version: 66.02
glider: 16
mission: 6
dive: 207
start: 12 22 107 15 31 44
data:
$ID,16
$MISSION,6
$DIVE,207
$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,-2080317.6
$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,13
$R_STBD_OVSHOOT,16
$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
$GPS1,152347,6425.070,-636.195,41,2.8,60,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-47.0
$GPS2,153053,6425.112,-636.054,33,3.0,52,-8.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.187,0.119
$KALMAN_X,-88004.1,493.0,-493.1,219623.3,-224.2
$KALMAN_Y,58699.6,228.0,-300.4,250482.8,-1948.6
$MHEAD_RNG_PITCHd_Wd,66.4,26362,-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,21,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-102.00,0.000,2,0.000,0.000,71,2407,2764
$GC,127,-0.85,-146.6,3.2,-1.8,5,170,12.50,2.67,-21.10,0.000,4,0.183,0.091,2222,3766,3416
$GC,422,-0.85,-146.6,30.6,-7.3,18,426,0.00,2.58,0.00,0.000,6,0.000,0.060,2223,2398,3416
$GC,751,-0.85,-146.6,55.1,-7.5,34,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3416
$GC,1059,-0.85,-146.6,76.6,-6.7,49,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3416
$GC,1368,-0.85,-146.6,97.6,-6.5,64,1372,0.00,2.70,0.00,0.000,4,0.000,0.075,2223,982,3416
$GC,1406,-0.85,-146.6,100.4,-6.6,66,1411,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2400,3416
$GC,1733,-0.85,-146.6,120.8,-6.1,82,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3415
$GC,2042,-0.85,-146.6,140.3,-6.3,97,2046,0.00,2.70,0.00,0.000,4,0.000,0.073,2223,982,3416
$GC,2085,-0.85,-146.6,143.4,-7.2,99,2089,0.00,2.65,0.00,0.000,6,0.000,0.063,2223,2400,3416
$GC,2412,-0.85,-146.6,168.9,-7.5,115,2416,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,982,3417
$GC,2460,-0.85,-146.6,172.6,-7.7,117,2465,0.00,2.67,0.00,0.000,6,0.000,0.063,2222,2398,3417
$GC,2782,-0.85,-146.6,197.2,-7.8,133,2786,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,984,3417
$GC,2808,-0.85,-146.6,199.4,-8.5,134,2812,0.00,2.65,0.00,0.000,6,0.000,0.064,2223,2400,3417
$GC,3123,-0.85,-146.6,223.6,-7.7,149,3127,0.00,2.70,0.00,0.000,4,0.000,0.077,2223,983,3417
$GC,3155,-0.85,-146.6,226.1,-7.4,150,3162,0.00,2.67,0.00,0.000,6,0.000,0.064,2222,2396,3417
$GC,3471,-0.85,-146.6,249.1,-7.3,166,3475,0.00,2.70,0.00,0.000,4,0.000,0.076,2222,984,3417
$GC,3503,-0.85,-146.6,251.8,-8.3,167,3509,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2400,3417
$GC,3821,-0.85,-146.6,275.3,-7.5,183,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2400,3417
$GC,4128,-0.85,-146.6,299.4,-8.0,198,4132,0.00,2.72,0.00,0.000,4,0.000,0.077,2223,983,3417
$GC,4159,-0.85,-146.6,302.0,-7.8,199,4166,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2400,3417
$GC,4476,-0.85,-146.6,326.0,-7.4,215,4480,0.00,2.72,0.00,0.000,4,0.000,0.077,2223,982,3417
$GC,4493,-0.85,-146.6,327.3,-7.6,216,4497,0.00,2.67,0.00,0.000,6,0.000,0.064,2222,2406,3417
$GC,4818,-0.85,-146.6,351.6,-7.4,232,4822,0.00,2.75,0.00,0.000,4,0.000,0.077,2222,977,3416
$GC,4872,-0.85,-146.6,355.7,-7.7,234,4879,0.00,2.70,0.00,0.000,6,0.000,0.065,2222,2404,3417
$GC,5188,-0.85,-146.6,377.1,-6.4,250,5192,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,985,3417
$GC,5236,-0.85,-146.6,380.3,-6.9,252,5241,0.00,2.65,0.00,0.000,6,0.000,0.065,2223,2401,3417
$GC,5558,-0.85,-146.6,400.2,-6.6,268,5563,0.00,2.72,0.00,0.000,4,0.000,0.078,2222,984,3417
$GC,5602,-0.85,-146.6,403.3,-6.5,270,5607,0.00,2.65,0.00,0.000,6,0.000,0.065,2223,2401,3417
$GC,5924,-0.85,-146.6,425.3,-6.8,286,5929,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,983,3416
$GC,5968,-0.85,-146.6,428.7,-7.6,288,5972,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2401,3416
$GC,6297,-0.85,-146.6,451.0,-6.8,304,6302,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,981,3416
$GC,6331,-0.85,-146.6,453.6,-7.4,305,6337,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2404,3416
$GC,6647,-0.85,-146.6,475.3,-7.1,321,6651,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,979,3416
$GC,6695,-0.85,-146.6,479.0,-7.6,323,6700,0.00,2.67,0.00,0.000,6,0.000,0.064,2223,2405,3415
$GC,7011,-0.85,-146.6,501.5,-7.1,338,7016,0.00,2.72,0.00,0.000,4,0.000,0.076,2223,983,3415
$GC,7043,-0.85,-146.6,504.0,-7.3,339,7050,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2400,3415
$GC,7359,-0.85,-146.6,524.0,-6.1,355,7363,0.00,2.72,0.00,0.000,4,0.000,0.077,2223,977,3415
$GC,7398,-0.85,-146.6,526.5,-6.3,357,7402,0.00,2.67,0.00,0.000,6,0.000,0.064,2223,2401,3415
$GC,7723,-0.85,-146.6,546.3,-6.1,373,7727,0.00,2.70,0.00,0.000,4,0.000,0.077,2222,983,3414
$GC,7755,-0.85,-146.6,548.4,-6.6,374,7761,0.00,2.65,0.00,0.000,6,0.000,0.064,2224,2401,3414
$GC,8070,-0.85,-146.6,567.9,-6.3,390,8075,0.00,2.72,0.00,0.000,4,0.000,0.076,2223,979,3413
$GC,8091,-0.85,-146.6,569.3,-6.9,391,8095,0.00,2.67,0.00,0.000,6,0.000,0.064,2222,2407,3413
$GC,8418,-0.85,-146.6,589.8,-6.3,407,8422,0.00,2.72,0.00,0.000,4,0.000,0.075,2222,985,3413
$GC,8461,-0.85,-146.6,592.6,-6.3,409,8465,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2400,3413
$GC,8782,-0.85,-146.6,612.9,-6.5,425,8786,0.00,2.70,0.00,0.000,4,0.000,0.075,2222,983,3413
$GC,8824,-0.85,-146.6,616.1,-7.7,427,8829,0.00,2.65,0.00,0.000,6,0.000,0.064,2223,2400,3413
$GC,9152,-0.85,-146.6,637.1,-6.3,443,9156,0.00,2.72,0.00,0.000,4,0.000,0.075,2222,979,3413
$GC,9172,-0.85,-146.6,638.8,-8.2,444,9176,0.00,2.65,0.00,0.000,6,0.000,0.063,2223,2401,3412
$GC,9499,-0.85,-146.6,660.7,-6.6,460,9503,0.00,2.70,0.00,0.000,4,0.000,0.075,2223,985,3412
$GC,9548,-0.85,-146.6,664.2,-7.1,462,9552,0.00,2.65,0.00,0.000,6,0.000,0.064,2223,2401,3412
$GC,9863,-0.85,-146.6,684.5,-6.4,477,9867,0.00,2.72,0.00,0.000,4,0.000,0.074,2222,979,3411
$GC,9889,-0.85,-146.6,686.2,-7.2,478,9893,0.00,2.67,0.00,0.000,6,0.000,0.064,2222,2406,3411
$GC,10210,-0.85,-146.6,706.7,-6.2,494,10215,0.00,2.72,0.00,0.000,4,0.000,0.074,2222,984,3411
$GC,10259,-0.85,-146.6,709.9,-6.1,496,10264,0.00,2.65,0.00,0.000,6,0.000,0.064,2223,2401,3411
$GC,10581,-0.85,-146.6,729.8,-6.3,512,10585,0.00,2.72,0.00,0.000,4,0.000,0.075,2223,979,3411
$GC,10619,-0.85,-146.6,732.3,-6.7,514,10624,0.00,2.67,0.00,0.000,6,0.000,0.064,2223,2404,3410
$GC,10945,-0.85,-146.6,753.6,-6.7,530,10950,0.00,2.72,0.00,0.000,4,0.000,0.074,2222,980,3410
$GC,10977,-0.85,-146.6,755.9,-7.3,531,10983,0.00,2.67,0.00,0.000,6,0.000,0.064,2223,2408,3410
$GC,11293,-0.85,-146.6,776.8,-6.6,547,11297,0.00,2.72,0.00,0.000,4,0.000,0.074,2223,985,3410
$GC,11336,-0.85,-146.6,779.9,-6.8,549,11340,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2401,3410
$GC,11663,-0.85,-146.6,800.9,-6.2,565,11668,0.00,2.72,0.00,0.000,4,0.000,0.075,2223,979,3410
$GC,11690,-0.85,-146.6,802.7,-6.3,566,11694,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2403,3410
$GC,12005,-0.85,-146.6,821.4,-5.8,581,12010,0.00,2.72,0.00,0.000,4,0.000,0.075,2222,982,3409
$GC,12026,-0.85,-146.6,822.8,-6.0,582,12031,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2401,3409
$GC,12348,-0.85,-146.6,840.4,-5.4,598,12352,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,985,3409
$GC,12393,-0.85,-146.6,843.1,-5.7,600,12397,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2401,3409
$GC,12713,-0.85,-146.6,861.0,-5.6,616,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3409
$GC,13023,-0.85,-146.6,879.5,-6.1,631,13027,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,986,3409
$GC,13065,-0.85,-146.6,882.4,-6.6,633,13070,0.00,2.65,0.00,0.000,6,0.000,0.061,2223,2409,3409
$GC,13392,-0.85,-146.6,903.6,-6.5,649,13393,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2409,3409
$GC,13702,-0.85,-146.6,924.3,-6.5,664,13706,0.00,2.70,0.00,0.000,4,0.000,0.071,2222,985,3409
$GC,13741,-0.85,-146.6,927.0,-7.2,666,13745,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2401,3409
$GC,14066,-0.85,-146.6,948.8,-6.1,682,14067,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2401,3409
$GC,14376,-0.85,-146.6,968.6,-6.6,697,14380,0.00,2.70,0.00,0.000,4,0.000,0.070,2222,979,3409
$GC,14414,-0.85,-146.6,971.3,-6.7,699,14418,0.00,2.65,0.00,0.000,6,0.000,0.058,2223,2407,3409
$STATE,14717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14717,begin apogee
$GC,14722,-0.31,0.0,991.2,6.6,714,14851,0.60,0.00,125.10,1.382,6,0.127,0.000,2337,2186,2818
$STATE,14851,end apogee,CONTROL_FINISHED_OK
$STATE,14852,begin climb
$GC,14853,0.85,146.6,995.9,0.0,720,14986,1.25,2.72,124.68,1.354,4,0.088,0.069,2590,797,2218
$GC,15016,0.88,174.7,991.2,5.2,728,15046,0.00,2.62,24.80,1.338,6,0.000,0.051,2590,2204,2105
$GC,15361,0.88,174.7,969.4,6.6,745,15366,0.00,2.67,0.00,0.000,4,0.000,0.076,2590,3604,2104
$GC,15404,0.88,174.7,966.2,6.7,747,15409,0.00,2.58,0.00,0.000,6,0.000,0.053,2590,2205,2103
$GC,15731,0.88,174.7,945.0,6.1,763,15736,0.00,2.70,0.00,0.000,4,0.000,0.074,2590,789,2103
$GC,15758,0.88,174.7,942.9,7.1,764,15762,0.00,2.60,0.00,0.000,6,0.000,0.049,2590,2203,2103
$GC,16079,0.88,174.7,922.6,6.4,780,16083,0.00,2.67,0.00,0.000,4,0.000,0.074,2590,3605,2103
$GC,16105,0.88,174.7,920.7,6.4,781,16109,0.00,2.58,0.00,0.000,6,0.000,0.053,2590,2201,2103
$GC,16426,0.88,174.7,899.5,6.5,797,16427,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2201,2103
$GC,16735,0.88,174.7,880.0,6.4,812,16740,0.00,2.70,0.00,0.000,4,0.000,0.075,2590,792,2104
$GC,16768,0.88,174.7,877.6,6.5,813,16774,0.00,2.58,0.00,0.000,6,0.000,0.051,2590,2200,2102
$GC,17083,0.88,174.7,857.6,6.6,829,17087,0.00,2.67,0.00,0.000,4,0.000,0.077,2590,3606,2102
$GC,17122,0.88,174.7,854.7,7.4,831,17127,0.00,2.60,0.00,0.000,6,0.000,0.056,2590,2202,2102
$GC,17448,0.88,174.7,831.5,7.4,847,17452,0.00,2.70,0.00,0.000,4,0.000,0.076,2590,788,2102
$GC,17479,0.88,174.7,828.8,9.2,848,17486,0.00,2.60,0.00,0.000,6,0.000,0.052,2590,2200,2101
$GC,17795,0.88,174.7,804.8,7.7,864,17796,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2101
$GC,18104,0.88,174.7,781.2,7.6,879,18106,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2200,2102
$GC,18413,0.88,174.7,758.0,7.5,894,18414,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2200,2102
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$STATE,29131,end climb,SURFACE_DEPTH_REACHED
$STATE,29131,begin surface coast
$FINISH,0.9,1.027352
$STATE,29153,end surface coast,CONTROL_FINISHED_OK
$STATE,29153,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,2051
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$XPDR_PINGS,178
$24V_AH,23.2,36.126
$10V_AH,10.1,18.105
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$DEVICE_SECS,25.950,311.875,317.925,217.075,0.000,32.618,34.064,197.673,53.000,0.000,0.000,53.164,2551.599,22866.570,855.196,2981.770,566.171,33.399,2350.608,0.000,2877.442,0.000,56.097
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72576,1414
$CFSIZE,260165632,246935552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,3,0
$GPS,221207,234325,6426.716,-628.893,42,1.8,59,-8.8