version: 66.02
glider: 16
mission: 6
dive: 198
start: 12 19 107 11 55 26
data:
$ID,16
$MISSION,6
$DIVE,198
$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,-2079996.9
$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,16
$R_STBD_OVSHOOT,16
$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
$GPS1,114807,6404.460,-703.797,48,1.7,53,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-52.5
$GPS2,115433,6404.448,-703.760,14,1.7,14,-9.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.039,0.218
$KALMAN_X,-93830.5,-360.8,-829.4,202251.0,5279.3
$KALMAN_Y,80987.9,-139.7,-57.5,190052.2,-3544.1
$MHEAD_RNG_PITCHd_Wd,358.8,66591,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-101.78,0.000,2,0.000,0.000,72,2403,2875
$GC,126,-0.85,-146.6,3.7,-2.1,5,162,12.38,2.72,-16.50,0.000,4,0.179,0.083,2219,991,3416
$GC,402,-0.85,-146.6,30.1,-9.6,17,407,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2404,3417
$GC,724,-0.85,-146.6,55.9,-8.0,33,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3417
$GC,1034,-0.85,-146.6,81.0,-7.8,48,1039,0.00,2.65,0.00,0.000,4,0.000,0.086,2219,3766,3417
$GC,1061,-0.85,-146.6,83.4,-8.7,49,1065,0.00,2.58,0.00,0.000,6,0.000,0.060,2219,2395,3418
$GC,1383,-0.85,-146.6,109.6,-8.1,65,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2395,3418
$GC,1694,-0.85,-146.6,135.2,-8.6,80,1698,0.00,2.70,0.00,0.000,4,0.000,0.078,2219,985,3418
$GC,1800,-0.85,-146.6,144.4,-8.2,85,1805,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2400,3418
$GC,2126,-0.85,-146.6,171.0,-8.2,101,2131,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,980,3418
$GC,2170,-0.85,-146.6,174.8,-8.1,103,2178,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2400,3418
$GC,2499,-0.85,-146.6,200.1,-7.1,119,2503,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,981,3418
$GC,2538,-0.85,-146.6,202.9,-6.9,121,2543,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2397,3418
$GC,2864,-0.85,-146.6,223.7,-6.2,137,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2397,3418
$GC,3173,-0.85,-146.6,243.5,-6.5,152,3177,0.00,2.72,0.00,0.000,4,0.000,0.078,2219,983,3418
$GC,3216,-0.85,-146.6,246.4,-6.5,154,3220,0.00,2.67,0.00,0.000,6,0.000,0.068,2219,2400,3418
$GC,3543,-0.85,-146.6,267.8,-6.7,170,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3418
$GC,3852,-0.85,-146.6,289.6,-7.5,185,3856,0.00,2.75,0.00,0.000,4,0.000,0.080,2219,979,3418
$GC,3878,-0.85,-146.6,291.6,-7.9,186,3882,0.00,2.70,0.00,0.000,6,0.000,0.068,2219,2404,3418
$GC,4199,-0.85,-146.6,316.7,-7.5,202,4204,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,985,3418
$GC,4242,-0.85,-146.6,320.2,-8.0,204,4246,0.00,2.67,0.00,0.000,6,0.000,0.068,2219,2399,3418
$GC,4569,-0.85,-146.6,345.8,-7.8,220,4573,0.00,2.75,0.00,0.000,4,0.000,0.082,2219,985,3418
$GC,4607,-0.85,-146.6,348.7,-7.4,222,4612,0.00,2.70,0.00,0.000,6,0.000,0.070,2219,2401,3418
$GC,4933,-0.85,-146.6,372.1,-7.0,238,4937,0.00,2.75,0.00,0.000,4,0.000,0.084,2219,987,3418
$GC,4976,-0.85,-146.6,375.3,-6.7,240,4981,0.00,2.67,0.00,0.000,6,0.000,0.068,2219,2403,3418
$GC,5297,-0.85,-146.6,395.8,-6.0,256,5302,0.00,2.75,0.00,0.000,4,0.000,0.083,2219,986,3418
$GC,5330,-0.85,-146.6,398.1,-6.5,257,5336,0.00,2.67,0.00,0.000,6,0.000,0.068,2219,2401,3418
$GC,5645,-0.85,-146.6,418.0,-6.5,273,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3417
$GC,5955,-0.85,-146.6,437.6,-6.2,288,5959,0.00,2.75,0.00,0.000,4,0.000,0.083,2219,985,3417
$GC,6020,-0.85,-146.6,442.0,-7.0,291,6024,0.00,2.67,0.00,0.000,6,0.000,0.068,2217,2403,3417
$GC,6347,-0.85,-146.6,462.8,-6.4,307,6352,0.00,2.75,0.00,0.000,4,0.000,0.083,2219,986,3417
$GC,6379,-0.85,-146.6,464.9,-6.9,308,6385,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2404,3417
$GC,6694,-0.85,-146.6,487.5,-7.4,324,6699,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,985,3417
$GC,6726,-0.85,-146.6,490.1,-8.0,325,6734,0.00,2.70,0.00,0.000,6,0.000,0.067,2219,2403,3416
$GC,7043,-0.85,-146.6,512.9,-7.3,341,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3416
$GC,7352,-0.85,-146.6,534.5,-6.9,356,7356,0.00,2.75,0.00,0.000,4,0.000,0.080,2219,980,3415
$GC,7395,-0.85,-146.6,537.6,-7.1,358,7399,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2401,3415
$GC,7722,-0.85,-146.6,559.6,-7.0,374,7726,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,982,3415
$GC,7748,-0.85,-146.6,561.5,-7.1,375,7752,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2403,3415
$GC,8069,-0.85,-146.6,582.8,-6.4,391,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2403,3414
$GC,8379,-0.85,-146.6,602.3,-6.4,406,8384,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,981,3414
$GC,8434,-0.85,-146.6,606.3,-7.2,408,8441,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2400,3413
$GC,8749,-0.85,-146.6,627.5,-6.7,424,8754,0.00,2.72,0.00,0.000,4,0.000,0.080,2219,986,3413
$GC,8782,-0.85,-146.6,629.8,-7.2,425,8788,0.00,2.65,0.00,0.000,6,0.000,0.067,2219,2400,3413
$GC,9098,-0.85,-146.6,650.8,-6.6,441,9102,0.00,2.72,0.00,0.000,4,0.000,0.080,2219,985,3413
$GC,9124,-0.85,-146.6,652.8,-7.6,442,9128,0.00,2.65,0.00,0.000,6,0.000,0.066,2219,2400,3413
$GC,9445,-0.85,-146.6,674.2,-6.7,458,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3412
$GC,9754,-0.85,-146.6,695.0,-6.6,473,9759,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,983,3412
$GC,9797,-0.85,-146.6,698.1,-7.3,475,9802,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2404,3412
$GC,10125,-0.85,-146.6,719.9,-6.7,491,10129,0.00,2.72,0.00,0.000,4,0.000,0.075,2219,982,3412
$GC,10151,-0.85,-146.6,721.9,-7.4,492,10155,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2401,3412
$GC,10472,-0.85,-146.6,743.9,-6.7,508,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2402,3412
$GC,10781,-0.85,-146.6,765.1,-7.1,523,10786,0.00,2.70,0.00,0.000,4,0.000,0.075,2219,987,3411
$GC,10825,-0.85,-146.6,768.4,-7.8,525,10829,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2401,3411
$GC,11152,-0.85,-146.6,791.5,-7.1,541,11157,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,987,3411
$GC,11179,-0.85,-146.6,793.5,-7.0,542,11184,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2405,3411
$GC,11500,-0.85,-146.6,816.4,-7.0,558,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3411
$GC,11809,-0.85,-146.6,838.4,-7.1,573,11814,0.00,2.72,0.00,0.000,4,0.000,0.075,2219,981,3410
$GC,11842,-0.85,-146.6,840.8,-6.9,574,11848,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2400,3410
$GC,12157,-0.85,-146.6,862.8,-6.9,590,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3410
$GC,12466,-0.85,-146.6,885.2,-7.2,605,12471,0.00,2.70,0.00,0.000,4,0.000,0.073,2219,982,3410
$GC,12510,-0.85,-146.6,888.5,-7.5,607,12514,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2404,3410
$GC,12831,-0.85,-146.6,910.0,-6.6,623,12832,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2404,3410
$GC,13140,-0.85,-146.6,930.6,-6.8,638,13144,0.00,2.70,0.00,0.000,4,0.000,0.071,2219,983,3409
$GC,13172,-0.85,-146.6,932.9,-7.8,639,13178,0.00,2.60,0.00,0.000,6,0.000,0.056,2219,2401,3409
$GC,13487,-0.85,-146.6,953.9,-6.6,655,13488,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3409
$GC,13796,-0.85,-146.6,974.3,-6.5,670,13801,0.00,2.67,0.00,0.000,4,0.000,0.069,2219,985,3409
$GC,13840,-0.85,-146.6,977.4,-7.1,672,13845,0.00,2.60,0.00,0.000,6,0.000,0.054,2219,2400,3409
$STATE,14035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14035,begin apogee
$GC,14041,-0.31,0.0,990.4,6.6,682,14168,0.62,0.00,124.57,1.379,6,0.114,0.000,2341,2189,2818
$STATE,14169,end apogee,CONTROL_FINISHED_OK
$STATE,14169,begin climb
$GC,14171,0.85,146.6,995.3,0.0,688,14303,1.20,2.75,123.80,1.351,4,0.085,0.069,2588,795,2218
$GC,14326,0.87,168.5,991.6,5.4,695,14354,0.00,2.62,20.08,1.309,6,0.000,0.048,2588,2209,2129
$GC,14663,0.88,179.4,972.7,5.7,712,14675,0.00,0.00,10.62,1.215,6,0.000,0.000,2587,2210,2084
$GC,14971,0.90,197.3,955.5,5.5,727,14992,0.00,0.00,16.73,1.299,6,0.000,0.000,2588,2210,2012
$GC,15300,0.90,197.3,935.2,6.3,743,15301,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2210,2011
$GC,15610,0.90,197.3,916.0,6.0,758,15614,0.00,2.70,0.00,0.000,4,0.000,0.070,2588,798,2011
$GC,15649,0.90,198.8,913.4,6.0,760,15653,0.00,2.58,0.00,0.000,6,0.000,0.049,2588,2202,2011
$GC,15974,0.90,198.8,893.4,6.2,776,15979,0.00,2.67,0.00,0.000,4,0.000,0.073,2588,3608,2011
$GC,16014,0.90,198.8,890.7,7.2,778,16018,0.00,2.60,0.00,0.000,6,0.000,0.051,2587,2199,2011
$GC,16339,0.90,198.8,869.0,6.7,794,16343,0.00,2.70,0.00,0.000,4,0.000,0.074,2588,786,2011
$GC,16378,0.90,198.8,866.3,7.5,796,16382,0.00,2.60,0.00,0.000,6,0.000,0.051,2586,2201,2010
$GC,16704,0.90,198.8,843.3,7.1,812,16708,0.00,2.67,0.00,0.000,4,0.000,0.074,2588,3605,2010
$GC,16735,0.90,198.8,840.8,7.1,813,16742,0.00,2.60,0.00,0.000,6,0.000,0.054,2588,2192,2010
$GC,17051,0.90,198.8,819.0,6.8,829,17055,0.00,2.67,0.00,0.000,4,0.000,0.076,2588,792,2010
$GC,17090,0.90,198.8,816.3,6.4,831,17095,0.00,2.58,0.00,0.000,6,0.000,0.051,2588,2200,2009
$GC,17416,0.90,198.8,793.8,7.1,847,17420,0.00,2.70,0.00,0.000,4,0.000,0.077,2588,3613,2009
$GC,17454,0.90,198.8,790.8,8.2,849,17459,0.00,2.62,0.00,0.000,6,0.000,0.056,2588,2202,2009
$GC,17780,0.90,198.8,768.5,6.8,865,17784,0.00,2.70,0.00,0.000,4,0.000,0.077,2588,789,2009
$GC,17818,0.90,198.8,765.6,7.5,867,17823,0.00,2.60,0.00,0.000,6,0.000,0.052,2588,2206,2008
$GC,18144,0.90,198.8,743.2,7.1,883,18145,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2009
$GC,18454,0.90,198.8,720.5,7.5,898,18455,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2206,2009
$GC,18763,0.90,198.8,697.2,7.6,913,18764,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2206,2009
$GC,19072,0.90,198.8,673.0,7.8,928,19073,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2206,2009
$GC,19382,0.90,198.8,648.9,8.0,943,19383,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2206,2009
$GC,19690,0.90,198.8,625.5,7.4,958,19691,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2206,2009
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$STATE,28232,end climb,SURFACE_DEPTH_REACHED
$STATE,28232,begin surface coast
$FINISH,1.2,1.013886
$STATE,28255,end surface coast,CONTROL_FINISHED_OK
$STATE,28256,begin surface
$SM_CCo,28275,231.40,0.736,3,0,510,566.15
$SM_GC,1.83,0.00,0.00,231.40,0.000,0.000,0.736,77,2400,510,-10.73,0.00,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2034
$TCM_TEMP,14.80
$XPDR_PINGS,169
$24V_AH,23.2,34.357
$10V_AH,10.1,16.968
$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,25.750,252.500,311.925,231.400,0.000,32.618,35.848,200.390,50.750,0.000,0.000,14.437,2455.989,22280.594,830.544,2787.869,548.112,33.374,2219.629,0.000,2729.392,0.000,56.102
$DEVICE_MAMPS,179.478,85.904,1379.066,736.320,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1022.894,945.923,730.577,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69445,1374
$CFSIZE,260165632,247730176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,3,0
$GPS,191207,195222,6407.085,-701.586,37,3.5,56,-9.0