version: 66.03
glider: 16
mission: 9
dive: 410
start: 8 26 108 19 13 22
data:
$ID,16
$MISSION,9
$DIVE,410
$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,-2102509.2
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,190608,6339.687,-628.514,33,1.9,33,-8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-58.6
$GPS2,191303,6339.814,-628.583,17,2.0,17,-8.6
$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,97.6,19377,-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,-121.10,0.000,2,0.000,0.000,65,2246,2890
$GC,151,-0.85,-146.6,3.9,-3.1,6,181,11.80,2.62,-11.77,0.000,4,0.172,0.072,2139,3633,3382
$GC,279,-0.70,-146.6,21.6,-11.2,11,286,0.17,2.50,0.00,0.000,6,0.094,0.041,2172,2227,3382
$GC,597,-0.64,-146.6,49.2,-8.3,27,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2227,3382
$GC,906,-0.60,-146.6,73.9,-7.2,42,908,0.12,0.00,0.00,0.000,6,0.096,0.000,2196,2227,3382
$GC,1215,-0.66,-146.6,92.4,-5.9,57,1219,0.00,2.62,0.00,0.000,4,0.000,0.064,2196,3637,3383
$GC,1270,-0.74,-146.6,96.3,-7.5,59,1277,0.12,2.50,0.00,0.000,6,0.044,0.041,2153,2229,3383
$GC,1588,-0.67,-146.6,124.2,-9.2,75,1589,0.15,0.00,0.00,0.000,6,0.086,0.000,2183,2229,3384
$GC,1897,-0.67,-146.6,149.0,-8.1,90,1901,0.00,2.65,0.00,0.000,4,0.000,0.067,2183,3640,3384
$GC,1925,-0.67,-146.6,151.5,-8.6,91,1929,0.00,2.53,0.00,0.000,6,0.000,0.042,2183,2230,3384
$GC,2241,-0.67,-146.6,173.6,-6.7,106,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2230,3384
$GC,2553,-0.72,-146.6,193.4,-6.0,121,2557,0.00,2.65,0.00,0.000,4,0.000,0.070,2183,3636,3384
$GC,2593,-0.77,-146.6,196.1,-6.9,123,2598,0.00,2.55,0.00,0.000,6,0.000,0.045,2183,2226,3384
$GC,2921,-0.82,-146.6,213.9,-4.9,139,2923,0.15,0.00,0.00,0.000,6,0.045,0.000,2138,2226,3384
$GC,3230,-0.72,-146.6,233.9,-6.2,154,3235,0.15,2.67,0.00,0.000,4,0.091,0.072,2171,3636,3383
$GC,3275,-0.72,-146.6,236.5,-5.3,156,3280,0.00,2.55,0.00,0.000,6,0.000,0.048,2171,2227,3383
$GC,3599,-0.72,-146.6,250.5,-4.2,172,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3382
$GC,3907,-0.72,-146.6,264.3,-4.7,187,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3382
$GC,4215,-0.72,-146.6,281.3,-5.8,202,4220,0.00,2.67,0.00,0.000,4,0.000,0.076,2171,3634,3381
$GC,4243,-0.72,-146.6,283.1,-6.6,203,4247,0.00,2.55,0.00,0.000,6,0.000,0.049,2171,2233,3381
$GC,4559,-0.72,-146.6,302.4,-6.3,218,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2233,3380
$GC,4868,-0.72,-146.6,322.9,-7.0,233,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2233,3379
$GC,5177,-0.72,-146.6,345.9,-7.6,248,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2232,3378
$GC,5487,-0.72,-146.6,371.2,-8.4,263,5491,0.00,2.67,0.00,0.000,4,0.000,0.077,2171,3635,3377
$GC,5532,-0.72,-146.6,375.2,-8.5,265,5536,0.00,2.58,0.00,0.000,6,0.000,0.050,2171,2222,3377
$GC,5853,-0.72,-146.6,402.3,-8.3,281,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2222,3376
$GC,6163,-0.76,-146.6,426.8,-7.7,296,6168,0.00,2.67,0.00,0.000,4,0.000,0.077,2171,3634,3375
$GC,6209,-0.76,-146.6,430.7,-8.7,298,6214,0.00,2.58,0.00,0.000,6,0.000,0.051,2171,2224,3375
$GC,6531,-0.80,-146.6,455.6,-7.7,314,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2224,3374
$GC,6841,-0.85,-146.6,479.2,-7.5,329,6843,0.12,0.00,0.00,0.000,6,0.058,0.000,2141,2224,3373
$GC,7149,-0.79,-146.6,505.2,-8.3,344,7154,0.00,2.67,0.00,0.000,4,0.000,0.077,2140,3634,3372
$GC,7199,-0.72,-146.6,509.7,-8.8,346,7204,0.17,2.55,0.00,0.000,6,0.101,0.051,2173,2228,3372
$GC,7517,-0.77,-146.6,529.0,-6.0,361,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2228,3372
$GC,7825,-0.82,-146.6,547.6,-6.1,376,7829,0.00,2.67,0.00,0.000,4,0.000,0.077,2173,3634,3371
$GC,7858,-0.82,-146.6,549.9,-6.7,377,7865,0.00,2.55,0.00,0.000,6,0.000,0.049,2173,2227,3371
$GC,8175,-0.87,-146.6,568.4,-5.8,393,8177,0.15,0.00,0.00,0.000,6,0.054,0.000,2134,2228,3370
$GC,8483,-0.79,-146.6,591.6,-7.5,408,8485,0.12,0.00,0.00,0.000,6,0.105,0.000,2156,2228,3369
$GC,8793,-0.79,-146.6,611.4,-6.2,423,8797,0.00,2.67,0.00,0.000,4,0.000,0.077,2154,3634,3368
$GC,8832,-0.79,-146.6,614.0,-7.0,425,8837,0.00,2.55,0.00,0.000,6,0.000,0.050,2156,2233,3368
$GC,9159,-0.79,-146.6,634.1,-6.2,441,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2232,3368
$GC,9469,-0.79,-146.6,653.2,-6.2,456,9470,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2232,3367
$GC,9777,-0.79,-146.6,672.5,-6.3,471,9782,0.00,2.67,0.00,0.000,4,0.000,0.078,2156,3640,3367
$GC,9820,-0.79,-146.6,675.2,-6.6,473,9824,0.00,2.58,0.00,0.000,6,0.000,0.051,2156,2228,3367
$GC,10147,-0.79,-146.6,695.4,-5.9,489,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2228,3366
$GC,10455,-0.79,-146.6,714.0,-6.2,504,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2228,3366
$GC,10764,-0.79,-146.6,733.1,-6.2,519,10769,0.00,2.67,0.00,0.000,4,0.000,0.077,2156,3634,3365
$GC,10806,-0.79,-146.6,735.9,-7.8,521,10810,0.00,2.58,0.00,0.000,6,0.000,0.051,2156,2224,3365
$GC,11133,-0.79,-146.6,755.6,-5.9,537,11134,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2224,3365
$GC,11442,-0.79,-146.6,773.1,-5.5,552,11446,0.00,2.70,0.00,0.000,4,0.000,0.079,2156,3636,3364
$GC,11476,-0.79,-146.6,774.9,-5.6,553,11483,0.00,2.55,0.00,0.000,6,0.000,0.051,2156,2231,3364
$GC,11792,-0.79,-146.6,791.1,-5.2,569,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2231,3363
$GC,12102,-0.79,-146.6,806.1,-4.9,584,12106,0.00,2.67,0.00,0.000,4,0.000,0.078,2156,3634,3363
$GC,12130,-0.79,-146.6,807.7,-5.7,585,12135,0.00,2.55,0.00,0.000,6,0.000,0.051,2156,2231,3363
$GC,12446,-0.79,-146.6,823.7,-5.1,600,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2231,3363
$GC,12756,-0.79,-146.6,840.3,-5.4,615,12761,0.00,2.67,0.00,0.000,4,0.000,0.077,2156,3634,3362
$GC,12790,-0.79,-146.6,842.4,-6.9,616,12795,0.00,2.55,0.00,0.000,6,0.000,0.051,2156,2230,3363
$GC,13105,-0.79,-146.6,860.1,-5.7,632,13107,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2230,3362
$GC,13416,-0.79,-146.6,878.0,-6.0,647,13420,0.00,2.67,0.00,0.000,4,0.000,0.076,2156,3634,3362
$GC,13443,-0.79,-146.6,879.9,-6.7,648,13447,0.00,2.55,0.00,0.000,6,0.000,0.050,2156,2230,3362
$GC,13758,-0.79,-146.6,899.6,-6.3,663,13759,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2230,3362
$GC,14068,-0.79,-146.6,919.1,-6.3,678,14073,0.00,2.67,0.00,0.000,4,0.000,0.074,2156,3637,3362
$GC,14097,-0.79,-146.6,921.0,-6.2,679,14102,0.00,2.55,0.00,0.000,6,0.000,0.049,2156,2230,3361
$GC,14413,-0.79,-146.6,941.0,-6.3,694,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2230,3361
$GC,14723,-0.79,-146.6,959.9,-6.2,709,14724,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2230,3361
$GC,15032,-0.79,-146.6,979.6,-6.4,724,15033,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2230,3361
$STATE,15194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15194,begin apogee
$GC,15200,-0.31,0.0,990.5,6.5,732,15344,0.52,0.00,135.98,1.305,6,0.098,0.000,2261,2228,2781
$STATE,15345,end apogee,CONTROL_FINISHED_OK
$STATE,15345,begin climb
$GC,15349,0.85,146.6,996.9,0.0,739,15494,1.20,2.70,135.57,1.298,4,0.079,0.061,2510,827,2182
$GC,15560,0.78,196.6,994.8,4.6,748,15615,0.00,2.60,47.67,1.320,6,0.000,0.049,2510,2238,1979
$GC,15940,0.78,196.6,972.4,6.1,767,15941,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2238,1978
$GC,16247,0.78,199.8,953.5,5.9,782,16253,0.00,0.00,4.75,0.918,6,0.000,0.000,2510,2238,1966
$GC,16557,0.80,214.3,935.6,5.6,797,16575,0.00,0.00,14.60,1.213,6,0.000,0.000,2510,2238,1907
$GC,16886,0.80,215.1,915.8,6.0,813,16890,0.00,2.62,0.00,0.000,4,0.000,0.062,2510,833,1907
$GC,16918,0.80,215.1,913.7,6.3,814,16924,0.00,2.60,0.00,0.000,6,0.000,0.050,2510,2246,1907
$GC,17235,0.81,226.5,895.4,5.7,830,17254,0.00,0.00,13.27,1.195,6,0.000,0.000,2510,2247,1857
$GC,17564,0.82,233.2,875.9,5.8,846,17578,0.00,2.72,7.78,1.081,4,0.000,0.062,2510,833,1830
$GC,17602,0.83,246.4,873.6,5.6,847,17621,0.00,2.60,13.82,1.197,6,0.000,0.050,2510,2240,1776
$GC,17938,0.83,246.4,853.2,6.1,864,17939,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2240,1777
$GC,18247,0.84,257.8,835.4,5.7,879,18261,0.00,0.00,12.23,1.164,6,0.000,0.000,2508,2240,1730
$GC,18556,0.85,262.0,816.8,5.9,894,18564,0.00,0.00,5.72,0.966,6,0.000,0.000,2510,2240,1712
$GC,18866,0.85,262.0,797.5,6.3,909,18871,0.00,2.62,0.00,0.000,4,0.000,0.064,2510,833,1712
$GC,18907,0.85,262.0,794.6,7.4,911,18911,0.00,2.60,0.00,0.000,6,0.000,0.051,2510,2241,1712
$GC,19233,0.85,262.0,772.5,7.0,927,19234,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2241,1711
$GC,19542,0.85,262.0,752.1,6.4,942,19544,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2241,1712
$GC,19852,0.85,262.0,731.8,6.7,957,19856,0.00,2.62,0.00,0.000,4,0.000,0.063,2510,832,1712
$GC,19884,0.85,262.0,729.6,6.8,958,19890,0.00,2.58,0.00,0.000,6,0.000,0.051,2510,2240,1712
$GC,20201,0.85,262.0,709.5,6.2,974,20202,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2240,1712
$GC,20509,0.85,262.0,690.5,6.1,989,20513,0.00,2.62,0.00,0.000,4,0.000,0.064,2510,833,1712
$GC,20536,0.85,262.0,688.8,6.3,990,20540,0.00,2.60,0.00,0.000,6,0.000,0.052,2511,2245,1712
$GC,20854,0.85,268.2,669.5,5.8,1005,20863,0.00,0.00,7.15,0.981,6,0.000,0.000,2510,2245,1687
$GC,21161,0.86,271.7,651.5,5.9,1020,21168,0.00,0.00,5.00,0.859,6,0.000,0.000,2510,2246,1673
$GC,21471,0.91,277.4,633.0,5.8,1035,21484,0.00,2.72,6.55,0.939,4,0.000,0.064,2510,832,1650
$GC,21509,0.95,277.4,630.6,6.9,1036,21516,0.12,2.60,0.00,0.000,6,0.082,0.052,2535,2240,1650
$GC,21825,0.95,277.4,608.9,6.7,1052,21826,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2240,1650
$GC,22136,0.95,277.4,588.0,6.7,1067,22138,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2241,1650
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$STATE,29754,end climb,SURFACE_DEPTH_REACHED
$STATE,29754,begin surface coast
$FINISH,0.8,1.026915
$STATE,29778,end surface coast,CONTROL_FINISHED_OK
$STATE,29778,begin surface
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$10V_AH,10.1,33.482
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$DEVICE_SECS,26.900,204.125,474.225,107.450,0.000,33.535,33.076,192.560,33.500,0.000,0.000,19.580,2544.191,23436.436,803.281,2779.525,746.768,0.000,2199.546,0.000,2720.716,0.000,58.075
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$DATA_FILE_SIZE,72479,1435
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
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