version: 66.02
glider: 16
mission: 6
dive: 213
start: 12 24 107 16 51 14
data:
$ID,16
$MISSION,6
$DIVE,213
$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,-2080557
$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,18
$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
$GPS1,164328,6422.831,-602.603,62,2.9,81,-8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-56.7
$GPS2,165023,6422.770,-602.625,18,2.8,37,-8.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.012,-0.156
$KALMAN_X,-86192.0,761.2,64.9,246351.5,-494.1
$KALMAN_Y,52149.3,1008.2,575.5,251015.9,-3109.4
$MHEAD_RNG_PITCHd_Wd,184.1,190341,-17.5,-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,19,begin dive
$GC,21,-1.17,-66.8,0.0,0.0,0,125,0.00,0.00,-101.72,0.000,2,0.000,0.000,71,2406,2766
$GC,127,-1.24,-135.4,3.3,-1.9,5,170,11.90,2.67,-21.52,0.000,4,0.180,0.093,2135,3765,3370
$GC,422,-1.24,-135.4,43.8,-11.6,18,426,0.00,2.58,0.00,0.000,6,0.000,0.061,2135,2398,3371
$GC,751,-1.24,-135.4,82.3,-13.1,34,755,0.00,2.67,0.00,0.000,4,0.000,0.082,2136,3763,3371
$GC,800,-1.24,-135.4,90.0,-14.6,36,804,0.00,2.58,0.00,0.000,6,0.000,0.062,2135,2398,3371
$GC,1121,-1.24,-135.4,128.3,-10.1,52,1126,0.00,2.72,0.00,0.000,4,0.000,0.077,2135,978,3371
$GC,1205,-1.24,-135.4,137.2,-10.6,56,1209,0.00,2.67,0.00,0.000,6,0.000,0.062,2135,2407,3371
$GC,1531,-1.24,-135.4,174.5,-11.5,72,1535,0.00,2.72,0.00,0.000,4,0.000,0.075,2135,983,3371
$GC,1585,-1.24,-135.4,180.7,-11.2,74,1592,0.00,2.65,0.00,0.000,6,0.000,0.063,2135,2401,3371
$GC,1901,-1.24,-135.4,215.5,-11.4,90,1905,0.00,2.67,0.00,0.000,4,0.000,0.087,2135,3766,3371
$GC,1966,-1.24,-135.4,223.7,-12.4,93,1970,0.00,2.58,0.00,0.000,6,0.000,0.064,2135,2400,3372
$GC,2293,-1.24,-135.4,260.6,-11.3,109,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2400,3372
$GC,2602,-1.24,-135.4,295.3,-11.2,124,2607,0.00,2.72,0.00,0.000,4,0.000,0.079,2135,983,3371
$GC,2668,-1.24,-135.4,302.8,-11.0,127,2673,0.00,2.65,0.00,0.000,6,0.000,0.064,2135,2397,3372
$GC,2995,-1.24,-135.4,337.8,-10.5,143,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2397,3372
$GC,3305,-1.24,-135.4,368.9,-10.0,158,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2397,3372
$GC,3614,-1.24,-135.4,400.5,-10.8,173,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2397,3371
$GC,3923,-1.24,-135.4,435.0,-11.0,188,3927,0.00,2.72,0.00,0.000,4,0.000,0.075,2135,979,3371
$GC,3972,-1.24,-135.4,440.6,-11.2,190,3976,0.00,2.65,0.00,0.000,6,0.000,0.062,2135,2404,3371
$GC,4287,-1.24,-135.4,474.7,-10.9,205,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2404,3372
$GC,4596,-1.24,-135.4,508.5,-11.0,220,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2405,3371
$GC,4906,-1.24,-135.4,543.0,-11.0,235,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2404,3371
$GC,5217,-1.24,-135.4,577.2,-11.2,250,5221,0.00,2.72,0.00,0.000,4,0.000,0.075,2135,985,3371
$GC,5278,-1.24,-135.4,584.2,-11.2,253,5282,0.00,2.65,0.00,0.000,6,0.000,0.062,2135,2404,3371
$GC,5603,-1.24,-135.4,618.7,-10.2,269,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2404,3370
$GC,5912,-1.24,-135.4,649.9,-10.3,284,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2404,3370
$GC,6222,-1.24,-135.4,680.8,-10.0,299,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2404,3369
$GC,6531,-1.24,-135.4,711.2,-9.8,314,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2404,3369
$GC,6840,-1.24,-135.4,741.4,-9.9,329,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2404,3369
$GC,7150,-1.24,-135.4,770.9,-9.7,344,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2404,3368
$GC,7459,-1.24,-135.4,799.6,-9.0,359,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2404,3368
$GC,7768,-1.24,-135.4,827.2,-8.7,374,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2404,3367
$GC,8078,-1.24,-135.4,853.7,-8.6,389,8082,0.00,2.70,0.00,0.000,4,0.000,0.074,2135,985,3367
$GC,8143,-1.24,-135.4,859.6,-9.0,392,8147,0.00,2.62,0.00,0.000,6,0.000,0.059,2135,2402,3366
$GC,8470,-1.24,-135.4,887.3,-8.4,408,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2401,3366
$GC,8779,-1.24,-135.4,913.3,-8.4,423,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2401,3365
$GC,9089,-1.24,-135.4,939.7,-8.5,438,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2401,3365
$GC,9397,-1.24,-135.4,966.5,-9.0,453,9402,0.00,2.67,0.00,0.000,4,0.000,0.070,2135,985,3364
$GC,9447,-1.24,-135.4,971.1,-8.9,455,9452,0.00,2.60,0.00,0.000,6,0.000,0.056,2135,2400,3364
$STATE,9678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9678,begin apogee
$GC,9683,-0.31,0.0,991.4,8.8,466,9803,1.05,0.00,115.90,1.386,6,0.123,0.000,2337,2190,2817
$STATE,9804,end apogee,CONTROL_FINISHED_OK
$STATE,9804,begin climb
$GC,9806,1.24,135.4,994.4,0.0,472,9925,1.70,0.00,115.30,1.354,6,0.087,0.000,2680,2190,2265
$GC,10230,1.24,135.4,959.3,9.9,493,10231,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2189,2264
$GC,10539,1.24,135.4,929.0,9.7,508,10540,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2190,2263
$GC,10848,1.24,135.4,899.1,9.8,523,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2190,2263
$GC,11157,1.24,135.4,869.4,9.5,538,11162,0.00,2.72,0.00,0.000,4,0.000,0.074,2680,3613,2263
$GC,11222,1.24,135.4,862.9,9.9,541,11227,0.00,2.62,0.00,0.000,6,0.000,0.054,2680,2200,2263
$GC,11550,1.24,135.4,832.9,9.2,557,11551,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2200,2262
$GC,11858,1.24,135.4,804.2,9.2,572,11863,0.00,2.72,0.00,0.000,4,0.000,0.075,2680,3615,2262
$GC,11902,1.24,135.4,799.9,10.4,574,11906,0.00,2.62,0.00,0.000,6,0.000,0.056,2680,2199,2263
$GC,12229,1.24,135.4,771.4,8.5,590,12230,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2199,2262
$GC,12538,1.24,135.4,744.0,9.0,605,12542,0.00,2.72,0.00,0.000,4,0.000,0.077,2681,3613,2262
$GC,12603,1.24,135.4,737.6,9.9,608,12608,0.00,2.65,0.00,0.000,6,0.000,0.058,2680,2194,2262
$GC,12931,1.24,135.4,709.3,8.6,624,12935,0.00,2.75,0.00,0.000,4,0.000,0.079,2680,3614,2262
$GC,12973,1.24,135.4,705.3,9.0,626,12978,0.00,2.65,0.00,0.000,6,0.000,0.059,2680,2198,2262
$GC,13300,1.24,135.4,677.0,8.7,642,13301,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2199,2262
$GC,13610,1.24,135.4,650.0,8.7,657,13614,0.00,2.72,0.00,0.000,4,0.000,0.080,2680,3608,2263
$GC,13653,1.24,135.4,646.0,8.9,659,13657,0.00,2.65,0.00,0.000,6,0.000,0.060,2680,2196,2262
$GC,13980,1.24,135.4,618.9,8.3,675,13981,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2196,2262
$GC,14289,1.24,135.4,592.6,8.4,690,14294,0.00,2.72,0.00,0.000,4,0.000,0.082,2680,3609,2262
$GC,14343,1.24,135.4,587.5,8.7,692,14350,0.00,2.65,0.00,0.000,6,0.000,0.061,2680,2193,2262
$GC,14659,1.24,135.4,561.3,8.4,708,14660,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2193,2262
$GC,14969,1.24,135.4,536.0,8.1,723,14973,0.00,2.75,0.00,0.000,4,0.000,0.083,2681,3615,2262
$GC,15023,1.24,135.4,531.0,8.9,725,15030,0.00,2.67,0.00,0.000,6,0.000,0.064,2680,2207,2262
$GC,15339,1.24,135.4,504.5,8.5,741,15344,0.00,2.72,0.00,0.000,4,0.000,0.084,2680,3608,2262
$GC,15378,1.24,135.4,500.9,9.0,743,15383,0.00,2.65,0.00,0.000,6,0.000,0.064,2680,2200,2262
$GC,15704,1.24,135.4,472.9,8.4,759,15709,0.00,2.75,0.00,0.000,4,0.000,0.084,2680,3613,2262
$GC,15782,1.24,135.4,466.1,8.5,762,15788,0.00,2.67,0.00,0.000,6,0.000,0.065,2680,2192,2262
$GC,16097,1.24,135.4,440.2,8.3,778,16102,0.00,2.78,0.00,0.000,4,0.000,0.085,2680,3614,2262
$GC,16141,1.24,135.4,436.2,8.5,780,16145,0.00,2.67,0.00,0.000,6,0.000,0.066,2680,2200,2262
$GC,16468,1.24,135.4,410.7,7.7,796,16473,0.00,2.75,0.00,0.000,4,0.000,0.086,2681,3609,2262
$GC,16530,1.24,135.4,405.5,9.8,799,16534,0.00,2.67,0.00,0.000,6,0.000,0.068,2681,2200,2262
$GC,16855,1.24,135.4,379.4,7.8,815,16859,0.00,2.75,0.00,0.000,4,0.000,0.087,2681,3607,2262
$GC,16898,1.24,135.4,375.8,9.1,817,16902,0.00,2.67,0.00,0.000,6,0.000,0.067,2680,2196,2262
$GC,17225,1.24,135.4,350.9,7.7,833,17226,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2196,2262
$GC,17534,1.24,135.4,328.0,7.1,848,17538,0.00,2.78,0.00,0.000,4,0.000,0.087,2681,3612,2262
$GC,17595,1.24,135.4,322.9,8.6,851,17600,0.00,2.67,0.00,0.000,6,0.000,0.071,2680,2203,2262
$GC,17921,1.24,135.4,296.6,8.0,867,17922,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2203,2262
$GC,18230,1.24,135.4,273.2,7.4,882,18234,0.00,2.75,0.00,0.000,4,0.000,0.086,2680,3611,2262
$GC,18278,1.24,135.4,269.2,7.9,884,18283,0.00,2.70,0.00,0.000,6,0.000,0.071,2680,2194,2262
$GC,18600,1.24,135.4,245.3,6.9,900,18601,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2194,2262
$GC,18909,1.24,135.4,224.5,6.8,915,18910,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2192,2262
$GC,19218,1.24,135.4,202.8,7.0,930,19219,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2194,2263
$GC,19527,1.24,135.4,179.3,7.7,945,19532,0.00,2.75,0.00,0.000,4,0.000,0.083,2680,3609,2263
$GC,19583,1.24,135.4,174.7,7.7,947,19589,0.00,2.67,0.00,0.000,6,0.000,0.067,2680,2196,2263
$GC,19898,1.24,135.4,150.7,7.4,963,19899,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2196,2263
$GC,20208,1.24,135.4,126.4,8.4,978,20209,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2196,2263
$GC,20517,1.24,135.4,100.0,8.5,993,20521,0.00,2.75,0.00,0.000,4,0.000,0.082,2680,3612,2264
$GC,20655,1.24,135.4,87.8,8.5,999,20660,0.00,2.65,0.00,0.000,6,0.000,0.064,2680,2202,2264
$GC,20979,1.24,135.4,62.3,8.6,1015,20980,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2202,2264
$GC,21286,1.24,135.4,36.3,8.5,1030,21287,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2202,2264
$GC,21595,1.24,135.4,12.8,7.3,1045,21599,0.00,2.72,0.00,0.000,4,0.000,0.081,2681,3612,2265
$GC,21679,1.24,135.4,6.2,7.6,1049,21684,0.00,2.65,0.00,0.000,6,0.000,0.063,2680,2195,2265
$STATE,21736,end climb,SURFACE_DEPTH_REACHED
$STATE,21736,begin surface coast
$FINISH,1.0,1.015977
$STATE,21758,end surface coast,CONTROL_FINISHED_OK
$STATE,21758,begin surface
$SM_CCo,21778,270.23,0.746,1,0,509,566.15
$SM_GC,1.57,0.00,0.00,270.23,0.000,0.000,0.746,70,2402,509,-10.76,0.06,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2045
$TCM_TEMP,14.90
$XPDR_PINGS,123
$24V_AH,23.3,37.313
$10V_AH,10.1,18.822
$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,26.325,145.875,231.200,270.225,0.000,32.587,40.422,198.046,39.250,0.000,0.000,38.547,1890.460,17154.457,739.892,2180.376,495.347,33.374,1771.720,0.000,2109.789,0.000,56.084
$DEVICE_MAMPS,180.245,92.807,1385.969,746.291,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,785.436,725.594,569.006,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53860,1053
$CFSIZE,260165632,246517760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,241207,230031,6421.141,-558.169,61,1.1,67,-8.5