version: 66.02
glider: 16
mission: 6
dive: 434
start: 2 8 108 14 38 31
data:
$ID,16
$MISSION,6
$DIVE,434
$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,0
$FERRY_MAX,22
$KALMAN_USE,2
$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,300
$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,-2087659.8
$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,17
$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
$GPS1,142538,6150.714,-224.702,30,1.6,30,-5.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-51.1
$GPS2,143812,6150.758,-224.533,11,2.0,20,-5.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.202,-0.090
$KALMAN_X,109567.5,-3587.3,-866.2,330188.0,76350.7
$KALMAN_Y,54287.1,-2872.2,-674.1,-29543.7,60742.0
$MHEAD_RNG_PITCHd_Wd,244.2,80455,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,128,0.00,0.00,-101.43,0.000,2,0.000,0.000,68,2410,3063
$GC,131,-0.85,-146.6,3.6,-2.4,5,156,12.23,0.00,-8.62,0.000,6,0.172,0.000,2222,2410,3417
$GC,464,-0.85,-146.6,36.1,-8.6,21,468,0.00,2.70,0.00,0.000,4,0.000,0.067,2222,980,3418
$GC,536,-0.85,-146.6,42.6,-8.7,24,540,0.00,2.65,0.00,0.000,6,0.000,0.059,2222,2400,3419
$GC,852,-0.85,-146.6,68.4,-8.7,39,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3419
$GC,1161,-0.85,-146.6,93.2,-7.9,54,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,1472,-0.85,-146.6,116.7,-7.3,69,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3419
$GC,1780,-0.85,-146.6,138.4,-6.8,84,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3419
$GC,2088,-0.85,-146.6,159.8,-6.9,99,2093,0.00,2.67,0.00,0.000,4,0.000,0.069,2222,980,3419
$GC,2151,-0.85,-146.6,164.2,-6.8,102,2155,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2407,3419
$GC,2478,-0.85,-146.6,184.6,-6.0,118,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3419
$GC,2786,-0.85,-146.6,206.1,-7.5,133,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3419
$GC,3095,-0.85,-146.6,232.4,-9.0,148,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3419
$GC,3405,-0.85,-146.6,260.2,-8.8,163,3410,0.00,2.70,0.00,0.000,4,0.000,0.071,2222,980,3419
$GC,3506,-0.85,-146.6,269.0,-8.2,167,3512,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2399,3419
$GC,3821,-0.85,-146.6,290.7,-6.4,183,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,4131,-0.85,-146.6,312.0,-7.4,198,4136,0.00,2.70,0.00,0.000,4,0.000,0.073,2222,976,3419
$GC,4203,-0.85,-146.6,317.6,-7.3,201,4208,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2399,3419
$GC,4519,-0.85,-146.6,340.5,-7.1,216,4524,0.00,2.70,0.00,0.000,4,0.000,0.075,2222,982,3420
$GC,4576,-0.85,-146.6,344.4,-7.0,218,4582,0.00,2.67,0.00,0.000,6,0.000,0.066,2222,2403,3419
$GC,4891,-0.85,-146.6,364.6,-6.3,234,4896,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,983,3419
$GC,4954,-0.85,-146.6,368.7,-6.6,237,4958,0.00,2.67,0.00,0.000,6,0.000,0.067,2222,2403,3419
$GC,5281,-0.85,-146.6,388.1,-5.4,253,5285,0.00,2.72,0.00,0.000,4,0.000,0.080,2222,983,3419
$GC,5327,-0.85,-146.6,390.7,-5.9,255,5331,0.00,2.70,0.00,0.000,6,0.000,0.068,2222,2405,3419
$GC,5648,-0.85,-146.6,410.0,-6.5,271,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3419
$GC,5957,-0.85,-146.6,432.9,-7.8,286,5962,0.00,2.75,0.00,0.000,4,0.000,0.081,2222,979,3419
$GC,6035,-0.85,-146.6,439.2,-7.8,289,6041,0.00,2.70,0.00,0.000,6,0.000,0.070,2222,2401,3419
$GC,6351,-0.85,-146.6,460.8,-6.5,305,6355,0.00,2.75,0.00,0.000,4,0.000,0.081,2222,979,3418
$GC,6413,-0.85,-146.6,464.7,-6.4,308,6417,0.00,2.70,0.00,0.000,6,0.000,0.071,2222,2401,3418
$GC,6739,-0.85,-146.6,485.0,-6.3,324,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3416
$GC,7049,-0.85,-146.6,507.0,-7.4,339,7053,0.00,2.75,0.00,0.000,4,0.000,0.082,2222,981,3415
$GC,7098,-0.85,-146.6,510.9,-8.0,341,7103,0.00,2.70,0.00,0.000,6,0.000,0.071,2222,2400,3415
$GC,7415,-0.85,-146.6,533.6,-7.2,356,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3414
$GC,7725,-0.85,-146.6,555.5,-7.0,371,7729,0.00,2.75,0.00,0.000,4,0.000,0.082,2222,980,3413
$GC,7809,-0.85,-146.6,561.6,-7.0,375,7813,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2400,3413
$GC,8135,-0.85,-146.6,582.6,-6.3,391,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3411
$GC,8445,-0.85,-146.6,603.2,-6.8,406,8450,0.00,2.75,0.00,0.000,4,0.000,0.083,2222,979,3410
$GC,8507,-0.85,-146.6,607.7,-7.6,409,8512,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2404,3410
$GC,8834,-0.85,-146.6,630.8,-7.2,425,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3409
$GC,9144,-0.85,-146.6,653.3,-7.2,440,9149,0.00,2.75,0.00,0.000,4,0.000,0.083,2223,980,3408
$GC,9239,-0.85,-146.6,660.7,-7.7,444,9243,0.00,2.72,0.00,0.000,6,0.000,0.074,2222,2403,3407
$GC,9555,-0.85,-146.6,681.8,-6.4,459,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3407
$GC,9864,-0.85,-146.6,701.7,-6.3,474,9868,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,978,3406
$GC,9948,-0.85,-146.6,707.2,-6.7,478,9952,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2400,3406
$GC,10275,-0.85,-146.6,728.4,-6.4,494,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3404
$GC,10583,-0.85,-146.6,748.3,-6.6,509,10588,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,986,3404
$GC,10655,-0.85,-146.6,753.3,-6.6,512,10660,0.00,2.72,0.00,0.000,6,0.000,0.074,2222,2404,3404
$GC,10971,-0.85,-146.6,774.0,-6.7,527,10973,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3403
$GC,11280,-0.85,-146.6,794.9,-6.7,542,11284,0.00,2.75,0.00,0.000,4,0.000,0.083,2222,985,3402
$GC,11359,-0.85,-146.6,800.6,-7.4,545,11365,0.00,2.70,0.00,0.000,6,0.000,0.075,2222,2400,3402
$GC,11676,-0.85,-146.6,822.1,-6.9,561,11677,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3401
$GC,11984,-0.85,-146.6,843.0,-6.8,576,11989,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,985,3401
$GC,12047,-0.85,-146.6,847.6,-7.6,579,12051,0.00,2.70,0.00,0.000,6,0.000,0.076,2222,2398,3401
$GC,12374,-0.85,-146.6,870.3,-7.1,595,12375,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3401
$GC,12682,-0.85,-146.6,892.7,-7.2,610,12687,0.00,2.75,0.00,0.000,4,0.000,0.084,2222,979,3400
$GC,12749,-0.85,-146.6,897.9,-8.1,613,12754,0.00,2.72,0.00,0.000,6,0.000,0.073,2221,2404,3400
$GC,13071,-0.85,-146.6,920.3,-7.0,629,13072,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3400
$GC,13380,-0.85,-146.6,942.3,-7.1,644,13384,0.00,2.75,0.00,0.000,4,0.000,0.081,2222,979,3400
$GC,13442,-0.85,-146.6,946.8,-7.2,647,13447,0.00,2.70,0.00,0.000,6,0.000,0.072,2222,2401,3400
$GC,13769,-0.85,-146.6,970.4,-7.3,663,13770,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3400
$STATE,14055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14055,begin apogee
$GC,14063,-0.31,0.0,990.5,6.8,677,14202,0.60,0.00,130.98,1.334,6,0.117,0.000,2338,2187,2817
$STATE,14203,end apogee,CONTROL_FINISHED_OK
$STATE,14203,begin climb
$GC,14206,0.85,146.6,996.9,0.0,684,14351,1.25,2.78,130.90,1.306,4,0.094,0.077,2589,790,2217
$GC,14371,0.87,169.9,993.4,5.4,691,14398,0.00,2.70,21.62,1.287,6,0.000,0.062,2588,2202,2124
$GC,14707,0.87,169.9,973.6,6.1,708,14712,0.00,2.80,0.00,0.000,4,0.000,0.092,2589,3616,2122
$GC,14746,0.87,169.9,970.9,6.8,710,14751,0.00,2.67,0.00,0.000,6,0.000,0.067,2589,2205,2122
$GC,15074,0.88,175.5,951.3,5.8,726,15082,0.00,0.00,6.05,1.045,6,0.000,0.000,2589,2206,2101
$GC,15382,0.88,175.5,932.6,6.1,741,15383,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2205,2101
$GC,15691,0.88,175.5,913.3,6.2,756,15693,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2205,2100
$GC,16001,0.88,175.5,894.0,6.1,771,16003,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2205,2100
$GC,16310,0.88,175.5,874.1,6.3,786,16314,0.00,2.72,0.00,0.000,4,0.000,0.085,2589,789,2100
$GC,16349,0.88,175.5,871.4,6.8,788,16354,0.00,2.65,0.00,0.000,6,0.000,0.064,2589,2203,2099
$GC,16677,0.88,175.5,850.3,6.3,804,16678,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2099
$GC,16985,0.88,175.5,830.7,6.2,819,16986,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,2099
$GC,17295,0.88,175.5,812.0,6.0,834,17296,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,2099
$GC,17605,0.89,187.0,794.1,5.7,849,17618,0.00,0.00,11.30,1.108,6,0.000,0.000,2589,2203,2054
$GC,17913,0.89,191.2,776.0,5.9,864,17920,0.00,0.00,5.18,0.894,6,0.000,0.000,2589,2203,2037
$GC,18223,0.91,200.8,758.0,5.7,879,18234,0.00,0.00,9.95,1.068,6,0.000,0.000,2589,2203,1998
$GC,18533,0.91,200.8,739.2,6.1,894,18534,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,1997
$GC,18841,0.91,200.8,720.8,6.0,909,18845,0.00,2.72,0.00,0.000,4,0.000,0.082,2589,789,1997
$GC,18881,0.91,209.3,718.3,5.8,911,18895,0.00,2.65,8.73,1.025,6,0.000,0.066,2589,2199,1963
$GC,19213,0.91,209.3,698.0,6.1,927,19214,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,1962
$GC,19522,0.92,218.9,680.1,5.7,942,19537,0.10,2.78,9.60,1.091,4,0.080,0.082,2613,789,1924
$GC,19572,0.92,218.9,676.6,7.9,943,19576,0.00,2.70,0.00,0.000,6,0.000,0.065,2613,2205,1924
$GC,19887,0.92,218.9,653.8,7.5,958,19888,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2205,1924
$GC,20197,0.92,218.9,630.4,7.5,973,20201,0.00,2.75,0.00,0.000,4,0.000,0.082,2613,787,1924
$GC,20237,0.92,218.9,627.2,8.3,975,20241,0.00,2.67,0.00,0.000,6,0.000,0.065,2614,2202,1924
$GC,20563,0.92,218.9,603.1,7.5,991,20565,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2202,1923
$GC,20873,0.92,218.9,579.7,7.2,1006,20874,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2202,1924
$GC,21183,0.92,218.9,556.0,7.7,1021,21184,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2202,1923
$GC,21491,0.92,218.9,532.2,7.5,1036,21496,0.00,2.80,0.00,0.000,4,0.000,0.098,2613,3615,1923
$GC,21546,0.92,218.9,527.4,8.8,1038,21552,0.00,2.70,0.00,0.000,6,0.000,0.072,2613,2203,1923
$GC,21862,0.92,218.9,504.1,7.3,1054,21863,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2203,1923
$GC,22171,0.92,218.9,480.8,7.8,1069,22172,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2203,1923
$GC,22480,0.92,218.9,455.9,7.9,1084,22485,0.00,2.80,0.00,0.000,4,0.000,0.097,2613,3613,1923
$GC,22536,0.92,218.9,451.1,9.6,1086,22542,0.00,2.70,0.00,0.000,6,0.000,0.074,2613,2199,1923
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$STATE,28066,end climb,SURFACE_DEPTH_REACHED
$STATE,28066,begin surface coast
$FINISH,1.0,1.027091
$STATE,28086,end surface coast,CONTROL_FINISHED_OK
$STATE,28086,begin surface
$SM_CCo,28110,49.97,0.637,2,0,1594,300.00
$SM_GC,1.96,0.00,0.00,49.97,0.000,0.000,0.637,72,2405,1594,-10.75,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2067
$TCM_TEMP,16.70
$XPDR_PINGS,130
$24V_AH,23.1,67.430
$10V_AH,10.1,36.794
$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
$DEVICE_SECS,25.500,191.225,334.300,49.975,0.000,65.184,74.792,387.572,41.000,0.000,0.000,22.092,2401.948,22178.068,613.897,2750.812,969.245,0.000,1949.430,0.000,2685.267,0.000,56.122
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1003.996,937.218,716.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69514,1355
$CFSIZE,260165632,234295296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,4,0
$GPS,080208,222928,6148.398,-231.883,29,2.4,48,-5.9