version: 66.03
glider: 16
mission: 9
dive: 407
start: 8 25 108 17 51 0
data:
$ID,16
$MISSION,9
$DIVE,407
$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,-2102437.2
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,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,24
$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
$GPS1,174355,6342.048,-644.362,25,1.5,42,-8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-56.4
$GPS2,175041,6342.178,-644.379,11,2.1,30,-8.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NO9
$TGT_LATLONG,6340.000,-605.000
$TGT_RADIUS,1500.000
$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,105.8,32601,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-121.20,0.000,2,0.000,0.000,71,2253,2763
$GC,151,-0.85,-146.6,3.3,-2.6,6,186,11.73,2.60,-17.15,0.000,4,0.171,0.074,2140,3634,3379
$GC,279,-0.70,-146.6,18.6,-10.7,11,286,0.17,2.53,0.00,0.000,6,0.097,0.041,2174,2220,3380
$GC,597,-0.65,-146.6,47.2,-9.4,27,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2220,3380
$GC,905,-0.65,-146.6,74.2,-8.7,42,910,0.00,2.65,0.00,0.000,4,0.000,0.064,2174,3638,3382
$GC,972,-0.65,-146.6,80.7,-9.2,45,977,0.00,2.53,0.00,0.000,6,0.000,0.041,2174,2226,3382
$GC,1294,-0.65,-146.6,105.5,-7.5,61,1298,0.00,2.65,0.00,0.000,4,0.000,0.066,2174,3637,3383
$GC,1345,-0.65,-146.6,109.7,-8.5,63,1349,0.00,2.53,0.00,0.000,6,0.000,0.044,2174,2232,3383
$GC,1661,-0.65,-146.6,131.0,-6.5,78,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2231,3383
$GC,1970,-0.65,-146.6,148.1,-4.9,93,1975,0.00,2.67,0.00,0.000,4,0.000,0.070,2174,3641,3382
$GC,2005,-0.65,-146.6,149.9,-5.4,94,2012,0.00,2.55,0.00,0.000,6,0.000,0.046,2174,2222,3384
$GC,2321,-0.65,-146.6,164.8,-4.6,110,2325,0.00,2.70,0.00,0.000,4,0.000,0.071,2174,3641,3383
$GC,2348,-0.65,-146.6,166.2,-5.5,111,2352,0.00,2.55,0.00,0.000,6,0.000,0.047,2174,2230,3383
$GC,2665,-0.65,-146.6,184.5,-6.6,126,2669,0.00,2.67,0.00,0.000,4,0.000,0.073,2174,3640,3383
$GC,2704,-0.65,-146.6,187.3,-7.7,128,2708,0.00,2.58,0.00,0.000,6,0.000,0.048,2174,2221,3383
$GC,3030,-0.65,-146.6,209.4,-7.1,144,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2221,3382
$GC,3340,-0.65,-146.6,231.9,-7.1,159,3345,0.00,2.72,0.00,0.000,4,0.000,0.076,2174,3641,3382
$GC,3367,-0.65,-146.6,234.3,-8.4,160,3372,0.00,2.58,0.00,0.000,6,0.000,0.050,2174,2231,3382
$GC,3683,-0.65,-146.6,256.1,-6.8,175,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2231,3381
$GC,3993,-0.65,-146.6,276.3,-6.3,190,3998,0.00,2.70,0.00,0.000,4,0.000,0.078,2174,3636,3380
$GC,4026,-0.65,-146.6,278.8,-7.7,191,4032,0.00,2.58,0.00,0.000,6,0.000,0.051,2172,2230,3380
$GC,4342,-0.69,-146.6,298.3,-6.1,207,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2230,3379
$GC,4652,-0.74,-146.6,317.3,-6.2,222,4656,0.00,2.70,0.00,0.000,4,0.000,0.078,2174,3635,3379
$GC,4702,-0.79,-146.6,320.8,-6.8,224,4706,0.00,2.58,0.00,0.000,6,0.000,0.051,2174,2231,3378
$GC,5018,-0.83,-146.6,339.6,-5.8,239,5020,0.12,0.00,0.00,0.000,6,0.062,0.000,2144,2231,3377
$GC,5328,-0.78,-146.6,361.7,-7.2,254,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2231,3376
$GC,5636,-0.72,-146.6,385.0,-7.6,269,5638,0.15,0.00,0.00,0.000,6,0.100,0.000,2171,2231,3375
$GC,5946,-0.72,-146.6,405.6,-6.6,284,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2231,3374
$GC,6255,-0.76,-146.6,426.7,-7.1,299,6259,0.00,2.70,0.00,0.000,4,0.000,0.080,2171,3634,3373
$GC,6288,-0.76,-146.6,429.3,-7.7,300,6294,0.00,2.58,0.00,0.000,6,0.000,0.052,2171,2233,3373
$GC,6606,-0.81,-146.6,450.1,-6.4,316,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2233,3372
$GC,6914,-0.85,-146.6,469.5,-6.2,331,6919,0.12,2.70,0.00,0.000,4,0.059,0.079,2139,3637,3371
$GC,6947,-0.77,-146.6,472.1,-8.0,332,6954,0.12,2.58,0.00,0.000,6,0.105,0.053,2162,2228,3371
$GC,7264,-0.77,-146.6,492.3,-6.3,348,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3371
$GC,7572,-0.77,-146.6,511.9,-6.4,363,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2228,3371
$GC,7881,-0.77,-146.6,531.6,-6.4,378,7886,0.00,2.70,0.00,0.000,4,0.000,0.079,2162,3634,3370
$GC,7922,-0.77,-146.6,534.5,-8.0,380,7926,0.00,2.58,0.00,0.000,6,0.000,0.052,2162,2226,3369
$GC,8249,-0.77,-146.6,556.4,-6.8,396,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2226,3369
$GC,8558,-0.77,-146.6,577.8,-6.8,411,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2226,3368
$GC,8868,-0.77,-146.6,598.1,-6.5,426,8873,0.00,2.70,0.00,0.000,4,0.000,0.079,2162,3634,3368
$GC,8901,-0.77,-146.6,600.5,-7.5,427,8907,0.00,2.58,0.00,0.000,6,0.000,0.051,2162,2228,3368
$GC,9216,-0.77,-146.6,620.9,-6.5,443,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2227,3367
$GC,9526,-0.77,-146.6,641.1,-6.6,458,9531,0.00,2.70,0.00,0.000,4,0.000,0.078,2162,3635,3366
$GC,9554,-0.77,-146.6,643.1,-7.0,459,9559,0.00,2.58,0.00,0.000,6,0.000,0.051,2162,2227,3366
$GC,9870,-0.77,-146.6,664.2,-6.8,474,9871,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3366
$GC,10180,-0.77,-146.6,685.7,-7.3,489,10184,0.00,2.70,0.00,0.000,4,0.000,0.079,2162,3637,3366
$GC,10224,-0.77,-146.6,689.4,-8.5,491,10228,0.00,2.58,0.00,0.000,6,0.000,0.051,2162,2228,3366
$GC,10544,-0.77,-146.6,712.5,-7.1,507,10546,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2228,3365
$GC,10855,-0.77,-146.6,733.8,-6.6,522,10859,0.00,2.70,0.00,0.000,4,0.000,0.080,2162,3634,3365
$GC,10894,-0.77,-146.6,736.9,-7.6,524,10898,0.00,2.58,0.00,0.000,6,0.000,0.052,2162,2230,3365
$GC,11220,-0.77,-146.6,758.5,-6.4,540,11221,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2230,3364
$GC,11531,-0.77,-146.6,777.0,-5.7,555,11535,0.00,2.67,0.00,0.000,4,0.000,0.081,2162,3634,3364
$GC,11564,-0.77,-146.6,779.4,-6.8,556,11570,0.00,2.58,0.00,0.000,6,0.000,0.052,2162,2227,3363
$GC,11880,-0.77,-146.6,798.3,-5.9,572,11881,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2227,3363
$GC,12190,-0.77,-146.6,816.1,-5.6,587,12194,0.00,2.70,0.00,0.000,4,0.000,0.080,2162,3634,3363
$GC,12223,-0.77,-146.6,818.4,-6.6,588,12229,0.00,2.58,0.00,0.000,6,0.000,0.052,2162,2230,3363
$GC,12538,-0.77,-146.6,837.3,-6.3,604,12539,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2229,3363
$GC,12848,-0.77,-146.6,856.8,-6.3,619,12853,0.00,2.70,0.00,0.000,4,0.000,0.078,2162,3635,3363
$GC,12882,-0.77,-146.6,859.2,-7.4,620,12888,0.00,2.58,0.00,0.000,6,0.000,0.052,2162,2229,3362
$GC,13198,-0.77,-146.6,879.2,-6.3,636,13199,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2229,3362
$GC,13508,-0.77,-146.6,899.0,-6.1,651,13512,0.00,2.67,0.00,0.000,4,0.000,0.077,2162,3634,3361
$GC,13547,-0.77,-146.6,901.7,-6.1,653,13551,0.00,2.58,0.00,0.000,6,0.000,0.051,2162,2224,3362
$GC,13875,-0.81,-146.6,921.2,-5.9,669,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2224,3362
$GC,14183,-0.81,-146.6,939.6,-6.0,684,14187,0.00,2.67,0.00,0.000,4,0.000,0.076,2162,3634,3362
$GC,14223,-0.81,-146.6,942.2,-6.2,686,14227,0.00,2.58,0.00,0.000,6,0.000,0.051,2160,2228,3361
$GC,14550,-0.81,-146.6,961.4,-5.7,702,14551,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2228,3362
$GC,14859,-0.85,-146.6,980.0,-6.2,717,14863,0.00,2.65,0.00,0.000,4,0.000,0.074,2162,3635,3361
$GC,14891,-0.85,-146.6,982.2,-7.1,718,14897,0.00,2.55,0.00,0.000,6,0.000,0.049,2162,2227,3361
$STATE,15018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15019,begin apogee
$GC,15026,-0.31,0.0,990.3,6.2,725,15170,0.50,0.00,136.15,1.304,6,0.098,0.000,2262,2226,2781
$STATE,15171,end apogee,CONTROL_FINISHED_OK
$STATE,15171,begin climb
$GC,15174,0.85,146.6,996.6,0.0,732,15318,1.20,2.70,135.75,1.299,4,0.081,0.062,2508,833,2183
$GC,15378,0.76,179.7,994.2,5.1,741,15417,0.00,2.62,32.58,1.301,6,0.000,0.050,2508,2243,2047
$GC,15743,0.71,179.7,972.6,6.2,759,15745,0.12,0.00,0.00,0.000,6,0.113,0.000,2485,2243,2047
$GC,16051,0.73,195.1,955.1,5.6,774,16075,0.00,0.00,17.48,1.118,6,0.000,0.000,2485,2243,1985
$GC,16379,0.75,216.0,936.8,5.4,790,16402,0.00,0.00,21.10,1.256,6,0.000,0.000,2485,2243,1900
$GC,16709,0.84,250.4,919.3,5.1,806,16748,0.12,0.00,33.40,1.292,6,0.061,0.000,2513,2243,1760
$GC,17058,0.84,250.4,897.5,6.1,823,17063,0.00,2.67,0.00,0.000,4,0.000,0.064,2513,833,1759
$GC,17085,0.84,250.4,895.7,6.5,824,17089,0.00,2.60,0.00,0.000,6,0.000,0.051,2513,2242,1758
$GC,17401,0.86,260.5,877.3,5.7,839,17413,0.00,0.00,10.75,1.153,6,0.000,0.000,2513,2242,1719
$GC,17711,0.87,269.6,859.4,5.8,854,17726,0.00,2.72,10.10,1.136,4,0.000,0.064,2513,832,1682
$GC,17750,0.89,294.3,856.9,5.3,855,17779,0.00,2.62,24.10,1.218,6,0.000,0.051,2513,2242,1581
$GC,18106,0.95,308.6,837.0,5.6,872,18123,0.12,0.00,14.75,1.183,6,0.084,0.000,2539,2242,1522
$GC,18432,0.95,308.6,814.4,6.8,888,18436,0.00,2.67,0.00,0.000,4,0.000,0.064,2540,830,1522
$GC,18475,0.95,308.6,811.0,7.4,890,18480,0.00,2.60,0.00,0.000,6,0.000,0.051,2540,2241,1522
$GC,18798,0.95,308.6,788.5,7.0,906,18799,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2241,1522
$GC,19106,0.95,308.6,766.8,7.1,921,19111,0.00,2.67,0.00,0.000,4,0.000,0.066,2540,830,1522
$GC,19146,0.95,308.6,763.8,8.6,923,19151,0.00,2.60,0.00,0.000,6,0.000,0.052,2540,2238,1521
$GC,19474,0.95,308.6,739.7,7.4,939,19475,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2238,1521
$GC,19782,0.95,308.6,717.1,7.2,954,19787,0.00,2.67,0.00,0.000,4,0.000,0.066,2540,827,1522
$GC,19810,0.95,308.6,715.0,8.1,955,19814,0.00,2.60,0.00,0.000,6,0.000,0.052,2540,2240,1521
$GC,20126,0.95,308.6,692.2,7.2,970,20127,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2240,1521
$GC,20435,0.95,308.6,669.1,7.7,985,20439,0.00,2.65,0.00,0.000,4,0.000,0.067,2540,833,1521
$GC,20462,0.95,308.6,667.0,7.8,986,20466,0.00,2.60,0.00,0.000,6,0.000,0.053,2540,2243,1521
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$GC,21087,0.95,308.6,617.5,8.3,1016,21092,0.00,2.67,0.00,0.000,4,0.000,0.067,2540,828,1522
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$STATE,28930,end climb,SURFACE_DEPTH_REACHED
$STATE,28930,begin surface coast
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$STATE,28951,end surface coast,CONTROL_FINISHED_OK
$STATE,28951,begin surface
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$DATA_FILE_SIZE,69415,1395
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$CFSIZE,260165632,235208704
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