version: 66.02
glider: 16
mission: 6
dive: 356
start: 1 19 108 7 33 24
data:
$ID,16
$MISSION,6
$DIVE,356
$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,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,-2085520
$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
$GPS1,071108,6241.835,-422.577,39,1.7,39,-7.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-58.2
$GPS2,073234,6241.816,-422.259,32,2.9,51,-7.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.094,0.200
$KALMAN_X,59914.3,242.8,-175.7,189341.2,-560.7
$KALMAN_Y,-42207.9,1528.2,-11.9,158531.0,-12119.0
$MHEAD_RNG_PITCHd_Wd,39.7,11401,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-58.88,0.000,2,0.000,0.000,67,2405,2995
$GC,90,-0.85,-146.6,3.2,-4.1,3,120,12.07,2.72,-11.55,0.000,4,0.169,0.079,2220,979,3418
$GC,373,-0.85,-146.6,31.8,-3.0,15,380,0.00,2.65,0.00,0.000,6,0.000,0.063,2220,2398,3418
$GC,690,-0.85,-146.6,53.3,-7.0,31,695,0.00,2.70,0.00,0.000,4,0.000,0.073,2220,979,3418
$GC,813,-0.85,-146.6,66.0,-10.2,36,819,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,2400,3418
$GC,1131,-0.85,-146.6,89.1,-7.4,52,1135,0.00,2.62,0.00,0.000,4,0.000,0.078,2220,3770,3418
$GC,1152,-0.85,-146.6,91.1,-8.1,53,1156,0.00,2.55,0.00,0.000,6,0.000,0.059,2220,2400,3418
$GC,1473,-0.85,-146.6,114.7,-7.6,69,1478,0.00,2.70,0.00,0.000,4,0.000,0.076,2220,982,3418
$GC,1518,-0.85,-146.6,118.3,-7.6,71,1522,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2405,3418
$GC,1839,-0.85,-146.6,142.2,-7.5,87,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3418
$GC,2147,-0.85,-146.6,168.1,-8.7,102,2152,0.00,2.72,0.00,0.000,4,0.000,0.076,2220,976,3418
$GC,2219,-0.85,-146.6,174.3,-8.1,105,2224,0.00,2.67,0.00,0.000,6,0.000,0.065,2220,2398,3418
$GC,2535,-0.85,-146.6,200.3,-7.8,120,2540,0.00,2.70,0.00,0.000,4,0.000,0.078,2220,979,3418
$GC,2570,-0.85,-146.6,203.0,-8.0,121,2576,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2401,3418
$GC,2886,-0.85,-146.6,225.1,-6.9,137,2891,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,977,3418
$GC,2919,-0.85,-146.6,227.9,-7.7,138,2925,0.00,2.67,0.00,0.000,6,0.000,0.066,2220,2404,3419
$GC,3237,-0.85,-146.6,250.8,-6.7,154,3241,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,982,3418
$GC,3298,-0.85,-146.6,255.1,-7.1,157,3303,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2400,3418
$GC,3626,-0.85,-146.6,274.7,-5.5,173,3631,0.00,2.72,0.00,0.000,4,0.000,0.082,2220,982,3419
$GC,3675,-0.85,-146.6,277.7,-5.7,175,3680,0.00,2.70,0.00,0.000,6,0.000,0.071,2220,2402,3419
$GC,3998,-0.85,-146.6,296.2,-5.5,191,4002,0.00,2.70,0.00,0.000,4,0.000,0.094,2220,3770,3419
$GC,4041,-0.85,-146.6,299.3,-6.6,193,4045,0.00,2.60,0.00,0.000,6,0.000,0.069,2220,2401,3418
$GC,4363,-0.85,-146.6,317.2,-5.7,209,4367,0.00,2.75,0.00,0.000,4,0.000,0.087,2220,983,3418
$GC,4431,-0.85,-146.6,321.4,-6.5,212,4435,0.00,2.70,0.00,0.000,6,0.000,0.073,2220,2400,3418
$GC,4751,-0.85,-146.6,340.1,-5.3,228,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3418
$GC,5061,-0.85,-146.6,356.6,-5.1,243,5065,0.00,2.75,0.00,0.000,4,0.000,0.086,2220,985,3418
$GC,5101,-0.85,-146.6,358.6,-4.9,245,5105,0.00,2.70,0.00,0.000,6,0.000,0.076,2220,2398,3418
$GC,5427,-0.85,-146.6,380.6,-6.6,261,5431,0.00,2.72,0.00,0.000,4,0.000,0.099,2220,3769,3418
$GC,5448,-0.85,-146.6,382.1,-6.7,262,5453,0.00,2.60,0.00,0.000,6,0.000,0.072,2220,2398,3418
$GC,5770,-0.85,-146.6,404.2,-7.2,278,5774,0.00,2.75,0.00,0.000,4,0.000,0.089,2220,985,3417
$GC,5819,-0.85,-146.6,408.1,-8.0,280,5823,0.00,2.70,0.00,0.000,6,0.000,0.076,2219,2401,3417
$GC,6134,-0.85,-146.6,430.3,-6.9,295,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3417
$GC,6444,-0.85,-146.6,449.8,-6.0,310,6449,0.00,2.72,0.00,0.000,4,0.000,0.086,2219,988,3415
$GC,6527,-0.85,-146.6,455.3,-6.2,313,6533,0.00,2.70,0.00,0.000,6,0.000,0.076,2219,2404,3415
$GC,6845,-0.85,-146.6,475.4,-6.9,329,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3415
$GC,7153,-0.85,-146.6,495.8,-6.3,344,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3413
$GC,7461,-0.85,-146.6,515.9,-7.0,359,7466,0.00,2.78,0.00,0.000,4,0.000,0.087,2220,978,3412
$GC,7482,-0.85,-146.6,517.4,-6.8,360,7487,0.00,2.72,0.00,0.000,6,0.000,0.075,2220,2410,3412
$GC,7805,-0.85,-146.6,538.0,-6.4,376,7809,0.00,2.78,0.00,0.000,4,0.000,0.086,2220,984,3412
$GC,7833,-0.85,-146.6,539.9,-7.1,377,7837,0.00,2.70,0.00,0.000,6,0.000,0.075,2219,2401,3412
$GC,8148,-0.85,-146.6,561.1,-6.7,392,8152,0.00,2.75,0.00,0.000,4,0.000,0.086,2220,985,3411
$GC,8175,-0.85,-146.6,563.1,-7.5,393,8180,0.00,2.70,0.00,0.000,6,0.000,0.076,2220,2401,3411
$GC,8490,-0.85,-146.6,584.4,-6.5,408,8495,0.00,2.72,0.00,0.000,4,0.000,0.086,2220,984,3410
$GC,8518,-0.85,-146.6,586.1,-6.8,409,8522,0.00,2.70,0.00,0.000,6,0.000,0.075,2219,2404,3410
$GC,8834,-0.85,-146.6,607.3,-6.7,424,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3410
$GC,9144,-0.85,-146.6,626.0,-5.5,439,9148,0.00,2.75,0.00,0.000,4,0.000,0.085,2220,984,3409
$GC,9170,-0.85,-146.6,627.6,-6.2,440,9175,0.00,2.67,0.00,0.000,6,0.000,0.074,2220,2401,3409
$GC,9486,-0.85,-146.6,646.5,-6.1,455,9491,0.00,2.75,0.00,0.000,4,0.000,0.086,2220,985,3408
$GC,9530,-0.85,-146.6,649.5,-6.6,457,9535,0.00,2.67,0.00,0.000,6,0.000,0.075,2220,2403,3408
$GC,9851,-0.85,-146.6,670.3,-6.5,473,9856,0.00,2.75,0.00,0.000,4,0.000,0.083,2220,984,3407
$GC,9895,-0.85,-146.6,673.3,-7.0,475,9900,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2404,3407
$GC,10217,-0.85,-146.6,693.4,-6.1,491,10222,0.00,2.75,0.00,0.000,4,0.000,0.083,2220,982,3407
$GC,10261,-0.85,-146.6,696.2,-6.6,493,10266,0.00,2.67,0.00,0.000,6,0.000,0.073,2220,2401,3407
$GC,10583,-0.85,-146.6,716.5,-6.7,509,10587,0.00,2.75,0.00,0.000,4,0.000,0.083,2220,979,3406
$GC,10632,-0.85,-146.6,719.9,-7.1,511,10636,0.00,2.67,0.00,0.000,6,0.000,0.073,2220,2400,3406
$GC,10948,-0.85,-146.6,740.5,-6.4,526,10952,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,980,3406
$GC,10998,-0.85,-146.6,744.0,-6.8,528,11002,0.00,2.70,0.00,0.000,6,0.000,0.071,2220,2404,3406
$GC,11313,-0.85,-146.6,763.0,-5.9,543,11318,0.00,2.72,0.00,0.000,4,0.000,0.083,2220,985,3406
$GC,11353,-0.85,-146.6,765.7,-6.3,545,11357,0.00,2.65,0.00,0.000,6,0.000,0.073,2220,2400,3405
$GC,11680,-0.85,-146.6,786.4,-6.3,561,11684,0.00,2.72,0.00,0.000,4,0.000,0.083,2219,985,3405
$GC,11712,-0.85,-146.6,788.6,-6.4,562,11718,0.00,2.67,0.00,0.000,6,0.000,0.072,2220,2406,3405
$GC,12028,-0.85,-146.6,808.1,-6.1,578,12032,0.00,2.75,0.00,0.000,4,0.000,0.082,2220,982,3404
$GC,12056,-0.85,-146.6,810.0,-6.7,579,12061,0.00,2.70,0.00,0.000,6,0.000,0.071,2220,2407,3404
$GC,12372,-0.85,-146.6,830.6,-6.8,594,12376,0.00,2.75,0.00,0.000,4,0.000,0.081,2220,982,3404
$GC,12411,-0.85,-146.6,833.5,-7.3,596,12416,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2401,3404
$GC,12738,-0.85,-146.6,855.7,-6.7,612,12742,0.00,2.75,0.00,0.000,4,0.000,0.082,2220,978,3404
$GC,12770,-0.85,-146.6,858.0,-6.6,613,12776,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2402,3404
$GC,13085,-0.85,-146.6,878.4,-6.6,629,13090,0.00,2.72,0.00,0.000,4,0.000,0.082,2220,985,3403
$GC,13113,-0.85,-146.6,880.2,-7.2,630,13118,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2400,3403
$GC,13431,-0.85,-146.6,901.0,-6.6,645,13435,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,986,3403
$GC,13474,-0.85,-146.6,904.4,-7.4,647,13479,0.00,2.62,0.00,0.000,6,0.000,0.065,2220,2400,3403
$GC,13800,-0.85,-146.6,925.2,-6.2,663,13805,0.00,2.70,0.00,0.000,4,0.000,0.077,2219,985,3402
$GC,13855,-0.85,-146.6,929.3,-7.0,665,13861,0.00,2.62,0.00,0.000,6,0.000,0.062,2220,2405,3402
$STATE,13965,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13965,begin apogee
$GC,13971,-0.31,0.0,936.7,6.7,671,14099,0.62,0.00,124.55,1.328,6,0.122,0.000,2339,2186,2817
$STATE,14100,end apogee,CONTROL_FINISHED_OK
$STATE,14100,begin climb
$GC,14103,0.85,146.6,941.3,0.0,677,14236,1.23,2.75,125.05,1.295,4,0.085,0.076,2591,796,2218
$GC,14322,0.86,158.2,933.6,5.7,687,14341,0.00,2.62,11.60,1.191,6,0.000,0.058,2591,2205,2171
$GC,14664,0.86,158.2,910.6,6.8,704,14668,0.00,2.70,0.00,0.000,4,0.000,0.081,2590,3604,2170
$GC,14703,0.86,158.2,907.8,7.6,706,14708,0.00,2.62,0.00,0.000,6,0.000,0.062,2590,2203,2169
$GC,15029,0.86,158.2,885.1,7.2,722,15034,0.00,2.72,0.00,0.000,4,0.000,0.081,2591,785,2169
$GC,15062,0.86,158.2,882.5,7.6,723,15068,0.00,2.65,0.00,0.000,6,0.000,0.058,2591,2205,2168
$GC,15377,0.86,158.2,859.7,7.4,739,15382,0.00,2.70,0.00,0.000,4,0.000,0.081,2591,3613,2168
$GC,15421,0.86,158.2,856.1,8.5,741,15425,0.00,2.67,0.00,0.000,6,0.000,0.064,2591,2193,2168
$GC,15742,0.86,158.2,831.5,7.9,757,15743,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2193,2168
$GC,16050,0.86,158.2,807.5,7.7,772,16052,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2193,2168
$GC,16360,0.86,158.2,782.7,7.9,787,16364,0.00,2.72,0.00,0.000,4,0.000,0.084,2591,3606,2168
$GC,16393,0.86,158.2,779.8,9.2,788,16399,0.00,2.65,0.00,0.000,6,0.000,0.068,2591,2197,2168
$GC,16708,0.86,158.2,755.3,7.4,804,16709,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2197,2168
$GC,17017,0.86,158.2,732.4,7.5,819,17021,0.00,2.78,0.00,0.000,4,0.000,0.089,2590,3610,2168
$GC,17057,0.86,158.2,729.1,8.0,821,17062,0.00,2.67,0.00,0.000,6,0.000,0.071,2591,2196,2167
$GC,17383,0.86,158.2,702.2,8.6,837,17384,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2196,2167
$GC,17692,0.86,158.2,676.1,8.5,852,17694,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2196,2167
$GC,18002,0.86,158.2,648.6,9.1,867,18007,0.00,2.78,0.00,0.000,4,0.000,0.089,2591,3609,2167
$GC,18042,0.86,158.2,644.7,10.3,869,18046,0.00,2.70,0.00,0.000,6,0.000,0.071,2591,2194,2167
$GC,18368,0.86,158.2,617.1,8.2,885,18372,0.00,2.70,0.00,0.000,4,0.000,0.084,2591,791,2167
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$STATE,26632,end climb,SURFACE_DEPTH_REACHED
$STATE,26632,begin surface coast
$FINISH,0.7,1.027539
$STATE,26649,end surface coast,CONTROL_FINISHED_OK
$STATE,26650,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,2111
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$24V_AH,23.2,55.772
$10V_AH,10.1,29.289
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$DEVICE_SECS,25.450,303.475,379.150,5.250,0.000,163.148,188.270,492.944,47.750,0.000,0.000,51.764,2372.987,20820.682,618.420,2865.277,1281.156,33.364,2055.961,0.000,2755.252,0.000,55.758
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$DATA_FILE_SIZE,66419,1285
$CFSIZE,260165632,239357952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,190108,145958,6243.262,-419.775,55,2.4,74,-7.1