version: 66.02
glider: 16
mission: 6
dive: 212
start: 12 24 107 8 27 32
data:
$ID,16
$MISSION,6
$DIVE,212
$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,-2080517.9
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,081638,6425.674,-607.169,28,1.8,28,-8.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-56.2
$GPS2,082640,6425.758,-607.217,12,3.8,31,-8.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.057,-0.224
$KALMAN_X,-89014.3,375.0,1018.4,244574.1,-1795.8
$KALMAN_Y,50890.4,21.9,839.9,258538.2,-2478.6
$MHEAD_RNG_PITCHd_Wd,174.2,195873,-10.3,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.80,-146.6,0.0,0.0,0,144,0.00,0.00,-121.90,0.000,2,0.000,0.000,72,2414,3218
$GC,147,-0.80,-146.6,4.8,-4.0,6,170,12.45,2.80,-4.50,0.000,4,0.180,0.088,2231,990,3416
$GC,220,-0.80,-146.6,16.3,-6.5,9,224,0.00,2.62,0.00,0.000,6,0.000,0.059,2231,2405,3418
$GC,548,-0.80,-146.6,39.4,-7.0,25,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2405,3418
$GC,856,-0.80,-146.6,61.2,-6.7,40,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2405,3418
$GC,1165,-0.80,-146.6,85.3,-8.5,55,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2405,3419
$GC,1475,-0.80,-146.6,111.8,-8.4,70,1479,0.00,2.70,0.00,0.000,4,0.000,0.071,2231,988,3418
$GC,1540,-0.80,-146.6,117.3,-8.3,73,1545,0.00,2.62,0.00,0.000,6,0.000,0.059,2231,2406,3418
$GC,1867,-0.80,-146.6,144.3,-8.4,89,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2406,3418
$GC,2177,-0.80,-146.6,169.7,-8.0,104,2181,0.00,2.72,0.00,0.000,4,0.000,0.075,2231,985,3418
$GC,2225,-0.80,-146.6,174.1,-9.2,106,2230,0.00,2.62,0.00,0.000,6,0.000,0.061,2231,2399,3417
$GC,2547,-0.80,-146.6,200.9,-8.6,122,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2399,3419
$GC,2857,-0.80,-146.6,225.5,-7.7,137,2861,0.00,2.70,0.00,0.000,4,0.000,0.077,2231,992,3418
$GC,2918,-0.80,-146.6,230.3,-7.6,140,2922,0.00,2.62,0.00,0.000,6,0.000,0.064,2231,2401,3418
$GC,3243,-0.80,-146.6,253.5,-7.1,156,3248,0.00,2.70,0.00,0.000,4,0.000,0.077,2231,992,3418
$GC,3287,-0.80,-146.6,256.7,-7.3,158,3292,0.00,2.62,0.00,0.000,6,0.000,0.063,2231,2400,3419
$GC,3608,-0.80,-146.6,278.9,-7.1,174,3612,0.00,2.70,0.00,0.000,4,0.000,0.077,2231,992,3418
$GC,3651,-0.80,-146.6,282.1,-7.8,176,3655,0.00,2.62,0.00,0.000,6,0.000,0.064,2231,2400,3418
$GC,3978,-0.80,-146.6,305.2,-7.2,192,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2400,3419
$GC,4287,-0.80,-146.6,327.9,-7.5,207,4291,0.00,2.72,0.00,0.000,4,0.000,0.077,2231,985,3418
$GC,4358,-0.80,-146.6,333.7,-8.5,210,4362,0.00,2.65,0.00,0.000,6,0.000,0.064,2231,2402,3419
$GC,4680,-0.80,-146.6,356.2,-7.3,226,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2403,3419
$GC,4989,-0.80,-146.6,377.3,-6.8,241,4993,0.00,2.72,0.00,0.000,4,0.000,0.078,2231,986,3418
$GC,5038,-0.80,-146.6,381.0,-7.3,243,5042,0.00,2.65,0.00,0.000,6,0.000,0.064,2231,2405,3418
$GC,5353,-0.80,-146.6,402.1,-6.4,258,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2405,3418
$GC,5662,-0.80,-146.6,422.2,-6.4,273,5667,0.00,2.70,0.00,0.000,4,0.000,0.078,2231,992,3418
$GC,5729,-0.80,-146.6,426.7,-6.4,276,5733,0.00,2.62,0.00,0.000,6,0.000,0.064,2231,2401,3418
$GC,6049,-0.80,-146.6,446.1,-5.9,292,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2401,3418
$GC,6358,-0.80,-146.6,464.2,-5.7,307,6363,0.00,2.72,0.00,0.000,4,0.000,0.077,2231,988,3418
$GC,6431,-0.80,-146.6,468.4,-5.9,310,6435,0.00,2.65,0.00,0.000,6,0.000,0.063,2231,2407,3418
$GC,6746,-0.80,-146.6,484.7,-5.0,325,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2407,3417
$GC,7055,-0.80,-146.6,501.5,-5.6,340,7059,0.00,2.72,0.00,0.000,4,0.000,0.077,2231,992,3416
$GC,7104,-0.80,-146.6,504.3,-5.6,342,7109,0.00,2.62,0.00,0.000,6,0.000,0.063,2231,2401,3416
$GC,7420,-0.80,-146.6,521.2,-5.3,357,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2401,3416
$GC,7729,-0.80,-146.6,537.0,-5.3,372,7733,0.00,2.70,0.00,0.000,4,0.000,0.077,2231,992,3416
$GC,7790,-0.80,-146.6,540.5,-5.9,375,7794,0.00,2.62,0.00,0.000,6,0.000,0.063,2231,2401,3415
$GC,8116,-0.80,-146.6,558.0,-5.3,391,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2401,3415
$GC,8426,-0.80,-146.6,574.8,-5.4,406,8431,0.00,2.70,0.00,0.000,4,0.000,0.077,2231,991,3415
$GC,8486,-0.80,-146.6,578.4,-5.9,408,8493,0.00,2.62,0.00,0.000,6,0.000,0.062,2231,2404,3415
$GC,8802,-0.80,-146.6,596.0,-5.7,424,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2404,3415
$GC,9111,-0.80,-146.6,612.9,-5.3,439,9116,0.00,2.72,0.00,0.000,4,0.000,0.077,2231,988,3414
$GC,9166,-0.80,-146.6,616.0,-5.4,441,9172,0.00,2.62,0.00,0.000,6,0.000,0.063,2231,2400,3414
$GC,9481,-0.80,-146.6,633.8,-5.5,457,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2400,3414
$GC,9791,-0.80,-146.6,651.7,-5.6,472,9796,0.00,2.70,0.00,0.000,4,0.000,0.077,2233,990,3413
$GC,9852,-0.80,-146.6,655.4,-6.3,475,9856,0.00,2.62,0.00,0.000,6,0.000,0.064,2231,2399,3413
$GC,10178,-0.80,-146.6,673.1,-5.3,491,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2399,3413
$GC,10488,-0.80,-146.6,690.1,-5.4,506,10492,0.00,2.70,0.00,0.000,4,0.000,0.077,2231,986,3412
$GC,10542,-0.80,-146.6,693.3,-5.6,508,10549,0.00,2.65,0.00,0.000,6,0.000,0.063,2231,2405,3413
$GC,10858,-0.80,-146.6,709.6,-5.4,524,10859,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2405,3412
$GC,11167,-0.80,-146.6,726.4,-5.5,539,11171,0.00,2.70,0.00,0.000,4,0.000,0.075,2231,994,3412
$GC,11232,-0.80,-146.6,730.3,-6.1,542,11237,0.00,2.62,0.00,0.000,6,0.000,0.063,2231,2401,3412
$GC,11560,-0.80,-146.6,746.9,-4.8,558,11561,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2401,3412
$GC,11869,-0.80,-146.6,761.8,-4.8,573,11873,0.00,2.70,0.00,0.000,4,0.000,0.076,2231,991,3412
$GC,11931,-0.80,-146.6,765.1,-5.7,576,11935,0.00,2.65,0.00,0.000,6,0.000,0.063,2231,2407,3412
$GC,12257,-0.80,-146.6,781.8,-5.3,592,12258,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2407,3411
$GC,12566,-0.80,-146.6,798.2,-5.2,607,12570,0.00,2.70,0.00,0.000,4,0.000,0.075,2232,994,3411
$GC,12615,-0.80,-146.6,800.9,-5.6,609,12619,0.00,2.62,0.00,0.000,6,0.000,0.063,2231,2401,3411
$GC,12930,-0.80,-146.6,816.2,-4.8,624,12932,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2401,3411
$GC,13239,-0.80,-146.6,831.1,-4.8,639,13243,0.00,2.70,0.00,0.000,4,0.000,0.074,2231,988,3411
$GC,13288,-0.80,-146.6,833.9,-4.8,641,13293,0.00,2.62,0.00,0.000,6,0.000,0.064,2231,2400,3411
$GC,13604,-0.80,-146.6,851.7,-5.6,656,13608,0.00,2.67,0.00,0.000,4,0.000,0.091,2231,3766,3411
$GC,13675,-0.80,-146.6,856.1,-6.3,659,13679,0.00,2.53,0.00,0.000,6,0.000,0.060,2231,2404,3411
$GC,13997,-0.80,-146.6,873.4,-5.5,675,14001,0.00,2.70,0.00,0.000,4,0.000,0.079,2231,990,3411
$GC,14063,-0.80,-146.6,877.4,-5.4,678,14067,0.00,2.62,0.00,0.000,6,0.000,0.061,2231,2407,3411
$GC,14384,-0.80,-146.6,895.1,-5.7,694,14385,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2407,3410
$GC,14692,-0.80,-146.6,912.1,-5.3,709,14697,0.00,2.70,0.00,0.000,4,0.000,0.071,2231,985,3410
$GC,14736,-0.80,-146.6,914.8,-6.4,711,14740,0.00,2.62,0.00,0.000,6,0.000,0.058,2231,2406,3410
$GC,15063,-0.80,-146.6,933.4,-5.8,727,15065,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2406,3410
$GC,15372,-0.80,-146.6,951.3,-5.7,742,15377,0.00,2.70,0.00,0.000,4,0.000,0.071,2231,985,3410
$GC,15412,-0.80,-146.6,953.4,-5.7,744,15416,0.00,2.62,0.00,0.000,6,0.000,0.057,2231,2404,3410
$GC,15737,-0.80,-146.6,973.2,-6.0,760,15738,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2404,3410
$STATE,16024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16024,begin apogee
$GC,16029,-0.31,0.0,990.6,6.1,774,16157,0.55,0.00,125.32,1.393,6,0.120,0.000,2337,2197,2817
$STATE,16158,end apogee,CONTROL_FINISHED_OK
$STATE,16158,begin climb
$GC,16161,0.80,146.6,995.5,0.0,780,16293,1.23,2.75,124.38,1.361,4,0.109,0.069,2576,794,2218
$GC,16310,0.85,194.5,992.1,4.8,787,16357,0.00,2.62,41.78,1.358,6,0.000,0.050,2577,2205,2023
$GC,16669,0.85,194.5,969.8,6.3,804,16673,0.00,2.70,0.00,0.000,4,0.000,0.068,2577,792,2022
$GC,16798,0.85,194.5,961.9,6.0,810,16802,0.00,2.58,0.00,0.000,6,0.000,0.050,2576,2200,2022
$GC,17124,0.86,203.8,943.0,5.8,826,17139,0.00,2.72,9.05,1.183,4,0.000,0.072,2576,3604,1986
$GC,17168,0.86,203.8,940.2,6.2,828,17172,0.00,2.60,0.00,0.000,6,0.000,0.051,2577,2202,1986
$GC,17493,0.89,231.0,922.6,5.3,844,17520,0.15,0.00,24.50,1.302,6,0.087,0.000,2608,2202,1875
$GC,17823,0.89,231.0,900.0,6.8,860,17824,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2202,1874
$GC,18131,0.89,231.0,878.5,7.0,875,18133,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2202,1873
$GC,18441,0.89,231.0,856.7,7.2,890,18442,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2202,1873
$GC,18750,0.89,231.0,834.2,7.3,905,18752,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2202,1873
$GC,19059,0.89,231.0,811.2,7.4,920,19060,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2202,1873
$GC,19368,0.89,231.0,787.5,7.7,935,19370,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2202,1873
$GC,19678,0.89,231.0,763.7,7.6,950,19683,0.00,2.70,0.00,0.000,4,0.000,0.076,2608,789,1872
$GC,19705,0.89,231.0,761.4,9.0,951,19709,0.00,2.62,0.00,0.000,6,0.000,0.052,2608,2196,1872
$GC,20026,0.89,231.0,736.8,7.7,967,20027,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2196,1872
$GC,20336,0.89,231.0,713.3,7.7,982,20337,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2196,1872
$GC,20644,0.89,231.0,689.8,7.5,997,20646,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2196,1872
$GC,20954,0.89,231.0,667.3,7.0,1012,20955,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2196,1872
$GC,21263,0.89,231.0,644.4,7.6,1027,21265,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2196,1872
$GC,21572,0.89,231.0,620.8,7.9,1042,21573,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2196,1872
$GC,21881,0.89,231.0,595.8,8.1,1057,21883,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2196,1872
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$STATE,29368,end climb,SURFACE_DEPTH_REACHED
$STATE,29368,begin surface coast
$FINISH,0.9,1.027190
$STATE,29392,end surface coast,CONTROL_FINISHED_OK
$STATE,29392,begin surface
$SM_CCo,29413,210.55,0.733,3,0,509,566.15
$SM_GC,1.63,0.00,0.00,210.55,0.000,0.000,0.733,72,2405,509,-10.75,0.11,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2058
$TCM_TEMP,14.50
$XPDR_PINGS,154
$24V_AH,23.2,37.146
$10V_AH,10.1,18.726
$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
$DEVICE_SECS,25.900,182.100,325.025,210.550,0.000,65.215,68.330,262.554,47.000,0.000,0.000,33.376,2506.401,23474.045,777.285,2790.413,684.508,33.387,2124.434,0.000,2720.932,0.000,56.103
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1054.761,980.234,739.176,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72584,1422
$CFSIZE,260165632,246538240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,3,0
$GPS,241207,164328,6422.831,-602.603,62,2.9,81,-8.6