version: 66.02
glider: 16
mission: 6
dive: 200
start: 12 20 107 4 36 7
data:
$ID,16
$MISSION,6
$DIVE,200
$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,-2080070.1
$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,17
$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
$GPS1,042108,6408.632,-659.794,33,1.6,33,-9.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-54.7
$GPS2,043515,6408.627,-659.682,41,1.5,41,-9.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.004,0.221
$KALMAN_X,-90878.3,-955.9,313.0,202349.3,2784.7
$KALMAN_Y,74073.1,122.2,5.5,204386.3,-4908.9
$MHEAD_RNG_PITCHd_Wd,10.0,58886,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,124,0.00,0.00,-101.93,0.000,2,0.000,0.000,70,2401,2853
$GC,126,-0.85,-146.6,3.5,-2.2,5,163,12.38,2.70,-18.23,0.000,4,0.179,0.077,2220,977,3414
$GC,414,-0.85,-146.6,28.6,-8.3,17,419,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2401,3416
$GC,743,-0.85,-146.6,53.3,-7.0,33,748,0.00,2.72,0.00,0.000,4,0.000,0.072,2221,974,3415
$GC,831,-0.85,-146.6,60.2,-7.4,37,836,0.00,2.65,0.00,0.000,6,0.000,0.059,2221,2400,3416
$GC,1158,-0.85,-146.6,84.9,-7.7,53,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3415
$GC,1468,-0.85,-146.6,107.7,-7.6,68,1472,0.00,2.70,0.00,0.000,4,0.000,0.072,2220,980,3416
$GC,1507,-0.85,-146.6,110.9,-8.2,70,1511,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2402,3416
$GC,1833,-0.85,-146.6,134.5,-6.8,86,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3416
$GC,2142,-0.85,-146.6,155.9,-7.1,101,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3416
$GC,2451,-0.85,-146.6,179.9,-7.7,116,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3417
$GC,2761,-0.85,-146.6,205.4,-8.8,131,2765,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,980,3416
$GC,2810,-0.85,-146.6,210.1,-9.1,133,2814,0.00,2.65,0.00,0.000,6,0.000,0.061,2221,2400,3416
$GC,3125,-0.85,-146.6,235.1,-7.5,148,3129,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,978,3416
$GC,3186,-0.85,-146.6,240.0,-8.1,151,3191,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2401,3416
$GC,3512,-0.85,-146.6,264.3,-7.2,167,3516,0.00,2.75,0.00,0.000,4,0.000,0.077,2221,974,3416
$GC,3538,-0.85,-146.6,266.5,-7.5,168,3542,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2398,3416
$GC,3859,-0.85,-146.6,288.0,-6.5,184,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2398,3416
$GC,4168,-0.85,-146.6,307.0,-6.0,199,4173,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,982,3416
$GC,4189,-0.85,-146.6,308.5,-7.0,200,4193,0.00,2.67,0.00,0.000,6,0.000,0.065,2221,2405,3416
$GC,4516,-0.85,-146.6,329.4,-6.7,216,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3416
$GC,4826,-0.85,-146.6,348.7,-6.5,231,4830,0.00,2.75,0.00,0.000,4,0.000,0.077,2221,975,3416
$GC,4864,-0.85,-146.6,351.4,-6.7,233,4869,0.00,2.70,0.00,0.000,6,0.000,0.065,2221,2407,3416
$GC,5190,-0.85,-146.6,372.9,-6.8,249,5195,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,982,3416
$GC,5222,-0.85,-146.6,375.1,-6.9,250,5229,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2402,3416
$GC,5538,-0.85,-146.6,395.1,-6.3,266,5542,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,981,3416
$GC,5581,-0.85,-146.6,398.1,-7.1,268,5585,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2405,3416
$GC,5908,-0.85,-146.6,418.7,-6.4,284,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3415
$GC,6217,-0.85,-146.6,438.3,-6.0,299,6222,0.00,2.75,0.00,0.000,4,0.000,0.077,2221,975,3415
$GC,6266,-0.85,-146.6,441.6,-6.7,301,6271,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2392,3415
$GC,6588,-0.85,-146.6,459.8,-5.6,317,6593,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,973,3414
$GC,6610,-0.85,-146.6,461.1,-6.0,318,6614,0.00,2.67,0.00,0.000,6,0.000,0.064,2220,2402,3413
$GC,6930,-0.85,-146.6,480.4,-6.1,334,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3413
$GC,7240,-0.85,-146.6,499.0,-6.0,349,7244,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,976,3413
$GC,7272,-0.85,-146.6,501.0,-6.0,350,7278,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2407,3413
$GC,7588,-0.85,-146.6,519.4,-6.0,366,7592,0.00,2.75,0.00,0.000,4,0.000,0.077,2221,976,3413
$GC,7627,-0.85,-146.6,521.9,-6.9,368,7631,0.00,2.67,0.00,0.000,6,0.000,0.064,2220,2402,3413
$GC,7953,-0.85,-146.6,541.1,-6.0,384,7957,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,982,3412
$GC,7978,-0.85,-146.6,542.9,-6.4,385,7983,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2399,3413
$GC,8300,-0.85,-146.6,563.0,-6.4,401,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3412
$GC,8610,-0.85,-146.6,581.9,-6.1,416,8614,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,979,3412
$GC,8653,-0.85,-146.6,585.0,-6.8,418,8657,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2400,3411
$GC,8980,-0.85,-146.6,606.5,-6.8,434,8984,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,975,3411
$GC,9006,-0.85,-146.6,608.4,-7.6,435,9011,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2403,3411
$GC,9321,-0.85,-146.6,629.8,-6.9,450,9326,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,981,3410
$GC,9342,-0.85,-146.6,631.4,-7.5,451,9346,0.00,2.65,0.00,0.000,6,0.000,0.063,2220,2400,3410
$GC,9669,-0.85,-146.6,654.2,-7.0,467,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3410
$GC,9977,-0.85,-146.6,674.9,-6.4,482,9982,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,982,3410
$GC,10026,-0.85,-146.6,678.3,-7.0,484,10031,0.00,2.65,0.00,0.000,6,0.000,0.064,2220,2401,3410
$GC,10354,-0.85,-146.6,698.4,-5.8,500,10358,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,981,3409
$GC,10380,-0.85,-146.6,700.1,-6.1,501,10385,0.00,2.65,0.00,0.000,6,0.000,0.064,2221,2400,3409
$GC,10696,-0.85,-146.6,719.2,-6.3,516,10700,0.00,2.72,0.00,0.000,4,0.000,0.076,2221,976,3409
$GC,10722,-0.85,-146.6,721.0,-6.6,517,10726,0.00,2.67,0.00,0.000,6,0.000,0.063,2221,2407,3409
$GC,11043,-0.85,-146.6,740.6,-5.8,533,11048,0.00,2.72,0.00,0.000,4,0.000,0.074,2221,982,3409
$GC,11075,-0.85,-146.6,742.6,-6.1,534,11082,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2402,3409
$GC,11391,-0.85,-146.6,760.9,-6.0,550,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3409
$GC,11700,-0.85,-146.6,780.5,-6.5,565,11705,0.00,2.72,0.00,0.000,4,0.000,0.074,2221,977,3409
$GC,11717,-0.85,-146.6,781.5,-6.4,566,11722,0.00,2.67,0.00,0.000,6,0.000,0.063,2221,2405,3409
$GC,12043,-0.85,-146.6,803.9,-6.9,582,12044,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2404,3409
$GC,12352,-0.85,-146.6,824.3,-6.5,597,12356,0.00,2.72,0.00,0.000,4,0.000,0.074,2220,981,3409
$GC,12400,-0.85,-146.6,827.8,-7.0,599,12404,0.00,2.65,0.00,0.000,6,0.000,0.062,2220,2401,3409
$GC,12721,-0.85,-146.6,848.4,-6.5,615,12722,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3409
$GC,13030,-0.85,-146.6,868.2,-6.3,630,13034,0.00,2.72,0.00,0.000,4,0.000,0.074,2220,977,3408
$GC,13073,-0.85,-146.6,871.1,-6.7,632,13077,0.00,2.65,0.00,0.000,6,0.000,0.062,2221,2401,3408
$GC,13400,-0.85,-146.6,891.8,-6.3,648,13401,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3408
$GC,13709,-0.85,-146.6,912.2,-6.6,663,13713,0.00,2.72,0.00,0.000,4,0.000,0.072,2220,975,3408
$GC,13747,-0.85,-146.6,914.7,-6.4,665,13752,0.00,2.65,0.00,0.000,6,0.000,0.060,2221,2401,3408
$GC,14074,-0.85,-146.6,935.8,-6.8,681,14075,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3407
$GC,14383,-0.85,-146.6,956.2,-6.6,696,14384,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3407
$GC,14694,-0.85,-146.6,976.4,-6.6,711,14699,0.00,2.70,0.00,0.000,4,0.000,0.070,2221,978,3407
$GC,14716,-0.85,-146.6,978.1,-6.7,712,14720,0.00,2.62,0.00,0.000,6,0.000,0.056,2221,2404,3407
$STATE,14911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14911,begin apogee
$GC,14916,-0.31,0.0,991.0,6.5,722,15043,0.62,0.00,123.90,1.398,6,0.123,0.000,2340,2178,2817
$STATE,15044,end apogee,CONTROL_FINISHED_OK
$STATE,15044,begin climb
$GC,15046,0.85,146.6,995.4,0.0,728,15177,1.20,2.72,123.25,1.384,4,0.084,0.070,2587,800,2218
$GC,15206,0.86,156.7,990.7,5.7,735,15221,0.00,2.62,10.05,1.222,6,0.000,0.049,2587,2198,2177
$GC,15543,0.86,156.7,970.8,6.0,752,15547,0.00,2.70,0.00,0.000,4,0.000,0.074,2587,3604,2177
$GC,15597,0.86,156.7,967.4,6.8,754,15604,0.00,2.58,0.00,0.000,6,0.000,0.054,2587,2207,2177
$GC,15913,0.87,169.2,949.6,5.7,770,15926,0.00,0.00,11.95,1.280,6,0.000,0.000,2587,2207,2127
$GC,16222,0.89,182.7,932.1,5.6,785,16241,0.00,0.00,13.20,1.295,6,0.000,0.000,2587,2207,2070
$GC,16550,0.89,189.5,912.9,5.8,801,16559,0.00,0.00,7.28,1.156,6,0.000,0.000,2587,2207,2044
$GC,16859,0.89,189.5,893.8,6.2,816,16864,0.00,2.70,0.00,0.000,4,0.000,0.074,2587,792,2044
$GC,16905,0.89,189.5,890.9,7.8,818,16909,0.00,2.60,0.00,0.000,6,0.000,0.051,2587,2201,2043
$GC,17224,0.89,189.5,870.2,6.8,834,17225,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2202,2043
$GC,17533,0.89,189.5,849.3,6.6,849,17535,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2201,2043
$GC,17843,0.89,189.5,829.2,6.4,864,17848,0.00,2.70,0.00,0.000,4,0.000,0.073,2587,791,2043
$GC,17875,0.89,189.5,826.9,6.4,865,17883,0.00,2.60,0.00,0.000,6,0.000,0.052,2587,2191,2043
$GC,18191,0.89,189.5,805.5,6.9,881,18196,0.00,2.72,0.00,0.000,4,0.000,0.081,2587,3607,2043
$GC,18237,0.89,189.5,802.3,8.0,883,18241,0.00,2.62,0.00,0.000,6,0.000,0.060,2587,2204,2042
$GC,18556,0.89,189.5,781.0,6.6,899,18561,0.00,2.72,0.00,0.000,4,0.000,0.077,2587,783,2042
$GC,18600,0.89,189.5,777.9,7.8,901,18604,0.00,2.60,0.00,0.000,6,0.000,0.052,2587,2206,2042
$GC,18927,0.89,189.5,755.9,6.7,917,18928,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2042
$GC,19236,0.89,189.5,736.0,6.5,932,19237,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,2042
$GC,19545,0.89,189.5,716.5,6.3,947,19549,0.00,2.72,0.00,0.000,4,0.000,0.073,2587,781,2042
$GC,19583,0.89,189.5,713.9,7.7,949,19588,0.00,2.62,0.00,0.000,6,0.000,0.053,2587,2203,2041
$GC,19910,0.89,189.5,693.3,6.3,965,19911,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2203,2043
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$STATE,29458,end climb,SURFACE_DEPTH_REACHED
$STATE,29458,begin surface coast
$FINISH,1.3,1.027559
$STATE,29480,end surface coast,CONTROL_FINISHED_OK
$STATE,29480,begin surface
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$HUMID,2037
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$10V_AH,10.1,17.224
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72640,1431
$CFSIZE,260165632,247549952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,4,0
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