version: 66.02
glider: 16
mission: 6
dive: 202
start: 12 20 107 21 37 49
data:
$ID,16
$MISSION,6
$DIVE,202
$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,-2080153.9
$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,13
$R_STBD_OVSHOOT,16
$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
$GPS1,212916,6413.841,-653.747,42,3.8,61,-9.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,2
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-58.0
$GPS2,213658,6413.858,-653.875,29,3.1,48,-9.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.032,0.219
$KALMAN_X,-88098.7,278.3,-493.1,204248.8,1620.3
$KALMAN_Y,68330.8,680.1,561.6,218688.2,-5371.5
$MHEAD_RNG_PITCHd_Wd,17.3,49114,-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,18,begin dive
$GC,21,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-102.07,0.000,2,0.000,0.000,75,2400,2851
$GC,128,-0.85,-146.6,3.4,-1.8,5,164,12.35,2.72,-18.25,0.000,4,0.180,0.081,2219,976,3414
$GC,371,-0.85,-146.6,23.2,-7.8,15,375,0.00,2.65,0.00,0.000,6,0.000,0.060,2219,2401,3416
$GC,699,-0.85,-146.6,48.8,-7.5,31,703,0.00,2.65,0.00,0.000,4,0.000,0.081,2219,3770,3416
$GC,737,-0.85,-146.6,52.0,-8.1,33,742,0.00,2.55,0.00,0.000,6,0.000,0.055,2219,2390,3416
$GC,1063,-0.85,-146.6,75.2,-7.0,49,1068,0.00,2.67,0.00,0.000,4,0.000,0.073,2219,984,3416
$GC,1102,-0.85,-146.6,77.9,-7.1,51,1107,0.00,2.65,0.00,0.000,6,0.000,0.062,2219,2405,3416
$GC,1429,-0.85,-146.6,99.7,-6.5,67,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2405,3416
$GC,1738,-0.85,-146.6,119.3,-6.2,82,1742,0.00,2.72,0.00,0.000,4,0.000,0.072,2219,980,3416
$GC,1786,-0.85,-146.6,122.8,-7.1,84,1791,0.00,2.65,0.00,0.000,6,0.000,0.062,2219,2398,3416
$GC,2108,-0.85,-146.6,146.0,-7.9,100,2113,0.00,2.67,0.00,0.000,4,0.000,0.084,2219,3773,3416
$GC,2147,-0.85,-146.6,149.3,-8.5,102,2151,0.00,2.55,0.00,0.000,6,0.000,0.059,2219,2397,3416
$GC,2472,-0.85,-146.6,174.9,-8.2,118,2480,0.00,2.67,0.00,0.000,4,0.000,0.076,2219,989,3416
$GC,2552,-0.85,-146.6,182.1,-8.7,121,2557,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2406,3417
$GC,2868,-0.85,-146.6,211.0,-9.5,136,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2407,3416
$GC,3177,-0.85,-146.6,240.9,-9.4,151,3182,0.00,2.72,0.00,0.000,4,0.000,0.074,2219,985,3417
$GC,3204,-0.85,-146.6,243.7,-9.8,152,3208,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2401,3416
$GC,3525,-0.85,-146.6,274.2,-9.4,168,3529,0.00,2.70,0.00,0.000,4,0.000,0.076,2219,985,3417
$GC,3563,-0.85,-146.6,277.8,-9.8,170,3568,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2407,3417
$GC,3890,-0.85,-146.6,307.0,-8.8,186,3894,0.00,2.67,0.00,0.000,4,0.000,0.090,2219,3772,3416
$GC,3910,-0.85,-146.6,309.0,-8.9,187,3914,0.00,2.58,0.00,0.000,6,0.000,0.063,2219,2401,3416
$GC,4237,-0.85,-146.6,336.7,-8.0,203,4241,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,979,3416
$GC,4281,-0.85,-146.6,340.1,-7.6,205,4286,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2400,3416
$GC,4602,-0.85,-146.6,362.4,-6.8,221,4606,0.00,2.70,0.00,0.000,4,0.000,0.077,2219,984,3417
$GC,4622,-0.85,-146.6,363.8,-6.5,222,4627,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2401,3416
$GC,4950,-0.85,-146.6,385.9,-6.4,238,4954,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,980,3416
$GC,4970,-0.85,-146.6,387.4,-7.0,239,4974,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2408,3416
$GC,5297,-0.85,-146.6,406.9,-5.9,255,5301,0.00,2.72,0.00,0.000,4,0.000,0.076,2219,985,3416
$GC,5329,-0.85,-146.6,409.0,-6.4,256,5335,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2400,3416
$GC,5644,-0.85,-146.6,428.1,-6.2,272,5649,0.00,2.72,0.00,0.000,4,0.000,0.076,2219,979,3416
$GC,5676,-0.85,-146.6,430.2,-6.4,273,5683,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2406,3416
$GC,5992,-0.85,-146.6,448.7,-5.7,289,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2406,3416
$GC,6301,-0.85,-146.6,466.7,-5.8,304,6305,0.00,2.72,0.00,0.000,4,0.000,0.076,2219,985,3415
$GC,6344,-0.85,-146.6,469.3,-6.1,306,6348,0.00,2.65,0.00,0.000,6,0.000,0.065,2219,2401,3415
$GC,6671,-0.85,-146.6,489.0,-6.1,322,6675,0.00,2.72,0.00,0.000,4,0.000,0.076,2219,982,3414
$GC,6693,-0.85,-146.6,490.3,-5.9,323,6698,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2402,3414
$GC,7013,-0.85,-146.6,510.9,-6.6,339,7017,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,982,3414
$GC,7052,-0.85,-146.6,513.7,-7.9,341,7057,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2406,3413
$GC,7377,-0.85,-146.6,538.4,-7.6,357,7382,0.00,2.72,0.00,0.000,4,0.000,0.075,2219,983,3413
$GC,7416,-0.85,-146.6,541.4,-8.4,359,7421,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2407,3413
$GC,7742,-0.85,-146.6,566.4,-8.1,375,7747,0.00,2.72,0.00,0.000,4,0.000,0.075,2219,980,3413
$GC,7781,-0.85,-146.6,569.7,-8.7,377,7785,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2405,3412
$GC,8106,-0.85,-146.6,595.6,-7.8,393,8110,0.00,2.70,0.00,0.000,4,0.000,0.075,2219,985,3412
$GC,8138,-0.85,-146.6,598.4,-8.8,394,8144,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2405,3412
$GC,8453,-0.85,-146.6,622.1,-7.4,410,8458,0.00,2.72,0.00,0.000,4,0.000,0.075,2219,979,3411
$GC,8485,-0.85,-146.6,624.7,-8.3,411,8493,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2407,3411
$GC,8801,-0.85,-146.6,648.0,-7.3,427,8805,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,985,3411
$GC,8844,-0.85,-146.6,651.3,-7.4,429,8848,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2402,3411
$GC,9170,-0.85,-146.6,674.3,-6.8,445,9175,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,985,3411
$GC,9216,-0.85,-146.6,677.5,-7.4,447,9220,0.00,2.67,0.00,0.000,6,0.000,0.063,2219,2408,3411
$GC,9535,-0.85,-146.6,699.4,-6.5,463,9540,0.00,2.72,0.00,0.000,4,0.000,0.074,2219,984,3410
$GC,9574,-0.85,-146.6,701.9,-7.4,465,9579,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2409,3410
$GC,9900,-0.85,-146.6,724.5,-7.2,481,9905,0.00,2.72,0.00,0.000,4,0.000,0.074,2219,983,3410
$GC,9926,-0.85,-146.6,726.5,-8.1,482,9931,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2402,3410
$GC,10248,-0.85,-146.6,748.6,-6.8,498,10252,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,986,3410
$GC,10280,-0.85,-146.6,750.9,-7.5,499,10286,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2405,3409
$GC,10595,-0.85,-146.6,771.9,-6.5,515,10599,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,986,3409
$GC,10637,-0.85,-146.6,774.9,-7.1,517,10646,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2407,3409
$GC,10967,-0.85,-146.6,796.3,-6.5,533,10971,0.00,2.72,0.00,0.000,4,0.000,0.074,2219,985,3409
$GC,11010,-0.85,-146.6,799.4,-7.0,535,11014,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2407,3409
$GC,11337,-0.85,-146.6,820.3,-6.7,551,11341,0.00,2.72,0.00,0.000,4,0.000,0.074,2219,986,3409
$GC,11386,-0.85,-146.6,823.8,-7.1,553,11390,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2403,3409
$GC,11701,-0.85,-146.6,843.6,-5.9,568,11706,0.00,2.72,0.00,0.000,4,0.000,0.075,2219,980,3409
$GC,11727,-0.85,-146.6,845.3,-6.4,569,11732,0.00,2.67,0.00,0.000,6,0.000,0.063,2219,2398,3409
$GC,12049,-0.85,-146.6,864.9,-6.2,585,12050,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2398,3409
$GC,12358,-0.85,-146.6,882.3,-5.5,600,12362,0.00,2.70,0.00,0.000,4,0.000,0.074,2219,982,3408
$GC,12407,-0.85,-146.6,885.2,-5.7,602,12411,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2406,3408
$GC,12723,-0.85,-146.6,903.5,-5.8,617,12727,0.00,2.72,0.00,0.000,4,0.000,0.072,2219,982,3408
$GC,12766,-0.85,-146.6,906.3,-6.2,619,12770,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2401,3408
$GC,13093,-0.85,-146.6,925.8,-6.0,635,13098,0.00,2.70,0.00,0.000,4,0.000,0.072,2219,982,3408
$GC,13126,-0.85,-146.6,927.8,-6.6,636,13132,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2402,3407
$GC,13441,-0.85,-146.6,945.5,-5.4,652,13446,0.00,2.70,0.00,0.000,4,0.000,0.071,2219,982,3407
$GC,13491,-0.85,-146.6,948.4,-5.7,654,13495,0.00,2.62,0.00,0.000,6,0.000,0.058,2219,2406,3407
$GC,13807,-0.85,-146.6,967.1,-6.0,669,13811,0.00,2.70,0.00,0.000,4,0.000,0.069,2219,983,3407
$GC,13839,-0.85,-146.6,969.2,-6.2,670,13845,0.00,2.60,0.00,0.000,6,0.000,0.057,2219,2401,3407
$GC,14155,-0.85,-146.6,988.3,-5.9,686,14159,0.00,2.67,0.00,0.000,4,0.000,0.068,2219,987,3407
$GC,14181,-0.85,-146.6,989.8,-6.0,687,14185,0.00,2.60,0.00,0.000,6,0.000,0.054,2219,2405,3407
$STATE,14206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14206,begin apogee
$GC,14211,-0.31,0.0,991.3,5.6,688,14339,0.62,0.00,124.62,1.386,6,0.119,0.000,2339,2183,2817
$STATE,14339,end apogee,CONTROL_FINISHED_OK
$STATE,14339,begin climb
$GC,14341,0.85,146.6,995.1,0.0,694,14474,1.25,2.72,124.32,1.352,4,0.097,0.069,2589,794,2219
$GC,14508,0.85,146.6,988.6,6.9,702,14512,0.00,2.62,0.00,0.000,6,0.000,0.050,2589,2208,2217
$GC,14835,0.85,146.6,967.0,6.4,718,14839,0.00,2.67,0.00,0.000,4,0.000,0.077,2589,3606,2217
$GC,14889,0.85,146.6,963.2,6.5,720,14896,0.00,2.60,0.00,0.000,6,0.000,0.054,2589,2200,2217
$GC,15205,0.85,146.6,943.7,6.0,736,15206,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2217
$GC,15514,0.85,148.1,925.0,6.0,751,15515,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,2216
$GC,15824,0.86,160.9,906.8,5.6,766,15843,0.00,0.00,13.40,1.257,6,0.000,0.000,2589,2200,2160
$GC,16152,0.86,160.9,886.2,6.7,782,16153,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2159
$GC,16461,0.86,160.9,865.6,6.7,797,16466,0.00,2.72,0.00,0.000,4,0.000,0.078,2589,3613,2159
$GC,16494,0.86,160.9,863.2,7.3,798,16501,0.00,2.62,0.00,0.000,6,0.000,0.057,2590,2202,2159
$GC,16809,0.86,160.9,842.3,6.5,814,16810,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,2159
$GC,17118,0.86,160.9,822.4,6.5,829,17119,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,2158
$GC,17428,0.86,160.9,801.7,6.8,844,17429,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2201,2158
$GC,17737,0.86,160.9,781.5,6.5,859,17741,0.00,2.72,0.00,0.000,4,0.000,0.082,2589,3610,2158
$GC,17768,0.86,160.9,779.3,6.7,860,17776,0.00,2.65,0.00,0.000,6,0.000,0.061,2589,2208,2158
$GC,18085,0.86,160.9,758.2,7.1,876,18086,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2208,2158
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$STATE,28731,end climb,SURFACE_DEPTH_REACHED
$STATE,28731,begin surface coast
$FINISH,1.1,1.027560
$STATE,28752,end surface coast,CONTROL_FINISHED_OK
$STATE,28752,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$24V_AH,23.2,35.146
$10V_AH,10.1,17.477
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$DEVICE_SECS,25.850,284.750,315.200,220.425,0.000,32.608,35.748,230.946,53.250,0.000,0.000,50.498,2514.912,22572.572,842.249,2926.065,597.842,33.369,2291.863,0.000,2825.578,0.000,56.126
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$DATA_FILE_SIZE,69461,1395
$CFSIZE,260165632,247377920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,2,0
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