version: 66.02
glider: 16
mission: 6
dive: 199
start: 12 19 107 20 6 20
data:
$ID,16
$MISSION,6
$DIVE,199
$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,-2080027.8
$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
$GPS1,195222,6407.085,-701.586,37,3.5,56,-9.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-53.0
$GPS2,200529,6407.056,-701.402,10,2.8,29,-9.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.039,0.218
$KALMAN_X,-92268.4,610.2,-38.7,201013.1,1903.0
$KALMAN_Y,77905.7,279.7,281.9,197201.6,-4459.1
$MHEAD_RNG_PITCHd_Wd,19.1,61870,-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,21,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-102.07,0.000,2,0.000,0.000,74,2401,2865
$GC,127,-0.85,-146.6,3.6,-2.1,5,163,12.38,2.75,-16.38,0.000,4,0.180,0.083,2221,980,3417
$GC,416,-0.85,-146.6,28.6,-11.2,18,420,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2401,3417
$GC,742,-0.85,-146.6,56.4,-7.7,34,746,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,982,3417
$GC,841,-0.85,-146.6,64.1,-8.1,38,848,0.00,2.67,0.00,0.000,6,0.000,0.061,2221,2399,3417
$GC,1157,-0.85,-146.6,90.8,-8.7,54,1161,0.00,2.72,0.00,0.000,4,0.000,0.074,2221,975,3417
$GC,1183,-0.85,-146.6,93.3,-9.1,55,1188,0.00,2.65,0.00,0.000,6,0.000,0.061,2223,2400,3417
$GC,1500,-0.85,-146.6,122.5,-9.3,70,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3417
$GC,1809,-0.85,-146.6,150.8,-8.3,85,1814,0.00,2.72,0.00,0.000,4,0.000,0.074,2221,976,3417
$GC,1848,-0.85,-146.6,154.1,-8.5,87,1853,0.00,2.67,0.00,0.000,6,0.000,0.062,2221,2404,3417
$GC,2174,-0.85,-146.6,177.5,-6.7,103,2178,0.00,2.72,0.00,0.000,4,0.000,0.075,2221,982,3417
$GC,2222,-0.85,-146.6,180.9,-6.8,105,2227,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2400,3418
$GC,2544,-0.85,-146.6,202.4,-6.9,121,2549,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,980,3418
$GC,2570,-0.85,-146.6,204.4,-7.2,122,2574,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2400,3418
$GC,2891,-0.85,-146.6,226.9,-6.9,138,2896,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,982,3418
$GC,2930,-0.85,-146.6,229.6,-7.3,140,2935,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2404,3418
$GC,3256,-0.85,-146.6,252.4,-7.0,156,3261,0.00,2.75,0.00,0.000,4,0.000,0.077,2221,976,3418
$GC,3294,-0.85,-146.6,255.2,-7.3,158,3299,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2400,3418
$GC,3620,-0.85,-146.6,277.7,-6.8,174,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3418
$GC,3929,-0.85,-146.6,299.6,-7.2,189,3934,0.00,2.70,0.00,0.000,4,0.000,0.078,2221,991,3418
$GC,3955,-0.85,-146.6,301.6,-7.0,190,3959,0.00,2.65,0.00,0.000,6,0.000,0.065,2221,2403,3418
$GC,4282,-0.85,-146.6,323.1,-6.3,206,4287,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,983,3418
$GC,4338,-0.85,-146.6,327.0,-7.3,208,4344,0.00,2.65,0.00,0.000,6,0.000,0.065,2221,2400,3418
$GC,4653,-0.85,-146.6,347.6,-6.8,224,4657,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,982,3418
$GC,4695,-0.85,-146.6,350.5,-6.9,226,4699,0.00,2.67,0.00,0.000,6,0.000,0.065,2221,2404,3418
$GC,5022,-0.85,-146.6,371.6,-6.5,242,5026,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,981,3417
$GC,5060,-0.85,-146.6,374.2,-7.0,244,5065,0.00,2.67,0.00,0.000,6,0.000,0.065,2221,2405,3417
$GC,5386,-0.85,-146.6,395.9,-6.7,260,5390,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,983,3417
$GC,5425,-0.85,-146.6,398.5,-7.1,262,5429,0.00,2.67,0.00,0.000,6,0.000,0.066,2221,2402,3418
$GC,5750,-0.85,-146.6,421.2,-6.9,278,5754,0.00,2.72,0.00,0.000,4,0.000,0.077,2223,984,3417
$GC,5782,-0.85,-146.6,423.4,-7.2,279,5788,0.00,2.65,0.00,0.000,6,0.000,0.065,2221,2400,3417
$GC,6097,-0.85,-146.6,445.0,-6.9,295,6102,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,983,3417
$GC,6123,-0.85,-146.6,447.0,-7.3,296,6128,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2400,3417
$GC,6445,-0.85,-146.6,468.6,-6.7,312,6449,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,983,3417
$GC,6493,-0.85,-146.6,472.1,-6.8,314,6498,0.00,2.67,0.00,0.000,6,0.000,0.064,2222,2405,3416
$GC,6809,-0.85,-146.6,492.5,-6.2,329,6813,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,984,3416
$GC,6848,-0.85,-146.6,494.9,-6.3,331,6852,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2404,3416
$GC,7173,-0.85,-146.6,515.3,-6.5,347,7178,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,984,3415
$GC,7200,-0.85,-146.6,517.4,-7.7,348,7204,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2401,3415
$GC,7521,-0.85,-146.6,539.6,-7.2,364,7525,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,982,3414
$GC,7570,-0.85,-146.6,543.4,-8.2,366,7574,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2405,3414
$GC,7886,-0.85,-146.6,566.0,-7.4,381,7890,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,984,3414
$GC,7912,-0.85,-146.6,568.1,-8.4,382,7916,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2395,3413
$GC,8233,-0.85,-146.6,591.8,-7.4,398,8238,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,984,3413
$GC,8282,-0.85,-146.6,595.6,-7.4,400,8286,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2401,3413
$GC,8603,-0.85,-146.6,617.7,-6.7,416,8608,0.00,2.72,0.00,0.000,4,0.000,0.075,2221,978,3413
$GC,8653,-0.85,-146.6,621.1,-7.1,418,8657,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2405,3413
$GC,8968,-0.85,-146.6,642.4,-7.0,433,8972,0.00,2.72,0.00,0.000,4,0.000,0.074,2221,982,3413
$GC,9006,-0.85,-146.6,645.2,-7.3,435,9011,0.00,2.67,0.00,0.000,6,0.000,0.063,2221,2405,3413
$GC,9332,-0.85,-146.6,668.4,-7.2,451,9337,0.00,2.72,0.00,0.000,4,0.000,0.074,2221,982,3412
$GC,9381,-0.85,-146.6,672.2,-7.4,453,9386,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2401,3412
$GC,9702,-0.85,-146.6,695.3,-7.2,469,9707,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,984,3412
$GC,9734,-0.85,-146.6,697.7,-7.4,470,9742,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2400,3412
$GC,10050,-0.85,-146.6,719.9,-6.8,486,10054,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,985,3412
$GC,10082,-0.85,-146.6,722.3,-7.5,487,10088,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2400,3411
$GC,10398,-0.85,-146.6,744.6,-7.2,503,10402,0.00,2.70,0.00,0.000,4,0.000,0.075,2222,985,3411
$GC,10436,-0.85,-146.6,747.5,-8.1,505,10440,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2401,3411
$GC,10762,-0.85,-146.6,770.9,-7.2,521,10766,0.00,2.72,0.00,0.000,4,0.000,0.075,2221,978,3411
$GC,10806,-0.85,-146.6,774.4,-7.9,523,10811,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2402,3411
$GC,11126,-0.85,-146.6,797.7,-7.1,539,11130,0.00,2.72,0.00,0.000,4,0.000,0.074,2221,981,3410
$GC,11158,-0.85,-146.6,800.1,-7.3,540,11165,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2404,3410
$GC,11474,-0.85,-146.6,822.0,-7.1,556,11478,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,985,3410
$GC,11519,-0.85,-146.6,825.4,-8.1,558,11524,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2400,3410
$GC,11839,-0.85,-146.6,848.9,-7.3,574,11843,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,985,3410
$GC,11878,-0.85,-146.6,851.8,-8.0,576,11882,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2404,3410
$GC,12203,-0.85,-146.6,874.9,-7.1,592,12208,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,985,3410
$GC,12247,-0.85,-146.6,878.1,-7.6,594,12252,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2401,3410
$GC,12573,-0.85,-146.6,901.6,-7.2,610,12577,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,985,3409
$GC,12621,-0.85,-146.6,905.3,-7.2,612,12626,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2401,3409
$GC,12942,-0.85,-146.6,928.2,-7.3,628,12947,0.00,2.70,0.00,0.000,4,0.000,0.072,2221,985,3409
$GC,12986,-0.85,-146.6,931.6,-8.2,630,12991,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2401,3409
$GC,13307,-0.85,-146.6,955.3,-7.3,646,13312,0.00,2.70,0.00,0.000,4,0.000,0.071,2221,981,3409
$GC,13334,-0.85,-146.6,957.3,-7.7,647,13338,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2401,3409
$GC,13655,-0.85,-146.6,979.8,-7.0,663,13660,0.00,2.70,0.00,0.000,4,0.000,0.069,2221,981,3409
$GC,13687,-0.85,-146.6,982.3,-7.5,664,13694,0.00,2.62,0.00,0.000,6,0.000,0.056,2221,2403,3409
$STATE,13816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13816,begin apogee
$GC,13821,-0.31,0.0,991.2,6.9,671,13948,0.60,0.00,124.28,1.384,6,0.120,0.000,2337,2180,2818
$STATE,13949,end apogee,CONTROL_FINISHED_OK
$STATE,13949,begin climb
$GC,13951,0.85,146.6,996.0,0.0,677,14083,1.27,2.72,123.72,1.357,4,0.105,0.070,2587,797,2218
$GC,14112,0.85,150.3,991.6,5.9,684,14122,0.00,2.62,4.90,0.956,6,0.000,0.051,2587,2207,2204
$GC,14450,0.85,150.3,971.9,6.1,701,14454,0.00,2.70,0.00,0.000,4,0.000,0.077,2587,3610,2203
$GC,14504,0.85,150.3,968.2,7.5,703,14511,0.00,2.58,0.00,0.000,6,0.000,0.054,2587,2209,2203
$GC,14819,0.85,150.3,948.9,6.1,719,14820,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2209,2202
$GC,15129,0.85,150.3,930.0,6.2,734,15130,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2209,2202
$GC,15438,0.85,150.3,910.6,6.0,749,15439,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2209,2202
$GC,15747,0.85,150.3,891.2,6.3,764,15748,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2209,2202
$GC,16057,0.85,150.3,871.3,6.5,779,16061,0.00,2.70,0.00,0.000,4,0.000,0.077,2587,3613,2201
$GC,16088,0.85,150.3,868.9,7.2,780,16096,0.00,2.65,0.00,0.000,6,0.000,0.058,2587,2205,2201
$GC,16404,0.85,150.3,847.8,6.6,796,16409,0.00,2.70,0.00,0.000,4,0.000,0.075,2587,787,2201
$GC,16444,0.85,150.3,845.0,7.2,798,16448,0.00,2.60,0.00,0.000,6,0.000,0.052,2589,2200,2201
$GC,16769,0.85,150.3,823.1,6.7,814,16773,0.00,2.70,0.00,0.000,4,0.000,0.081,2588,3607,2201
$GC,16830,0.85,150.3,818.5,8.0,817,16834,0.00,2.62,0.00,0.000,6,0.000,0.061,2587,2199,2201
$GC,17155,0.85,150.3,796.7,6.7,833,17156,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,2200
$GC,17464,0.85,150.3,776.2,6.5,848,17465,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2198,2200
$GC,17773,0.85,150.3,756.7,6.4,863,17778,0.00,2.72,0.00,0.000,4,0.000,0.081,2587,3604,2201
$GC,17813,0.85,150.3,754.0,7.1,865,17817,0.00,2.62,0.00,0.000,6,0.000,0.061,2587,2199,2201
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$STATE,29342,end climb,SURFACE_DEPTH_REACHED
$STATE,29342,begin surface coast
$FINISH,1.2,1.027557
$STATE,29364,end surface coast,CONTROL_FINISHED_OK
$STATE,29364,begin surface
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$HUMID,2035
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$XPDR_PINGS,178
$24V_AH,23.3,34.558
$10V_AH,10.1,17.097
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$DEVICE_SECS,25.800,285.600,331.025,219.500,0.000,97.821,100.677,321.885,53.000,0.000,0.000,30.257,2576.599,23177.018,836.649,2980.893,827.150,33.375,2329.084,0.000,2900.726,0.000,57.159
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$DATA_FILE_SIZE,72638,1426
$CFSIZE,260165632,247627776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,3,0
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