,4,0.000,0.077,2221,3773,3415
$GC,730,-0.85,-146.6,58.8,-10.9,33,737,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,2400,3416
$GC,1046,-0.85,-146.6,86.9,-8.3,49,1050,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,983,3416
$GC,1072,-0.85,-146.6,89.1,-8.2,50,1077,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2404,3416
$GC,1394,-0.85,-146.6,114.2,-8.1,66,1398,0.00,2.67,0.00,0.000,4,0.000,0.068,2221,983,3416
$GC,1420,-0.85,-146.6,116.4,-8.2,67,1424,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,2400,3416
$GC,1743,-0.85,-146.6,142.9,-8.5,83,1747,0.00,2.67,0.00,0.000,4,0.000,0.069,2221,983,3416
$GC,1806,-0.85,-146.6,148.4,-9.0,86,1811,0.00,2.62,0.00,0.000,6,0.000,0.057,2221,2406,3416
$GC,2132,-0.85,-146.6,175.0,-7.9,102,2137,0.00,2.67,0.00,0.000,4,0.000,0.070,2222,986,3416
$GC,2186,-0.85,-146.6,179.5,-8.3,104,2190,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2404,3416
$GC,2507,-0.85,-146.6,206.1,-8.2,120,2512,0.00,2.70,0.00,0.000,4,0.000,0.071,2221,979,3416
$GC,2556,-0.85,-146.6,210.3,-8.8,122,2560,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2400,3416
$GC,2877,-0.85,-146.6,235.6,-6.8,138,2881,0.00,2.70,0.00,0.000,4,0.000,0.071,2221,979,3416
$GC,2898,-0.85,-146.6,237.0,-6.6,139,2902,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2399,3416
$GC,3224,-0.85,-146.6,260.3,-7.4,155,3228,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,983,3416
$GC,3289,-0.85,-146.6,265.7,-8.3,158,3294,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2399,3416
$GC,3616,-0.85,-146.6,288.5,-6.6,174,3621,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,980,3416
$GC,3704,-0.85,-146.6,294.5,-7.2,178,3709,0.00,2.67,0.00,0.000,6,0.000,0.066,2220,2406,3417
$GC,4031,-0.85,-146.6,316.0,-6.4,194,4035,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,985,3416
$GC,4085,-0.85,-146.6,319.6,-6.7,196,4092,0.00,2.67,0.00,0.000,6,0.000,0.067,2221,2405,3417
$GC,4400,-0.85,-146.6,341.0,-7.1,212,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3416
$GC,4710,-0.85,-146.6,363.9,-7.5,227,4714,0.00,2.75,0.00,0.000,4,0.000,0.080,2221,982,3415
$GC,4787,-0.85,-146.6,369.9,-7.7,230,4793,0.00,2.65,0.00,0.000,6,0.000,0.067,2221,2400,3415
$GC,5102,-0.85,-146.6,392.9,-7.3,246,5107,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,986,3414
$GC,5141,-0.85,-146.6,395.7,-7.2,248,5146,0.00,2.67,0.00,0.000,6,0.000,0.069,2221,2399,3414
$GC,5467,-0.85,-146.6,419.7,-7.8,264,5471,0.00,2.72,0.00,0.000,4,0.000,0.082,2221,985,3413
$GC,5515,-0.85,-146.6,423.6,-8.1,266,5520,0.00,2.70,0.00,0.000,6,0.000,0.070,2221,2397,3413
$GC,5836,-0.85,-146.6,448.2,-7.6,282,5841,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,986,3412
$GC,5869,-0.85,-146.6,450.8,-8.2,283,5875,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2402,3412
$GC,6184,-0.85,-146.6,474.0,-7.6,299,6188,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,984,3411
$GC,6227,-0.85,-146.6,477.3,-8.1,301,6231,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2400,3410
$GC,6556,-0.85,-146.6,501.3,-7.3,317,6561,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,985,3410
$GC,6582,-0.85,-146.6,503.4,-7.3,318,6587,0.00,2.70,0.00,0.000,6,0.000,0.069,2221,2398,3410
$GC,6903,-0.85,-146.6,526.7,-7.3,334,6908,0.00,2.72,0.00,0.000,4,0.000,0.080,2221,986,3409
$GC,6965,-0.85,-146.6,531.5,-8.0,337,6970,0.00,2.67,0.00,0.000,6,0.000,0.070,2221,2402,3409
$GC,7290,-0.85,-146.6,556.3,-7.6,353,7295,0.00,2.72,0.00,0.000,4,0.000,0.080,2221,980,3408
$GC,7322,-0.85,-146.6,558.9,-8.2,354,7328,0.00,2.67,0.00,0.000,6,0.000,0.069,2221,2400,3408
$GC,7638,-0.85,-146.6,582.2,-7.4,370,7642,0.00,2.72,0.00,0.000,4,0.000,0.079,2221,982,3408
$GC,7669,-0.85,-146.6,584.6,-7.3,371,7676,0.00,2.67,0.00,0.000,6,0.000,0.069,2221,2399,3407
$GC,7985,-0.85,-146.6,607.2,-7.0,387,7989,0.00,2.70,0.00,0.000,4,0.000,0.080,2221,986,3407
$GC,8023,-0.85,-146.6,610.1,-7.8,389,8028,0.00,2.67,0.00,0.000,6,0.000,0.069,2220,2404,3407
$GC,8349,-0.85,-146.6,632.2,-6.6,405,8354,0.00,2.72,0.00,0.000,4,0.000,0.080,2221,986,3406
$GC,8387,-0.85,-146.6,634.8,-6.6,407,8392,0.00,2.67,0.00,0.000,6,0.000,0.068,2221,2401,3406
$GC,8714,-0.85,-146.6,655.5,-6.2,423,8718,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,987,3405
$GC,8762,-0.85,-146.6,658.9,-6.7,425,8767,0.00,2.67,0.00,0.000,6,0.000,0.069,2221,2406,3405
$GC,9084,-0.85,-146.6,678.5,-6.0,441,9088,0.00,2.75,0.00,0.000,4,0.000,0.080,2221,981,3405
$GC,9110,-0.85,-146.6,680.2,-6.3,442,9115,0.00,2.67,0.00,0.000,6,0.000,0.070,2221,2398,3404
$GC,9425,-0.85,-146.6,698.9,-6.0,457,9430,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,987,3404
$GC,9457,-0.85,-146.6,701.1,-6.4,458,9464,0.00,2.67,0.00,0.000,6,0.000,0.069,2221,2401,3403
$GC,9773,-0.85,-146.6,721.0,-6.4,474,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3403
$GC,10082,-0.85,-146.6,741.3,-6.6,489,10087,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,986,3403
$GC,10122,-0.85,-146.6,744.1,-7.5,491,10126,0.00,2.67,0.00,0.000,6,0.000,0.069,2221,2401,3403
$GC,10447,-0.85,-146.6,766.1,-6.8,507,10452,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,986,3403
$GC,10480,-0.85,-146.6,768.3,-7.4,508,10486,0.00,2.67,0.00,0.000,6,0.000,0.069,2221,2405,3402
$GC,10795,-0.85,-146.6,788.8,-6.3,524,10799,0.00,2.75,0.00,0.000,4,0.000,0.080,2221,981,3402
$GC,10834,-0.85,-146.6,791.2,-6.5,526,10839,0.00,2.70,0.00,0.000,6,0.000,0.069,2221,2405,3402
$GC,11160,-0.85,-146.6,811.3,-6.0,542,11164,0.00,2.72,0.00,0.000,4,0.000,0.080,2221,987,3402
$GC,11203,-0.85,-146.6,814.1,-6.2,544,11207,0.00,2.67,0.00,0.000,6,0.000,0.069,2221,2407,3402
$GC,11530,-0.85,-146.6,833.7,-6.0,560,11534,0.00,2.75,0.00,0.000,4,0.000,0.080,2221,982,3401
$GC,11573,-0.85,-146.6,836.4,-6.2,562,11577,0.00,2.67,0.00,0.000,6,0.000,0.068,2221,2401,3401
$GC,11900,-0.85,-146.6,855.3,-5.8,578,11904,0.00,2.72,0.00,0.000,4,0.000,0.079,2221,988,3401
$GC,11939,-0.85,-146.6,857.6,-5.9,580,11943,0.00,2.67,0.00,0.000,6,0.000,0.067,2221,2404,3401
$GC,12266,-0.85,-146.6,875.9,-5.5,596,12270,0.00,2.72,0.00,0.000,4,0.000,0.079,2221,987,3400
$GC,12297,-0.85,-146.6,877.9,-6.5,597,12304,0.00,2.65,0.00,0.000,6,0.000,0.067,2221,2400,3400
$GC,12614,-0.85,-146.6,895.9,-5.7,613,12618,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,983,3400
$GC,12640,-0.85,-146.6,897.6,-6.8,614,12644,0.00,2.65,0.00,0.000,6,0.000,0.065,2221,2400,3400
$GC,12961,-0.85,-146.6,916.6,-6.2,630,12965,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,982,3400
$GC,12999,-0.85,-146.6,919.2,-6.5,632,13004,0.00,2.67,0.00,0.000,6,0.000,0.066,2221,2403,3400
$GC,13325,-0.85,-146.6,940.1,-6.4,648,13329,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,981,3400
$GC,13368,-0.85,-146.6,943.1,-6.6,650,13372,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2402,3399
$GC,13695,-0.85,-146.6,963.3,-6.1,666,13700,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,988,3399
$GC,13721,-0.85,-146.6,964.9,-6.2,667,13725,0.00,2.62,0.00,0.000,6,0.000,0.063,2221,2401,3399
$GC,14043,-0.85,-146.6,983.2,-5.6,683,14047,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,987,3399
$GC,14075,-0.85,-146.6,985.2,-5.7,684,14081,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2405,3399
$STATE,14182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14182,begin apogee
$GC,14187,-0.31,0.0,990.9,5.3,690,14313,0.62,0.00,122.80,1.361,6,0.123,0.000,2341,2187,2817
$STATE,14314,end apogee,CONTROL_FINISHED_OK
$STATE,14314,begin climb
$GC,14316,0.85,146.6,994.0,0.0,696,14448,1.20,2.75,123.72,1.334,4,0.087,0.074,2586,797,2219
$GC,14477,0.85,146.6,987.6,7.0,704,14482,0.00,2.65,0.00,0.000,6,0.000,0.058,2587,2201,2219
$GC,14803,0.85,146.6,964.5,7.3,720,14807,0.00,2.75,0.00,0.000,4,0.000,0.084,2586,3613,2218
$GC,14857,0.85,146.6,960.2,8.2,722,14864,0.00,2.62,0.00,0.000,6,0.000,0.059,2586,2207,2218
$GC,15172,0.85,146.6,937.8,7.1,738,15173,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2207,2218
$GC,15482,0.85,146.6,916.6,6.5,753,15483,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2207,2218
$GC,15791,0.85,146.6,897.3,6.2,768,15792,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2207,2218
$GC,16100,0.86,156.1,879.1,5.7,783,16115,0.00,2.80,9.50,1.151,4,0.000,0.084,2586,3614,2180
$GC,16143,0.86,158.2,876.4,5.9,784,16147,0.00,2.67,0.00,0.000,6,0.000,0.062,2586,2194,2180
$GC,16463,0.88,174.6,858.7,5.6,800,16484,0.00,0.00,16.90,1.197,6,0.000,0.000,2586,2194,2104
$GC,16793,0.89,185.4,839.6,5.7,816,16805,0.00,0.00,10.52,1.121,6,0.000,0.000,2586,2194,2061
$GC,17102,0.89,185.4,821.3,6.1,831,17104,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2194,2060
$GC,17411,0.89,185.4,802.7,6.1,846,17412,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2194,2060
$GC,17721,0.89,185.4,783.4,6.3,861,17722,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2194,2060
$GC,18030,0.89,185.4,763.9,6.3,876,18031,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2194,2060
$GC,18339,0.89,185.4,744.4,6.1,891,18340,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2194,2060
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$STATE,28395,end climb,SURFACE_DEPTH_REACHED
$STATE,28395,begin surface coast
$FINISH,1.2,1.026113
$STATE,28417,end surface coast,CONTROL_FINISHED_OK
$STATE,28417,begin surface
$SM_CCo,28437,223.60,0.709,2,0,509,566.15
$SM_GC,1.72,0.00,0.00,223.60,0.000,0.000,0.709,75,2402,509,-10.74,0.08,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2040
$TCM_TEMP,16.00
$XPDR_PINGS,150
$24V_AH,23.3,33.382
$10V_AH,10.1,16.350
$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,25.575,290.900,314.400,223.600,0.000,65.254,70.241,430.004,46.000,0.000,0.000,16.060,2504.191,22343.775,841.980,2873.521,849.163,33.380,2288.660,0.000,2804.688,0.000,56.114
$DEVICE_MAMPS,173.342,91.273,1361.425,708.708,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1032.738,951.529,727.707,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69430,1382
$CFSIZE,260165632,248143872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,2,0
$GPS,181207,022901,6357.495,-727.976,59,1.6,64,-9.2