version: 66.03
glider: 16
mission: 9
dive: 402
start: 8 23 108 23 24 40
data:
$ID,16
$MISSION,9
$DIVE,402
$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,-2102328.5
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,231722,6347.575,-712.450,37,3.1,56,-9.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-51.8
$GPS2,232423,6347.601,-712.445,16,2.8,35,-9.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.063,-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,43.4,95172,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.85,-146.6,0.0,0.0,0,167,0.00,0.00,-140.30,0.000,2,0.000,0.000,73,2246,3220
$GC,172,-0.85,-146.6,6.1,-5.3,7,194,11.85,2.60,-2.85,0.000,4,0.176,0.075,2139,3638,3382
$GC,245,-0.67,-146.6,26.7,-11.2,10,250,0.22,2.55,0.00,0.000,6,0.096,0.043,2183,2224,3383
$GC,568,-0.67,-146.6,51.8,-7.1,26,572,0.00,2.58,0.00,0.000,4,0.000,0.054,2183,813,3383
$GC,647,-0.75,-146.6,57.3,-6.4,29,653,0.00,2.55,0.00,0.000,6,0.000,0.044,2183,2229,3383
$GC,964,-0.75,-146.6,76.7,-6.2,45,969,0.00,2.62,0.00,0.000,4,0.000,0.066,2183,3641,3383
$GC,1009,-0.75,-146.6,79.9,-6.9,47,1013,0.00,2.53,0.00,0.000,6,0.000,0.042,2183,2228,3384
$GC,1331,-0.75,-146.6,102.1,-7.3,63,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2228,3384
$GC,1639,-0.75,-146.6,124.3,-7.0,78,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2228,3385
$GC,1949,-0.75,-146.6,144.9,-6.6,93,1953,0.00,2.65,0.00,0.000,4,0.000,0.070,2183,3637,3385
$GC,1993,-0.75,-146.6,148.3,-7.4,95,1998,0.00,2.55,0.00,0.000,6,0.000,0.046,2183,2222,3385
$GC,2316,-0.80,-146.6,170.6,-7.2,111,2318,0.12,0.00,0.00,0.000,6,0.049,0.000,2144,2221,3385
$GC,2626,-0.72,-146.6,200.3,-9.7,126,2627,0.15,0.00,0.00,0.000,6,0.094,0.000,2173,2221,3385
$GC,2934,-0.72,-146.6,222.9,-6.7,141,2939,0.00,2.67,0.00,0.000,4,0.000,0.075,2173,3635,3385
$GC,2968,-0.72,-146.6,225.4,-6.9,142,2974,0.00,2.55,0.00,0.000,6,0.000,0.050,2173,2231,3385
$GC,3284,-0.72,-146.6,244.8,-6.2,158,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2231,3384
$GC,3594,-0.72,-146.6,264.9,-6.6,173,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2231,3383
$GC,3903,-0.72,-146.6,285.8,-6.6,188,3907,0.00,2.70,0.00,0.000,4,0.000,0.078,2173,3640,3382
$GC,3935,-0.72,-146.6,288.2,-7.2,189,3941,0.00,2.58,0.00,0.000,6,0.000,0.052,2173,2231,3382
$GC,4252,-0.72,-146.6,308.8,-6.5,205,4256,0.00,2.70,0.00,0.000,4,0.000,0.079,2173,3638,3381
$GC,4278,-0.72,-146.6,311.0,-7.8,206,4283,0.00,2.58,0.00,0.000,6,0.000,0.052,2173,2230,3381
$GC,4595,-0.76,-146.6,333.0,-7.2,221,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3380
$GC,4905,-0.76,-146.6,356.1,-7.5,236,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3379
$GC,5213,-0.76,-146.6,379.5,-7.5,251,5218,0.00,2.70,0.00,0.000,4,0.000,0.080,2173,3637,3378
$GC,5247,-0.76,-146.6,382.3,-8.2,252,5253,0.00,2.58,0.00,0.000,6,0.000,0.053,2173,2230,3378
$GC,5564,-0.80,-146.6,405.9,-7.6,268,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2230,3377
$GC,5872,-0.85,-146.6,428.3,-7.0,283,5874,0.12,0.00,0.00,0.000,6,0.059,0.000,2139,2230,3376
$GC,6181,-0.78,-146.6,455.1,-8.5,298,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2230,3375
$GC,6491,-0.71,-146.6,481.3,-8.2,313,6493,0.17,0.00,0.00,0.000,6,0.100,0.000,2172,2228,3375
$GC,6800,-0.75,-146.6,501.5,-6.5,328,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2229,3373
$GC,7110,-0.79,-146.6,521.9,-6.5,343,7114,0.00,2.70,0.00,0.000,4,0.000,0.081,2172,3640,3373
$GC,7149,-0.79,-146.6,524.8,-7.2,345,7154,0.00,2.58,0.00,0.000,6,0.000,0.053,2172,2227,3373
$GC,7482,-0.84,-146.6,546.8,-6.9,361,7484,0.12,0.00,0.00,0.000,6,0.061,0.000,2138,2227,3372
$GC,7792,-0.77,-146.6,572.5,-8.4,376,7794,0.12,0.00,0.00,0.000,6,0.105,0.000,2161,2227,3372
$GC,8100,-0.77,-146.6,594.6,-7.2,391,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2227,3371
$GC,8409,-0.77,-146.6,616.2,-7.0,406,8414,0.00,2.70,0.00,0.000,4,0.000,0.080,2161,3636,3371
$GC,8450,-0.77,-146.6,619.2,-7.8,408,8455,0.00,2.58,0.00,0.000,6,0.000,0.053,2161,2222,3371
$GC,8776,-0.77,-146.6,640.4,-6.6,424,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2222,3370
$GC,9086,-0.77,-146.6,660.5,-6.3,439,9090,0.00,2.70,0.00,0.000,4,0.000,0.080,2161,3635,3370
$GC,9126,-0.77,-146.6,663.3,-7.7,441,9131,0.00,2.58,0.00,0.000,6,0.000,0.052,2161,2225,3370
$GC,9453,-0.77,-146.6,684.4,-6.5,457,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2225,3369
$GC,9762,-0.77,-146.6,704.3,-6.4,472,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2225,3368
$GC,10072,-0.77,-146.6,723.3,-6.1,487,10077,0.00,2.70,0.00,0.000,4,0.000,0.083,2161,3633,3368
$GC,10112,-0.77,-146.6,726.0,-6.7,489,10116,0.00,2.58,0.00,0.000,6,0.000,0.052,2161,2227,3368
$GC,10438,-0.77,-146.6,747.3,-6.6,505,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2227,3368
$GC,10748,-0.77,-146.6,767.9,-6.8,520,10752,0.00,2.70,0.00,0.000,4,0.000,0.083,2161,3634,3367
$GC,10775,-0.77,-146.6,769.9,-7.7,521,10779,0.00,2.58,0.00,0.000,6,0.000,0.052,2161,2225,3367
$GC,11091,-0.77,-146.6,791.5,-7.0,536,11092,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2225,3367
$GC,11401,-0.77,-146.6,812.8,-6.9,551,11402,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2225,3366
$GC,11710,-0.77,-146.6,833.9,-6.8,566,11714,0.00,2.70,0.00,0.000,4,0.000,0.082,2161,3634,3366
$GC,11749,-0.77,-146.6,836.8,-8.2,568,11753,0.00,2.58,0.00,0.000,6,0.000,0.052,2161,2227,3366
$GC,12076,-0.77,-146.6,859.2,-6.8,584,12077,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2227,3366
$GC,12384,-0.77,-146.6,879.4,-6.5,599,12385,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2227,3366
$GC,12694,-0.77,-146.6,899.8,-6.5,614,12701,0.00,2.65,0.00,0.000,4,0.000,0.080,2161,3631,3366
$GC,12730,-0.77,-146.6,902.4,-7.8,615,12734,0.00,2.55,0.00,0.000,6,0.000,0.052,2161,2228,3366
$GC,13046,-0.77,-146.6,922.8,-6.6,630,13047,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2228,3366
$GC,13355,-0.77,-146.6,942.5,-6.3,645,13356,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2227,3365
$GC,13665,-0.77,-146.6,962.6,-6.5,660,13669,0.00,2.67,0.00,0.000,4,0.000,0.077,2161,3637,3365
$GC,13704,-0.77,-146.6,965.4,-7.3,662,13709,0.00,2.58,0.00,0.000,6,0.000,0.051,2160,2222,3365
$GC,14032,-0.81,-146.6,986.7,-6.5,678,14033,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2221,3365
$STATE,14090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14091,begin apogee
$GC,14097,-0.31,0.0,990.7,6.6,681,14235,0.50,0.00,134.88,1.315,6,0.099,0.000,2260,2221,2781
$STATE,14236,end apogee,CONTROL_FINISHED_OK
$STATE,14236,begin climb
$GC,14239,0.85,146.6,997.0,0.0,688,14383,1.20,2.67,135.60,1.295,4,0.083,0.062,2508,832,2183
$GC,14460,0.78,187.0,993.4,4.9,698,14504,0.00,2.62,38.75,1.312,6,0.000,0.052,2508,2245,2018
$GC,14829,0.78,187.0,971.3,6.3,716,14830,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2245,2018
$GC,15137,0.73,187.0,952.4,6.2,731,15138,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2245,2018
$GC,15446,0.70,193.5,934.2,5.8,746,15460,0.15,2.70,7.35,1.075,4,0.104,0.062,2476,841,1992
$GC,15496,0.80,224.6,931.6,5.1,748,15533,0.12,2.60,30.30,1.288,6,0.062,0.051,2507,2248,1865
$GC,15845,0.80,224.6,910.7,6.1,765,15846,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2248,1864
$GC,16151,0.82,238.5,892.7,5.6,780,16173,0.00,2.72,14.55,1.212,4,0.000,0.063,2507,828,1808
$GC,16202,0.82,238.5,889.5,6.0,782,16206,0.00,2.62,0.00,0.000,6,0.000,0.051,2507,2240,1808
$GC,16522,0.82,238.5,870.2,6.2,798,16524,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2240,1808
$GC,16832,0.82,238.5,850.9,6.3,813,16836,0.00,2.65,0.00,0.000,4,0.000,0.064,2507,828,1808
$GC,16882,0.82,238.5,847.5,6.3,815,16887,0.00,2.60,0.00,0.000,6,0.000,0.052,2507,2240,1808
$GC,17198,0.82,238.5,828.3,6.1,830,17199,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2240,1808
$GC,17507,0.82,238.7,809.5,6.0,845,17509,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2240,1808
$GC,17817,0.82,242.9,791.0,5.9,860,17828,0.00,2.65,5.53,0.951,4,0.000,0.064,2507,832,1789
$GC,17880,0.82,242.9,786.9,6.0,863,17884,0.00,2.60,0.00,0.000,6,0.000,0.052,2507,2240,1789
$GC,18207,0.83,244.8,767.5,5.9,879,18208,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2240,1789
$GC,18515,0.84,254.6,749.5,5.7,894,18534,0.00,0.00,12.48,1.120,6,0.000,0.000,2507,2241,1742
$GC,18844,0.86,274.5,730.7,5.5,910,18868,0.00,2.70,19.17,1.128,4,0.000,0.064,2508,833,1661
$GC,18911,0.91,274.5,726.9,6.1,913,18916,0.00,2.62,0.00,0.000,6,0.000,0.053,2508,2244,1661
$GC,19239,0.97,290.6,708.4,5.6,929,19258,0.15,0.00,16.05,1.142,6,0.074,0.000,2542,2243,1596
$GC,19570,0.97,290.6,685.3,7.0,945,19574,0.00,2.67,0.00,0.000,4,0.000,0.065,2542,830,1596
$GC,19611,0.92,290.6,682.3,8.5,947,19615,0.00,2.60,0.00,0.000,6,0.000,0.053,2542,2238,1595
$GC,19937,0.92,290.6,658.7,7.2,963,19938,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2238,1595
$GC,20247,0.88,290.6,634.5,8.0,978,20252,0.00,2.65,0.00,0.000,4,0.000,0.067,2542,830,1595
$GC,20288,0.84,290.6,631.0,8.6,980,20293,0.15,2.60,0.00,0.000,6,0.100,0.054,2513,2245,1594
$GC,20615,0.84,290.6,606.6,7.4,996,20616,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2245,1595
$GC,20925,0.84,290.6,584.3,7.2,1011,20929,0.00,2.67,0.00,0.000,4,0.000,0.067,2513,825,1595
$GC,20964,0.84,290.6,581.3,7.5,1013,20969,0.00,2.60,0.00,0.000,6,0.000,0.054,2513,2238,1595
$GC,21290,0.84,290.6,556.9,7.5,1029,21292,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2238,1595
$GC,21601,0.84,290.6,532.7,7.9,1044,21602,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2238,1595
$GC,21909,0.84,290.6,508.9,7.7,1059,21913,0.00,2.65,0.00,0.000,4,0.000,0.067,2513,832,1595
$GC,21971,0.84,290.6,504.0,8.6,1062,21975,0.00,2.60,0.00,0.000,6,0.000,0.054,2513,2240,1594
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$STATE,29064,begin surface coast
$FINISH,0.5,1.025731
$STATE,29084,end surface coast,CONTROL_FINISHED_OK
$STATE,29084,begin surface
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$HUMID,1929
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$XPDR_PINGS,83
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$24V_AH,23.0,65.218
$10V_AH,10.1,32.488
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$DEVICE_SECS,26.225,168.050,419.375,136.625,0.000,18.001,27.249,198.307,29.500,0.000,0.000,36.769,2450.976,23010.393,766.961,2722.145,703.693,0.000,2100.789,0.000,2645.956,0.000,57.738
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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,69468,1406
$CAP_FILE_SIZE,183078,0
$CFSIZE,260165632,235651072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,240808,073346,6349.597,-705.594,41,2.3,60,-9.0