version: 66.02
glider: 16
mission: 6
dive: 118
start: 12 2 107 3 47 43
data:
$ID,16
$MISSION,6
$DIVE,118
$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,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,-2077834.2
$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,15
$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
$GPS1,034016,6206.949,-1043.934,41,2.2,60,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-59.1
$GPS2,034653,6206.972,-1043.997,14,2.2,33,-10.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.135,-0.175
$KALMAN_X,-37241.2,-1189.9,305.8,-48393.8,-1190.8
$KALMAN_Y,122525.5,-1913.4,-475.5,-66806.1,16611.9
$MHEAD_RNG_PITCHd_Wd,228.0,11044,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,84,0.00,0.00,-62.33,0.000,2,0.000,0.000,65,2405,3194
$GC,86,-0.85,-146.6,3.8,-6.1,3,109,12.20,2.60,-4.90,0.000,4,0.175,0.081,2219,3762,3418
$GC,361,-0.85,-146.6,37.2,-10.9,15,365,0.00,2.50,0.00,0.000,6,0.000,0.052,2219,2404,3418
$GC,688,-0.85,-146.6,65.9,-8.5,31,692,0.00,2.55,0.00,0.000,4,0.000,0.071,2219,3765,3418
$GC,737,-0.85,-146.6,69.9,-8.8,33,741,0.00,2.50,0.00,0.000,6,0.000,0.051,2219,2401,3418
$GC,1058,-0.85,-146.6,99.3,-10.1,49,1062,0.00,2.65,0.00,0.000,4,0.000,0.069,2219,979,3418
$GC,1106,-0.85,-146.6,104.2,-9.4,51,1111,0.00,2.58,0.00,0.000,6,0.000,0.051,2219,2396,3418
$GC,1428,-0.85,-146.6,129.3,-7.7,67,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2396,3418
$GC,1736,-0.85,-146.6,152.2,-7.8,82,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2396,3418
$GC,2048,-0.85,-146.6,176.5,-8.1,97,2052,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,985,3418
$GC,2147,-0.85,-146.6,184.9,-8.5,101,2154,0.00,2.55,0.00,0.000,6,0.000,0.051,2219,2401,3418
$GC,2462,-0.85,-146.6,211.4,-7.9,117,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3418
$GC,2772,-0.85,-146.6,233.3,-6.4,132,2776,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,984,3418
$GC,2814,-0.85,-146.6,236.0,-6.1,134,2819,0.00,2.60,0.00,0.000,6,0.000,0.052,2219,2399,3419
$GC,3141,-0.85,-146.6,255.3,-6.1,150,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3419
$GC,3450,-0.85,-146.6,274.4,-6.4,165,3454,0.00,2.62,0.00,0.000,4,0.000,0.066,2219,981,3418
$GC,3499,-0.85,-146.6,277.8,-7.0,167,3504,0.00,2.58,0.00,0.000,6,0.000,0.054,2219,2407,3419
$GC,3820,-0.85,-146.6,299.5,-7.1,183,3824,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,978,3419
$GC,3869,-0.85,-146.6,303.1,-7.3,185,3874,0.00,2.62,0.00,0.000,6,0.000,0.054,2219,2401,3419
$GC,4192,-0.85,-146.6,325.7,-7.2,201,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2402,3419
$GC,4500,-0.85,-146.6,348.5,-7.6,216,4504,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,985,3419
$GC,4565,-0.85,-146.6,353.6,-7.6,219,4569,0.00,2.58,0.00,0.000,6,0.000,0.054,2219,2410,3419
$GC,4891,-0.85,-146.6,380.7,-8.8,235,4896,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,982,3419
$GC,4940,-0.85,-146.6,385.2,-8.8,237,4945,0.00,2.60,0.00,0.000,6,0.000,0.055,2219,2401,3419
$GC,5262,-0.85,-146.6,412.4,-8.3,253,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3419
$GC,5571,-0.85,-146.6,438.1,-8.1,268,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3419
$GC,5880,-0.85,-146.6,462.9,-7.7,283,5884,0.00,2.62,0.00,0.000,4,0.000,0.066,2219,983,3419
$GC,5934,-0.85,-146.6,467.3,-8.4,285,5942,0.00,2.58,0.00,0.000,6,0.000,0.054,2219,2395,3419
$GC,6250,-0.85,-146.6,491.5,-7.3,301,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2395,3419
$GC,6559,-0.85,-146.6,513.5,-6.9,316,6563,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,979,3419
$GC,6613,-0.85,-146.6,517.4,-6.9,318,6620,0.00,2.60,0.00,0.000,6,0.000,0.055,2219,2400,3419
$GC,6928,-0.85,-146.6,539.5,-6.7,334,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3419
$GC,7238,-0.85,-146.6,560.5,-6.7,349,7242,0.00,2.62,0.00,0.000,4,0.000,0.067,2220,981,3418
$GC,7303,-0.85,-146.6,565.2,-7.3,352,7307,0.00,2.58,0.00,0.000,6,0.000,0.055,2219,2405,3418
$GC,7629,-0.85,-146.6,587.6,-6.9,368,7634,0.00,2.62,0.00,0.000,4,0.000,0.066,2219,985,3418
$GC,7691,-0.85,-146.6,592.0,-7.1,371,7695,0.00,2.58,0.00,0.000,6,0.000,0.054,2219,2401,3418
$GC,8016,-0.85,-146.6,614.5,-7.0,387,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3418
$GC,8325,-0.85,-146.6,635.8,-6.9,402,8330,0.00,2.62,0.00,0.000,4,0.000,0.064,2219,977,3418
$GC,8368,-0.85,-146.6,639.1,-7.2,404,8373,0.00,2.58,0.00,0.000,6,0.000,0.052,2219,2392,3418
$GC,8695,-0.85,-146.6,662.3,-7.4,420,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2392,3418
$GC,9004,-0.85,-146.6,685.5,-7.3,435,9009,0.00,2.60,0.00,0.000,4,0.000,0.065,2219,984,3418
$GC,9066,-0.85,-146.6,689.9,-7.5,438,9070,0.00,2.58,0.00,0.000,6,0.000,0.055,2219,2408,3418
$GC,9391,-0.85,-146.6,713.7,-7.4,454,9395,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,976,3418
$GC,9445,-0.85,-146.6,717.9,-8.2,456,9452,0.00,2.62,0.00,0.000,6,0.000,0.053,2219,2401,3418
$GC,9760,-0.85,-146.6,738.5,-6.8,472,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3418
$GC,10070,-0.85,-146.6,757.1,-5.7,487,10075,0.00,2.62,0.00,0.000,4,0.000,0.065,2219,979,3418
$GC,10141,-0.85,-146.6,761.4,-6.2,490,10146,0.00,2.62,0.00,0.000,6,0.000,0.056,2219,2398,3418
$GC,10464,-0.85,-146.6,780.4,-5.7,506,10465,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3417
$GC,10772,-0.85,-146.6,799.5,-6.1,521,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3417
$GC,11081,-0.85,-146.6,818.7,-6.2,536,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3417
$GC,11392,-0.85,-146.6,835.8,-5.7,551,11396,0.00,2.62,0.00,0.000,4,0.000,0.067,2219,980,3417
$GC,11440,-0.85,-146.6,838.9,-6.3,553,11444,0.00,2.62,0.00,0.000,6,0.000,0.057,2219,2396,3417
$GC,11761,-0.85,-146.6,861.6,-7.6,569,11765,0.00,2.60,0.00,0.000,4,0.000,0.082,2219,3770,3417
$GC,11832,-0.85,-146.6,867.2,-7.2,572,11836,0.00,2.53,0.00,0.000,6,0.000,0.057,2219,2401,3417
$GC,12153,-0.85,-146.6,889.9,-7.3,588,12157,0.00,2.65,0.00,0.000,4,0.000,0.075,2219,982,3417
$GC,12195,-0.85,-146.6,893.0,-7.6,590,12200,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2395,3416
$GC,12523,-0.85,-146.6,916.3,-6.8,606,12527,0.00,2.60,0.00,0.000,4,0.000,0.084,2219,3765,3416
$GC,12588,-0.85,-146.6,921.4,-7.8,609,12593,0.00,2.50,0.00,0.000,6,0.000,0.056,2219,2401,3416
$GC,12915,-0.85,-146.6,943.7,-6.7,625,12916,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3416
$GC,13224,-0.85,-146.6,963.8,-6.1,640,13225,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2402,3414
$STATE,13388,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13388,begin apogee
$GC,13392,-0.31,0.0,974.0,5.7,648,13520,0.60,0.00,124.45,1.351,6,0.114,0.000,2338,2200,2817
$STATE,13520,end apogee,CONTROL_FINISHED_OK
$STATE,13520,begin climb
$GC,13522,0.85,146.6,978.6,0.0,654,13653,1.17,2.78,122.18,1.338,4,0.074,0.078,2587,3601,2217
$GC,13855,0.85,146.6,959.6,7.7,669,13860,0.00,2.65,0.00,0.000,6,0.000,0.061,2587,2203,2217
$GC,14177,0.85,147.5,938.6,6.0,685,14178,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2203,2216
$GC,14485,0.87,169.8,920.9,5.4,700,14507,0.00,0.00,20.02,1.237,6,0.000,0.000,2587,2203,2124
$GC,14815,0.87,169.8,899.9,6.6,716,14816,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2203,2121
$GC,15124,0.88,178.6,881.2,5.8,731,15139,0.00,2.75,8.43,1.087,4,0.000,0.078,2587,3610,2088
$GC,15200,0.88,178.6,876.2,6.5,734,15205,0.00,2.62,0.00,0.000,6,0.000,0.060,2587,2199,2087
$GC,15522,0.89,190.8,857.0,5.7,750,15543,0.00,2.72,11.32,1.137,4,0.000,0.077,2587,3611,2039
$GC,15597,0.89,190.8,852.5,6.3,753,15602,0.00,2.65,0.00,0.000,6,0.000,0.059,2587,2202,2039
$GC,15919,0.91,201.8,834.7,5.7,769,15931,0.00,0.00,10.62,1.118,6,0.000,0.000,2587,2202,1994
$GC,16228,0.95,241.2,818.2,4.9,784,16269,0.15,0.00,33.85,1.225,6,0.061,0.000,2627,2202,1832
$GC,16577,0.95,241.2,790.4,8.8,801,16582,0.00,2.67,0.00,0.000,4,0.000,0.077,2627,3611,1833
$GC,16622,0.95,241.2,786.4,9.7,803,16627,0.00,2.62,0.00,0.000,6,0.000,0.059,2627,2194,1833
$GC,16941,0.95,241.2,757.2,9.3,819,16943,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2194,1833
$GC,17251,0.95,241.2,731.1,8.0,834,17255,0.00,2.65,0.00,0.000,4,0.000,0.073,2627,787,1833
$GC,17294,0.95,241.2,727.5,7.9,836,17298,0.00,2.58,0.00,0.000,6,0.000,0.049,2627,2200,1833
$GC,17620,0.95,241.2,700.5,8.6,852,17625,0.00,2.65,0.00,0.000,4,0.000,0.075,2626,3613,1833
$GC,17669,0.95,241.2,696.0,8.6,854,17674,0.00,2.65,0.00,0.000,6,0.000,0.059,2627,2198,1833
$GC,17990,0.95,241.2,669.5,8.2,870,17991,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2199,1832
$GC,18299,0.95,241.2,644.2,8.2,885,18304,0.00,2.65,0.00,0.000,4,0.000,0.071,2627,785,1833
$GC,18361,0.95,241.2,638.7,8.6,888,18365,0.00,2.58,0.00,0.000,6,0.000,0.048,2627,2204,1833
$GC,18686,0.95,241.2,611.2,8.6,904,18688,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2204,1833
$GC,18995,0.95,241.2,584.9,8.6,919,18997,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2204,1834
$GC,19305,0.95,241.2,558.0,8.7,934,19306,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2204,1834
$GC,19614,0.95,241.2,531.8,8.2,949,19619,0.00,2.65,0.00,0.000,4,0.000,0.067,2628,782,1835
$GC,19646,0.95,241.2,529.1,8.0,950,19653,0.00,2.58,0.00,0.000,6,0.000,0.048,2627,2190,1835
$GC,19962,0.95,241.2,505.0,7.5,966,19963,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2190,1836
$GC,20271,0.95,241.2,482.0,7.4,981,20272,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2190,1836
$GC,20581,0.95,241.2,458.8,7.9,996,20585,0.00,2.62,0.00,0.000,4,0.000,0.069,2627,783,1836
$GC,20612,0.95,241.2,456.1,7.6,997,20619,0.00,2.58,0.00,0.000,6,0.000,0.048,2627,2192,1837
$GC,20928,0.95,241.2,429.7,8.4,1013,20929,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2193,1837
$GC,21237,0.95,241.2,402.9,8.8,1028,21238,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2193,1837
$GC,21546,0.95,241.2,375.8,9.0,1043,21550,0.00,2.62,0.00,0.000,4,0.000,0.069,2627,782,1837
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$STATE,25829,end climb,SURFACE_DEPTH_REACHED
$STATE,25830,begin surface coast
$FINISH,0.5,1.021000
$STATE,25853,end surface coast,CONTROL_FINISHED_OK
$STATE,25853,begin surface
$SM_CCo,25872,34.33,0.643,1,0,1593,300.00
$SM_GC,1.39,0.00,0.00,34.33,0.000,0.000,0.643,70,2406,1593,-10.76,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2101
$TCM_TEMP,17.40
$XPDR_PINGS,36
$ALTIM_BOTTOM_PING,875.3,108.6
$24V_AH,23.5,22.315
$10V_AH,10.2,10.222
$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,25.425,183.600,330.875,34.325,0.000,32.588,67.515,176.518,16.750,0.000,0.000,34.721,2232.865,20433.947,555.412,2620.698,463.978,33.354,1817.567,0.000,2547.077,0.000,52.776
$DEVICE_MAMPS,174.876,84.370,1350.687,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,875.743,901.621,658.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63122,1253
$CFSIZE,260165632,252571648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,021207,110058,6203.386,-1052.336,29,9.4,48,-10.4