version: 66.02
glider: 16
mission: 6
dive: 216
start: 12 25 107 16 39 20
data:
$ID,16
$MISSION,6
$DIVE,216
$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,-2080625.5
$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,20
$R_STBD_OVSHOOT,22
$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
$GPS1,163138,6414.148,-604.915,36,1.8,36,-8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-51.7
$GPS2,163827,6414.127,-604.904,14,1.8,14,-8.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.005,-0.221
$KALMAN_X,-80256.6,-616.7,-256.5,240153.9,3771.4
$KALMAN_Y,57358.5,-667.5,-115.0,232221.3,2285.8
$MHEAD_RNG_PITCHd_Wd,189.8,174324,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-102.40,0.000,2,0.000,0.000,72,2410,2736
$GC,127,-0.85,-146.6,3.0,-1.6,5,169,12.27,0.00,-23.65,0.000,6,0.176,0.000,2220,2410,3415
$GC,479,-0.85,-146.6,29.8,-7.7,22,484,0.00,2.58,0.00,0.000,4,0.000,0.073,2220,3760,3417
$GC,543,-0.85,-146.6,34.8,-7.9,25,547,0.00,2.55,0.00,0.000,6,0.000,0.058,2220,2398,3416
$GC,868,-0.85,-146.6,60.6,-6.7,41,873,0.00,2.70,0.00,0.000,4,0.000,0.076,2220,984,3416
$GC,923,-0.85,-146.6,64.7,-7.6,43,930,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2394,3417
$GC,1240,-0.85,-146.6,90.8,-8.6,59,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2394,3417
$GC,1548,-0.85,-146.6,114.9,-7.5,74,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2394,3417
$GC,1858,-0.85,-146.6,138.1,-7.1,89,1862,0.00,2.67,0.00,0.000,4,0.000,0.084,2220,3772,3416
$GC,1923,-0.85,-146.6,143.2,-7.8,92,1928,0.00,2.58,0.00,0.000,6,0.000,0.059,2220,2397,3417
$GC,2250,-0.85,-146.6,165.3,-7.0,108,2254,0.00,2.70,0.00,0.000,4,0.000,0.077,2220,983,3417
$GC,2350,-0.85,-146.6,172.7,-7.6,112,2356,0.00,2.65,0.00,0.000,6,0.000,0.063,2220,2401,3417
$GC,2665,-0.85,-146.6,194.7,-7.0,128,2669,0.00,2.72,0.00,0.000,4,0.000,0.074,2220,977,3417
$GC,2714,-0.85,-146.6,198.2,-7.1,130,2718,0.00,2.67,0.00,0.000,6,0.000,0.064,2220,2403,3417
$GC,3029,-0.85,-146.6,218.6,-6.4,145,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3417
$GC,3338,-0.85,-146.6,238.9,-6.8,160,3342,0.00,2.72,0.00,0.000,4,0.000,0.075,2220,980,3417
$GC,3404,-0.85,-146.6,243.6,-7.4,163,3408,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2406,3417
$GC,3724,-0.85,-146.6,266.3,-7.1,179,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3417
$GC,4034,-0.85,-146.6,287.4,-7.0,194,4038,0.00,2.72,0.00,0.000,4,0.000,0.075,2220,984,3417
$GC,4105,-0.85,-146.6,292.8,-7.2,197,4110,0.00,2.65,0.00,0.000,6,0.000,0.065,2220,2398,3417
$GC,4420,-0.85,-146.6,315.4,-7.2,212,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3417
$GC,4729,-0.85,-146.6,337.6,-7.4,227,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3417
$GC,5039,-0.85,-146.6,360.7,-7.5,242,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3417
$GC,5348,-0.85,-146.6,383.5,-7.2,257,5352,0.00,2.72,0.00,0.000,4,0.000,0.076,2220,979,3417
$GC,5391,-0.85,-146.6,386.8,-7.7,259,5395,0.00,2.67,0.00,0.000,6,0.000,0.063,2220,2408,3417
$GC,5718,-0.85,-146.6,410.8,-7.1,275,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2408,3417
$GC,6027,-0.85,-146.6,432.4,-6.9,290,6031,0.00,2.72,0.00,0.000,4,0.000,0.075,2220,983,3416
$GC,6082,-0.85,-146.6,436.4,-7.3,292,6089,0.00,2.65,0.00,0.000,6,0.000,0.064,2220,2401,3415
$GC,6398,-0.85,-146.6,457.6,-6.8,308,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3416
$GC,6706,-0.85,-146.6,478.4,-6.6,323,6711,0.00,2.70,0.00,0.000,4,0.000,0.075,2220,983,3415
$GC,6778,-0.85,-146.6,483.3,-7.1,326,6782,0.00,2.65,0.00,0.000,6,0.000,0.063,2220,2406,3415
$GC,7099,-0.85,-146.6,505.1,-6.9,342,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3415
$GC,7409,-0.85,-146.6,525.9,-6.5,357,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3414
$GC,7718,-0.85,-146.6,547.5,-7.0,372,7723,0.00,2.72,0.00,0.000,4,0.000,0.074,2220,980,3414
$GC,7785,-0.85,-146.6,552.5,-8.0,375,7789,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2402,3414
$GC,8105,-0.85,-146.6,574.6,-6.9,391,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3413
$GC,8415,-0.85,-146.6,596.2,-6.9,406,8416,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3413
$GC,8724,-0.85,-146.6,617.3,-6.8,421,8728,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,983,3412
$GC,8778,-0.85,-146.6,621.2,-7.9,423,8784,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2401,3412
$GC,9094,-0.85,-146.6,641.3,-6.4,439,9095,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3411
$GC,9403,-0.85,-146.6,661.3,-6.6,454,9404,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3412
$GC,9712,-0.85,-146.6,681.9,-6.6,469,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2401,3411
$GC,10022,-0.85,-146.6,703.3,-7.0,484,10026,0.00,2.70,0.00,0.000,4,0.000,0.074,2218,985,3411
$GC,10082,-0.85,-146.6,707.9,-8.0,487,10087,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2407,3411
$GC,10408,-0.85,-146.6,730.9,-7.1,503,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3411
$GC,10718,-0.85,-146.6,751.5,-6.6,518,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2407,3411
$GC,11027,-0.85,-146.6,772.4,-6.7,533,11031,0.00,2.72,0.00,0.000,4,0.000,0.074,2220,978,3410
$GC,11092,-0.85,-146.6,777.3,-6.8,536,11097,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2403,3410
$GC,11414,-0.85,-146.6,798.8,-6.8,552,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3410
$GC,11722,-0.85,-146.6,819.8,-6.9,567,11727,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,980,3410
$GC,11777,-0.85,-146.6,823.6,-7.1,569,11783,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2398,3410
$GC,12093,-0.85,-146.6,844.7,-6.7,585,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3410
$GC,12401,-0.85,-146.6,865.6,-6.6,600,12406,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,981,3410
$GC,12445,-0.85,-146.6,868.6,-6.7,602,12449,0.00,2.62,0.00,0.000,6,0.000,0.060,2220,2399,3410
$GC,12772,-0.85,-146.6,889.3,-6.2,618,12773,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3409
$GC,13081,-0.85,-146.6,908.6,-6.3,633,13082,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3409
$GC,13390,-0.85,-146.6,928.9,-6.4,648,13394,0.00,2.70,0.00,0.000,4,0.000,0.071,2220,981,3409
$GC,13439,-0.85,-146.6,932.4,-7.0,650,13444,0.00,2.62,0.00,0.000,6,0.000,0.057,2220,2401,3409
$GC,13754,-0.85,-146.6,953.4,-6.8,665,13755,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2401,3408
$GC,14063,-0.85,-146.6,973.8,-6.4,680,14068,0.00,2.67,0.00,0.000,4,0.000,0.069,2220,985,3408
$GC,14107,-0.85,-146.6,976.6,-6.4,682,14112,0.00,2.60,0.00,0.000,6,0.000,0.055,2220,2400,3408
$STATE,14344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14344,begin apogee
$GC,14349,-0.31,0.0,991.1,6.2,694,14477,0.62,0.00,124.82,1.390,6,0.120,0.000,2341,2186,2817
$STATE,14478,end apogee,CONTROL_FINISHED_OK
$STATE,14478,begin climb
$GC,14480,0.85,146.6,995.2,0.0,700,14612,1.25,2.75,124.03,1.362,4,0.104,0.069,2587,795,2218
$GC,14642,0.85,146.6,989.8,6.2,708,14646,0.00,2.62,0.00,0.000,6,0.000,0.050,2587,2205,2218
$GC,14967,0.85,146.6,968.9,6.7,724,14968,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2218
$GC,15276,0.85,146.6,948.6,6.6,739,15280,0.00,2.67,0.00,0.000,4,0.000,0.072,2587,3611,2217
$GC,15315,0.85,146.6,946.0,6.7,741,15319,0.00,2.60,0.00,0.000,6,0.000,0.051,2587,2206,2217
$GC,15641,0.85,146.6,926.0,6.0,757,15642,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2206,2217
$GC,15950,0.86,159.1,907.9,5.7,772,15963,0.00,0.00,11.85,1.233,6,0.000,0.000,2587,2206,2168
$GC,16258,0.86,162.1,889.5,5.9,787,16264,0.00,0.00,4.15,0.884,6,0.000,0.000,2587,2206,2156
$GC,16568,0.86,162.1,870.3,6.5,802,16569,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2156
$GC,16877,0.86,162.1,850.4,6.5,817,16878,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2155
$GC,17186,0.86,162.1,830.3,6.3,832,17187,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2157
$GC,17496,0.86,162.1,810.1,6.6,847,17497,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2156
$GC,17804,0.86,162.1,790.2,6.4,862,17805,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2156
$GC,18114,0.86,162.1,770.4,6.4,877,18115,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2156
$GC,18424,0.87,167.0,751.9,5.9,892,18431,0.00,0.00,5.95,0.957,6,0.000,0.000,2587,2206,2136
$GC,18732,0.88,174.8,733.5,5.8,907,18743,0.00,0.00,8.38,1.042,6,0.000,0.000,2586,2206,2104
$GC,19041,0.88,174.8,715.1,6.1,922,19043,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2103
$GC,19351,0.88,174.8,695.9,6.4,937,19352,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2103
$GC,19660,0.88,174.8,675.8,6.6,952,19661,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2103
$GC,19969,0.88,174.8,655.6,6.2,967,19970,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2103
$GC,20279,0.88,174.8,636.1,6.5,982,20280,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2103
$GC,20588,0.88,174.8,616.2,6.4,997,20589,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2103
$GC,20897,0.88,174.8,594.2,7.3,1012,20898,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2103
$GC,21207,0.88,174.8,572.0,7.1,1027,21208,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2103
$GC,21515,0.88,174.8,549.8,7.2,1042,21517,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2103
$GC,21825,0.88,174.8,528.0,6.7,1057,21826,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2103
$GC,22134,0.88,174.8,507.0,6.6,1072,22136,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2103
$GC,22443,0.88,174.8,486.9,6.3,1087,22444,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2206,2103
$GC,22752,0.88,174.8,467.7,6.3,1102,22754,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2103
$GC,23062,0.88,174.8,448.2,6.4,1117,23063,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2103
$GC,23371,0.88,174.8,427.8,6.5,1132,23375,0.00,2.72,0.00,0.000,4,0.000,0.084,2587,3613,2103
$GC,23409,0.88,174.8,424.9,7.6,1134,23414,0.00,2.65,0.00,0.000,6,0.000,0.066,2587,2207,2103
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$STATE,29837,end climb,SURFACE_DEPTH_REACHED
$STATE,29837,begin surface coast
$FINISH,0.7,1.013925
$STATE,29859,end surface coast,CONTROL_FINISHED_OK
$STATE,29859,begin surface
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$SM_GC,1.29,0.00,0.00,194.90,0.000,0.000,0.727,75,2400,509,-10.74,0.00,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2055
$TCM_TEMP,14.80
$XPDR_PINGS,160
$24V_AH,23.2,37.892
$10V_AH,10.1,19.198
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$DEVICE_SECS,25.825,134.200,344.200,194.900,0.000,32.607,48.920,205.708,48.500,0.000,0.000,14.482,2493.971,23975.199,775.255,2686.357,560.333,33.375,2055.127,0.000,2640.116,0.000,56.095
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1078.148,997.716,771.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72525,1447
$CFSIZE,260165632,246231040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,3,0
$GPS,261207,010208,6410.509,-601.555,42,2.0,42,-8.5