version: 66.02
glider: 16
mission: 6
dive: 450
start: 2 14 108 4 18 33
data:
$ID,16
$MISSION,6
$DIVE,450
$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,-2088132.6
$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,20
$R_STBD_OVSHOOT,15
$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
$GPS1,040807,6130.792,-313.093,40,1.4,40,-6.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-57.8
$GPS2,041815,6130.830,-312.487,16,1.5,16,-6.1
$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,264.7,26629,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.85,-146.6,0.0,0.0,0,71,0.00,0.00,-40.95,0.000,2,0.000,0.000,69,2400,2676
$GC,74,-0.85,-146.6,3.3,-4.6,2,117,12.27,2.67,-23.33,0.000,4,0.174,0.075,2221,980,3416
$GC,323,-0.85,-146.6,25.0,-7.6,13,328,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2400,3416
$GC,652,-0.85,-146.6,54.1,-8.9,29,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3417
$GC,960,-0.85,-146.6,76.6,-6.8,44,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3416
$GC,1269,-0.85,-146.6,102.6,-8.7,59,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3417
$GC,1579,-0.85,-146.6,125.3,-6.3,74,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3417
$GC,1888,-0.85,-146.6,146.0,-6.8,89,1892,0.00,2.67,0.00,0.000,4,0.000,0.069,2221,983,3418
$GC,1944,-0.85,-146.6,150.2,-7.8,91,1950,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2401,3418
$GC,2263,-0.85,-146.6,175.4,-8.4,107,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3419
$GC,2570,-0.85,-146.6,200.3,-7.8,122,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3419
$GC,2878,-0.85,-146.6,223.3,-7.5,137,2883,0.00,2.67,0.00,0.000,4,0.000,0.071,2221,986,3419
$GC,2941,-0.85,-146.6,228.0,-8.2,140,2945,0.00,2.62,0.00,0.000,6,0.000,0.062,2221,2400,3419
$GC,3268,-0.85,-146.6,252.9,-7.6,156,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,3577,-0.85,-146.6,276.8,-8.0,171,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,3888,-0.85,-146.6,300.9,-7.6,186,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,4195,-0.85,-146.6,322.5,-6.4,201,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,4505,-0.85,-146.6,342.0,-6.5,216,4509,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,982,3419
$GC,4578,-0.85,-146.6,346.9,-6.9,219,4582,0.00,2.65,0.00,0.000,6,0.000,0.062,2220,2400,3419
$GC,4893,-0.85,-146.6,368.8,-7.4,234,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,5202,-0.85,-146.6,390.0,-6.4,249,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,5512,-0.85,-146.6,408.4,-5.8,264,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3419
$GC,5824,-0.85,-146.6,425.8,-5.1,279,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,6132,-0.85,-146.6,442.3,-5.5,294,6136,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,988,3418
$GC,6172,-0.85,-146.6,444.7,-5.9,296,6176,0.00,2.65,0.00,0.000,6,0.000,0.066,2221,2401,3418
$GC,6498,-0.85,-146.6,463.4,-5.3,312,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3418
$GC,6809,-0.85,-146.6,481.1,-5.8,327,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3417
$GC,7117,-0.85,-146.6,498.6,-5.6,342,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3416
$GC,7426,-0.85,-146.6,515.5,-5.5,357,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3415
$GC,7737,-0.85,-146.6,532.3,-5.8,372,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3414
$GC,8044,-0.85,-146.6,551.4,-6.2,387,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3413
$GC,8354,-0.85,-146.6,570.9,-6.4,402,8358,0.00,2.70,0.00,0.000,4,0.000,0.081,2221,989,3412
$GC,8410,-0.85,-146.6,574.7,-6.7,404,8417,0.00,2.67,0.00,0.000,6,0.000,0.069,2221,2398,3412
$GC,8725,-0.85,-146.6,595.8,-6.7,420,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3411
$GC,9036,-0.85,-146.6,615.6,-6.4,435,9040,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,988,3410
$GC,9081,-0.85,-146.6,618.7,-6.6,437,9085,0.00,2.70,0.00,0.000,6,0.000,0.070,2221,2406,3409
$GC,9401,-0.85,-146.6,639.1,-6.5,453,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3408
$GC,9711,-0.85,-146.6,658.5,-6.3,468,9712,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3407
$GC,10021,-0.85,-146.6,677.3,-5.9,483,10026,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,989,3406
$GC,10088,-0.85,-146.6,681.6,-5.7,486,10092,0.00,2.70,0.00,0.000,6,0.000,0.071,2221,2404,3405
$GC,10410,-0.85,-146.6,699.7,-5.5,502,10411,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3405
$GC,10718,-0.85,-146.6,716.4,-5.5,517,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3404
$GC,11027,-0.85,-146.6,733.0,-5.4,532,11032,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,991,3403
$GC,11078,-0.85,-146.6,736.0,-6.2,534,11083,0.00,2.70,0.00,0.000,6,0.000,0.071,2221,2407,3403
$GC,11394,-0.85,-146.6,753.9,-5.8,549,11395,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3402
$GC,11703,-0.85,-146.6,772.8,-6.3,564,11708,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,991,3402
$GC,11749,-0.85,-146.6,775.8,-6.7,566,11753,0.00,2.67,0.00,0.000,6,0.000,0.072,2221,2401,3402
$GC,12069,-0.85,-146.6,795.8,-6.4,582,12070,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3401
$GC,12378,-0.85,-146.6,815.3,-6.3,597,12380,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3401
$GC,12689,-0.85,-146.6,835.7,-6.5,612,12693,0.00,2.72,0.00,0.000,4,0.000,0.082,2221,991,3401
$GC,12738,-0.85,-146.6,839.2,-7.0,614,12743,0.00,2.70,0.00,0.000,6,0.000,0.072,2221,2407,3400
$GC,13054,-0.85,-146.6,859.8,-6.6,629,13055,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3401
$GC,13364,-0.85,-146.6,878.8,-5.9,644,13369,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,991,3400
$GC,13409,-0.85,-146.6,881.7,-5.8,646,13414,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2405,3400
$GC,13731,-0.85,-146.6,901.3,-6.3,662,13732,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3400
$GC,14040,-0.85,-146.6,920.1,-6.1,677,14041,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3399
$GC,14349,-0.85,-146.6,938.6,-5.9,692,14350,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3399
$GC,14659,-0.85,-146.6,956.8,-5.7,707,14660,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3399
$GC,14967,-0.85,-146.6,974.4,-5.5,722,14972,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,985,3398
$GC,15011,-0.85,-146.6,976.8,-5.3,724,15016,0.00,2.67,0.00,0.000,6,0.000,0.067,2221,2403,3398
$STATE,15267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15267,begin apogee
$GC,15275,-0.31,0.0,991.0,5.6,737,15415,0.62,0.00,131.10,1.330,6,0.126,0.000,2340,2200,2817
$STATE,15415,end apogee,CONTROL_FINISHED_OK
$STATE,15416,begin climb
$GC,15418,0.85,146.6,995.5,0.0,744,15563,1.20,2.80,129.95,1.308,4,0.084,0.077,2587,794,2217
$GC,15604,0.85,146.6,988.3,6.6,752,15611,0.00,2.67,0.00,0.000,6,0.000,0.060,2587,2201,2216
$GC,15920,0.85,146.6,967.4,6.5,768,15921,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2202,2216
$GC,16229,0.85,146.6,947.5,6.4,783,16230,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2201,2216
$GC,16539,0.85,146.6,927.7,6.2,798,16541,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2202,2215
$GC,16848,0.85,146.6,908.2,6.4,813,16849,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2202,2215
$GC,17157,0.85,146.6,888.5,6.4,828,17162,0.00,2.75,0.00,0.000,4,0.000,0.089,2587,3613,2215
$GC,17202,0.85,146.6,885.5,6.8,830,17207,0.00,2.65,0.00,0.000,6,0.000,0.065,2587,2204,2216
$GC,17523,0.85,146.6,865.4,6.2,846,17524,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2214
$GC,17832,0.85,146.6,845.6,6.5,861,17834,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2214
$GC,18143,0.85,150.7,826.5,5.9,876,18149,0.00,0.00,4.45,0.851,6,0.000,0.000,2587,2204,2202
$GC,18451,0.85,151.4,808.1,6.0,891,18452,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2202
$GC,18760,0.85,151.4,789.6,6.0,906,18761,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2202
$GC,19071,0.86,156.0,771.4,5.9,921,19079,0.00,0.00,6.18,0.957,6,0.000,0.000,2587,2204,2180
$GC,19379,0.86,156.4,753.0,6.0,936,19380,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2180
$GC,19688,0.87,171.7,735.3,5.6,951,19707,0.00,0.00,14.95,1.127,6,0.000,0.000,2587,2204,2116
$GC,20018,0.90,200.3,717.3,5.2,967,20045,0.00,0.00,25.48,1.174,6,0.000,0.000,2587,2204,2000
$GC,20346,0.93,223.1,699.3,5.4,983,20370,0.12,0.00,20.77,1.180,6,0.076,0.000,2616,2204,1907
$GC,20676,0.93,223.1,676.8,7.1,999,20681,0.00,2.78,0.00,0.000,4,0.000,0.087,2616,785,1906
$GC,20717,0.93,223.1,673.8,7.3,1001,20721,0.00,2.67,0.00,0.000,6,0.000,0.062,2616,2201,1906
$GC,21043,0.93,223.1,650.8,7.2,1017,21044,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2201,1906
$GC,21353,0.93,223.1,627.9,7.4,1032,21358,0.00,2.72,0.00,0.000,4,0.000,0.082,2616,789,1906
$GC,21416,0.93,223.1,622.9,7.4,1035,21420,0.00,2.65,0.00,0.000,6,0.000,0.062,2616,2201,1906
$GC,21743,0.93,223.1,598.2,7.7,1051,21744,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2202,1905
$GC,22053,0.93,223.1,575.0,7.2,1066,22057,0.00,2.75,0.00,0.000,4,0.000,0.082,2616,789,1906
$GC,22097,0.93,223.1,571.5,8.1,1068,22101,0.00,2.65,0.00,0.000,6,0.000,0.061,2616,2201,1905
$GC,22417,0.93,223.1,549.0,7.0,1084,22419,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2201,1905
$GC,22728,0.93,223.1,527.3,7.1,1099,22729,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2201,1905
$GC,23036,0.93,223.1,505.5,7.3,1114,23037,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2201,1905
$GC,23345,0.93,223.1,483.0,7.3,1129,23350,0.00,2.72,0.00,0.000,4,0.000,0.081,2616,787,1905
$GC,23401,0.93,223.1,478.6,7.4,1131,23407,0.00,2.65,0.00,0.000,6,0.000,0.061,2616,2200,1905
$GC,23717,0.93,223.1,454.0,7.8,1147,23718,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2200,1905
$GC,24026,0.93,223.1,429.6,7.5,1162,24030,0.00,2.72,0.00,0.000,4,0.000,0.081,2616,788,1905
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$STATE,29752,end climb,SURFACE_DEPTH_REACHED
$STATE,29752,begin surface coast
$FINISH,1.4,1.027559
$STATE,29773,end surface coast,CONTROL_FINISHED_OK
$STATE,29777,begin surface
$SM_CCo,29799,37.15,0.617,2,0,1593,300.00
$SM_GC,1.99,0.00,0.00,37.15,0.000,0.000,0.617,64,2402,1593,-10.79,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2089
$TCM_TEMP,17.20
$XPDR_PINGS,121
$24V_AH,23.1,70.599
$10V_AH,10.1,38.795
$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,25.675,140.375,354.325,37.150,0.000,65.250,70.422,254.538,38.750,0.000,0.000,16.165,2490.441,23837.635,559.434,2712.383,846.009,0.000,1853.697,0.000,2659.882,0.000,56.141
$DEVICE_MAMPS,174.109,88.972,1329.978,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1069.245,995.425,747.919,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72604,1440
$CFSIZE,260165632,233005056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,4,0
$GPS,140208,123708,6130.735,-314.042,29,1.8,29,-6.2