version: 66.02
glider: 16
mission: 6
dive: 217
start: 12 26 107 1 9 47
data:
$ID,16
$MISSION,6
$DIVE,217
$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,-2080670.4
$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
$GPS1,010208,6410.509,-601.555,42,2.0,42,-8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-48.8
$GPS2,010855,6410.553,-601.415,44,1.7,44,-8.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.025,-0.207
$KALMAN_X,-78774.0,663.9,175.7,240017.8,717.0
$KALMAN_Y,57415.3,305.4,-542.1,224988.9,1224.0
$MHEAD_RNG_PITCHd_Wd,195.4,167731,-12.0,-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,-0.89,-127.5,0.0,0.0,0,143,0.00,0.00,-121.25,0.000,2,0.000,0.000,73,2401,3209
$GC,146,-0.91,-146.6,4.9,-4.0,6,169,12.27,2.67,-4.60,0.000,4,0.179,0.090,2206,3762,3416
$GC,320,-0.91,-146.6,27.2,-6.3,13,327,0.00,2.58,0.00,0.000,6,0.000,0.056,2206,2399,3418
$GC,637,-0.91,-146.6,56.4,-9.2,29,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2397,3419
$GC,946,-0.91,-146.6,88.3,-10.2,44,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2398,3419
$GC,1254,-0.91,-146.6,118.2,-9.3,59,1259,0.00,2.70,0.00,0.000,4,0.000,0.074,2206,981,3418
$GC,1303,-0.91,-146.6,122.7,-8.8,61,1307,0.00,2.62,0.00,0.000,6,0.000,0.059,2206,2399,3418
$GC,1625,-0.91,-146.6,149.6,-8.5,77,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2399,3419
$GC,1933,-0.91,-146.6,174.3,-8.0,92,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2398,3419
$GC,2242,-0.91,-146.6,202.1,-9.3,107,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2399,3420
$GC,2552,-0.91,-146.6,229.1,-8.2,122,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2398,3419
$GC,2861,-0.91,-146.6,252.2,-7.4,137,2865,0.00,2.72,0.00,0.000,4,0.000,0.074,2206,978,3419
$GC,2904,-0.91,-146.6,255.6,-7.4,139,2908,0.00,2.65,0.00,0.000,6,0.000,0.062,2206,2395,3419
$GC,3231,-0.91,-146.6,278.4,-6.7,155,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2395,3419
$GC,3540,-0.91,-146.6,299.1,-6.7,170,3544,0.00,2.72,0.00,0.000,4,0.000,0.075,2206,976,3419
$GC,3583,-0.91,-146.6,302.2,-7.3,172,3587,0.00,2.67,0.00,0.000,6,0.000,0.063,2206,2409,3419
$GC,3909,-0.91,-146.6,324.3,-7.1,188,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2410,3420
$GC,4219,-0.91,-146.6,346.6,-6.9,203,4223,0.00,2.75,0.00,0.000,4,0.000,0.075,2206,976,3419
$GC,4290,-0.91,-146.6,352.3,-7.8,206,4294,0.00,2.65,0.00,0.000,6,0.000,0.063,2206,2402,3419
$GC,4611,-0.91,-146.6,374.4,-6.6,222,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2402,3419
$GC,4920,-0.91,-146.6,394.7,-6.5,237,4924,0.00,2.72,0.00,0.000,4,0.000,0.076,2206,980,3419
$GC,5008,-0.91,-146.6,400.9,-7.0,241,5012,0.00,2.65,0.00,0.000,6,0.000,0.062,2206,2405,3419
$GC,5335,-0.91,-146.6,423.5,-7.0,257,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2405,3419
$GC,5644,-0.91,-146.6,444.7,-7.1,272,5648,0.00,2.72,0.00,0.000,4,0.000,0.074,2206,982,3418
$GC,5711,-0.91,-146.6,449.6,-7.4,275,5715,0.00,2.65,0.00,0.000,6,0.000,0.061,2206,2403,3418
$GC,6031,-0.91,-146.6,471.8,-6.9,291,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2403,3418
$GC,6340,-0.91,-146.6,492.2,-6.5,306,6345,0.00,2.72,0.00,0.000,4,0.000,0.075,2206,978,3418
$GC,6406,-0.91,-146.6,497.1,-7.8,309,6411,0.00,2.65,0.00,0.000,6,0.000,0.062,2206,2401,3417
$GC,6733,-0.91,-146.6,519.0,-6.7,325,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2401,3416
$GC,7042,-0.91,-146.6,540.7,-7.2,340,7047,0.00,2.70,0.00,0.000,4,0.000,0.075,2206,982,3416
$GC,7109,-0.91,-146.6,545.7,-7.2,343,7113,0.00,2.62,0.00,0.000,6,0.000,0.061,2205,2400,3416
$GC,7429,-0.91,-146.6,567.9,-6.6,359,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2400,3416
$GC,7738,-0.91,-146.6,589.1,-6.9,374,7742,0.00,2.70,0.00,0.000,4,0.000,0.074,2206,982,3416
$GC,7804,-0.91,-146.6,593.8,-7.1,377,7808,0.00,2.65,0.00,0.000,6,0.000,0.061,2206,2405,3416
$GC,8125,-0.91,-146.6,616.2,-7.1,393,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2405,3415
$GC,8434,-0.91,-146.6,637.6,-6.7,408,8438,0.00,2.72,0.00,0.000,4,0.000,0.073,2206,977,3415
$GC,8522,-0.91,-146.6,643.9,-7.0,412,8527,0.00,2.65,0.00,0.000,6,0.000,0.061,2206,2404,3415
$GC,8843,-0.91,-146.6,665.1,-6.6,428,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2404,3414
$GC,9152,-0.91,-146.6,685.8,-7.0,443,9156,0.00,2.72,0.00,0.000,4,0.000,0.073,2206,976,3413
$GC,9218,-0.91,-146.6,690.6,-7.5,446,9222,0.00,2.65,0.00,0.000,6,0.000,0.062,2206,2401,3414
$GC,9539,-0.91,-146.6,712.5,-6.9,462,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2401,3413
$GC,9848,-0.91,-146.6,733.4,-6.7,477,9852,0.00,2.70,0.00,0.000,4,0.000,0.073,2206,982,3413
$GC,9914,-0.91,-146.6,738.1,-7.3,480,9918,0.00,2.65,0.00,0.000,6,0.000,0.061,2206,2406,3413
$GC,10234,-0.91,-146.6,760.0,-7.0,496,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2407,3412
$GC,10544,-0.91,-146.6,781.7,-7.0,511,10548,0.00,2.72,0.00,0.000,4,0.000,0.073,2206,978,3412
$GC,10610,-0.91,-146.6,786.6,-7.6,514,10614,0.00,2.65,0.00,0.000,6,0.000,0.062,2206,2400,3411
$GC,10930,-0.91,-146.6,808.9,-7.1,530,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2400,3412
$GC,11240,-0.91,-146.6,830.1,-6.8,545,11245,0.00,2.70,0.00,0.000,4,0.000,0.073,2206,984,3412
$GC,11295,-0.91,-146.6,834.0,-7.4,547,11302,0.00,2.62,0.00,0.000,6,0.000,0.061,2206,2401,3412
$GC,11610,-0.91,-146.6,854.7,-6.5,563,11615,0.00,2.70,0.00,0.000,4,0.000,0.073,2206,984,3412
$GC,11655,-0.91,-146.6,857.7,-7.0,565,11660,0.00,2.65,0.00,0.000,6,0.000,0.059,2206,2407,3412
$GC,11976,-0.91,-146.6,877.9,-6.4,581,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2407,3411
$GC,12285,-0.91,-146.6,897.8,-6.4,596,12290,0.00,2.70,0.00,0.000,4,0.000,0.071,2205,984,3411
$GC,12357,-0.91,-146.6,902.8,-6.8,599,12362,0.00,2.62,0.00,0.000,6,0.000,0.058,2206,2405,3411
$GC,12672,-0.91,-146.6,922.9,-6.2,614,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2405,3411
$GC,12982,-0.91,-146.6,941.9,-6.3,629,12986,0.00,2.67,0.00,0.000,4,0.000,0.067,2206,983,3411
$GC,13053,-0.91,-146.6,946.7,-7.1,632,13057,0.00,2.62,0.00,0.000,6,0.000,0.057,2206,2407,3411
$GC,13374,-0.91,-146.6,967.1,-6.3,648,13375,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2407,3411
$GC,13683,-0.91,-146.6,987.3,-6.6,663,13688,0.00,2.70,0.00,0.000,4,0.000,0.067,2205,978,3411
$STATE,13720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13720,begin apogee
$GC,13727,-0.31,0.0,990.0,7.0,665,13856,0.70,0.00,125.12,1.392,6,0.130,0.000,2339,2201,2817
$STATE,13856,end apogee,CONTROL_FINISHED_OK
$STATE,13856,begin climb
$GC,13858,0.91,146.6,994.4,0.0,671,13987,1.30,0.00,124.25,1.347,6,0.087,0.000,2603,2202,2219
$GC,14295,0.91,146.6,972.2,6.0,693,14296,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2202,2217
$GC,14604,0.91,151.1,953.7,5.9,708,14614,0.00,2.72,5.10,0.979,4,0.000,0.065,2603,785,2200
$GC,14636,0.91,151.1,951.8,6.1,709,14642,0.00,2.60,0.00,0.000,6,0.000,0.048,2603,2200,2200
$GC,14951,0.92,152.3,933.1,6.0,725,14953,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2200,2201
$GC,15261,0.92,153.0,914.9,6.0,740,15262,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2200,2200
$GC,15570,0.92,153.6,896.4,6.0,755,15576,0.00,0.00,3.90,0.838,6,0.000,0.000,2603,2200,2190
$GC,15879,0.92,153.6,877.6,6.0,770,15883,0.00,2.70,0.00,0.000,4,0.000,0.076,2603,3610,2190
$GC,15911,0.92,153.6,875.5,6.4,771,15917,0.00,2.62,0.00,0.000,6,0.000,0.053,2604,2192,2190
$GC,16227,0.92,158.3,856.3,5.9,787,16234,0.00,0.00,5.82,0.999,6,0.000,0.000,2603,2192,2171
$GC,16535,0.92,158.3,836.8,6.3,802,16537,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2192,2171
$GC,16845,0.92,158.3,816.4,6.6,817,16846,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2192,2170
$GC,17154,0.92,158.3,794.7,7.2,832,17159,0.00,2.72,0.00,0.000,4,0.000,0.077,2603,3606,2170
$GC,17193,0.92,158.3,791.8,7.2,834,17198,0.00,2.62,0.00,0.000,6,0.000,0.057,2604,2197,2170
$GC,17519,0.92,158.3,768.3,7.1,850,17520,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2197,2170
$GC,17829,0.92,158.3,746.3,7.3,865,17830,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2197,2170
$GC,18138,0.92,158.3,724.7,6.8,880,18139,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2197,2170
$GC,18447,0.92,158.3,703.2,6.9,895,18448,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2197,2170
$GC,18757,0.92,158.3,681.5,7.0,910,18758,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2197,2170
$GC,19066,0.92,158.3,660.3,6.7,925,19070,0.00,2.72,0.00,0.000,4,0.000,0.080,2604,3605,2170
$GC,19108,0.92,158.3,657.0,7.6,927,19113,0.00,2.62,0.00,0.000,6,0.000,0.060,2603,2202,2171
$GC,19436,0.92,158.3,634.9,6.8,943,19437,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2202,2170
$GC,19744,0.92,158.3,614.1,6.9,958,19746,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2202,2170
$GC,20054,0.92,158.3,592.6,6.9,973,20055,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2202,2170
$GC,20363,0.92,158.3,571.4,6.8,988,20365,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2202,2170
$GC,20672,0.92,158.3,551.1,6.2,1003,20673,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2202,2170
$GC,20982,0.93,162.9,532.4,5.9,1018,20992,0.00,2.75,5.55,0.893,4,0.000,0.081,2604,3607,2151
$GC,21031,0.93,162.9,529.0,7.0,1020,21036,0.00,2.65,0.00,0.000,6,0.000,0.062,2604,2202,2151
$GC,21346,0.93,162.9,509.9,6.0,1035,21347,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2202,2151
$GC,21656,0.93,162.9,491.3,6.0,1050,21657,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2202,2151
$GC,21965,0.93,162.9,472.5,6.1,1065,21966,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2202,2151
$GC,22274,0.93,162.9,452.6,6.5,1080,22275,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2202,2151
$GC,22583,0.93,162.9,433.0,6.5,1095,22584,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2202,2151
$GC,22893,0.94,171.0,414.4,5.7,1110,22903,0.00,0.00,8.40,0.940,6,0.000,0.000,2603,2202,2120
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$GC,28001,1.00,225.2,93.0,6.4,1357,28006,0.00,2.70,0.00,0.000,4,0.000,0.070,2629,778,1897
$GC,28033,1.00,225.2,90.5,7.6,1358,28040,0.00,2.62,0.00,0.000,6,0.000,0.051,2629,2191,1896
$GC,28351,1.00,225.2,67.7,7.9,1374,28352,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2191,1896
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$STATE,29169,end climb,SURFACE_DEPTH_REACHED
$STATE,29169,begin surface coast
$FINISH,0.8,1.027632
$STATE,29193,end surface coast,CONTROL_FINISHED_OK
$STATE,29193,begin surface
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$SM_GC,1.46,0.00,0.00,209.00,0.000,0.000,0.728,76,2394,509,-10.73,-0.17,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2052
$TCM_TEMP,14.80
$XPDR_PINGS,154
$24V_AH,23.3,38.072
$10V_AH,10.1,19.317
$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,25.850,149.875,329.875,209.000,0.000,32.689,38.868,187.591,47.000,0.000,0.000,44.262,2461.373,23341.885,766.817,2744.688,523.284,33.370,2068.130,0.000,2660.833,0.000,56.094
$DEVICE_MAMPS,179.478,89.739,1392.105,727.883,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1047.492,976.082,732.292,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69565,1415
$CFSIZE,260165632,246153216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,19,3,0
$GPS,261207,092138,6406.476,-600.814,38,1.8,38,-8.4