version: 66.03
glider: 16
mission: 9
dive: 403
start: 8 24 108 7 45 37
data:
$ID,16
$MISSION,9
$DIVE,403
$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,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,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,-2102363.5
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2330
$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,2230
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,21
$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,0
$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
$GPS1,073346,6349.597,-705.594,41,2.3,60,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-53.5
$GPS2,074520,6349.636,-705.582,17,2.0,34,-9.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NO9
$TGT_LATLONG,6340.000,-605.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.063,-0.212
$KALMAN_X,-156115.9,12.1,3.6,-35086.5,18146.7
$KALMAN_Y,22619.4,-3049.0,-1719.4,156073.3,43365.0
$MHEAD_RNG_PITCHd_Wd,118.7,52873,-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,-121.12,0.000,2,0.000,0.000,71,2253,2767
$GC,152,-0.85,-146.6,3.0,-2.3,6,187,11.85,0.00,-16.40,0.000,6,0.172,0.000,2140,2252,3382
$GC,498,-0.69,-146.6,47.2,-12.8,23,500,0.20,0.00,0.00,0.000,6,0.100,0.000,2178,2252,3382
$GC,806,-0.69,-146.6,76.7,-8.5,38,810,0.00,2.60,0.00,0.000,4,0.000,0.066,2178,3644,3382
$GC,856,-0.69,-146.6,80.8,-8.1,40,860,0.00,2.53,0.00,0.000,6,0.000,0.044,2178,2230,3382
$GC,1172,-0.69,-146.6,101.9,-6.3,55,1176,0.00,2.58,0.00,0.000,4,0.000,0.055,2178,820,3382
$GC,1200,-0.74,-146.6,103.5,-5.8,56,1204,0.00,2.58,0.00,0.000,6,0.000,0.048,2178,2235,3382
$GC,1517,-0.74,-146.6,119.4,-5.2,71,1521,0.00,2.62,0.00,0.000,4,0.000,0.070,2178,3640,3383
$GC,1557,-0.74,-146.6,121.9,-6.4,73,1561,0.00,2.53,0.00,0.000,6,0.000,0.045,2178,2227,3383
$GC,1883,-0.74,-146.6,141.1,-6.4,89,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2227,3383
$GC,2193,-0.74,-146.6,161.8,-6.8,104,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2227,3383
$GC,2501,-0.74,-146.6,183.1,-7.2,119,2506,0.00,2.67,0.00,0.000,4,0.000,0.074,2178,3638,3382
$GC,2530,-0.74,-146.6,185.4,-8.3,120,2534,0.00,2.55,0.00,0.000,6,0.000,0.048,2178,2231,3382
$GC,2846,-0.74,-146.6,208.6,-7.6,135,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2231,3382
$GC,3155,-0.78,-146.6,229.4,-6.5,150,3160,0.00,2.67,0.00,0.000,4,0.000,0.077,2178,3639,3381
$GC,3194,-0.78,-146.6,232.3,-7.3,152,3199,0.00,2.58,0.00,0.000,6,0.000,0.050,2178,2227,3381
$GC,3523,-0.83,-146.6,253.8,-6.9,168,3524,0.15,0.00,0.00,0.000,6,0.051,0.000,2135,2227,3381
$GC,3831,-0.73,-146.6,278.8,-7.9,183,3836,0.15,2.72,0.00,0.000,4,0.096,0.079,2167,3644,3381
$GC,3871,-0.73,-146.6,282.2,-7.6,185,3875,0.00,2.60,0.00,0.000,6,0.000,0.053,2167,2231,3380
$GC,4198,-0.73,-146.6,304.1,-6.6,201,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2231,3379
$GC,4507,-0.73,-146.6,324.9,-6.8,216,4512,0.00,2.70,0.00,0.000,4,0.000,0.081,2167,3636,3378
$GC,4545,-0.73,-146.6,328.1,-8.4,217,4551,0.00,2.60,0.00,0.000,6,0.000,0.054,2167,2223,3378
$GC,4862,-0.73,-146.6,349.0,-6.6,233,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2223,3377
$GC,5170,-0.73,-146.6,368.3,-6.1,248,5174,0.00,2.72,0.00,0.000,4,0.000,0.081,2167,3637,3376
$GC,5209,-0.73,-146.6,370.9,-6.9,250,5214,0.00,2.60,0.00,0.000,6,0.000,0.054,2167,2230,3375
$GC,5538,-0.73,-146.6,390.3,-5.9,266,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2229,3374
$GC,5846,-0.73,-146.6,408.7,-5.9,281,5851,0.00,2.72,0.00,0.000,4,0.000,0.081,2167,3643,3373
$GC,5874,-0.73,-146.6,410.5,-6.6,282,5878,0.00,2.60,0.00,0.000,6,0.000,0.054,2167,2230,3373
$GC,6191,-0.73,-146.6,428.3,-5.6,297,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2230,3371
$GC,6499,-0.73,-146.6,445.4,-5.5,312,6503,0.00,2.70,0.00,0.000,4,0.000,0.081,2167,3640,3372
$GC,6532,-0.73,-146.6,447.5,-6.3,313,6538,0.00,2.60,0.00,0.000,6,0.000,0.054,2167,2225,3372
$GC,6848,-0.73,-146.6,466.4,-6.2,329,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2224,3371
$GC,7156,-0.73,-146.6,486.4,-6.6,344,7161,0.00,2.72,0.00,0.000,4,0.000,0.081,2167,3640,3370
$GC,7189,-0.73,-146.6,488.9,-7.6,345,7195,0.00,2.60,0.00,0.000,6,0.000,0.054,2167,2225,3370
$GC,7506,-0.73,-146.6,510.6,-6.9,361,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2226,3369
$GC,7814,-0.73,-146.6,532.2,-6.8,376,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2225,3369
$GC,8124,-0.73,-146.6,552.2,-6.4,391,8128,0.00,2.72,0.00,0.000,4,0.000,0.081,2165,3640,3368
$GC,8164,-0.73,-146.6,555.0,-7.5,393,8168,0.00,2.60,0.00,0.000,6,0.000,0.052,2167,2227,3368
$GC,8490,-0.73,-146.6,574.4,-5.9,409,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2228,3367
$GC,8800,-0.77,-146.6,593.0,-6.0,424,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2227,3367
$GC,9109,-0.77,-146.6,612.4,-6.2,439,9114,0.00,2.70,0.00,0.000,4,0.000,0.080,2167,3637,3366
$GC,9137,-0.77,-146.6,614.5,-6.8,440,9141,0.00,2.58,0.00,0.000,6,0.000,0.051,2167,2228,3366
$GC,9453,-0.81,-146.6,635.3,-6.5,455,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2229,3366
$GC,9763,-0.85,-146.6,656.6,-6.8,470,9765,0.12,0.00,0.00,0.000,6,0.061,0.000,2134,2228,3365
$GC,10071,-0.78,-146.6,682.6,-8.6,485,10073,0.12,0.00,0.00,0.000,6,0.104,0.000,2157,2228,3365
$GC,10380,-0.78,-146.6,705.2,-7.2,500,10385,0.00,2.72,0.00,0.000,4,0.000,0.082,2157,3643,3364
$GC,10420,-0.78,-146.6,708.3,-8.1,502,10425,0.00,2.60,0.00,0.000,6,0.000,0.052,2157,2227,3364
$GC,10747,-0.78,-146.6,731.1,-7.0,518,10748,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2226,3364
$GC,11057,-0.78,-146.6,752.7,-7.0,533,11062,0.00,2.72,0.00,0.000,4,0.000,0.081,2157,3641,3363
$GC,11084,-0.78,-146.6,754.8,-8.1,534,11089,0.00,2.60,0.00,0.000,6,0.000,0.052,2157,2222,3363
$GC,11400,-0.78,-146.6,777.1,-7.0,549,11401,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2222,3363
$GC,11710,-0.78,-146.6,798.9,-7.1,564,11714,0.00,2.72,0.00,0.000,4,0.000,0.082,2157,3643,3362
$GC,11744,-0.78,-146.6,801.5,-7.9,565,11751,0.00,2.60,0.00,0.000,6,0.000,0.053,2157,2225,3362
$GC,12060,-0.78,-146.6,823.6,-6.9,581,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2224,3362
$GC,12371,-0.78,-146.6,844.5,-6.6,596,12375,0.00,2.72,0.00,0.000,4,0.000,0.080,2157,3642,3362
$GC,12404,-0.78,-146.6,846.9,-7.4,597,12410,0.00,2.60,0.00,0.000,6,0.000,0.053,2157,2224,3362
$GC,12719,-0.78,-146.6,866.8,-6.2,613,12721,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2224,3362
$GC,13029,-0.78,-146.6,886.1,-6.1,628,13034,0.00,2.70,0.00,0.000,4,0.000,0.079,2157,3637,3361
$GC,13069,-0.78,-146.6,888.8,-7.7,630,13073,0.00,2.58,0.00,0.000,6,0.000,0.052,2157,2231,3361
$GC,13395,-0.78,-146.6,908.7,-6.1,646,13397,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2231,3361
$GC,13706,-0.78,-146.6,927.3,-6.0,661,13707,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2231,3361
$GC,14014,-0.78,-146.6,944.4,-5.4,676,14019,0.00,2.67,0.00,0.000,4,0.000,0.077,2157,3637,3361
$GC,14048,-0.78,-146.6,946.5,-5.5,677,14054,0.00,2.58,0.00,0.000,6,0.000,0.051,2157,2225,3361
$GC,14365,-0.78,-146.6,963.9,-5.4,693,14366,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2225,3361
$GC,14673,-0.78,-146.6,981.3,-5.6,708,14678,0.00,2.70,0.00,0.000,4,0.000,0.076,2157,3641,3361
$GC,14706,-0.78,-146.6,983.5,-6.7,709,14713,0.00,2.58,0.00,0.000,6,0.000,0.050,2157,2226,3361
$STATE,14834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14834,begin apogee
$GC,14842,-0.31,0.0,991.0,5.8,716,14986,0.52,0.00,136.02,1.302,6,0.118,0.000,2257,2226,2781
$STATE,14987,end apogee,CONTROL_FINISHED_OK
$STATE,14987,begin climb
$GC,14990,0.85,146.6,996.9,0.0,723,15134,1.23,2.70,135.62,1.296,4,0.086,0.063,2508,835,2183
$GC,15190,0.75,158.2,993.8,5.7,732,15209,0.00,2.62,12.32,1.197,6,0.000,0.051,2508,2248,2134
$GC,15539,0.70,176.4,974.6,5.5,749,15571,0.15,2.70,20.52,1.154,4,0.102,0.073,2476,3645,2061
$GC,15605,0.78,208.5,971.0,5.1,752,15650,0.12,2.60,33.55,1.233,6,0.061,0.050,2508,2232,1929
$GC,15972,0.78,208.5,948.4,6.2,770,15976,0.00,2.62,0.00,0.000,4,0.000,0.064,2508,835,1929
$GC,16012,0.78,208.5,945.7,6.6,772,16017,0.00,2.60,0.00,0.000,6,0.000,0.052,2507,2239,1929
$GC,16338,0.78,208.5,926.0,6.1,788,16339,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2239,1929
$GC,16648,0.78,208.5,907.4,6.1,803,16649,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1929
$GC,16959,0.78,208.5,887.2,6.7,818,16960,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1928
$GC,17266,0.78,208.5,866.2,6.8,833,17270,0.00,2.67,0.00,0.000,4,0.000,0.065,2507,830,1928
$GC,17299,0.78,208.5,863.9,6.4,834,17305,0.00,2.60,0.00,0.000,6,0.000,0.053,2508,2241,1928
$GC,17615,0.78,208.5,842.0,6.9,850,17616,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2241,1928
$GC,17924,0.78,208.5,819.5,7.2,865,17928,0.00,2.67,0.00,0.000,4,0.000,0.064,2507,827,1928
$GC,17963,0.78,208.5,816.6,7.4,867,17967,0.00,2.60,0.00,0.000,6,0.000,0.054,2507,2241,1927
$GC,18290,0.78,208.5,792.2,7.3,883,18291,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2240,1927
$GC,18598,0.78,208.5,768.9,7.7,898,18600,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2240,1927
$GC,18908,0.78,208.5,745.0,7.8,913,18912,0.00,2.65,0.00,0.000,4,0.000,0.064,2507,834,1927
$GC,18935,0.78,208.5,742.8,6.3,914,18939,0.00,2.60,0.00,0.000,6,0.000,0.054,2508,2243,1927
$GC,19251,0.78,208.5,718.6,7.6,929,19252,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2243,1927
$GC,19559,0.78,208.5,695.5,7.4,944,19564,0.00,2.67,0.00,0.000,4,0.000,0.065,2507,830,1927
$GC,19586,0.78,208.5,693.4,7.6,945,19591,0.00,2.60,0.00,0.000,6,0.000,0.053,2508,2241,1927
$GC,19903,0.78,208.5,670.4,7.3,960,19904,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2241,1927
$GC,20211,0.78,208.5,648.6,6.9,975,20212,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,1927
$GC,20521,0.78,208.5,627.9,6.5,990,20525,0.00,2.65,0.00,0.000,4,0.000,0.065,2507,830,1927
$GC,20548,0.78,208.5,626.0,6.4,991,20553,0.00,2.60,0.00,0.000,6,0.000,0.054,2507,2242,1927
$GC,20864,0.78,208.5,605.5,6.3,1006,20866,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2242,1926
$GC,21174,0.78,208.5,586.6,6.1,1021,21178,0.00,2.65,0.00,0.000,4,0.000,0.065,2508,833,1926
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$STATE,29555,end climb,SURFACE_DEPTH_REACHED
$STATE,29555,begin surface coast
$FINISH,0.6,1.001933
$STATE,29579,end surface coast,CONTROL_FINISHED_OK
$STATE,29579,begin surface
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$XPDR_PINGS,102
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$24V_AH,23.1,65.438
$10V_AH,10.1,32.615
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$DEVICE_SECS,26.150,216.200,599.050,30.675,0.000,33.933,62.409,360.269,34.250,0.000,0.000,34.373,2495.054,23217.139,829.770,2834.281,947.079,0.000,2276.761,0.000,2756.004,0.000,58.066
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72719,1425
$CAP_FILE_SIZE,200832,0
$CFSIZE,260165632,235540480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,4,0
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