version: 66.03
glider: 16
mission: 9
dive: 63
start: 6 19 108 20 47 32
data:
$ID,16
$MISSION,9
$DIVE,63
$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,557.32159
$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,-2094024.6
$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,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
$GPS1,203751,6045.983,-732.654,37,3.5,57,-8.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-51.7
$GPS2,204641,6046.029,-732.865,17,4.4,36,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_1
$TGT_LATLONG,6100.000,-735.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.159,0.154
$KALMAN_X,-107719.5,95.2,4300.8,-19545.0,-27018.1
$KALMAN_Y,-61673.2,697.4,188.1,57743.1,1712.2
$MHEAD_RNG_PITCHd_Wd,4.0,25946,-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,-146.6,0.0,0.0,0,147,0.00,0.00,-121.40,0.000,2,0.000,0.000,69,2310,2935
$GC,151,-0.85,-146.6,3.5,-2.9,6,181,11.35,2.72,-10.98,0.000,4,0.166,0.077,2109,877,3380
$GC,255,-0.67,-146.6,17.8,-11.2,10,262,0.22,2.62,0.00,0.000,6,0.095,0.057,2152,2298,3380
$GC,571,-0.61,-146.6,43.5,-7.5,26,575,0.00,2.65,0.00,0.000,4,0.000,0.064,2153,880,3379
$GC,671,-0.61,-146.6,50.8,-6.5,30,677,0.00,2.62,0.00,0.000,6,0.000,0.056,2152,2303,3379
$GC,987,-0.54,-146.6,70.7,-6.5,46,989,0.15,0.00,0.00,0.000,6,0.094,0.000,2182,2303,3378
$GC,1296,-0.54,-146.6,95.0,-8.8,61,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2303,3379
$GC,1607,-0.59,-146.6,116.0,-6.2,76,1612,0.00,2.67,0.00,0.000,4,0.000,0.067,2182,873,3378
$GC,1673,-0.69,-146.6,119.6,-5.2,79,1678,0.15,2.65,0.00,0.000,6,0.043,0.055,2132,2307,3378
$GC,2001,-0.57,-146.6,143.1,-6.9,95,2003,0.20,0.00,0.00,0.000,6,0.081,0.000,2173,2307,3379
$GC,2309,-0.57,-146.6,160.7,-6.0,110,2313,0.00,2.67,0.00,0.000,4,0.000,0.067,2173,878,3379
$GC,2364,-0.63,-146.6,164.2,-5.9,112,2370,0.00,2.62,0.00,0.000,6,0.000,0.055,2173,2303,3379
$GC,2680,-0.63,-146.6,182.2,-5.1,128,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2303,3379
$GC,2990,-0.63,-146.6,194.2,-3.2,143,2994,0.00,2.65,0.00,0.000,4,0.000,0.067,2173,880,3378
$GC,3040,-0.69,-146.6,195.6,-3.0,145,3045,0.12,2.62,0.00,0.000,6,0.046,0.055,2131,2307,3379
$GC,3356,-0.58,-146.6,214.9,-7.3,160,3361,0.17,2.65,0.00,0.000,4,0.084,0.069,2169,880,3379
$GC,3418,-0.62,-146.6,218.8,-6.1,163,3423,0.00,2.62,0.00,0.000,6,0.000,0.056,2170,2303,3378
$GC,3745,-0.62,-146.6,242.9,-8.7,179,3749,0.00,2.65,0.00,0.000,4,0.000,0.068,2170,879,3378
$GC,3789,-0.67,-146.6,247.1,-9.1,181,3794,0.00,2.62,0.00,0.000,6,0.000,0.056,2169,2307,3378
$GC,4111,-0.67,-146.6,275.7,-9.0,197,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2307,3378
$GC,4420,-0.67,-146.6,301.1,-8.4,212,4425,0.00,2.67,0.00,0.000,4,0.000,0.070,2170,880,3379
$GC,4488,-0.74,-146.6,307.4,-9.0,215,4493,0.15,2.62,0.00,0.000,6,0.043,0.057,2122,2305,3378
$GC,4810,-0.60,-146.6,339.4,-8.4,231,4815,0.20,2.65,0.00,0.000,4,0.085,0.071,2164,881,3378
$GC,4857,-0.67,-146.6,342.5,-5.8,233,4861,0.00,2.62,0.00,0.000,6,0.000,0.057,2164,2306,3379
$GC,5177,-0.67,-146.6,362.9,-5.6,249,5182,0.00,2.70,0.00,0.000,4,0.000,0.084,2164,3716,3378
$GC,5240,-0.67,-146.6,365.8,-4.9,252,5244,0.00,2.62,0.00,0.000,6,0.000,0.063,2164,2297,3378
$GC,5567,-0.67,-146.6,382.5,-5.5,268,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2297,3378
$GC,5876,-0.67,-146.6,390.6,-2.1,283,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2298,3378
$GC,6185,-0.67,-146.6,406.6,-6.2,298,6189,0.00,2.65,0.00,0.000,4,0.000,0.074,2164,882,3378
$GC,6257,-0.74,-146.6,411.2,-6.6,301,6262,0.12,2.62,0.00,0.000,6,0.048,0.061,2123,2300,3378
$GC,6574,-0.61,-146.6,439.3,-8.1,316,6579,0.17,2.72,0.00,0.000,4,0.087,0.087,2162,3715,3378
$GC,6607,-0.61,-146.6,442.5,-8.6,317,6613,0.00,2.62,0.00,0.000,6,0.000,0.064,2162,2299,3378
$GC,6923,-0.61,-146.6,461.5,-5.9,333,6927,0.00,2.75,0.00,0.000,4,0.000,0.087,2162,3718,3378
$GC,6966,-0.61,-146.6,464.4,-6.6,335,6971,0.00,2.65,0.00,0.000,6,0.000,0.064,2162,2291,3378
$GC,7289,-0.61,-146.6,482.4,-5.8,351,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2291,3377
$GC,7598,-0.61,-146.6,496.1,-3.3,366,7602,0.00,2.65,0.00,0.000,4,0.000,0.077,2162,883,3376
$GC,7660,-0.68,-146.6,498.2,-4.3,369,7664,0.00,2.62,0.00,0.000,6,0.000,0.062,2162,2300,3376
$GC,7986,-0.68,-146.6,518.9,-7.9,385,7991,0.00,2.67,0.00,0.000,4,0.000,0.074,2162,882,3375
$GC,8042,-0.75,-146.6,524.1,-9.0,387,8049,0.12,2.65,0.00,0.000,6,0.051,0.063,2123,2303,3375
$GC,8358,-0.65,-146.6,559.5,-11.5,403,8360,0.17,0.00,0.00,0.000,6,0.090,0.000,2158,2303,3374
$GC,8667,-0.65,-146.6,586.1,-8.1,418,8672,0.00,2.75,0.00,0.000,4,0.000,0.092,2158,3712,3373
$GC,8706,-0.65,-146.6,589.5,-9.0,420,8711,0.00,2.65,0.00,0.000,6,0.000,0.065,2158,2292,3373
$GC,9034,-0.65,-146.6,615.2,-8.3,436,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2292,3372
$GC,9343,-0.65,-146.6,645.4,-9.9,451,9347,0.00,2.67,0.00,0.000,4,0.000,0.079,2158,882,3372
$GC,9393,-0.72,-146.6,650.2,-9.6,453,9398,0.00,2.67,0.00,0.000,6,0.000,0.067,2158,2307,3372
$GC,9709,-0.72,-146.6,671.3,-5.7,468,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2307,3372
$GC,10018,-0.72,-146.6,690.8,-6.9,483,10023,0.00,2.70,0.00,0.000,4,0.000,0.078,2158,889,3370
$GC,10074,-0.79,-146.6,694.8,-7.4,485,10081,0.15,2.65,0.00,0.000,6,0.051,0.067,2117,2301,3369
$GC,10390,-0.69,-146.6,721.5,-8.5,501,10395,0.17,2.70,0.00,0.000,4,0.097,0.079,2153,889,3368
$GC,10447,-0.73,-146.6,725.9,-7.3,503,10453,0.00,2.65,0.00,0.000,6,0.000,0.068,2153,2299,3369
$GC,10763,-0.73,-146.6,747.3,-6.4,519,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2299,3367
$GC,11072,-0.73,-146.6,770.2,-7.8,534,11076,0.00,2.70,0.00,0.000,4,0.000,0.081,2153,888,3366
$GC,11122,-0.80,-146.6,774.1,-8.0,536,11127,0.12,2.67,0.00,0.000,6,0.056,0.070,2117,2303,3366
$GC,11441,-0.71,-146.6,801.6,-9.3,551,11443,0.15,0.00,0.00,0.000,6,0.101,0.000,2146,2303,3366
$GC,11747,-0.71,-146.6,820.4,-7.0,566,11751,0.00,2.70,0.00,0.000,4,0.000,0.082,2146,891,3364
$GC,11791,-0.76,-146.6,823.4,-6.2,568,11796,0.00,2.67,0.00,0.000,6,0.000,0.071,2146,2301,3365
$GC,12113,-0.76,-146.6,841.4,-3.9,584,12118,0.00,2.72,0.00,0.000,4,0.000,0.084,2146,888,3363
$GC,12163,-0.80,-146.6,845.1,-8.0,586,12168,0.00,2.67,0.00,0.000,6,0.000,0.071,2146,2302,3363
$GC,12479,-0.80,-146.6,864.9,-6.3,601,12484,0.00,2.80,0.00,0.000,4,0.000,0.104,2146,3713,3363
$GC,12500,-0.80,-146.6,867.1,-9.7,602,12505,0.00,2.67,0.00,0.000,6,0.000,0.072,2145,2296,3362
$GC,12821,-0.80,-146.6,891.7,-8.2,618,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2296,3361
$GC,13131,-0.80,-146.6,922.7,-10.4,633,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2294,3360
$STATE,13273,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13273,begin apogee
$GC,13279,-0.31,0.0,933.0,8.0,640,13416,0.43,0.00,133.12,1.278,6,0.099,0.000,2231,2194,2781
$STATE,13417,end apogee,CONTROL_FINISHED_OK
$STATE,13417,begin climb
$GC,13419,0.85,146.6,938.8,0.0,647,13563,1.17,2.90,134.45,1.233,4,0.082,0.094,2477,3613,2183
$GC,13612,0.92,211.4,934.3,4.2,656,13679,0.10,2.70,60.30,1.272,6,0.064,0.069,2505,2203,1919
$GC,14001,0.86,211.4,908.3,6.4,675,14005,0.00,2.78,0.00,0.000,4,0.000,0.091,2505,3612,1918
$GC,14033,0.86,211.4,904.9,10.1,676,14039,0.00,2.70,0.00,0.000,6,0.000,0.071,2505,2194,1919
$GC,14349,0.86,211.4,883.2,8.5,692,14353,0.00,2.80,0.00,0.000,4,0.000,0.092,2505,3612,1918
$GC,14382,0.78,211.4,879.8,9.8,693,14389,0.17,2.70,0.00,0.000,6,0.098,0.072,2471,2200,1918
$GC,14697,0.78,211.4,847.4,10.7,709,14698,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2199,1917
$GC,15007,0.78,216.2,826.8,5.9,724,15020,0.00,2.83,6.00,0.971,4,0.000,0.093,2471,3612,1899
$GC,15128,0.82,248.8,820.1,5.1,729,15165,0.00,2.70,31.15,1.217,6,0.000,0.073,2471,2201,1766
$GC,15489,0.86,248.8,790.6,8.4,747,15490,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2200,1765
$GC,15796,0.91,248.8,764.9,7.4,762,15798,0.12,0.00,0.00,0.000,6,0.061,0.000,2504,2200,1764
$GC,16105,0.86,248.8,743.7,6.6,777,16110,0.00,2.75,0.00,0.000,4,0.000,0.085,2505,782,1763
$GC,16145,0.80,248.8,740.9,6.5,779,16150,0.15,2.70,0.00,0.000,6,0.099,0.066,2475,2206,1763
$GC,16471,0.80,248.8,720.6,6.7,795,16476,0.00,2.78,0.00,0.000,4,0.000,0.096,2475,3614,1762
$GC,16511,0.80,248.8,717.8,7.3,797,16515,0.00,2.70,0.00,0.000,6,0.000,0.071,2475,2196,1763
$GC,16837,0.80,248.8,695.8,6.9,813,16838,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2196,1762
$GC,17146,0.80,248.8,674.4,6.7,828,17147,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2195,1762
$GC,17456,0.86,258.8,655.5,5.7,843,17468,0.00,0.00,10.05,1.031,6,0.000,0.000,2475,2195,1724
$GC,17765,0.90,258.8,637.9,6.2,858,17770,0.00,2.78,0.00,0.000,4,0.000,0.092,2475,3612,1725
$GC,17804,0.90,258.8,634.9,7.0,860,17809,0.00,2.67,0.00,0.000,6,0.000,0.070,2475,2198,1725
$GC,18132,0.94,258.8,611.1,8.3,876,18137,0.12,2.72,0.00,0.000,4,0.059,0.081,2509,778,1725
$GC,18205,0.88,258.8,603.6,10.3,879,18209,0.00,2.67,0.00,0.000,6,0.000,0.062,2509,2207,1724
$GC,18521,0.82,258.8,576.7,7.2,894,18526,0.15,2.72,0.00,0.000,4,0.094,0.076,2475,784,1724
$GC,18578,0.89,276.6,573.5,5.5,896,18604,0.00,2.65,17.02,1.035,6,0.000,0.061,2475,2204,1653
$GC,18914,0.95,279.8,555.8,5.9,913,18925,0.15,2.75,4.93,0.785,4,0.054,0.074,2515,776,1639
$GC,18959,0.88,279.8,551.9,8.2,915,18964,0.12,2.67,0.00,0.000,6,0.096,0.058,2491,2206,1639
$GC,19281,0.88,279.8,522.6,9.4,931,19282,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2206,1639
$GC,19590,0.88,279.8,496.2,8.2,946,19591,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2206,1640
$GC,19899,0.88,279.8,471.7,7.4,961,19903,0.00,2.70,0.00,0.000,4,0.000,0.071,2491,782,1640
$GC,19948,0.88,279.8,467.7,6.7,963,19953,0.00,2.62,0.00,0.000,6,0.000,0.056,2491,2203,1640
$GC,20264,0.88,279.8,446.0,6.7,978,20268,0.00,2.67,0.00,0.000,4,0.000,0.071,2491,782,1641
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$GC,22261,1.01,279.8,290.0,6.9,1075,22263,0.12,0.00,0.00,0.000,6,0.048,0.000,2526,2202,1645
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$STATE,25898,end climb,SURFACE_DEPTH_REACHED
$STATE,25898,begin surface coast
$FINISH,0.5,1.022429
$STATE,25920,end surface coast,CONTROL_FINISHED_OK
$STATE,25920,begin surface
$SM_CCo,25942,133.35,0.615,0,0,508,557.32
$SM_GC,1.20,0.00,0.00,133.35,0.000,0.000,0.615,66,2307,508,-10.27,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1827
$TCM_TEMP,17.70
$XPDR_PINGS,62
$ALTIM_TOP_PING,20.0,18.7
$ALTIM_BOTTOM_PING,876.2,65.4
$24V_AH,23.4,13.217
$10V_AH,10.1,6.632
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,27.650,214.775,400.875,133.350,0.000,36.575,62.191,217.460,23.750,0.000,0.000,37.261,2272.046,20250.158,758.662,2630.163,691.962,33.361,2064.914,0.000,2545.696,0.000,57.207
$DEVICE_MAMPS,166.439,103.545,1277.822,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,925.221,856.799,698.937,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63123,1253
$CAP_FILE_SIZE,189821,0
$CFSIZE,260165632,254328832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,200608,040331,6048.174,-732.507,38,2.0,43,-8.2