version: 66.03
glider: 16
mission: 9
dive: 45
start: 6 14 108 11 19 38
data:
$ID,16
$MISSION,9
$DIVE,45
$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,120
$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
$KERMIT,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,-2093487.8
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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,2781
$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,-20.434687
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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,4
$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,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,110207,6010.927,-617.850,41,1.0,41,-7.3
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-60.1
$GPS2,111844,6010.829,-617.970,10,1.8,15,-7.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_2
$TGT_LATLONG,6015.000,-645.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.137,0.174
$KALMAN_X,-1636.9,-245.0,-1067.6,-52142.7,-726.3
$KALMAN_Y,-37495.9,192.3,-132.1,-30781.4,-4080.9
$MHEAD_RNG_PITCHd_Wd,294.6,26014,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,87,0.00,0.00,-61.42,0.000,2,0.000,0.000,69,2299,2743
$GC,91,-0.85,-146.6,3.0,-4.1,3,126,10.10,2.72,-18.80,0.000,4,0.169,0.090,1897,3709,3380
$GC,314,-0.05,-146.6,57.0,-26.8,13,322,2.00,2.60,0.00,0.000,6,0.117,0.058,2286,2301,3381
$GC,648,-0.66,-146.6,82.8,-8.3,29,650,0.60,0.00,0.00,0.000,6,0.053,0.000,2150,2301,3380
$GC,955,-0.80,-146.6,107.0,-7.7,44,957,0.12,0.00,0.00,0.000,6,0.048,0.000,2107,2301,3381
$GC,1264,-0.80,-146.6,135.9,-9.4,59,1269,0.00,2.70,0.00,0.000,4,0.000,0.079,2107,3707,3380
$GC,1292,-0.71,-146.6,138.6,-9.9,60,1297,0.20,2.60,0.00,0.000,6,0.088,0.055,2146,2294,3381
$GC,1608,-0.67,-146.6,164.6,-7.9,75,1612,0.00,2.62,0.00,0.000,4,0.000,0.067,2146,880,3381
$GC,1680,-0.67,-146.6,170.5,-8.2,78,1684,0.00,2.62,0.00,0.000,6,0.000,0.059,2146,2298,3381
$GC,1996,-0.62,-146.6,196.1,-8.4,93,2000,0.00,2.65,0.00,0.000,4,0.000,0.066,2146,877,3381
$GC,2045,-0.62,-146.6,200.7,-9.3,95,2050,0.00,2.65,0.00,0.000,6,0.000,0.060,2146,2303,3381
$GC,2361,-0.56,-146.6,229.2,-9.0,110,2366,0.15,2.65,0.00,0.000,4,0.084,0.066,2180,880,3381
$GC,2424,-0.67,-146.6,233.9,-7.4,113,2429,0.12,2.62,0.00,0.000,6,0.046,0.059,2137,2302,3381
$GC,2751,-0.59,-146.6,262.2,-8.4,129,2753,0.17,0.00,0.00,0.000,6,0.081,0.000,2172,2301,3381
$GC,3060,-0.59,-146.6,282.5,-6.4,144,3064,0.00,2.65,0.00,0.000,4,0.000,0.066,2172,876,3381
$GC,3110,-0.66,-146.6,286.0,-7.3,146,3114,0.00,2.62,0.00,0.000,6,0.000,0.060,2172,2300,3380
$GC,3426,-0.66,-146.6,308.4,-7.0,161,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2300,3381
$GC,3735,-0.66,-146.6,331.2,-7.5,176,3739,0.00,2.65,0.00,0.000,4,0.000,0.066,2172,874,3380
$GC,3784,-0.75,-146.6,334.7,-7.0,178,3790,0.17,2.62,0.00,0.000,6,0.040,0.059,2118,2302,3380
$GC,4101,-0.63,-146.6,362.3,-8.1,193,4102,0.22,0.00,0.00,0.000,6,0.082,0.000,2163,2301,3380
$GC,4409,-0.63,-146.6,382.2,-7.0,208,4414,0.00,2.65,0.00,0.000,4,0.000,0.066,2163,874,3380
$GC,4454,-0.68,-146.6,385.5,-7.5,210,4458,0.00,2.62,0.00,0.000,6,0.000,0.059,2163,2299,3380
$GC,4775,-0.68,-146.6,410.4,-8.3,226,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2299,3380
$GC,5084,-0.68,-146.6,438.2,-8.7,241,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2299,3380
$GC,5394,-0.68,-146.6,464.3,-8.1,256,5398,0.00,2.62,0.00,0.000,4,0.000,0.065,2163,880,3380
$GC,5438,-0.74,-146.6,467.9,-8.0,258,5443,0.12,2.62,0.00,0.000,6,0.046,0.058,2121,2306,3380
$GC,5759,-0.63,-146.6,498.7,-9.3,274,5764,0.15,2.67,0.00,0.000,4,0.086,0.083,2156,3707,3380
$GC,5800,-0.63,-146.6,502.1,-7.9,276,5804,0.00,2.58,0.00,0.000,6,0.000,0.056,2156,2299,3380
$GC,6128,-0.63,-146.6,525.8,-7.0,292,6132,0.00,2.62,0.00,0.000,4,0.000,0.067,2156,881,3379
$GC,6195,-0.68,-146.6,530.3,-6.3,295,6199,0.00,2.62,0.00,0.000,6,0.000,0.059,2156,2302,3380
$GC,6516,-0.68,-146.6,555.7,-8.7,311,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2302,3380
$GC,6825,-0.68,-146.6,579.2,-6.8,326,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2302,3380
$GC,7136,-0.68,-146.6,601.0,-6.9,341,7141,0.00,2.65,0.00,0.000,4,0.000,0.067,2155,881,3378
$GC,7181,-0.74,-146.6,604.5,-7.7,343,7186,0.00,2.62,0.00,0.000,6,0.000,0.061,2156,2302,3379
$GC,7502,-0.74,-146.6,624.8,-6.1,359,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2302,3378
$GC,7812,-0.74,-146.6,643.3,-5.7,374,7816,0.00,2.67,0.00,0.000,4,0.000,0.069,2156,876,3377
$GC,7856,-0.81,-146.6,646.2,-6.8,376,7862,0.15,2.67,0.00,0.000,6,0.048,0.064,2111,2304,3377
$GC,8178,-0.70,-146.6,674.1,-8.7,392,8183,0.15,2.67,0.00,0.000,4,0.092,0.071,2145,884,3376
$GC,8222,-0.70,-146.6,677.8,-7.9,394,8227,0.00,2.67,0.00,0.000,6,0.000,0.066,2144,2307,3376
$GC,8543,-0.70,-146.6,700.1,-6.8,410,8548,0.00,2.67,0.00,0.000,4,0.000,0.072,2144,885,3375
$GC,8593,-0.70,-146.6,703.6,-6.8,412,8597,0.00,2.67,0.00,0.000,6,0.000,0.067,2144,2303,3375
$GC,8908,-0.70,-146.6,724.5,-7.1,427,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2303,3373
$GC,9218,-0.70,-146.6,747.0,-7.3,442,9222,0.00,2.70,0.00,0.000,4,0.000,0.075,2144,879,3372
$GC,9251,-0.70,-146.6,749.3,-7.7,443,9257,0.00,2.70,0.00,0.000,6,0.000,0.069,2144,2306,3372
$GC,9566,-0.70,-146.6,771.2,-7.0,459,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2306,3370
$GC,9875,-0.70,-146.6,793.6,-7.4,474,9880,0.00,2.70,0.00,0.000,4,0.000,0.076,2144,885,3369
$GC,9909,-0.70,-146.6,796.2,-7.7,475,9915,0.00,2.67,0.00,0.000,6,0.000,0.071,2144,2300,3369
$GC,10225,-0.70,-146.6,819.1,-7.2,491,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2300,3367
$GC,10534,-0.70,-146.6,840.1,-6.8,506,10538,0.00,2.70,0.00,0.000,4,0.000,0.077,2144,886,3366
$GC,10578,-0.70,-146.6,843.3,-7.6,508,10582,0.00,2.67,0.00,0.000,6,0.000,0.071,2144,2302,3366
$GC,10899,-0.70,-146.6,864.0,-6.5,524,10900,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2302,3364
$GC,11208,-0.70,-146.6,883.1,-6.0,539,11212,0.00,2.70,0.00,0.000,4,0.000,0.077,2144,883,3363
$GC,11258,-0.74,-146.6,886.4,-6.2,541,11262,0.00,2.67,0.00,0.000,6,0.000,0.070,2144,2298,3363
$GC,11574,-0.74,-146.6,905.8,-6.1,556,11575,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2298,3362
$GC,11883,-0.74,-146.6,924.9,-6.4,571,11884,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2298,3361
$GC,12192,-0.74,-146.6,944.0,-6.1,586,12197,0.00,2.67,0.00,0.000,4,0.000,0.076,2144,886,3360
$GC,12249,-0.78,-146.6,947.5,-5.7,588,12255,0.00,2.67,0.00,0.000,6,0.000,0.069,2144,2306,3360
$GC,12565,-0.78,-146.6,966.0,-5.9,604,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2306,3360
$GC,12874,-0.78,-146.6,984.5,-6.1,619,12878,0.00,2.70,0.00,0.000,4,0.000,0.075,2144,884,3359
$GC,12918,-0.83,-146.6,987.5,-6.7,621,12923,0.12,2.67,0.00,0.000,6,0.061,0.068,2111,2305,3359
$STATE,12968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12968,begin apogee
$GC,12975,-0.31,0.0,991.4,7.4,624,13112,0.60,0.00,131.45,1.295,6,0.105,0.000,2228,2305,2781
$STATE,13112,end apogee,CONTROL_FINISHED_OK
$STATE,13112,begin climb
$GC,13115,0.85,146.6,996.3,0.0,631,13261,1.25,2.88,135.85,1.253,4,0.089,0.095,2482,3719,2183
$GC,13297,0.79,146.9,991.8,6.0,640,13302,0.00,2.72,0.00,0.000,6,0.000,0.067,2482,2297,2183
$GC,13624,0.80,159.0,973.8,5.7,656,13645,0.00,2.80,13.25,1.187,4,0.000,0.076,2482,889,2132
$GC,13696,0.82,176.3,969.4,5.5,659,13720,0.00,2.70,17.42,1.222,6,0.000,0.064,2482,2305,2062
$GC,14043,0.87,217.4,951.4,4.9,676,14088,0.00,2.80,38.75,1.282,4,0.000,0.075,2482,896,1894
$GC,14122,0.89,236.0,946.9,5.5,679,14149,0.00,2.70,18.88,1.220,6,0.000,0.066,2482,2305,1818
$GC,14459,0.94,236.0,926.1,6.5,696,14464,0.00,2.72,0.00,0.000,4,0.000,0.077,2482,890,1818
$GC,14499,0.98,236.0,923.5,6.5,698,14504,0.15,2.65,0.00,0.000,6,0.081,0.066,2512,2300,1817
$GC,14825,0.98,236.0,899.2,7.4,714,14827,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2300,1817
$GC,15135,0.98,236.0,876.1,7.5,729,15139,0.00,2.72,0.00,0.000,4,0.000,0.077,2513,884,1816
$GC,15202,0.94,236.0,871.0,7.4,732,15206,0.00,2.70,0.00,0.000,6,0.000,0.067,2513,2305,1816
$GC,15522,0.94,236.0,846.1,8.1,748,15527,0.00,2.72,0.00,0.000,4,0.000,0.077,2513,888,1816
$GC,15566,0.90,236.0,842.4,8.4,750,15571,0.00,2.67,0.00,0.000,6,0.000,0.067,2513,2300,1816
$GC,15888,0.90,236.0,815.4,8.8,766,15889,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2300,1816
$GC,16198,0.84,236.0,787.0,9.2,781,16203,0.15,2.72,0.00,0.000,4,0.103,0.079,2481,887,1815
$GC,16260,0.84,236.0,781.4,8.2,784,16264,0.00,2.67,0.00,0.000,6,0.000,0.067,2481,2301,1815
$GC,16586,0.84,236.0,755.2,7.7,800,16587,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2300,1815
$GC,16895,0.84,236.0,733.0,7.1,815,16900,0.00,2.72,0.00,0.000,4,0.000,0.078,2481,883,1815
$GC,16962,0.84,240.8,728.4,5.9,818,16972,0.00,2.70,5.53,0.920,6,0.000,0.067,2480,2307,1799
$GC,17282,0.84,240.8,707.4,6.7,833,17287,0.00,2.72,0.00,0.000,4,0.000,0.078,2480,890,1799
$GC,17315,0.84,240.8,705.0,6.8,834,17322,0.00,2.65,0.00,0.000,6,0.000,0.067,2480,2301,1798
$GC,17631,0.84,240.8,685.0,6.3,850,17636,0.00,2.72,0.00,0.000,4,0.000,0.078,2481,886,1798
$GC,17675,0.84,240.8,682.1,6.7,852,17679,0.00,2.65,0.00,0.000,6,0.000,0.066,2480,2300,1798
$GC,17995,0.84,240.8,661.8,6.2,868,18000,0.00,2.70,0.00,0.000,4,0.000,0.077,2481,889,1799
$GC,18045,0.84,240.8,658.5,6.9,870,18049,0.00,2.67,0.00,0.000,6,0.000,0.065,2480,2306,1798
$GC,18360,0.84,240.8,637.5,7.0,885,18365,0.00,2.72,0.00,0.000,4,0.000,0.078,2481,889,1798
$GC,18404,0.84,240.8,634.4,7.1,887,18409,0.00,2.67,0.00,0.000,6,0.000,0.065,2481,2308,1798
$GC,18726,0.86,253.2,615.1,5.7,903,18744,0.00,0.00,12.70,1.043,6,0.000,0.000,2480,2308,1748
$GC,19054,0.87,263.5,596.9,5.7,919,19070,0.00,2.78,10.90,1.006,4,0.000,0.077,2480,888,1706
$GC,19122,0.87,263.5,592.6,6.7,921,19127,0.00,2.67,0.00,0.000,6,0.000,0.063,2481,2302,1706
$GC,19444,0.87,263.5,570.9,7.2,937,19448,0.00,2.72,0.00,0.000,4,0.000,0.077,2481,883,1706
$GC,19538,0.87,263.5,563.3,8.8,941,19543,0.00,2.65,0.00,0.000,6,0.000,0.063,2480,2303,1706
$GC,19854,0.91,263.5,539.6,7.3,956,19859,0.00,2.70,0.00,0.000,4,0.000,0.075,2480,889,1706
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$STATE,26770,end climb,SURFACE_DEPTH_REACHED
$STATE,26770,begin surface coast
$FINISH,0.6,1.027045
$STATE,26790,end surface coast,CONTROL_FINISHED_OK
$STATE,26791,begin surface
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$SM_GC,2.38,0.00,0.00,5.95,0.000,0.000,0.502,70,2306,1558,-10.25,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1830
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$XPDR_PINGS,124
$ALTIM_TOP_PING,20.0,19.3
$24V_AH,23.4,9.929
$10V_AH,10.1,4.648
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$DEVICE_SECS,27.725,282.750,416.075,5.950,0.000,74.632,124.324,461.018,39.750,0.000,0.000,15.634,2403.297,20862.713,640.229,2811.044,1090.385,33.364,2074.799,0.000,2745.459,0.000,57.767
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,959.087,887.102,667.961,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66203,1292
$CAP_FILE_SIZE,212370,1
$CFSIZE,260165632,255733760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,140608,184756,6013.239,-625.015,40,1.2,40,-7.4