version: 66.02
glider: 16
mission: 6
dive: 205
start: 12 21 107 22 28 43
data:
$ID,16
$MISSION,6
$DIVE,205
$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,-2080232.6
$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,15
$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
$GPS1,221057,6421.083,-644.082,34,2.4,53,-8.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-56.5
$GPS2,222750,6421.113,-644.181,12,2.0,12,-8.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.109,0.193
$KALMAN_X,-87024.8,187.9,-54.0,211341.9,171.2
$KALMAN_Y,61913.3,725.6,530.6,238525.9,-4567.1
$MHEAD_RNG_PITCHd_Wd,38.3,35310,-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,20,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-101.60,0.000,2,0.000,0.000,71,2400,2794
$GC,126,-0.85,-146.6,3.2,-1.8,5,169,12.43,2.67,-21.40,0.000,4,0.182,0.091,2221,3766,3417
$GC,398,-0.85,-146.6,27.9,-9.2,17,403,0.00,2.58,0.00,0.000,6,0.000,0.059,2221,2391,3417
$GC,726,-0.85,-146.6,55.6,-8.7,33,730,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,978,3417
$GC,746,-0.85,-146.6,57.6,-8.6,34,751,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2405,3417
$GC,1074,-0.85,-146.6,83.8,-7.5,50,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3417
$GC,1383,-0.85,-146.6,111.2,-9.3,65,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3417
$GC,1693,-0.85,-146.6,139.6,-9.1,80,1697,0.00,2.72,0.00,0.000,4,0.000,0.075,2221,982,3417
$GC,1731,-0.85,-146.6,143.1,-9.0,82,1736,0.00,2.67,0.00,0.000,6,0.000,0.065,2221,2403,3417
$GC,2057,-0.85,-146.6,170.8,-8.0,98,2061,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,984,3417
$GC,2100,-0.85,-146.6,174.3,-8.0,100,2104,0.00,2.65,0.00,0.000,6,0.000,0.065,2221,2400,3417
$GC,2421,-0.85,-146.6,197.6,-6.8,116,2426,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,980,3417
$GC,2475,-0.85,-146.6,201.6,-7.6,118,2482,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2400,3417
$GC,2791,-0.85,-146.6,222.9,-6.7,134,2795,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,983,3417
$GC,2852,-0.85,-146.6,227.2,-7.5,137,2857,0.00,2.67,0.00,0.000,6,0.000,0.066,2221,2402,3418
$GC,3177,-0.85,-146.6,248.9,-6.9,153,3182,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,985,3418
$GC,3232,-0.85,-146.6,252.9,-7.1,155,3238,0.00,2.67,0.00,0.000,6,0.000,0.068,2221,2406,3416
$GC,3547,-0.85,-146.6,274.7,-6.9,171,3552,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,983,3418
$GC,3573,-0.85,-146.6,276.8,-7.7,172,3578,0.00,2.70,0.00,0.000,6,0.000,0.067,2221,2401,3418
$GC,3901,-0.85,-146.6,301.4,-7.8,188,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3418
$GC,4209,-0.85,-146.6,324.9,-7.4,203,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3418
$GC,4519,-0.85,-146.6,347.8,-7.4,218,4523,0.00,2.72,0.00,0.000,4,0.000,0.079,2221,979,3418
$GC,4580,-0.85,-146.6,352.4,-7.6,221,4585,0.00,2.67,0.00,0.000,6,0.000,0.067,2221,2401,3418
$GC,4907,-0.85,-146.6,376.5,-7.2,237,4911,0.00,2.72,0.00,0.000,4,0.000,0.080,2221,985,3418
$GC,4961,-0.85,-146.6,380.8,-8.2,239,4968,0.00,2.67,0.00,0.000,6,0.000,0.067,2221,2404,3418
$GC,5277,-0.85,-146.6,403.4,-7.5,255,5281,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,985,3418
$GC,5331,-0.85,-146.6,407.8,-7.9,257,5338,0.00,2.67,0.00,0.000,6,0.000,0.067,2221,2407,3418
$GC,5647,-0.85,-146.6,432.2,-7.9,273,5651,0.00,2.75,0.00,0.000,4,0.000,0.078,2221,979,3417
$GC,5701,-0.85,-146.6,436.6,-8.3,275,5708,0.00,2.70,0.00,0.000,6,0.000,0.066,2221,2401,3417
$GC,6017,-0.85,-146.6,459.8,-7.0,291,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3417
$GC,6327,-0.85,-146.6,480.1,-6.5,306,6331,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,985,3417
$GC,6381,-0.85,-146.6,484.0,-7.4,308,6388,0.00,2.67,0.00,0.000,6,0.000,0.067,2221,2407,3417
$GC,6696,-0.85,-146.6,504.6,-6.7,324,6701,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,986,3417
$GC,6751,-0.85,-146.6,508.5,-6.9,326,6758,0.00,2.65,0.00,0.000,6,0.000,0.066,2221,2399,3416
$GC,7067,-0.85,-146.6,529.5,-6.6,342,7071,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,982,3416
$GC,7099,-0.85,-146.6,531.6,-6.8,343,7105,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2401,3416
$GC,7414,-0.85,-146.6,551.6,-6.4,359,7419,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,984,3415
$GC,7440,-0.85,-146.6,553.3,-6.7,360,7445,0.00,2.65,0.00,0.000,6,0.000,0.065,2221,2401,3414
$GC,7756,-0.85,-146.6,573.6,-6.5,375,7760,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,983,3415
$GC,7787,-0.85,-146.6,575.6,-6.4,376,7794,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2402,3414
$GC,8103,-0.85,-146.6,594.7,-6.0,392,8108,0.00,2.70,0.00,0.000,4,0.000,0.076,2221,985,3414
$GC,8149,-0.85,-146.6,597.4,-5.9,394,8153,0.00,2.67,0.00,0.000,6,0.000,0.065,2221,2401,3414
$GC,8468,-0.85,-146.6,615.4,-5.4,410,8473,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,981,3413
$GC,8507,-0.85,-146.6,617.8,-6.2,412,8512,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2406,3413
$GC,8833,-0.85,-146.6,636.8,-5.8,428,8838,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,985,3413
$GC,8876,-0.85,-146.6,639.5,-6.2,430,8881,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2403,3413
$GC,9204,-0.85,-146.6,659.0,-6.0,446,9209,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,986,3413
$GC,9243,-0.85,-146.6,661.6,-7.1,448,9248,0.00,2.65,0.00,0.000,6,0.000,0.065,2221,2401,3413
$GC,9569,-0.85,-146.6,681.5,-6.0,464,9574,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,980,3412
$GC,9601,-0.85,-146.6,683.5,-7.2,465,9608,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2400,3412
$GC,9918,-0.85,-146.6,701.7,-5.4,481,9922,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,986,3412
$GC,9944,-0.85,-146.6,703.4,-5.6,482,9949,0.00,2.62,0.00,0.000,6,0.000,0.064,2221,2397,3411
$GC,10266,-0.85,-146.6,721.2,-5.7,498,10270,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,986,3411
$GC,10297,-0.85,-146.6,723.1,-6.5,499,10304,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2401,3411
$GC,10614,-0.85,-146.6,740.1,-5.4,515,10618,0.00,2.70,0.00,0.000,4,0.000,0.076,2221,986,3411
$GC,10640,-0.85,-146.6,741.7,-6.4,516,10644,0.00,2.67,0.00,0.000,6,0.000,0.064,2220,2398,3411
$GC,10961,-0.85,-146.6,758.6,-5.3,532,10962,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3410
$GC,11271,-0.85,-146.6,774.4,-5.1,547,11275,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,986,3410
$GC,11310,-0.85,-146.6,776.5,-5.6,549,11314,0.00,2.67,0.00,0.000,6,0.000,0.065,2221,2407,3411
$GC,11635,-0.85,-146.6,793.3,-5.2,565,11640,0.00,2.72,0.00,0.000,4,0.000,0.074,2221,984,3410
$GC,11675,-0.85,-146.6,795.4,-4.9,567,11680,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2401,3410
$GC,12001,-0.85,-146.6,812.9,-5.4,583,12005,0.00,2.72,0.00,0.000,4,0.000,0.074,2221,981,3410
$GC,12033,-0.85,-146.6,815.0,-6.4,584,12039,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2400,3410
$GC,12349,-0.85,-146.6,833.0,-5.7,600,12353,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,987,3410
$GC,12375,-0.85,-146.6,834.8,-6.1,601,12379,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2403,3410
$GC,12696,-0.85,-146.6,853.0,-5.7,617,12701,0.00,2.72,0.00,0.000,4,0.000,0.074,2221,979,3409
$GC,12723,-0.85,-146.6,854.5,-5.6,618,12728,0.00,2.67,0.00,0.000,6,0.000,0.062,2221,2407,3410
$GC,13038,-0.85,-146.6,871.6,-5.6,633,13043,0.00,2.72,0.00,0.000,4,0.000,0.074,2221,981,3409
$GC,13070,-0.85,-146.6,873.5,-6.3,634,13076,0.00,2.65,0.00,0.000,6,0.000,0.062,2221,2404,3409
$GC,13386,-0.85,-146.6,891.5,-5.8,650,13391,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,986,3409
$GC,13418,-0.85,-146.6,893.4,-5.9,651,13425,0.00,2.62,0.00,0.000,6,0.000,0.062,2221,2401,3409
$GC,13734,-0.85,-146.6,909.9,-5.1,667,13738,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,986,3409
$GC,13773,-0.85,-146.6,912.1,-5.6,669,13777,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2407,3409
$GC,14098,-0.85,-146.6,928.5,-4.9,685,14103,0.00,2.70,0.00,0.000,4,0.000,0.071,2221,986,3409
$GC,14130,-0.85,-146.6,930.3,-5.3,686,14137,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2403,3409
$GC,14446,-0.85,-146.6,946.0,-5.0,702,14451,0.00,2.70,0.00,0.000,4,0.000,0.070,2221,983,3409
$GC,14486,-0.85,-146.6,948.1,-5.2,704,14490,0.00,2.65,0.00,0.000,6,0.000,0.060,2221,2405,3409
$GC,14812,-0.85,-146.6,964.5,-4.9,720,14816,0.00,2.70,0.00,0.000,4,0.000,0.068,2221,984,3409
$GC,14850,-0.85,-146.6,966.8,-6.1,722,14855,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2400,3409
$GC,15176,-0.85,-146.6,984.4,-5.4,738,15180,0.00,2.67,0.00,0.000,4,0.000,0.069,2221,987,3409
$GC,15198,-0.85,-146.6,985.8,-6.2,739,15202,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2401,3409
$STATE,15288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15289,begin apogee
$GC,15294,-0.31,0.0,991.0,5.7,744,15422,0.60,0.00,124.68,1.387,6,0.117,0.000,2337,2193,2817
$STATE,15423,end apogee,CONTROL_FINISHED_OK
$STATE,15423,begin climb
$GC,15425,0.85,146.6,994.9,0.0,750,15557,1.27,2.75,123.85,1.358,4,0.102,0.069,2589,796,2219
$GC,15587,0.86,158.4,989.4,5.7,758,15607,0.00,2.62,11.55,1.224,6,0.000,0.051,2589,2205,2171
$GC,15916,0.86,158.4,968.4,6.5,774,15920,0.00,2.70,0.00,0.000,4,0.000,0.078,2589,3610,2170
$GC,15977,0.86,158.4,964.1,7.2,777,15981,0.00,2.62,0.00,0.000,6,0.000,0.054,2589,2199,2170
$GC,16302,0.86,158.4,942.0,6.9,793,16303,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2169
$GC,16611,0.86,158.4,919.7,7.4,808,16612,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2169
$GC,16921,0.86,158.4,897.3,7.2,823,16922,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,2169
$GC,17230,0.86,158.4,875.2,7.1,838,17234,0.00,2.72,0.00,0.000,4,0.000,0.078,2589,3607,2169
$GC,17268,0.86,158.4,872.3,7.0,840,17273,0.00,2.62,0.00,0.000,6,0.000,0.057,2589,2199,2169
$GC,17594,0.86,158.4,849.3,7.1,856,17595,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2168
$GC,17903,0.86,158.4,827.0,6.8,871,17904,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2199,2169
$GC,18212,0.86,158.4,804.5,7.0,886,18213,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2168
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$STATE,29135,end climb,SURFACE_DEPTH_REACHED
$STATE,29135,begin surface coast
$FINISH,1.1,1.015159
$STATE,29158,end surface coast,CONTROL_FINISHED_OK
$STATE,29158,begin surface
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$10V_AH,10.1,17.851
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$DATA_FILE_SIZE,72650,1418
$CFSIZE,260165632,247107584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,2,0
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