version: 66.02
glider: 16
mission: 6
dive: 211
start: 12 24 107 0 10 14
data:
$ID,16
$MISSION,6
$DIVE,211
$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,-2080483.9
$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,12
$R_STBD_OVSHOOT,19
$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
$GPS1,234520,6430.019,-610.747,88,3.3,107,-8.7
$_CALLS,4
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-55.6
$GPS2,000923,6429.805,-610.293,36,7.0,55,-8.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.016,-0.229
$KALMAN_X,-90094.8,-149.3,355.1,244150.1,-278.3
$KALMAN_Y,51327.4,222.6,59.4,266194.3,-2793.8
$MHEAD_RNG_PITCHd_Wd,184.8,203408,-10.4,-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,-0.81,-146.6,0.0,0.0,0,143,0.00,0.00,-120.20,0.000,2,0.000,0.000,71,2401,3136
$GC,146,-0.81,-146.6,3.9,-2.9,6,171,12.45,2.65,-7.12,0.000,4,0.181,0.091,2229,3763,3416
$GC,423,-0.81,-146.6,32.4,-5.5,18,428,0.00,2.58,0.00,0.000,6,0.000,0.060,2229,2394,3418
$GC,745,-0.81,-146.6,57.9,-6.6,34,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2394,3418
$GC,1056,-0.81,-146.6,82.6,-9.0,49,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2393,3418
$GC,1363,-0.81,-146.6,110.8,-9.5,64,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2394,3418
$GC,1672,-0.81,-146.6,138.8,-9.9,79,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2393,3418
$GC,1982,-0.81,-146.6,166.5,-8.0,94,1986,0.00,2.70,0.00,0.000,4,0.000,0.075,2229,982,3417
$GC,2047,-0.81,-146.6,172.2,-9.1,97,2052,0.00,2.65,0.00,0.000,6,0.000,0.063,2229,2399,3418
$GC,2374,-0.81,-146.6,198.5,-7.9,113,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2400,3418
$GC,2684,-0.81,-146.6,221.3,-7.3,128,2688,0.00,2.72,0.00,0.000,4,0.000,0.075,2229,978,3418
$GC,2772,-0.81,-146.6,228.0,-6.9,132,2776,0.00,2.67,0.00,0.000,6,0.000,0.064,2229,2405,3418
$GC,3101,-0.81,-146.6,250.3,-6.6,148,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2405,3418
$GC,3408,-0.81,-146.6,269.5,-5.9,163,3412,0.00,2.75,0.00,0.000,4,0.000,0.077,2229,976,3418
$GC,3470,-0.81,-146.6,273.2,-6.0,166,3474,0.00,2.67,0.00,0.000,6,0.000,0.064,2229,2400,3418
$GC,3796,-0.81,-146.6,291.4,-5.6,182,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2400,3418
$GC,4104,-0.81,-146.6,307.8,-5.2,197,4109,0.00,2.72,0.00,0.000,4,0.000,0.078,2229,982,3418
$GC,4170,-0.81,-146.6,311.6,-5.6,200,4175,0.00,2.67,0.00,0.000,6,0.000,0.065,2229,2406,3418
$GC,4492,-0.81,-146.6,328.6,-5.3,216,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2406,3417
$GC,4800,-0.81,-146.6,344.0,-5.2,231,4805,0.00,2.72,0.00,0.000,4,0.000,0.077,2229,983,3417
$GC,4866,-0.81,-146.6,347.8,-5.9,234,4871,0.00,2.67,0.00,0.000,6,0.000,0.066,2229,2404,3418
$GC,5188,-0.81,-146.6,365.2,-5.3,250,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2405,3418
$GC,5497,-0.81,-146.6,382.4,-5.5,265,5501,0.00,2.75,0.00,0.000,4,0.000,0.076,2229,976,3417
$GC,5585,-0.81,-146.6,387.9,-6.3,269,5589,0.00,2.67,0.00,0.000,6,0.000,0.064,2229,2403,3417
$GC,5906,-0.81,-146.6,408.2,-6.4,285,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2404,3416
$GC,6215,-0.81,-146.6,428.6,-6.8,300,6219,0.00,2.72,0.00,0.000,4,0.000,0.077,2229,983,3416
$GC,6281,-0.81,-146.6,433.5,-7.8,303,6285,0.00,2.65,0.00,0.000,6,0.000,0.063,2229,2404,3416
$GC,6601,-0.81,-146.6,455.2,-6.8,319,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2404,3416
$GC,6912,-0.81,-146.6,476.2,-6.8,334,6917,0.00,2.72,0.00,0.000,4,0.000,0.076,2229,984,3416
$GC,6979,-0.81,-146.6,481.2,-7.5,337,6983,0.00,2.65,0.00,0.000,6,0.000,0.063,2231,2407,3415
$GC,7299,-0.81,-146.6,503.6,-6.8,353,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2407,3415
$GC,7608,-0.81,-146.6,523.5,-6.0,368,7612,0.00,2.72,0.00,0.000,4,0.000,0.074,2229,983,3415
$GC,7679,-0.81,-146.6,528.3,-6.6,371,7684,0.00,2.65,0.00,0.000,6,0.000,0.063,2229,2401,3415
$GC,7995,-0.81,-146.6,547.7,-5.9,386,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2401,3414
$GC,8305,-0.81,-146.6,566.6,-6.0,401,8309,0.00,2.70,0.00,0.000,4,0.000,0.075,2229,984,3414
$GC,8376,-0.81,-146.6,571.3,-5.9,404,8381,0.00,2.65,0.00,0.000,6,0.000,0.064,2229,2403,3414
$GC,8691,-0.81,-146.6,591.0,-6.5,419,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2403,3414
$GC,9001,-0.81,-146.6,610.4,-6.3,434,9005,0.00,2.72,0.00,0.000,4,0.000,0.074,2229,979,3413
$GC,9062,-0.81,-146.6,614.5,-7.1,437,9066,0.00,2.67,0.00,0.000,6,0.000,0.063,2229,2406,3413
$GC,9387,-0.81,-146.6,635.2,-6.3,453,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2405,3413
$GC,9697,-0.81,-146.6,655.1,-6.4,468,9701,0.00,2.72,0.00,0.000,4,0.000,0.073,2228,982,3412
$GC,9762,-0.81,-146.6,659.6,-6.8,471,9766,0.00,2.65,0.00,0.000,6,0.000,0.063,2229,2400,3412
$GC,10089,-0.81,-146.6,679.8,-6.0,487,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2400,3412
$GC,10399,-0.81,-146.6,697.6,-5.8,502,10403,0.00,2.70,0.00,0.000,4,0.000,0.073,2229,979,3411
$GC,10464,-0.81,-146.6,701.7,-6.4,505,10469,0.00,2.65,0.00,0.000,6,0.000,0.064,2229,2401,3411
$GC,10792,-0.81,-146.6,719.4,-5.3,521,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2401,3411
$GC,11101,-0.81,-146.6,737.0,-6.0,536,11106,0.00,2.70,0.00,0.000,4,0.000,0.074,2229,985,3411
$GC,11162,-0.81,-146.6,741.0,-6.6,539,11166,0.00,2.65,0.00,0.000,6,0.000,0.064,2229,2402,3411
$GC,11488,-0.81,-146.6,759.7,-5.5,555,11489,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2402,3411
$GC,11797,-0.81,-146.6,776.1,-5.2,570,11801,0.00,2.70,0.00,0.000,4,0.000,0.074,2229,985,3411
$GC,11858,-0.81,-146.6,779.5,-5.2,573,11863,0.00,2.65,0.00,0.000,6,0.000,0.063,2229,2403,3411
$GC,12184,-0.81,-146.6,795.0,-4.5,589,12185,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2403,3411
$GC,12493,-0.81,-146.6,809.2,-4.5,604,12497,0.00,2.72,0.00,0.000,4,0.000,0.074,2229,976,3410
$GC,12547,-0.81,-146.6,811.9,-4.8,606,12554,0.00,2.65,0.00,0.000,6,0.000,0.063,2229,2401,3410
$GC,12863,-0.81,-146.6,826.3,-4.6,622,12865,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2401,3410
$GC,13172,-0.81,-146.6,841.1,-4.7,637,13177,0.00,2.72,0.00,0.000,4,0.000,0.075,2229,978,3410
$GC,13216,-0.81,-146.6,843.4,-5.4,639,13220,0.00,2.65,0.00,0.000,6,0.000,0.063,2229,2399,3410
$GC,13536,-0.81,-146.6,859.1,-4.9,655,13537,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2399,3410
$GC,13846,-0.81,-146.6,875.7,-5.7,670,13851,0.00,2.70,0.00,0.000,4,0.000,0.074,2229,983,3410
$GC,13903,-0.81,-146.6,879.1,-5.5,672,13909,0.00,2.65,0.00,0.000,6,0.000,0.061,2229,2402,3409
$GC,14218,-0.81,-146.6,896.7,-5.6,688,14219,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2400,3410
$GC,14527,-0.81,-146.6,914.9,-5.7,703,14531,0.00,2.70,0.00,0.000,4,0.000,0.072,2229,984,3409
$GC,14581,-0.81,-146.6,918.3,-6.3,705,14588,0.00,2.62,0.00,0.000,6,0.000,0.061,2229,2403,3409
$GC,14897,-0.81,-146.6,936.8,-6.1,721,14898,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2403,3409
$GC,15206,-0.81,-146.6,956.4,-6.4,736,15211,0.00,2.70,0.00,0.000,4,0.000,0.071,2229,978,3409
$GC,15251,-0.81,-146.6,959.4,-6.6,738,15255,0.00,2.65,0.00,0.000,6,0.000,0.058,2229,2401,3409
$GC,15571,-0.81,-146.6,979.6,-6.2,754,15572,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2401,3409
$STATE,15734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15734,begin apogee
$GC,15739,-0.31,0.0,990.0,6.3,762,15868,0.57,0.00,125.25,1.382,6,0.114,0.000,2341,2191,2817
$STATE,15869,end apogee,CONTROL_FINISHED_OK
$STATE,15869,begin climb
$GC,15871,0.81,146.6,995.0,0.0,768,16003,1.17,2.75,124.18,1.359,4,0.084,0.069,2582,794,2219
$GC,16016,0.86,191.4,991.9,4.9,776,16061,0.00,2.65,39.03,1.374,6,0.000,0.050,2582,2209,2036
$GC,16389,0.86,191.4,969.7,6.3,794,16390,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2209,2035
$GC,16697,0.86,192.0,951.2,6.0,809,16698,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2209,2035
$GC,17006,0.87,199.5,933.1,5.8,824,17016,0.00,0.00,8.32,1.176,6,0.000,0.000,2582,2209,2003
$GC,17315,0.89,221.6,915.4,5.4,839,17337,0.00,0.00,19.83,1.288,6,0.000,0.000,2582,2209,1913
$GC,17644,0.91,234.6,896.4,5.7,855,17667,0.12,2.78,12.52,1.229,4,0.071,0.070,2612,802,1860
$GC,17705,0.91,234.6,891.8,7.7,857,17712,0.00,2.60,0.00,0.000,6,0.000,0.051,2612,2207,1860
$GC,18021,0.91,234.6,868.7,7.4,873,18022,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2207,1859
$GC,18330,0.91,234.6,845.9,7.1,888,18335,0.00,2.70,0.00,0.000,4,0.000,0.071,2612,792,1859
$GC,18380,0.91,234.6,841.9,7.5,890,18384,0.00,2.58,0.00,0.000,6,0.000,0.052,2612,2200,1859
$GC,18701,0.91,234.6,817.1,8.0,906,18702,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2200,1859
$GC,19011,0.91,234.6,792.4,8.1,921,19015,0.00,2.70,0.00,0.000,4,0.000,0.072,2612,788,1858
$GC,19049,0.91,234.6,789.0,8.5,923,19053,0.00,2.60,0.00,0.000,6,0.000,0.053,2612,2206,1858
$GC,19374,0.91,234.6,761.6,8.1,939,19375,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2206,1858
$GC,19684,0.91,234.6,736.6,8.2,954,19688,0.00,2.70,0.00,0.000,4,0.000,0.073,2612,795,1858
$GC,19740,0.91,234.6,731.7,8.6,956,19745,0.00,2.60,0.00,0.000,6,0.000,0.053,2612,2201,1858
$GC,20054,0.91,234.6,706.1,8.2,972,20055,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2201,1858
$GC,20363,0.91,234.6,679.2,9.1,987,20368,0.00,2.70,0.00,0.000,4,0.000,0.074,2612,794,1858
$GC,20403,0.91,234.6,675.4,10.1,989,20407,0.00,2.60,0.00,0.000,6,0.000,0.052,2612,2208,1858
$GC,20728,0.91,234.6,645.0,9.3,1005,20729,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2208,1858
$GC,21037,0.91,234.6,616.4,9.0,1020,21042,0.00,2.70,0.00,0.000,4,0.000,0.074,2612,795,1857
$GC,21077,0.91,234.6,612.8,9.5,1022,21081,0.00,2.58,0.00,0.000,6,0.000,0.052,2612,2202,1858
$GC,21402,0.91,234.6,584.8,8.3,1038,21403,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2202,1858
$GC,21711,0.91,234.6,559.3,8.4,1053,21716,0.00,2.70,0.00,0.000,4,0.000,0.074,2612,794,1858
$GC,21755,0.91,234.6,555.6,8.4,1055,21759,0.00,2.58,0.00,0.000,6,0.000,0.053,2612,2202,1858
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$STATE,28865,end climb,SURFACE_DEPTH_REACHED
$STATE,28865,begin surface coast
$FINISH,0.8,1.010960
$STATE,28887,end surface coast,CONTROL_FINISHED_OK
$STATE,28887,begin surface
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$SM_GC,1.76,0.00,0.00,202.55,0.000,0.000,0.732,73,2413,509,-10.75,0.37,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2047
$TCM_TEMP,14.70
$XPDR_PINGS,158
$24V_AH,23.2,36.949
$10V_AH,10.1,18.604
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$DEVICE_SECS,25.700,203.500,329.125,202.550,0.000,130.476,141.549,807.014,48.000,0.000,0.000,55.911,2496.693,23018.578,781.061,2875.750,1381.196,33.378,2164.884,0.000,2775.632,0.000,56.101
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.920,965.008,727.119,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69387,1401
$CFSIZE,260165632,246611968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,2,0
$GPS,241207,081638,6425.674,-607.169,28,1.8,28,-8.6