version: 66.02
glider: 16
mission: 6
dive: 209
start: 12 23 107 7 41 48
data:
$ID,16
$MISSION,6
$DIVE,209
$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,-2080390
$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,12
$R_STBD_OVSHOOT,24
$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
$GPS1,073258,6427.803,-623.291,72,2.4,91,-8.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-52.3
$GPS2,074058,6427.896,-623.142,19,2.2,38,-8.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.185,0.122
$KALMAN_X,-88476.7,-431.3,314.7,231559.9,-78.9
$KALMAN_Y,55324.3,-394.5,486.7,258853.8,-2556.2
$MHEAD_RNG_PITCHd_Wd,65.3,14980,-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,20,begin dive
$GC,22,-0.85,-146.6,0.0,0.0,0,145,0.00,0.00,-120.20,0.000,2,0.000,0.000,73,2411,3223
$GC,147,-0.85,-146.6,4.9,-3.9,6,170,12.38,2.60,-4.30,0.000,4,0.180,0.087,2221,3758,3416
$GC,383,-0.85,-146.6,36.5,-16.8,16,387,0.00,2.58,0.00,0.000,6,0.000,0.060,2221,2392,3417
$GC,704,-0.85,-146.6,75.9,-10.5,32,709,0.00,2.67,0.00,0.000,4,0.000,0.073,2221,982,3417
$GC,759,-0.85,-146.6,81.9,-10.7,34,766,0.00,2.65,0.00,0.000,6,0.000,0.060,2221,2392,3418
$GC,1075,-0.85,-146.6,112.2,-9.5,50,1079,0.00,2.67,0.00,0.000,4,0.000,0.085,2221,3763,3417
$GC,1118,-0.85,-146.6,115.3,-7.2,52,1123,0.00,2.55,0.00,0.000,6,0.000,0.060,2221,2400,3417
$GC,1439,-0.85,-146.6,141.5,-8.1,68,1444,0.00,2.70,0.00,0.000,4,0.000,0.076,2221,982,3417
$GC,1483,-0.85,-146.6,145.1,-8.3,70,1487,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2399,3417
$GC,1810,-0.85,-146.6,166.0,-6.1,86,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3418
$GC,2119,-0.85,-146.6,185.4,-6.4,101,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3418
$GC,2428,-0.85,-146.6,206.0,-6.6,116,2433,0.00,2.72,0.00,0.000,4,0.000,0.074,2221,975,3418
$GC,2500,-0.85,-146.6,211.3,-7.4,119,2505,0.00,2.67,0.00,0.000,6,0.000,0.063,2219,2404,3418
$GC,2815,-0.85,-146.6,236.2,-8.3,134,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3418
$GC,3125,-0.85,-146.6,262.2,-8.2,149,3129,0.00,2.72,0.00,0.000,4,0.000,0.075,2221,982,3418
$GC,3208,-0.85,-146.6,269.5,-9.0,153,3213,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2399,3418
$GC,3534,-0.85,-146.6,298.7,-9.0,169,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3418
$GC,3844,-0.85,-146.6,325.9,-8.6,184,3849,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,981,3418
$GC,3900,-0.85,-146.6,330.8,-8.3,186,3907,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2398,3418
$GC,4215,-0.85,-146.6,355.9,-7.6,202,4219,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,980,3418
$GC,4253,-0.85,-146.6,358.9,-7.6,204,4258,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2400,3418
$GC,4580,-0.85,-146.6,382.9,-7.3,220,4584,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,981,3418
$GC,4618,-0.85,-146.6,385.7,-7.5,222,4623,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2403,3418
$GC,4944,-0.85,-146.6,408.0,-6.7,238,4948,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,983,3417
$GC,4970,-0.85,-146.6,410.1,-7.3,239,4974,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2400,3417
$GC,5291,-0.85,-146.6,432.7,-7.2,255,5295,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,982,3417
$GC,5322,-0.85,-146.6,435.1,-7.2,256,5329,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2401,3417
$GC,5638,-0.85,-146.6,457.2,-7.2,272,5643,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,982,3417
$GC,5670,-0.85,-146.6,459.6,-7.3,273,5677,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2402,3416
$GC,5986,-0.85,-146.6,483.3,-7.7,289,5990,0.00,2.72,0.00,0.000,4,0.000,0.075,2221,980,3416
$GC,6042,-0.85,-146.6,487.8,-8.3,291,6048,0.00,2.67,0.00,0.000,6,0.000,0.063,2221,2403,3415
$GC,6356,-0.85,-146.6,512.4,-7.9,307,6361,0.00,2.72,0.00,0.000,4,0.000,0.073,2221,978,3415
$GC,6382,-0.85,-146.6,514.6,-8.3,308,6387,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2404,3415
$GC,6704,-0.85,-146.6,539.3,-7.6,324,6708,0.00,2.70,0.00,0.000,4,0.000,0.074,2221,984,3415
$GC,6743,-0.85,-146.6,542.4,-7.6,326,6747,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2402,3415
$GC,7068,-0.85,-146.6,568.6,-8.4,342,7073,0.00,2.72,0.00,0.000,4,0.000,0.073,2221,978,3415
$GC,7123,-0.85,-146.6,573.3,-9.1,344,7129,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2404,3414
$GC,7439,-0.85,-146.6,601.3,-9.1,360,7443,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,984,3414
$GC,7465,-0.85,-146.6,603.9,-9.9,361,7469,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2401,3414
$GC,7786,-0.85,-146.6,632.8,-8.9,377,7791,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,983,3413
$GC,7825,-0.85,-146.6,636.3,-8.3,379,7829,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2404,3413
$GC,8150,-0.85,-146.6,662.9,-8.2,395,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3413
$GC,8459,-0.85,-146.6,686.3,-7.3,410,8464,0.00,2.72,0.00,0.000,4,0.000,0.071,2221,978,3413
$GC,8498,-0.85,-146.6,689.3,-8.3,412,8502,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2400,3413
$GC,8823,-0.85,-146.6,710.2,-6.1,428,8827,0.00,2.70,0.00,0.000,4,0.000,0.072,2221,984,3412
$GC,8866,-0.85,-146.6,713.1,-6.8,430,8871,0.00,2.62,0.00,0.000,6,0.000,0.061,2221,2400,3412
$GC,9188,-0.85,-146.6,734.2,-6.9,446,9192,0.00,2.70,0.00,0.000,4,0.000,0.072,2223,985,3412
$GC,9231,-0.85,-146.6,737.5,-7.6,448,9235,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2407,3412
$GC,9558,-0.85,-146.6,760.0,-6.7,464,9562,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,984,3412
$GC,9601,-0.85,-146.6,762.9,-6.4,466,9605,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2404,3412
$GC,9927,-0.85,-146.6,784.5,-6.8,482,9932,0.00,2.70,0.00,0.000,4,0.000,0.072,2221,984,3411
$GC,9972,-0.85,-146.6,787.7,-7.5,484,9977,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2405,3412
$GC,10292,-0.85,-146.6,809.9,-7.1,500,10297,0.00,2.72,0.00,0.000,4,0.000,0.073,2221,978,3412
$GC,10335,-0.85,-146.6,813.2,-7.1,502,10339,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2405,3411
$GC,10662,-0.85,-146.6,836.1,-7.1,518,10667,0.00,2.72,0.00,0.000,4,0.000,0.073,2221,979,3411
$GC,10706,-0.85,-146.6,839.5,-7.7,520,10710,0.00,2.65,0.00,0.000,6,0.000,0.060,2221,2408,3411
$GC,11033,-0.85,-146.6,862.4,-6.9,536,11037,0.00,2.72,0.00,0.000,4,0.000,0.071,2221,978,3411
$GC,11087,-0.85,-146.6,866.5,-7.6,538,11094,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2406,3411
$GC,11402,-0.85,-146.6,887.5,-6.5,554,11407,0.00,2.70,0.00,0.000,4,0.000,0.071,2221,985,3411
$GC,11436,-0.85,-146.6,889.5,-6.6,555,11442,0.00,2.62,0.00,0.000,6,0.000,0.059,2221,2400,3411
$GC,11751,-0.85,-146.6,909.1,-6.1,571,11755,0.00,2.70,0.00,0.000,4,0.000,0.070,2221,979,3411
$GC,11794,-0.85,-146.6,911.7,-5.9,573,11799,0.00,2.62,0.00,0.000,6,0.000,0.058,2221,2398,3410
$GC,12116,-0.85,-146.6,931.0,-5.9,589,12120,0.00,2.70,0.00,0.000,4,0.000,0.070,2221,979,3410
$GC,12155,-0.85,-146.6,933.4,-5.9,591,12160,0.00,2.65,0.00,0.000,6,0.000,0.058,2221,2407,3410
$GC,12481,-0.85,-146.6,951.8,-5.8,607,12485,0.00,2.70,0.00,0.000,4,0.000,0.068,2221,984,3410
$GC,12513,-0.85,-146.6,953.6,-6.4,608,12519,0.00,2.62,0.00,0.000,6,0.000,0.057,2221,2407,3410
$GC,12828,-0.85,-146.6,971.9,-5.8,624,12833,0.00,2.70,0.00,0.000,4,0.000,0.067,2221,977,3409
$GC,12868,-0.85,-146.6,974.2,-5.4,626,12872,0.00,2.62,0.00,0.000,6,0.000,0.056,2221,2401,3409
$STATE,13150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13150,begin apogee
$GC,13156,-0.31,0.0,990.4,5.7,640,13284,0.60,0.00,124.88,1.382,6,0.121,0.000,2336,2190,2817
$STATE,13285,end apogee,CONTROL_FINISHED_OK
$STATE,13285,begin climb
$GC,13287,0.85,146.6,993.7,0.0,646,13419,1.23,2.75,123.97,1.355,4,0.087,0.067,2586,790,2219
$GC,13442,0.85,146.6,987.4,6.8,653,13448,0.00,2.62,0.00,0.000,6,0.000,0.048,2586,2205,2218
$GC,13757,0.85,146.6,964.9,7.3,669,13762,0.00,2.67,0.00,0.000,4,0.000,0.072,2586,3607,2217
$GC,13818,0.85,146.6,960.3,8.0,672,13822,0.00,2.58,0.00,0.000,6,0.000,0.051,2586,2203,2217
$GC,14144,0.85,146.6,937.1,7.1,688,14145,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2203,2217
$GC,14452,0.85,146.6,916.1,6.7,703,14454,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2203,2217
$GC,14762,0.85,146.6,895.9,6.1,718,14763,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2203,2216
$GC,15071,0.85,146.6,876.5,6.1,733,15076,0.00,2.67,0.00,0.000,4,0.000,0.073,2586,3606,2217
$GC,15104,0.85,146.6,874.3,6.3,734,15110,0.00,2.60,0.00,0.000,6,0.000,0.054,2586,2203,2216
$GC,15419,0.85,146.6,855.3,6.1,750,15420,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2203,2216
$GC,15729,0.85,146.6,836.7,6.1,765,15730,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2203,2216
$GC,16038,0.85,146.6,817.5,6.3,780,16042,0.00,2.70,0.00,0.000,4,0.000,0.075,2585,3610,2216
$GC,16069,0.85,146.6,815.3,7.1,781,16076,0.00,2.62,0.00,0.000,6,0.000,0.056,2586,2197,2216
$GC,16385,0.85,146.6,795.0,6.8,797,16390,0.00,2.67,0.00,0.000,4,0.000,0.074,2586,789,2216
$GC,16412,0.85,146.6,793.1,7.1,798,16416,0.00,2.60,0.00,0.000,6,0.000,0.051,2586,2202,2215
$GC,16733,0.85,146.6,771.5,6.6,814,16737,0.00,2.70,0.00,0.000,4,0.000,0.077,2586,3609,2215
$GC,16771,0.85,146.6,768.8,8.0,816,16776,0.00,2.62,0.00,0.000,6,0.000,0.058,2586,2201,2215
$GC,17098,0.85,146.6,746.7,6.8,832,17099,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2202,2215
$GC,17407,0.85,146.6,725.5,6.9,847,17411,0.00,2.70,0.00,0.000,4,0.000,0.077,2586,3604,2215
$GC,17449,0.85,146.6,722.1,7.7,849,17454,0.00,2.62,0.00,0.000,6,0.000,0.058,2585,2198,2215
$GC,17777,0.85,146.6,698.5,7.2,865,17778,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2198,2215
$GC,18085,0.85,146.6,676.3,7.0,880,18087,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2198,2215
$GC,18395,0.85,146.6,654.1,7.4,895,18399,0.00,2.72,0.00,0.000,4,0.000,0.078,2586,3612,2215
$GC,18449,0.85,146.6,649.6,8.2,897,18456,0.00,2.65,0.00,0.000,6,0.000,0.060,2586,2195,2215
$GC,18764,0.85,146.6,627.8,6.9,913,18765,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2196,2215
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$STATE,27215,end climb,SURFACE_DEPTH_REACHED
$STATE,27215,begin surface coast
$FINISH,0.8,1.014487
$STATE,27237,end surface coast,CONTROL_FINISHED_OK
$STATE,27237,begin surface
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$10V_AH,10.1,18.344
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$DATA_FILE_SIZE,66391,1324
$CFSIZE,260165632,246788096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,3,0
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