version: 66.02
glider: 16
mission: 6
dive: 447
start: 2 13 108 3 40 28
data:
$ID,16
$MISSION,6
$DIVE,447
$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,0
$FERRY_MAX,22
$KALMAN_USE,2
$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
$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,-2088066.4
$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,14
$R_STBD_OVSHOOT,17
$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
$GPS1,032638,6132.757,-316.094,32,1.8,32,-6.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-65.7
$GPS2,034011,6132.754,-315.658,11,2.4,30,-6.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.202,-0.090
$KALMAN_X,109567.5,-3587.3,-866.2,330188.0,76350.7
$KALMAN_Y,54287.1,-2872.2,-674.1,-29543.7,60742.0
$MHEAD_RNG_PITCHd_Wd,255.5,24912,-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,26,-0.85,-146.6,0.0,0.0,0,87,0.00,0.00,-59.03,0.000,2,0.000,0.000,65,2403,3107
$GC,90,-0.85,-146.6,4.6,-6.2,3,116,12.25,2.72,-7.07,0.000,4,0.172,0.083,2221,983,3418
$GC,368,-0.85,-146.6,33.8,-9.6,15,373,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2398,3419
$GC,684,-0.85,-146.6,61.4,-6.8,30,689,0.00,2.70,0.00,0.000,4,0.000,0.070,2221,975,3419
$GC,786,-0.85,-146.6,69.2,-7.7,34,792,0.00,2.67,0.00,0.000,6,0.000,0.061,2221,2405,3419
$GC,1103,-0.85,-146.6,94.1,-7.8,50,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3419
$GC,1411,-0.85,-146.6,118.9,-7.9,65,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3419
$GC,1721,-0.85,-146.6,142.2,-7.8,80,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3420
$GC,2029,-0.85,-146.6,163.4,-6.8,95,2034,0.00,2.70,0.00,0.000,4,0.000,0.071,2221,980,3420
$GC,2079,-0.85,-146.6,167.0,-7.4,97,2083,0.00,2.62,0.00,0.000,6,0.000,0.062,2221,2401,3420
$GC,2395,-0.85,-146.6,189.0,-6.9,112,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3420
$GC,2703,-0.85,-146.6,211.1,-7.0,127,2708,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,982,3420
$GC,2754,-0.85,-146.6,214.3,-6.8,129,2758,0.00,2.65,0.00,0.000,6,0.000,0.062,2221,2401,3420
$GC,3070,-0.85,-146.6,233.8,-6.3,144,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3420
$GC,3378,-0.85,-146.6,256.0,-7.5,159,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3420
$GC,3688,-0.85,-146.6,278.7,-7.1,174,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3420
$GC,3998,-0.85,-146.6,296.5,-5.8,189,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3421
$GC,4306,-0.85,-146.6,321.2,-7.9,204,4311,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,977,3421
$GC,4391,-0.85,-146.6,327.4,-6.8,208,4396,0.00,2.67,0.00,0.000,6,0.000,0.066,2221,2399,3421
$GC,4718,-0.85,-146.6,348.4,-6.7,224,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3421
$GC,5027,-0.85,-146.6,371.7,-8.1,239,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3421
$GC,5336,-0.85,-146.6,395.4,-7.4,254,5340,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,983,3420
$GC,5393,-0.85,-146.6,400.0,-8.5,256,5400,0.00,2.70,0.00,0.000,6,0.000,0.068,2221,2406,3420
$GC,5709,-0.85,-146.6,424.2,-7.6,272,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2408,3420
$GC,6019,-0.85,-146.6,444.8,-5.9,287,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2408,3420
$GC,6328,-0.85,-146.6,462.4,-6.2,302,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2408,3420
$GC,6637,-0.85,-146.6,481.6,-6.3,317,6641,0.00,2.75,0.00,0.000,4,0.000,0.080,2221,981,3419
$GC,6709,-0.85,-146.6,486.6,-7.2,320,6713,0.00,2.70,0.00,0.000,6,0.000,0.071,2221,2398,3419
$GC,7025,-0.85,-146.6,508.0,-7.1,335,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3418
$GC,7333,-0.85,-146.6,530.1,-7.1,350,7338,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,983,3417
$GC,7406,-0.85,-146.6,535.6,-7.8,353,7411,0.00,2.70,0.00,0.000,6,0.000,0.072,2221,2407,3417
$GC,7722,-0.85,-146.6,557.4,-6.6,368,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2408,3415
$GC,8031,-0.85,-146.6,578.3,-7.0,383,8036,0.00,2.75,0.00,0.000,4,0.000,0.081,2221,982,3414
$GC,8095,-0.85,-146.6,582.9,-7.8,386,8099,0.00,2.70,0.00,0.000,6,0.000,0.072,2221,2401,3414
$GC,8421,-0.85,-146.6,606.2,-7.1,402,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3413
$GC,8730,-0.85,-146.6,628.3,-7.1,417,8734,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,985,3412
$GC,8786,-0.85,-146.6,632.4,-6.9,419,8792,0.00,2.70,0.00,0.000,6,0.000,0.073,2221,2402,3412
$GC,9102,-0.85,-146.6,653.8,-6.8,435,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3411
$GC,9412,-0.85,-146.6,675.1,-7.0,450,9416,0.00,2.72,0.00,0.000,4,0.000,0.082,2221,984,3411
$GC,9474,-0.85,-146.6,679.6,-6.9,453,9479,0.00,2.70,0.00,0.000,6,0.000,0.074,2221,2401,3411
$GC,9802,-0.85,-146.6,700.9,-6.3,469,9803,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3409
$GC,10110,-0.85,-146.6,719.9,-6.5,484,10112,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3409
$GC,10421,-0.85,-146.6,739.6,-6.4,499,10425,0.00,2.72,0.00,0.000,4,0.000,0.082,2221,985,3408
$GC,10470,-0.85,-146.6,743.0,-6.6,501,10475,0.00,2.70,0.00,0.000,6,0.000,0.073,2221,2398,3408
$GC,10786,-0.85,-146.6,762.8,-6.3,516,10787,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3407
$GC,11096,-0.85,-146.6,782.3,-6.2,531,11101,0.00,2.72,0.00,0.000,4,0.000,0.082,2221,986,3406
$GC,11141,-0.85,-146.6,785.3,-6.6,533,11145,0.00,2.70,0.00,0.000,6,0.000,0.074,2221,2401,3406
$GC,11462,-0.85,-146.6,804.8,-6.0,549,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3405
$GC,11771,-0.85,-146.6,822.9,-6.1,564,11773,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3405
$GC,12080,-0.85,-146.6,841.6,-6.0,579,12085,0.00,2.72,0.00,0.000,4,0.000,0.082,2221,985,3405
$GC,12125,-0.85,-146.6,844.6,-6.8,581,12129,0.00,2.70,0.00,0.000,6,0.000,0.074,2221,2400,3405
$GC,12446,-0.85,-146.6,863.7,-6.2,597,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3405
$GC,12754,-0.85,-146.6,882.2,-6.2,612,12759,0.00,2.72,0.00,0.000,4,0.000,0.082,2221,984,3404
$GC,12800,-0.85,-146.6,885.2,-6.4,614,12804,0.00,2.70,0.00,0.000,6,0.000,0.072,2223,2401,3404
$GC,13121,-0.85,-146.6,906.6,-6.9,630,13123,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3403
$GC,13430,-0.85,-146.6,928.2,-6.8,645,13431,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3403
$GC,13740,-0.85,-146.6,949.0,-6.8,660,13744,0.00,2.72,0.00,0.000,4,0.000,0.079,2221,985,3403
$GC,13789,-0.85,-146.6,952.7,-7.2,662,13794,0.00,2.70,0.00,0.000,6,0.000,0.071,2221,2405,3403
$GC,14105,-0.85,-146.6,974.5,-6.8,677,14106,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3403
$STATE,14351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14351,begin apogee
$GC,14358,-0.31,0.0,990.8,6.5,689,14497,0.60,0.00,131.38,1.333,6,0.119,0.000,2337,2189,2817
$STATE,14498,end apogee,CONTROL_FINISHED_OK
$STATE,14498,begin climb
$GC,14501,0.85,146.6,996.6,0.0,696,14651,1.27,2.83,132.10,1.305,4,0.100,0.078,2587,794,2218
$GC,14673,0.87,167.7,992.1,5.4,704,14698,0.00,2.67,19.73,1.274,6,0.000,0.061,2588,2201,2132
$GC,15015,0.87,167.7,971.8,6.2,721,15016,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2132
$GC,15324,0.87,167.7,953.2,6.1,736,15325,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,2132
$GC,15633,0.88,178.3,935.0,5.7,751,15649,0.00,2.83,10.25,1.194,4,0.000,0.088,2588,3612,2089
$GC,15682,0.88,178.3,931.8,6.5,752,15687,0.00,2.67,0.00,0.000,6,0.000,0.064,2588,2205,2090
$GC,15999,0.88,181.3,913.2,5.9,767,16005,0.00,0.00,4.47,0.910,6,0.000,0.000,2588,2205,2077
$GC,16307,0.88,181.3,893.8,6.3,782,16308,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,2076
$GC,16616,0.88,181.3,875.0,6.1,797,16618,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2205,2076
$GC,16929,0.88,181.3,855.7,6.2,812,16934,0.00,2.75,0.00,0.000,4,0.000,0.084,2588,789,2076
$GC,16969,0.88,181.3,852.7,8.2,814,16974,0.00,2.65,0.00,0.000,6,0.000,0.062,2588,2205,2075
$GC,17296,0.88,181.3,832.0,6.3,830,17297,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2205,2075
$GC,17606,0.88,181.3,812.7,6.3,845,17607,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2205,2075
$GC,17915,0.88,181.7,793.7,6.0,860,17916,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2205,2075
$GC,18224,0.90,195.3,775.5,5.6,875,18244,0.00,0.00,13.27,1.130,6,0.000,0.000,2588,2205,2020
$GC,18555,0.90,199.1,756.1,5.9,891,18561,0.00,0.00,5.00,0.871,6,0.000,0.000,2588,2204,2005
$GC,18863,0.90,199.1,737.3,6.3,906,18864,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,2004
$GC,19172,0.90,199.1,717.5,6.3,921,19173,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2205,2004
$GC,19485,0.90,199.1,697.3,6.6,936,19489,0.00,2.75,0.00,0.000,4,0.000,0.081,2588,786,2004
$GC,19529,0.90,199.1,693.7,7.4,938,19533,0.00,2.65,0.00,0.000,6,0.000,0.063,2588,2199,2003
$GC,19849,0.90,199.1,671.9,6.9,954,19850,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,2003
$GC,20159,0.90,199.1,651.5,6.6,969,20161,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,2003
$GC,20468,0.90,199.1,631.0,6.5,984,20472,0.00,2.72,0.00,0.000,4,0.000,0.081,2588,782,2003
$GC,20512,0.90,199.1,627.8,7.3,986,20516,0.00,2.67,0.00,0.000,6,0.000,0.063,2588,2205,2003
$GC,20833,0.90,199.1,607.2,6.3,1002,20834,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2205,2003
$GC,21141,0.90,199.1,587.9,6.3,1017,21143,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2205,2003
$GC,21451,0.90,199.1,568.4,6.3,1032,21452,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2205,2003
$GC,21761,0.90,199.1,548.4,6.5,1047,21762,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2205,2003
$GC,22071,0.90,199.1,528.9,6.3,1062,22072,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2206,2003
$GC,22378,0.90,199.1,509.4,6.5,1077,22383,0.00,2.75,0.00,0.000,4,0.000,0.081,2588,787,2003
$GC,22424,0.90,199.1,506.4,6.7,1079,22428,0.00,2.65,0.00,0.000,6,0.000,0.063,2588,2199,2003
$GC,22745,0.92,211.3,487.1,5.7,1095,22758,0.00,0.00,11.80,1.007,6,0.000,0.000,2586,2199,1955
$GC,23053,0.92,211.3,469.2,6.1,1110,23055,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,1954
$GC,23364,0.92,211.3,450.0,6.2,1125,23365,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,1954
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$STATE,29728,end climb,SURFACE_DEPTH_REACHED
$STATE,29729,begin surface coast
$FINISH,1.4,1.013988
$STATE,29749,end surface coast,CONTROL_FINISHED_OK
$STATE,29749,begin surface
$SM_CCo,29773,52.12,0.637,3,0,1594,300.00
$SM_GC,2.08,0.00,0.00,52.12,0.000,0.000,0.637,71,2403,1594,-10.76,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2076
$TCM_TEMP,16.20
$XPDR_PINGS,135
$24V_AH,23.0,70.103
$10V_AH,10.1,38.440
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$DEVICE_SECS,26.025,152.350,343.750,52.125,0.000,97.883,147.531,273.748,42.250,0.000,0.000,30.898,2500.701,23810.484,572.512,2780.904,978.932,0.000,1902.923,0.000,2712.432,0.000,56.130
$DEVICE_MAMPS,171.808,93.574,1333.046,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1073.376,987.696,744.402,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72613,1433
$CFSIZE,260165632,233238528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,9,5,0
$GPS,130208,115908,6131.503,-316.304,41,1.3,41,-6.2