version: 66.02
glider: 16
mission: 6
dive: 218
start: 12 26 107 9 36 36
data:
$ID,16
$MISSION,6
$DIVE,218
$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,-2080722
$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,13
$R_STBD_OVSHOOT,14
$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
$GPS1,092138,6406.476,-600.814,38,1.8,38,-8.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-54.7
$GPS2,093544,6406.528,-600.913,44,1.5,51,-8.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.059,-0.227
$KALMAN_X,-76604.2,-440.6,377.6,239184.8,1808.2
$KALMAN_Y,56936.0,-515.7,96.1,218195.1,865.4
$MHEAD_RNG_PITCHd_Wd,203.1,160287,-10.0,-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,-0.79,-146.6,0.0,0.0,0,144,0.00,0.00,-122.05,0.000,2,0.000,0.000,74,2396,3209
$GC,147,-0.79,-146.6,4.5,-3.6,6,170,12.48,2.70,-4.82,0.000,4,0.182,0.089,2231,3768,3417
$GC,220,-0.79,-146.6,16.4,-8.3,9,224,0.00,2.58,0.00,0.000,6,0.000,0.058,2231,2394,3418
$GC,541,-0.79,-146.6,40.9,-8.0,25,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2394,3419
$GC,852,-0.79,-146.6,61.4,-6.5,40,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2393,3419
$GC,1160,-0.79,-146.6,80.5,-6.2,55,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2394,3419
$GC,1469,-0.79,-146.6,102.4,-8.5,70,1473,0.00,2.70,0.00,0.000,4,0.000,0.074,2231,974,3418
$GC,1531,-0.79,-146.6,107.8,-9.0,73,1535,0.00,2.65,0.00,0.000,6,0.000,0.059,2231,2404,3419
$GC,1858,-0.79,-146.6,130.8,-6.8,89,1863,0.00,2.70,0.00,0.000,4,0.000,0.071,2231,979,3419
$GC,1946,-0.79,-146.6,137.6,-7.7,93,1951,0.00,2.62,0.00,0.000,6,0.000,0.060,2231,2399,3419
$GC,2273,-0.79,-146.6,162.2,-7.4,109,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2398,3419
$GC,2582,-0.79,-146.6,183.5,-7.1,124,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2398,3419
$GC,2892,-0.79,-146.6,205.8,-7.2,139,2896,0.00,2.70,0.00,0.000,4,0.000,0.074,2231,981,3419
$GC,2953,-0.79,-146.6,210.6,-7.8,142,2957,0.00,2.65,0.00,0.000,6,0.000,0.062,2231,2397,3419
$GC,3278,-0.79,-146.6,234.3,-7.1,158,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2397,3419
$GC,3587,-0.79,-146.6,256.1,-6.7,173,3592,0.00,2.70,0.00,0.000,4,0.000,0.075,2231,981,3419
$GC,3654,-0.79,-146.6,261.0,-7.1,176,3658,0.00,2.65,0.00,0.000,6,0.000,0.063,2231,2401,3419
$GC,3974,-0.79,-146.6,282.8,-6.8,192,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2401,3419
$GC,4284,-0.79,-146.6,303.9,-7.0,207,4288,0.00,2.72,0.00,0.000,4,0.000,0.075,2231,980,3419
$GC,4345,-0.79,-146.6,308.5,-7.6,210,4349,0.00,2.65,0.00,0.000,6,0.000,0.062,2231,2399,3419
$GC,4671,-0.79,-146.6,332.6,-7.4,226,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2399,3419
$GC,4980,-0.79,-146.6,354.1,-6.6,241,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2400,3419
$GC,5290,-0.79,-146.6,373.1,-5.8,256,5295,0.00,2.72,0.00,0.000,4,0.000,0.077,2231,977,3419
$GC,5351,-0.79,-146.6,376.9,-6.0,259,5356,0.00,2.67,0.00,0.000,6,0.000,0.063,2231,2405,3419
$GC,5677,-0.79,-146.6,393.8,-5.2,275,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2405,3419
$GC,5986,-0.79,-146.6,409.6,-5.3,290,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2405,3418
$GC,6295,-0.79,-146.6,426.1,-5.2,305,6300,0.00,2.72,0.00,0.000,4,0.000,0.076,2231,982,3418
$GC,6352,-0.79,-146.6,429.4,-6.4,307,6358,0.00,2.67,0.00,0.000,6,0.000,0.062,2231,2408,3419
$GC,6667,-0.79,-146.6,446.6,-5.7,323,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2408,3418
$GC,6976,-0.79,-146.6,463.9,-5.4,338,6981,0.00,2.72,0.00,0.000,4,0.000,0.075,2231,982,3417
$GC,7031,-0.79,-146.6,467.0,-5.9,340,7038,0.00,2.67,0.00,0.000,6,0.000,0.063,2231,2410,3416
$GC,7347,-0.79,-146.6,483.3,-5.0,356,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2410,3415
$GC,7656,-0.79,-146.6,499.2,-5.4,371,7660,0.00,2.72,0.00,0.000,4,0.000,0.074,2231,982,3416
$GC,7718,-0.79,-146.6,502.8,-5.9,374,7722,0.00,2.65,0.00,0.000,6,0.000,0.061,2231,2404,3417
$GC,8043,-0.79,-146.6,521.0,-5.6,390,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2404,3416
$GC,8353,-0.79,-146.6,538.6,-5.8,405,8357,0.00,2.70,0.00,0.000,4,0.000,0.074,2231,982,3415
$GC,8402,-0.79,-146.6,541.5,-6.0,407,8406,0.00,2.65,0.00,0.000,6,0.000,0.061,2231,2406,3415
$GC,8717,-0.79,-146.6,560.1,-5.9,422,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2407,3415
$GC,9027,-0.79,-146.6,578.1,-6.0,437,9031,0.00,2.72,0.00,0.000,4,0.000,0.073,2231,980,3415
$GC,9070,-0.79,-146.6,580.7,-5.8,439,9075,0.00,2.65,0.00,0.000,6,0.000,0.061,2231,2407,3415
$GC,9391,-0.79,-146.6,599.6,-6.2,455,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2407,3415
$GC,9701,-0.79,-146.6,619.6,-6.8,470,9705,0.00,2.70,0.00,0.000,4,0.000,0.072,2232,982,3414
$GC,9755,-0.79,-146.6,623.5,-7.2,472,9761,0.00,2.65,0.00,0.000,6,0.000,0.061,2231,2407,3414
$GC,10070,-0.79,-146.6,645.6,-7.1,488,10071,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2408,3413
$GC,10380,-0.79,-146.6,668.0,-7.2,503,10384,0.00,2.72,0.00,0.000,4,0.000,0.072,2231,977,3413
$GC,10428,-0.79,-146.6,671.8,-7.5,505,10433,0.00,2.65,0.00,0.000,6,0.000,0.060,2231,2408,3413
$GC,10750,-0.79,-146.6,694.0,-6.7,521,10751,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2407,3413
$GC,11060,-0.79,-146.6,714.9,-6.6,536,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2407,3412
$GC,11368,-0.79,-146.6,734.9,-6.4,551,11373,0.00,2.72,0.00,0.000,4,0.000,0.073,2231,978,3412
$GC,11417,-0.79,-146.6,738.3,-7.3,553,11422,0.00,2.62,0.00,0.000,6,0.000,0.061,2231,2398,3412
$GC,11739,-0.79,-146.6,758.6,-6.2,569,11740,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2398,3412
$GC,12047,-0.79,-146.6,777.9,-6.1,584,12049,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2398,3412
$GC,12357,-0.79,-146.6,796.2,-6.0,599,12361,0.00,2.70,0.00,0.000,4,0.000,0.073,2231,983,3411
$GC,12413,-0.79,-146.6,799.9,-7.7,601,12420,0.00,2.65,0.00,0.000,6,0.000,0.060,2231,2400,3412
$GC,12728,-0.79,-146.6,819.5,-6.1,617,12729,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2400,3411
$GC,13037,-0.79,-146.6,838.3,-6.2,632,13041,0.00,2.70,0.00,0.000,4,0.000,0.073,2231,984,3411
$GC,13076,-0.79,-146.6,840.8,-6.6,634,13081,0.00,2.65,0.00,0.000,6,0.000,0.060,2231,2408,3411
$GC,13401,-0.79,-146.6,862.2,-6.6,650,13402,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2408,3411
$GC,13711,-0.79,-146.6,882.8,-6.6,665,13715,0.00,2.70,0.00,0.000,4,0.000,0.071,2231,984,3411
$GC,13765,-0.79,-146.6,886.7,-6.7,667,13771,0.00,2.62,0.00,0.000,6,0.000,0.059,2231,2404,3411
$GC,14080,-0.79,-146.6,906.7,-6.3,683,14081,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2404,3411
$GC,14390,-0.79,-146.6,925.4,-6.0,698,14391,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2404,3411
$GC,14700,-0.79,-146.6,943.2,-5.6,713,14704,0.00,2.70,0.00,0.000,4,0.000,0.069,2232,979,3411
$GC,14761,-0.79,-146.6,946.9,-6.6,716,14766,0.00,2.62,0.00,0.000,6,0.000,0.058,2231,2399,3411
$GC,15088,-0.79,-146.6,965.3,-5.6,732,15089,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2400,3410
$GC,15397,-0.79,-146.6,982.7,-5.6,747,15398,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2400,3410
$STATE,15539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15539,begin apogee
$GC,15544,-0.31,0.0,991.0,5.7,754,15672,0.55,0.00,125.22,1.380,6,0.124,0.000,2337,2189,2817
$STATE,15673,end apogee,CONTROL_FINISHED_OK
$STATE,15673,begin climb
$GC,15676,0.79,146.6,995.1,0.0,760,15805,1.17,0.00,124.55,1.348,6,0.088,0.000,2576,2188,2219
$GC,16107,0.79,151.8,973.1,5.9,781,16118,0.00,2.78,5.68,1.024,4,0.000,0.076,2576,3607,2198
$GC,16226,0.81,166.0,965.7,5.7,786,16245,0.00,2.60,13.80,1.256,6,0.000,0.052,2576,2205,2139
$GC,16567,0.83,183.5,946.0,5.6,803,16588,0.00,0.00,16.27,1.290,6,0.000,0.000,2576,2205,2068
$GC,16897,0.83,188.9,926.5,5.9,819,16906,0.00,0.00,6.47,1.081,6,0.000,0.000,2576,2205,2046
$GC,17206,0.84,197.1,908.4,5.8,834,17216,0.00,0.00,8.60,1.172,6,0.000,0.000,2576,2205,2013
$GC,17515,0.86,209.6,890.8,5.7,849,17529,0.00,0.00,12.07,1.207,6,0.000,0.000,2576,2205,1962
$GC,17824,0.86,216.2,872.3,5.8,864,17833,0.00,0.00,7.15,1.089,6,0.000,0.000,2576,2205,1935
$GC,18133,0.87,226.2,854.3,5.8,879,18146,0.12,0.00,10.32,1.144,6,0.077,0.000,2603,2205,1894
$GC,18443,0.87,226.2,832.6,7.2,894,18444,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2205,1894
$GC,18751,0.87,226.2,809.8,7.5,909,18756,0.00,2.70,0.00,0.000,4,0.000,0.074,2603,789,1893
$GC,18791,0.87,226.2,806.9,7.9,911,18795,0.00,2.60,0.00,0.000,6,0.000,0.051,2604,2204,1892
$GC,19116,0.87,226.2,783.0,7.4,927,19117,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2204,1892
$GC,19425,0.87,226.2,759.7,7.6,942,19430,0.00,2.70,0.00,0.000,4,0.000,0.072,2604,792,1892
$GC,19463,0.87,226.2,756.6,7.9,944,19468,0.00,2.58,0.00,0.000,6,0.000,0.051,2603,2199,1892
$GC,19790,0.87,226.2,732.6,7.2,960,19791,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2199,1892
$GC,20099,0.87,226.2,710.5,7.2,975,20103,0.00,2.70,0.00,0.000,4,0.000,0.073,2603,791,1892
$GC,20130,0.87,226.2,708.0,7.4,976,20137,0.00,2.58,0.00,0.000,6,0.000,0.051,2604,2200,1892
$GC,20446,0.87,226.2,684.8,7.4,992,20447,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2199,1892
$GC,20755,0.87,226.2,662.2,7.2,1007,20759,0.00,2.70,0.00,0.000,4,0.000,0.073,2604,786,1893
$GC,20793,0.87,226.2,659.2,7.6,1009,20798,0.00,2.60,0.00,0.000,6,0.000,0.051,2604,2200,1891
$GC,21120,0.87,226.2,634.7,7.4,1025,21121,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2200,1891
$GC,21429,0.87,226.2,610.1,8.1,1040,21433,0.00,2.70,0.00,0.000,4,0.000,0.073,2604,791,1891
$GC,21467,0.87,226.2,606.9,8.2,1042,21471,0.00,2.58,0.00,0.000,6,0.000,0.051,2604,2200,1891
$GC,21793,0.87,226.2,580.3,8.1,1058,21794,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2200,1891
$GC,22102,0.87,226.2,555.4,8.1,1073,22106,0.00,2.70,0.00,0.000,4,0.000,0.073,2603,788,1891
$GC,22144,0.87,226.2,551.7,8.1,1075,22149,0.00,2.58,0.00,0.000,6,0.000,0.052,2604,2200,1891
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$STATE,29535,end climb,SURFACE_DEPTH_REACHED
$STATE,29535,begin surface coast
$FINISH,0.8,1.022599
$STATE,29557,end surface coast,CONTROL_FINISHED_OK
$STATE,29557,begin surface
$SM_CCo,29577,194.68,0.736,2,0,508,566.15
$SM_GC,1.42,0.00,0.00,194.68,0.000,0.000,0.736,70,2405,508,-10.76,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2049
$TCM_TEMP,14.90
$XPDR_PINGS,163
$24V_AH,23.2,38.276
$10V_AH,10.1,19.444
$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,25.750,187.250,344.625,194.675,0.000,97.819,116.887,338.459,49.250,0.000,0.000,50.991,2534.808,23593.566,791.445,2842.760,859.146,33.371,2152.825,0.000,2755.727,0.000,56.111
$DEVICE_MAMPS,181.779,88.972,1379.833,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1070.518,989.790,770.125,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72519,1436
$CFSIZE,260165632,246054912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,2,0
$GPS,261207,175408,6402.062,-601.381,34,1.9,34,-8.4