version: 66.03
glider: 16
mission: 9
dive: 42
start: 6 13 108 11 41 28
data:
$ID,16
$MISSION,9
$DIVE,42
$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,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,300
$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,-2093443.2
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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,2
$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
$GPS1,112832,6014.441,-546.512,40,1.3,40,-7.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-58.0
$GPS2,114037,6014.329,-546.690,14,1.2,31,-7.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_1
$TGT_LATLONG,6010.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.213,-0.061
$KALMAN_X,10582.7,-927.7,-1187.5,-35308.6,12443.1
$KALMAN_Y,-23289.8,-989.9,-631.7,-36767.9,4636.5
$MHEAD_RNG_PITCHd_Wd,251.7,18677,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-60.85,0.000,2,0.000,0.000,71,2304,2831
$GC,90,-0.85,-146.6,3.6,-5.1,3,121,11.25,2.67,-14.10,0.000,4,0.161,0.087,2109,3706,3380
$GC,301,-0.68,-146.6,30.5,-11.8,12,308,0.20,2.58,0.00,0.000,6,0.092,0.054,2150,2302,3380
$GC,618,-0.63,-146.6,59.8,-8.6,28,623,0.00,2.65,0.00,0.000,4,0.000,0.067,2149,880,3380
$GC,736,-0.63,-146.6,69.7,-8.4,33,740,0.00,2.62,0.00,0.000,6,0.000,0.058,2149,2295,3380
$GC,1052,-0.57,-146.6,97.7,-9.2,48,1057,0.12,2.65,0.00,0.000,4,0.097,0.065,2171,877,3380
$GC,1093,-0.63,-146.6,101.3,-8.5,50,1097,0.00,2.62,0.00,0.000,6,0.000,0.059,2171,2300,3380
$GC,1419,-0.63,-146.6,127.9,-8.3,66,1424,0.00,2.65,0.00,0.000,4,0.000,0.067,2171,879,3379
$GC,1475,-0.69,-146.6,132.7,-8.5,68,1482,0.00,2.62,0.00,0.000,6,0.000,0.059,2171,2302,3380
$GC,1791,-0.69,-146.6,156.9,-7.8,84,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2301,3380
$GC,2100,-0.69,-146.6,181.9,-8.1,99,2105,0.00,2.65,0.00,0.000,4,0.000,0.065,2171,875,3381
$GC,2151,-0.75,-146.6,186.1,-8.0,101,2156,0.17,2.62,0.00,0.000,6,0.042,0.059,2116,2303,3380
$GC,2467,-0.61,-146.6,220.3,-10.8,116,2472,0.20,2.67,0.00,0.000,4,0.084,0.067,2161,872,3380
$GC,2529,-0.61,-146.6,225.9,-8.1,119,2534,0.00,2.65,0.00,0.000,6,0.000,0.059,2161,2298,3380
$GC,2855,-0.61,-146.6,251.9,-7.9,135,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2298,3380
$GC,3165,-0.61,-146.6,274.7,-7.4,150,3170,0.00,2.62,0.00,0.000,4,0.000,0.067,2161,878,3380
$GC,3220,-0.61,-146.6,279.1,-7.5,152,3224,0.00,2.62,0.00,0.000,6,0.000,0.059,2161,2299,3380
$GC,3535,-0.61,-146.6,303.8,-7.9,167,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2300,3380
$GC,3845,-0.61,-146.6,327.5,-7.8,182,3849,0.00,2.65,0.00,0.000,4,0.000,0.067,2161,875,3380
$GC,3900,-0.61,-146.6,331.9,-8.2,184,3906,0.00,2.65,0.00,0.000,6,0.000,0.059,2161,2304,3380
$GC,4215,-0.61,-146.6,354.1,-6.6,200,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2304,3380
$GC,4525,-0.61,-146.6,373.5,-6.1,215,4529,0.00,2.65,0.00,0.000,4,0.000,0.067,2161,878,3380
$GC,4588,-0.65,-146.6,377.3,-6.0,218,4593,0.00,2.65,0.00,0.000,6,0.000,0.059,2161,2307,3380
$GC,4915,-0.65,-146.6,398.1,-6.4,234,4919,0.00,2.65,0.00,0.000,4,0.000,0.067,2161,879,3381
$GC,4955,-0.71,-146.6,400.8,-6.9,236,4960,0.00,2.60,0.00,0.000,6,0.000,0.060,2161,2302,3380
$GC,5282,-0.71,-146.6,424.3,-7.1,252,5286,0.00,2.67,0.00,0.000,4,0.000,0.081,2161,3713,3380
$GC,5314,-0.71,-146.6,426.8,-7.4,253,5321,0.00,2.60,0.00,0.000,6,0.000,0.058,2161,2294,3380
$GC,5631,-0.71,-146.6,446.1,-5.9,269,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2294,3380
$GC,5939,-0.71,-146.6,467.5,-7.5,284,5944,0.00,2.62,0.00,0.000,4,0.000,0.068,2161,877,3380
$GC,6002,-0.76,-146.6,472.4,-7.9,287,6007,0.12,2.65,0.00,0.000,6,0.047,0.061,2119,2305,3380
$GC,6331,-0.65,-146.6,501.8,-8.2,303,6333,0.20,0.00,0.00,0.000,6,0.083,0.000,2159,2304,3380
$GC,6638,-0.65,-146.6,519.9,-6.1,318,6642,0.00,2.65,0.00,0.000,4,0.000,0.066,2160,877,3380
$GC,6678,-0.70,-146.6,522.6,-6.4,320,6682,0.00,2.62,0.00,0.000,6,0.000,0.060,2160,2304,3380
$GC,7004,-0.70,-146.6,544.8,-7.1,336,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2304,3380
$GC,7314,-0.70,-146.6,567.7,-7.2,351,7318,0.00,2.65,0.00,0.000,4,0.000,0.066,2160,877,3379
$GC,7347,-0.76,-146.6,570.1,-7.5,352,7353,0.12,2.62,0.00,0.000,6,0.047,0.060,2120,2303,3380
$GC,7662,-0.67,-146.6,593.2,-6.8,368,7664,0.17,0.00,0.00,0.000,6,0.084,0.000,2154,2303,3379
$GC,7972,-0.67,-146.6,607.7,-4.5,383,7976,0.00,2.65,0.00,0.000,4,0.000,0.067,2154,880,3378
$GC,8039,-0.73,-146.6,611.0,-5.1,386,8043,0.00,2.62,0.00,0.000,6,0.000,0.060,2154,2301,3378
$GC,8360,-0.73,-146.6,627.5,-5.8,402,8364,0.00,2.65,0.00,0.000,4,0.000,0.067,2154,874,3378
$GC,8393,-0.78,-146.6,629.6,-6.8,403,8399,0.12,2.65,0.00,0.000,6,0.049,0.061,2114,2305,3377
$GC,8709,-0.67,-146.6,655.1,-8.3,419,8714,0.15,2.67,0.00,0.000,4,0.089,0.087,2149,3706,3377
$GC,8753,-0.67,-146.6,658.4,-7.1,421,8757,0.00,2.60,0.00,0.000,6,0.000,0.061,2148,2293,3377
$GC,9074,-0.67,-146.6,679.0,-6.4,437,9078,0.00,2.65,0.00,0.000,4,0.000,0.077,2149,886,3376
$GC,9106,-0.71,-146.6,681.3,-6.8,438,9113,0.00,2.65,0.00,0.000,6,0.000,0.065,2149,2300,3376
$GC,9423,-0.71,-146.6,700.4,-5.6,454,9428,0.00,2.75,0.00,0.000,4,0.000,0.095,2149,3710,3376
$GC,9457,-0.71,-146.6,702.6,-5.8,455,9463,0.00,2.62,0.00,0.000,6,0.000,0.067,2149,2298,3376
$GC,9773,-0.71,-146.6,721.1,-6.5,471,9777,0.00,2.67,0.00,0.000,4,0.000,0.080,2148,885,3374
$GC,9822,-0.76,-146.6,724.7,-7.0,473,9830,0.00,2.65,0.00,0.000,6,0.000,0.067,2149,2301,3374
$GC,10146,-0.76,-146.6,747.5,-7.1,489,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2301,3372
$GC,10455,-0.76,-146.6,769.6,-7.1,504,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2301,3371
$GC,10764,-0.76,-146.6,790.9,-6.4,519,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2301,3370
$GC,11074,-0.76,-146.6,810.9,-6.6,534,11075,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2301,3368
$GC,11383,-0.76,-146.6,831.4,-7.0,549,11387,0.00,2.70,0.00,0.000,4,0.000,0.078,2148,886,3367
$GC,11416,-0.81,-146.6,833.8,-7.3,550,11423,0.12,2.67,0.00,0.000,6,0.058,0.071,2114,2300,3367
$GC,11733,-0.73,-146.6,860.3,-8.1,566,11734,0.12,0.00,0.00,0.000,6,0.100,0.000,2137,2300,3365
$GC,12041,-0.73,-146.6,880.1,-6.2,581,12042,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2300,3365
$GC,12351,-0.73,-146.6,899.8,-6.4,596,12358,0.00,2.67,0.00,0.000,4,0.000,0.079,2137,886,3364
$GC,12386,-0.73,-146.6,902.2,-6.8,597,12390,0.00,2.67,0.00,0.000,6,0.000,0.070,2137,2300,3364
$GC,12701,-0.73,-146.6,922.5,-6.3,612,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2301,3363
$GC,13011,-0.73,-146.6,941.6,-6.0,627,13012,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2301,3362
$GC,13320,-0.73,-146.6,959.6,-5.7,642,13321,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2301,3361
$GC,13629,-0.73,-146.6,979.0,-6.8,657,13634,0.00,2.70,0.00,0.000,4,0.000,0.077,2137,880,3360
$GC,13662,-0.73,-146.6,981.4,-7.2,658,13668,0.00,2.67,0.00,0.000,6,0.000,0.068,2137,2302,3360
$STATE,13790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13790,begin apogee
$GC,13796,-0.31,0.0,990.7,7.3,665,13933,0.47,0.00,132.45,1.289,6,0.119,0.000,2227,2302,2782
$STATE,13934,end apogee,CONTROL_FINISHED_OK
$STATE,13934,begin climb
$GC,13936,0.85,146.6,997.2,0.0,672,14079,1.25,2.83,134.93,1.251,4,0.087,0.087,2482,3712,2183
$GC,14127,0.76,157.0,993.7,5.7,681,14146,0.00,2.67,11.43,1.161,6,0.000,0.064,2482,2292,2140
$GC,14469,0.80,201.0,977.4,4.8,698,14517,0.00,2.78,41.50,1.295,4,0.000,0.076,2482,893,1960
$GC,14541,0.84,229.7,973.5,5.2,701,14581,0.00,2.67,29.62,1.200,6,0.000,0.062,2482,2303,1844
$GC,14899,0.84,229.7,952.0,6.5,719,14900,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2303,1844
$GC,15207,0.84,229.7,932.4,6.5,734,15211,0.00,2.72,0.00,0.000,4,0.000,0.075,2482,887,1843
$GC,15239,0.84,229.7,930.1,6.9,735,15245,0.00,2.65,0.00,0.000,6,0.000,0.064,2482,2301,1843
$GC,15555,0.84,229.7,908.1,7.0,751,15556,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2301,1843
$GC,15864,0.84,229.7,887.3,6.7,766,15869,0.00,2.70,0.00,0.000,4,0.000,0.076,2482,892,1843
$GC,15919,0.84,229.7,883.6,6.3,768,15925,0.00,2.65,0.00,0.000,6,0.000,0.066,2482,2303,1842
$GC,16235,0.84,229.7,864.4,6.0,784,16236,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2303,1843
$GC,16544,0.84,229.7,845.1,6.7,799,16549,0.00,2.70,0.00,0.000,4,0.000,0.076,2482,893,1843
$GC,16601,0.84,229.7,841.3,7.9,801,16607,0.00,2.65,0.00,0.000,6,0.000,0.067,2482,2300,1842
$GC,16917,0.84,229.7,819.7,7.0,817,16921,0.00,2.70,0.00,0.000,4,0.000,0.077,2482,891,1842
$GC,16944,0.84,229.7,817.8,6.6,818,16948,0.00,2.65,0.00,0.000,6,0.000,0.065,2482,2300,1842
$GC,17259,0.84,229.7,797.3,6.4,833,17264,0.00,2.70,0.00,0.000,4,0.000,0.077,2482,890,1841
$GC,17304,0.84,229.7,794.3,7.6,835,17308,0.00,2.65,0.00,0.000,6,0.000,0.066,2482,2299,1841
$GC,17625,0.84,229.7,773.2,6.6,851,17626,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2299,1841
$GC,17934,0.84,229.7,753.2,6.4,866,17938,0.00,2.70,0.00,0.000,4,0.000,0.076,2482,886,1841
$GC,17977,0.84,229.7,750.4,6.2,868,17982,0.00,2.65,0.00,0.000,6,0.000,0.066,2482,2302,1841
$GC,18298,0.84,229.7,727.8,7.5,884,18303,0.00,2.70,0.00,0.000,4,0.000,0.076,2482,890,1841
$GC,18332,0.84,229.7,725.4,6.8,885,18338,0.00,2.65,0.00,0.000,6,0.000,0.067,2482,2300,1841
$GC,18648,0.84,229.7,703.9,6.8,901,18649,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2298,1841
$GC,18957,0.84,229.7,682.8,6.9,916,18962,0.00,2.70,0.00,0.000,4,0.000,0.076,2482,886,1841
$GC,19007,0.84,229.7,679.4,6.1,918,19012,0.00,2.67,0.00,0.000,6,0.000,0.064,2482,2307,1840
$GC,19323,0.86,252.0,660.3,5.4,933,19346,0.00,0.00,20.88,1.122,6,0.000,0.000,2482,2306,1753
$GC,19653,0.92,303.4,643.4,4.6,949,19706,0.00,2.83,46.53,1.138,4,0.000,0.088,2482,3714,1543
$GC,19737,0.99,303.4,638.9,6.3,953,19742,0.15,2.70,0.00,0.000,6,0.062,0.064,2520,2298,1543
$GC,20064,0.99,303.4,614.8,9.0,969,20068,0.00,2.70,0.00,0.000,4,0.000,0.077,2521,888,1543
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$STATE,27279,end climb,SURFACE_DEPTH_REACHED
$STATE,27279,begin surface coast
$FINISH,0.6,1.020505
$STATE,27301,end surface coast,CONTROL_FINISHED_OK
$STATE,27301,begin surface
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$HUMID,1853
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$XPDR_PINGS,104
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$24V_AH,23.4,9.405
$10V_AH,10.1,4.291
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$DEVICE_SECS,25.575,276.175,421.075,0.000,0.000,37.759,80.402,343.244,34.750,0.000,0.000,30.972,2399.344,21299.418,635.250,2843.321,899.943,33.359,2079.115,0.000,2757.382,0.000,57.815
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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,66297,1318
$CAP_FILE_SIZE,206366,0
$CFSIZE,260165632,255995904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$GPS,130608,191907,6011.763,-554.956,40,1.3,40,-7.2