version: 66.03
glider: 16
mission: 9
dive: 53
start: 6 17 108 2 28 32
data:
$ID,16
$MISSION,9
$DIVE,53
$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,-2093680.5
$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,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,18
$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
$GPS1,022116,6025.841,-723.208,36,2.2,55,-8.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-61.5
$GPS2,022741,6025.655,-723.215,9,2.1,28,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_3
$TGT_LATLONG,6030.000,-715.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.191,0.111
$KALMAN_X,-53108.2,-222.5,-575.7,-60222.9,-9886.7
$KALMAN_Y,-50581.2,1361.9,-828.5,9265.9,-7555.8
$MHEAD_RNG_PITCHd_Wd,51.0,10995,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,106,0.00,0.00,-80.90,0.000,2,0.000,0.000,66,2306,2975
$GC,110,-0.85,-146.6,4.0,-4.3,4,137,11.40,2.70,-9.55,0.000,4,0.169,0.087,2108,3712,3380
$GC,301,-0.65,-146.6,30.9,-11.7,12,308,0.25,2.58,0.00,0.000,6,0.094,0.054,2157,2304,3380
$GC,618,-0.60,-146.6,56.3,-8.1,28,622,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,884,3380
$GC,673,-0.60,-146.6,61.2,-9.3,30,679,0.00,2.60,0.00,0.000,6,0.000,0.058,2157,2298,3380
$GC,990,-0.60,-146.6,88.0,-8.9,46,994,0.00,2.65,0.00,0.000,4,0.000,0.064,2157,881,3381
$GC,1062,-0.60,-146.6,94.4,-8.6,49,1067,0.00,2.62,0.00,0.000,6,0.000,0.056,2157,2303,3381
$GC,1378,-0.60,-146.6,120.9,-8.4,64,1382,0.00,2.65,0.00,0.000,4,0.000,0.064,2157,881,3381
$GC,1440,-0.60,-146.6,125.9,-7.8,67,1445,0.00,2.62,0.00,0.000,6,0.000,0.056,2157,2303,3380
$GC,1767,-0.60,-146.6,149.7,-6.7,83,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2303,3381
$GC,2075,-0.60,-146.6,172.5,-8.3,98,2080,0.00,2.62,0.00,0.000,4,0.000,0.064,2157,884,3381
$GC,2148,-0.60,-146.6,179.3,-9.0,101,2152,0.00,2.62,0.00,0.000,6,0.000,0.056,2157,2303,3381
$GC,2464,-0.60,-146.6,207.4,-8.3,116,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2303,3381
$GC,2773,-0.60,-146.6,233.8,-7.8,131,2777,0.00,2.65,0.00,0.000,4,0.000,0.064,2157,881,3381
$GC,2817,-0.60,-146.6,237.4,-8.4,133,2821,0.00,2.62,0.00,0.000,6,0.000,0.056,2157,2300,3381
$GC,3137,-0.60,-146.6,260.2,-6.6,149,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2300,3382
$GC,3447,-0.60,-146.6,282.8,-7.8,164,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2300,3382
$GC,3756,-0.60,-146.6,306.4,-7.5,179,3760,0.00,2.65,0.00,0.000,4,0.000,0.065,2157,877,3382
$GC,3856,-0.60,-146.6,313.4,-6.9,183,3862,0.00,2.65,0.00,0.000,6,0.000,0.058,2157,2304,3382
$GC,4172,-0.60,-146.6,332.0,-5.7,199,4176,0.00,2.65,0.00,0.000,4,0.000,0.066,2157,884,3382
$GC,4244,-0.60,-146.6,336.3,-5.7,202,4248,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2304,3382
$GC,4560,-0.60,-146.6,354.7,-5.8,217,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2305,3382
$GC,4868,-0.60,-146.6,374.3,-6.7,232,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2305,3383
$GC,5178,-0.60,-146.6,396.0,-7.2,247,5182,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,885,3382
$GC,5240,-0.65,-146.6,400.7,-7.3,250,5244,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2301,3382
$GC,5566,-0.65,-146.6,424.6,-7.4,266,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2302,3381
$GC,5876,-0.65,-146.6,442.4,-5.6,281,5881,0.00,2.65,0.00,0.000,4,0.000,0.068,2157,884,3381
$GC,5943,-0.65,-146.6,446.2,-6.3,284,5948,0.00,2.62,0.00,0.000,6,0.000,0.059,2157,2302,3381
$GC,6265,-0.65,-146.6,462.9,-5.4,300,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2302,3380
$GC,6574,-0.65,-146.6,478.0,-4.7,315,6579,0.00,2.65,0.00,0.000,4,0.000,0.069,2157,886,3381
$GC,6625,-0.70,-146.6,480.6,-4.9,317,6630,0.00,2.62,0.00,0.000,6,0.000,0.061,2157,2303,3380
$GC,6940,-0.70,-146.6,503.5,-8.6,332,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2303,3380
$GC,7250,-0.70,-146.6,527.0,-6.4,347,7254,0.00,2.65,0.00,0.000,4,0.000,0.069,2157,886,3379
$GC,7317,-0.77,-146.6,530.6,-5.1,350,7322,0.12,2.62,0.00,0.000,6,0.051,0.061,2119,2296,3379
$GC,7639,-0.68,-146.6,551.7,-7.4,366,7641,0.15,0.00,0.00,0.000,6,0.091,0.000,2149,2297,3378
$GC,7948,-0.68,-146.6,578.0,-8.9,381,7952,0.00,2.65,0.00,0.000,4,0.000,0.071,2149,886,3378
$GC,7992,-0.73,-146.6,582.4,-9.8,383,7996,0.00,2.65,0.00,0.000,6,0.000,0.064,2148,2302,3378
$GC,8312,-0.73,-146.6,609.2,-7.9,399,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2302,3377
$GC,8622,-0.73,-146.6,630.4,-6.1,414,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2302,3376
$GC,8932,-0.73,-146.6,650.6,-6.6,429,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2302,3375
$GC,9240,-0.73,-146.6,672.7,-7.6,444,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2302,3374
$GC,9549,-0.73,-146.6,696.7,-7.0,459,9554,0.00,2.70,0.00,0.000,4,0.000,0.077,2148,888,3373
$GC,9600,-0.77,-146.6,700.5,-6.8,461,9604,0.00,2.67,0.00,0.000,6,0.000,0.068,2148,2303,3373
$GC,9916,-0.77,-146.6,722.0,-6.8,476,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2304,3371
$GC,10225,-0.77,-146.6,744.1,-7.4,491,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2303,3370
$GC,10535,-0.77,-146.6,764.4,-5.8,506,10539,0.00,2.70,0.00,0.000,4,0.000,0.077,2149,889,3369
$GC,10579,-0.82,-146.6,767.0,-5.6,508,10584,0.12,2.67,0.00,0.000,6,0.058,0.068,2115,2303,3370
$GC,10901,-0.72,-146.6,791.2,-7.8,524,10903,0.15,0.00,0.00,0.000,6,0.102,0.000,2143,2303,3368
$GC,11210,-0.72,-146.6,815.5,-8.6,539,11214,0.00,2.72,0.00,0.000,4,0.000,0.080,2143,885,3367
$GC,11276,-0.77,-146.6,820.9,-7.9,542,11281,0.00,2.67,0.00,0.000,6,0.000,0.068,2143,2298,3367
$GC,11597,-0.77,-146.6,837.3,-6.2,558,11598,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2298,3366
$GC,11906,-0.77,-146.6,860.9,-7.4,573,11911,0.00,2.70,0.00,0.000,4,0.000,0.077,2143,887,3365
$GC,11961,-0.77,-146.6,864.6,-7.0,575,11968,0.00,2.67,0.00,0.000,6,0.000,0.068,2143,2308,3365
$GC,12277,-0.77,-146.6,888.7,-8.0,591,12279,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2308,3364
$GC,12587,-0.77,-146.6,912.8,-8.3,606,12591,0.00,2.72,0.00,0.000,4,0.000,0.077,2143,884,3364
$GC,12636,-0.77,-146.6,916.0,-6.1,608,12640,0.00,2.65,0.00,0.000,6,0.000,0.066,2143,2303,3363
$GC,12952,-0.77,-146.6,940.4,-7.3,623,12956,0.00,2.70,0.00,0.000,4,0.000,0.077,2143,889,3363
$GC,12995,-0.77,-146.6,943.2,-6.6,625,13000,0.00,2.65,0.00,0.000,6,0.000,0.067,2143,2304,3362
$GC,13317,-0.77,-146.6,966.4,-7.5,641,13318,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2305,3361
$STATE,13602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13603,begin apogee
$GC,13610,-0.31,0.0,990.2,8.2,655,13751,0.45,0.00,133.18,1.292,6,0.108,0.000,2231,2195,2781
$STATE,13752,end apogee,CONTROL_FINISHED_OK
$STATE,13752,begin climb
$GC,13754,0.85,146.6,996.7,0.0,662,13898,1.20,2.88,135.68,1.287,4,0.087,0.090,2481,3610,2183
$GC,13957,0.93,223.4,991.8,3.9,671,14037,0.00,2.67,72.35,1.328,6,0.000,0.064,2481,2200,1870
$GC,14360,0.98,223.4,968.5,7.3,691,14362,0.15,0.00,0.00,0.000,6,0.067,0.000,2515,2200,1869
$GC,14669,0.91,223.4,945.2,7.5,706,14671,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2200,1868
$GC,14979,0.83,223.4,920.1,8.4,721,14984,0.15,2.78,0.00,0.000,4,0.101,0.086,2483,3615,1868
$GC,15023,0.88,223.4,916.2,8.8,723,15028,0.00,2.65,0.00,0.000,6,0.000,0.064,2483,2202,1868
$GC,15344,0.88,223.4,899.6,6.2,739,15345,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2202,1868
$GC,15653,0.92,223.4,882.3,6.3,754,15654,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2201,1867
$GC,15963,0.97,223.4,860.4,6.8,769,15968,0.12,2.78,0.00,0.000,4,0.062,0.087,2515,3616,1867
$GC,15990,0.92,223.4,858.1,8.2,770,15995,0.00,2.65,0.00,0.000,6,0.000,0.064,2515,2200,1868
$GC,16306,0.85,223.4,835.3,7.0,785,16308,0.15,0.00,0.00,0.000,6,0.105,0.000,2487,2200,1867
$GC,16615,0.87,240.4,818.4,5.5,800,16638,0.00,2.85,16.92,1.200,4,0.000,0.085,2486,3609,1800
$GC,16677,0.89,254.8,815.2,5.6,802,16697,0.00,2.67,14.45,1.105,6,0.000,0.065,2486,2200,1742
$GC,17009,0.96,264.1,798.7,5.7,818,17021,0.10,0.00,10.12,1.117,6,0.065,0.000,2513,2200,1704
$GC,17317,0.96,264.1,777.5,7.4,833,17318,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2200,1703
$GC,17626,0.96,264.1,753.9,7.4,848,17627,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2200,1703
$GC,17935,0.96,264.1,731.5,6.5,863,17940,0.00,2.75,0.00,0.000,4,0.000,0.087,2513,3610,1703
$GC,17979,0.96,264.1,728.4,7.2,865,17984,0.00,2.65,0.00,0.000,6,0.000,0.064,2513,2199,1703
$GC,18301,0.96,264.1,708.5,6.7,881,18302,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2198,1703
$GC,18610,0.96,264.1,686.8,6.8,896,18615,0.00,2.75,0.00,0.000,4,0.000,0.086,2513,3613,1703
$GC,18643,0.96,264.1,684.3,7.3,897,18649,0.00,2.65,0.00,0.000,6,0.000,0.064,2513,2200,1703
$GC,18959,0.96,264.1,663.2,6.3,913,18960,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2200,1704
$GC,19268,0.96,264.1,642.1,7.5,928,19273,0.00,2.70,0.00,0.000,4,0.000,0.082,2513,789,1703
$GC,19302,0.96,264.1,639.4,7.8,929,19308,0.00,2.62,0.00,0.000,6,0.000,0.059,2513,2201,1703
$GC,19617,0.96,264.1,616.5,6.9,945,19618,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2201,1703
$GC,19926,0.96,264.1,596.9,6.3,960,19927,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2202,1703
$GC,20235,0.96,264.1,578.2,6.9,975,20237,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2202,1703
$GC,20545,0.96,264.1,557.7,6.4,990,20549,0.00,2.67,0.00,0.000,4,0.000,0.073,2513,787,1703
$GC,20611,0.96,264.1,552.5,6.7,993,20616,0.00,2.62,0.00,0.000,6,0.000,0.060,2513,2202,1703
$GC,20932,0.96,264.1,531.8,6.2,1009,20936,0.00,2.67,0.00,0.000,4,0.000,0.072,2513,786,1703
$GC,20972,0.98,287.0,529.7,5.4,1011,20998,0.00,2.65,21.05,1.048,6,0.000,0.061,2515,2205,1611
$GC,21320,0.98,287.0,509.9,6.0,1028,21324,0.00,2.75,0.00,0.000,4,0.000,0.091,2513,3613,1611
$GC,21386,0.98,287.0,505.3,7.9,1031,21390,0.00,2.65,0.00,0.000,6,0.000,0.064,2513,2197,1611
$GC,21706,0.98,287.0,481.6,8.3,1047,21708,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2197,1611
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$STATE,27934,end climb,SURFACE_DEPTH_REACHED
$STATE,27934,begin surface coast
$FINISH,0.6,1.027205
$STATE,27955,end surface coast,CONTROL_FINISHED_OK
$STATE,27955,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$HUMID,1842
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$XPDR_PINGS,77
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$24V_AH,23.3,11.372
$10V_AH,10.1,5.608
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$DEVICE_SECS,25.375,219.225,407.275,7.500,0.000,17.994,26.502,189.721,28.250,0.000,0.000,29.453,2408.891,21938.133,606.544,2781.665,624.838,33.366,1982.993,0.000,2703.322,0.000,60.717
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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,69416,1351
$CAP_FILE_SIZE,189335,0
$CFSIZE,260165632,255062016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,170608,101608,6026.673,-716.161,31,1.0,31,-7.9