version: 66.02
glider: 16
mission: 6
dive: 195
start: 12 18 107 11 7 38
data:
$ID,16
$MISSION,6
$DIVE,195
$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,-2079900.6
$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,12
$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,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
$GPS1,105952,6358.518,-721.026,45,2.1,64,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-48.3
$GPS2,110647,6358.480,-720.803,12,2.4,31,-9.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.084,0.205
$KALMAN_X,-102609.7,-154.3,-48.3,195041.0,1372.1
$KALMAN_Y,90317.5,-222.7,-6.5,169725.5,-3147.4
$MHEAD_RNG_PITCHd_Wd,31.4,84026,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-102.15,0.000,2,0.000,0.000,77,2402,2938
$GC,127,-0.85,-146.6,4.0,-2.6,5,159,12.30,2.72,-12.88,0.000,4,0.178,0.084,2219,981,3415
$GC,411,-0.85,-146.6,31.6,-8.0,18,416,0.00,2.65,0.00,0.000,6,0.000,0.059,2219,2403,3416
$GC,738,-0.85,-146.6,60.9,-8.6,34,742,0.00,2.72,0.00,0.000,4,0.000,0.071,2219,974,3416
$GC,826,-0.85,-146.6,68.6,-8.5,38,830,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2400,3416
$GC,1153,-0.85,-146.6,98.7,-9.0,54,1157,0.00,2.72,0.00,0.000,4,0.000,0.073,2219,974,3417
$GC,1214,-0.85,-146.6,104.9,-10.5,57,1219,0.00,2.67,0.00,0.000,6,0.000,0.062,2219,2402,3416
$GC,1541,-0.85,-146.6,133.4,-8.5,73,1545,0.00,2.72,0.00,0.000,4,0.000,0.074,2219,981,3417
$GC,1589,-0.85,-146.6,137.9,-8.7,75,1594,0.00,2.65,0.00,0.000,6,0.000,0.062,2219,2398,3417
$GC,1911,-0.85,-146.6,163.9,-7.7,91,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3418
$GC,2220,-0.85,-146.6,186.6,-6.9,106,2224,0.00,2.72,0.00,0.000,4,0.000,0.076,2219,976,3416
$GC,2251,-0.85,-146.6,189.0,-7.5,107,2258,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2406,3418
$GC,2567,-0.85,-146.6,212.2,-7.2,123,2572,0.00,2.75,0.00,0.000,4,0.000,0.077,2219,978,3418
$GC,2639,-0.85,-146.6,217.5,-7.6,126,2644,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2391,3418
$GC,2960,-0.85,-146.6,238.2,-6.5,142,2964,0.00,2.70,0.00,0.000,4,0.000,0.090,2219,3767,3418
$GC,2986,-0.85,-146.6,239.9,-6.7,143,2990,0.00,2.58,0.00,0.000,6,0.000,0.065,2219,2393,3418
$GC,3307,-0.85,-146.6,262.2,-7.4,159,3311,0.00,2.70,0.00,0.000,4,0.000,0.080,2219,977,3418
$GC,3350,-0.85,-146.6,265.5,-8.4,161,3354,0.00,2.67,0.00,0.000,6,0.000,0.065,2219,2400,3418
$GC,3677,-0.85,-146.6,291.7,-7.8,177,3681,0.00,2.72,0.00,0.000,4,0.000,0.080,2219,981,3418
$GC,3731,-0.85,-146.6,296.1,-7.9,179,3738,0.00,2.67,0.00,0.000,6,0.000,0.068,2219,2400,3418
$GC,4047,-0.85,-146.6,320.0,-7.4,195,4051,0.00,2.75,0.00,0.000,4,0.000,0.081,2218,981,3418
$GC,4089,-0.85,-146.6,323.4,-7.5,197,4094,0.00,2.67,0.00,0.000,6,0.000,0.068,2219,2400,3418
$GC,4416,-0.85,-146.6,345.7,-6.6,213,4421,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,981,3417
$GC,4459,-0.85,-146.6,348.9,-7.3,215,4464,0.00,2.67,0.00,0.000,6,0.000,0.069,2219,2400,3417
$GC,4787,-0.85,-146.6,370.9,-6.7,231,4791,0.00,2.75,0.00,0.000,4,0.000,0.082,2219,980,3417
$GC,4818,-0.85,-146.6,373.3,-7.4,232,4825,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2401,3417
$GC,5134,-0.85,-146.6,395.3,-7.1,248,5138,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,981,3415
$GC,5154,-0.85,-146.6,397.0,-7.5,249,5159,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2402,3415
$GC,5481,-0.85,-146.6,420.4,-7.2,265,5486,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,979,3415
$GC,5520,-0.85,-146.6,423.2,-7.3,267,5524,0.00,2.70,0.00,0.000,6,0.000,0.067,2219,2406,3415
$GC,5845,-0.85,-146.6,446.9,-7.3,283,5849,0.00,2.75,0.00,0.000,4,0.000,0.082,2219,982,3414
$GC,5877,-0.85,-146.6,449.4,-7.8,284,5883,0.00,2.67,0.00,0.000,6,0.000,0.067,2218,2401,3414
$GC,6192,-0.85,-146.6,473.9,-8.0,300,6196,0.00,2.75,0.00,0.000,4,0.000,0.082,2219,982,3413
$GC,6230,-0.85,-146.6,477.1,-8.5,302,6235,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2404,3413
$GC,6556,-0.85,-146.6,504.0,-8.2,318,6561,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,982,3412
$GC,6595,-0.85,-146.6,507.2,-8.6,320,6599,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2400,3413
$GC,6920,-0.85,-146.6,532.3,-7.8,336,6925,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,979,3412
$GC,6960,-0.85,-146.6,535.4,-8.1,338,6964,0.00,2.70,0.00,0.000,6,0.000,0.067,2219,2405,3412
$GC,7285,-0.85,-146.6,560.0,-7.5,354,7289,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,982,3412
$GC,7316,-0.85,-146.6,562.5,-7.5,355,7324,0.00,2.70,0.00,0.000,6,0.000,0.067,2219,2398,3412
$GC,7633,-0.85,-146.6,585.0,-7.2,371,7637,0.00,2.75,0.00,0.000,4,0.000,0.080,2219,977,3411
$GC,7665,-0.85,-146.6,587.5,-7.8,372,7671,0.00,2.70,0.00,0.000,6,0.000,0.068,2219,2405,3411
$GC,7980,-0.85,-146.6,609.4,-6.9,388,7984,0.00,2.75,0.00,0.000,4,0.000,0.080,2219,982,3411
$GC,8012,-0.85,-146.6,611.5,-7.0,389,8018,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2400,3411
$GC,8327,-0.85,-146.6,632.6,-6.5,405,8332,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,979,3410
$GC,8359,-0.85,-146.6,634.9,-6.8,406,8365,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2400,3410
$GC,8674,-0.85,-146.6,654.4,-6.3,422,8679,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,977,3410
$GC,8700,-0.85,-146.6,656.3,-7.0,423,8705,0.00,2.70,0.00,0.000,6,0.000,0.067,2219,2408,3410
$GC,9022,-0.85,-146.6,676.4,-6.2,439,9026,0.00,2.75,0.00,0.000,4,0.000,0.080,2219,982,3409
$GC,9061,-0.85,-146.6,678.9,-6.6,441,9065,0.00,2.70,0.00,0.000,6,0.000,0.068,2219,2406,3409
$GC,9386,-0.85,-146.6,699.4,-6.4,457,9390,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,982,3409
$GC,9412,-0.85,-146.6,701.2,-7.0,458,9416,0.00,2.70,0.00,0.000,6,0.000,0.067,2219,2400,3409
$GC,9733,-0.85,-146.6,722.1,-6.8,474,9738,0.00,2.75,0.00,0.000,4,0.000,0.080,2219,978,3409
$GC,9772,-0.85,-146.6,724.8,-7.2,476,9780,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2403,3409
$GC,10106,-0.85,-146.6,747.7,-7.0,492,10110,0.00,2.75,0.00,0.000,4,0.000,0.080,2219,981,3409
$GC,10154,-0.85,-146.6,751.2,-7.4,494,10159,0.00,2.70,0.00,0.000,6,0.000,0.068,2219,2395,3409
$GC,10476,-0.85,-146.6,771.8,-6.3,510,10480,0.00,2.72,0.00,0.000,4,0.000,0.080,2219,983,3409
$GC,10507,-0.85,-146.6,774.1,-6.8,511,10514,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2402,3409
$GC,10823,-0.85,-146.6,793.8,-6.2,527,10828,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,977,3409
$GC,10862,-0.85,-146.6,796.3,-7.1,529,10867,0.00,2.70,0.00,0.000,6,0.000,0.068,2219,2403,3409
$GC,11188,-0.85,-146.6,815.3,-5.6,545,11193,0.00,2.72,0.00,0.000,4,0.000,0.080,2219,982,3408
$GC,11209,-0.85,-146.6,816.4,-5.9,546,11214,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2404,3408
$GC,11531,-0.85,-146.6,834.6,-5.7,562,11535,0.00,2.75,0.00,0.000,4,0.000,0.079,2219,979,3408
$GC,11557,-0.85,-146.6,836.3,-6.3,563,11561,0.00,2.67,0.00,0.000,6,0.000,0.067,2218,2403,3408
$GC,11878,-0.85,-146.6,855.3,-6.1,579,11883,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,983,3408
$GC,11904,-0.85,-146.6,857.0,-6.6,580,11909,0.00,2.65,0.00,0.000,6,0.000,0.066,2219,2401,3408
$GC,12226,-0.85,-146.6,877.3,-6.5,596,12227,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3407
$GC,12535,-0.85,-146.6,898.1,-6.9,611,12540,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,985,3406
$GC,12579,-0.85,-146.6,901.4,-7.7,613,12583,0.00,2.65,0.00,0.000,6,0.000,0.066,2219,2401,3407
$GC,12905,-0.85,-146.6,923.8,-6.8,629,12910,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,982,3407
$GC,12928,-0.85,-146.6,925.3,-7.5,630,12933,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2403,3407
$GC,13249,-0.85,-146.6,947.5,-6.8,646,13253,0.00,2.72,0.00,0.000,4,0.000,0.075,2219,981,3407
$GC,13269,-0.85,-146.6,949.1,-7.1,647,13273,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2403,3406
$GC,13596,-0.85,-146.6,971.0,-6.6,663,13597,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3406
$STATE,13882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13883,begin apogee
$GC,13888,-0.31,0.0,990.1,6.5,677,14015,0.62,0.00,123.90,1.377,6,0.118,0.000,2340,2185,2817
$STATE,14015,end apogee,CONTROL_FINISHED_OK
$STATE,14016,begin climb
$GC,14017,0.85,146.6,994.9,0.0,683,14147,1.23,0.00,123.50,1.345,6,0.087,0.000,2589,2185,2219
$GC,14469,0.85,146.6,972.3,6.4,705,14470,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2185,2218
$GC,14779,0.85,146.6,952.9,6.3,720,14780,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2185,2218
$GC,15088,0.85,146.6,933.3,6.4,735,15089,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2185,2217
$GC,15397,0.85,146.6,912.7,6.9,750,15402,0.00,2.78,0.00,0.000,4,0.000,0.084,2589,3611,2217
$GC,15417,0.85,146.6,911.3,6.6,751,15422,0.00,2.62,0.00,0.000,6,0.000,0.060,2590,2207,2217
$GC,15744,0.85,146.6,889.6,6.7,767,15746,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2207,2216
$GC,16053,0.85,146.6,869.2,6.6,782,16054,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2206,2217
$GC,16363,0.85,146.6,848.5,6.8,797,16364,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2206,2217
$GC,16672,0.85,146.6,827.7,6.7,812,16677,0.00,2.75,0.00,0.000,4,0.000,0.087,2589,3613,2217
$GC,16716,0.85,146.6,824.5,7.3,814,16720,0.00,2.65,0.00,0.000,6,0.000,0.063,2589,2200,2217
$GC,17042,0.85,146.6,803.4,6.5,830,17044,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2200,2217
$GC,17352,0.85,146.6,783.1,6.7,845,17356,0.00,2.75,0.00,0.000,4,0.000,0.087,2589,3607,2217
$GC,17384,0.85,146.6,780.8,7.5,846,17390,0.00,2.65,0.00,0.000,6,0.000,0.064,2589,2196,2217
$GC,17699,0.85,146.6,760.2,6.5,862,17700,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2196,2217
$GC,18008,0.85,146.6,740.3,6.3,877,18009,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2196,2217
$GC,18318,0.85,149.7,721.5,5.9,892,18327,0.00,2.78,4.07,0.831,4,0.000,0.087,2590,3607,2206
$GC,18355,0.85,149.7,719.0,6.6,893,18361,0.00,2.67,0.00,0.000,6,0.000,0.065,2589,2199,2206
$GC,18670,0.88,178.9,701.6,5.2,909,18698,0.00,0.00,25.38,1.158,6,0.000,0.000,2590,2199,2087
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$STATE,28858,end climb,SURFACE_DEPTH_REACHED
$STATE,28858,begin surface coast
$FINISH,1.1,1.027514
$STATE,28880,end surface coast,CONTROL_FINISHED_OK
$STATE,28880,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,2064
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$XPDR_PINGS,178
$24V_AH,23.3,33.772
$10V_AH,10.1,16.601
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$DEVICE_SECS,25.750,292.650,329.725,218.575,0.000,32.587,32.217,210.757,53.000,0.000,0.000,31.952,2534.254,22667.891,863.156,2913.145,561.167,33.391,2314.707,0.000,2834.808,0.000,56.111
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1042.594,969.510,737.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72672,1407
$CFSIZE,260165632,247975936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,3,0
$GPS,181207,191432,6400.803,-711.758,44,1.6,44,-9.1