version: 66.02
glider: 16
mission: 6
dive: 210
start: 12 23 107 15 30 58
data:
$ID,16
$MISSION,6
$DIVE,210
$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,-2080427.4
$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,20
$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
$GPS1,152002,6428.968,-617.984,42,1.9,42,-8.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-46.7
$GPS2,153008,6428.987,-617.942,36,2.0,36,-8.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.197,0.102
$KALMAN_X,-89808.7,370.5,-709.2,237695.8,-607.7
$KALMAN_Y,53409.1,323.8,-306.7,262864.1,-2381.0
$MHEAD_RNG_PITCHd_Wd,71.4,10488,-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,-146.6,0.0,0.0,0,144,0.00,0.00,-121.50,0.000,2,0.000,0.000,75,2413,3116
$GC,147,-0.85,-146.6,4.0,-3.0,6,174,12.25,2.60,-7.93,0.000,4,0.176,0.087,2222,3763,3418
$GC,415,-0.85,-146.6,31.1,-5.3,18,419,0.00,2.55,0.00,0.000,6,0.000,0.058,2222,2397,3419
$GC,735,-0.85,-146.6,59.1,-8.8,34,739,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,982,3419
$GC,774,-0.85,-146.6,62.3,-7.6,36,778,0.00,2.62,0.00,0.000,6,0.000,0.059,2222,2397,3419
$GC,1100,-0.85,-146.6,96.6,-8.5,52,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3420
$GC,1409,-0.85,-146.6,119.6,-7.7,67,1413,0.00,2.70,0.00,0.000,4,0.000,0.071,2222,982,3419
$GC,1497,-0.85,-146.6,127.6,-9.2,71,1502,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2403,3419
$GC,1817,-0.85,-146.6,151.5,-6.9,87,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3419
$GC,2129,-0.85,-146.6,175.4,-7.5,102,2133,0.00,2.72,0.00,0.000,4,0.000,0.074,2222,977,3419
$GC,2167,-0.85,-146.6,178.9,-9.1,104,2172,0.00,2.67,0.00,0.000,6,0.000,0.062,2222,2404,3419
$GC,2493,-0.85,-146.6,203.1,-7.2,120,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3419
$GC,2802,-0.85,-146.6,226.9,-8.0,135,2807,0.00,2.72,0.00,0.000,4,0.000,0.075,2222,983,3419
$GC,2841,-0.85,-146.6,230.0,-8.1,137,2846,0.00,2.67,0.00,0.000,6,0.000,0.063,2222,2405,3419
$GC,3167,-0.85,-146.6,255.9,-8.0,153,3171,0.00,2.72,0.00,0.000,4,0.000,0.074,2222,982,3419
$GC,3193,-0.85,-146.6,258.1,-8.4,154,3198,0.00,2.67,0.00,0.000,6,0.000,0.063,2222,2394,3419
$GC,3515,-0.85,-146.6,282.6,-7.2,170,3519,0.00,2.70,0.00,0.000,4,0.000,0.075,2222,983,3419
$GC,3535,-0.85,-146.6,284.1,-6.9,171,3539,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2400,3419
$GC,3862,-0.85,-146.6,307.1,-7.4,187,3866,0.00,2.72,0.00,0.000,4,0.000,0.076,2222,984,3419
$GC,3905,-0.85,-146.6,310.5,-7.3,189,3909,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2400,3419
$GC,4232,-0.85,-146.6,335.1,-7.5,205,4236,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,982,3419
$GC,4258,-0.85,-146.6,337.3,-8.2,206,4262,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2400,3419
$GC,4579,-0.85,-146.6,361.4,-7.2,222,4583,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,982,3419
$GC,4667,-0.85,-146.6,368.3,-7.6,226,4672,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2400,3419
$GC,4988,-0.85,-146.6,393.2,-8.3,242,4992,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,983,3419
$GC,5027,-0.85,-146.6,396.6,-8.9,244,5031,0.00,2.67,0.00,0.000,6,0.000,0.064,2222,2406,3419
$GC,5353,-0.85,-146.6,423.5,-8.3,260,5357,0.00,2.72,0.00,0.000,4,0.000,0.076,2222,985,3419
$GC,5374,-0.85,-146.6,425.3,-7.9,261,5378,0.00,2.67,0.00,0.000,6,0.000,0.063,2222,2406,3420
$GC,5695,-0.85,-146.6,450.3,-7.2,277,5699,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,985,3419
$GC,5739,-0.85,-146.6,454.0,-8.2,279,5744,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2402,3419
$GC,6060,-0.85,-146.6,477.9,-7.2,295,6064,0.00,2.72,0.00,0.000,4,0.000,0.074,2221,981,3419
$GC,6091,-0.85,-146.6,480.4,-8.1,296,6098,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2404,3419
$GC,6407,-0.85,-146.6,503.2,-7.4,312,6412,0.00,2.72,0.00,0.000,4,0.000,0.074,2222,980,3417
$GC,6440,-0.85,-146.6,505.9,-7.8,313,6446,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2401,3417
$GC,6755,-0.85,-146.6,528.7,-7.2,329,6759,0.00,2.70,0.00,0.000,4,0.000,0.073,2222,985,3418
$GC,6787,-0.85,-146.6,531.1,-7.4,330,6794,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2400,3417
$GC,7103,-0.85,-146.6,553.5,-7.2,346,7107,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,985,3417
$GC,7129,-0.85,-146.6,555.6,-7.8,347,7134,0.00,2.67,0.00,0.000,6,0.000,0.061,2222,2403,3417
$GC,7450,-0.85,-146.6,578.1,-6.9,363,7455,0.00,2.72,0.00,0.000,4,0.000,0.074,2222,981,3416
$GC,7471,-0.85,-146.6,579.7,-7.3,364,7476,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2401,3416
$GC,7798,-0.85,-146.6,602.2,-7.1,380,7803,0.00,2.70,0.00,0.000,4,0.000,0.074,2223,984,3416
$GC,7841,-0.85,-146.6,605.6,-7.8,382,7846,0.00,2.65,0.00,0.000,6,0.000,0.062,2222,2405,3416
$GC,8162,-0.85,-146.6,627.4,-6.8,398,8166,0.00,2.70,0.00,0.000,4,0.000,0.073,2222,985,3415
$GC,8193,-0.85,-146.6,629.7,-7.2,399,8200,0.00,2.65,0.00,0.000,6,0.000,0.062,2222,2407,3415
$GC,8512,-0.85,-146.6,650.9,-6.8,415,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3415
$GC,8818,-0.85,-146.6,671.5,-6.9,430,8822,0.00,2.72,0.00,0.000,4,0.000,0.073,2222,979,3415
$GC,8879,-0.85,-146.6,675.7,-7.1,433,8883,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2404,3415
$GC,9205,-0.85,-146.6,696.5,-6.4,449,9209,0.00,2.72,0.00,0.000,4,0.000,0.071,2222,977,3414
$GC,9247,-0.85,-146.6,699.6,-7.2,451,9252,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2403,3414
$GC,9574,-0.85,-146.6,720.5,-6.4,467,9579,0.00,2.70,0.00,0.000,4,0.000,0.072,2222,985,3414
$GC,9613,-0.85,-146.6,723.2,-6.2,469,9618,0.00,2.65,0.00,0.000,6,0.000,0.060,2222,2406,3414
$GC,9938,-0.85,-146.6,744.4,-6.5,485,9943,0.00,2.70,0.00,0.000,4,0.000,0.072,2222,985,3414
$GC,9987,-0.85,-146.6,747.8,-7.0,487,9991,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2400,3413
$GC,10308,-0.85,-146.6,769.1,-6.7,503,10313,0.00,2.70,0.00,0.000,4,0.000,0.072,2222,985,3413
$GC,10341,-0.85,-146.6,771.4,-6.5,504,10347,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2401,3413
$GC,10656,-0.85,-146.6,792.6,-6.7,520,10661,0.00,2.70,0.00,0.000,4,0.000,0.071,2222,984,3413
$GC,10688,-0.85,-146.6,794.8,-7.6,521,10695,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2404,3413
$GC,11003,-0.85,-146.6,815.0,-6.4,537,11004,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3412
$GC,11312,-0.85,-146.6,834.4,-6.3,552,11317,0.00,2.70,0.00,0.000,4,0.000,0.072,2222,986,3412
$GC,11339,-0.85,-146.6,836.0,-7.1,553,11344,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,2399,3412
$GC,11654,-0.85,-146.6,855.5,-6.2,568,11658,0.00,2.70,0.00,0.000,4,0.000,0.072,2222,985,3412
$GC,11680,-0.85,-146.6,857.2,-5.9,569,11685,0.00,2.65,0.00,0.000,6,0.000,0.061,2222,2407,3412
$GC,11997,-0.85,-146.6,875.7,-6.0,584,12002,0.00,2.70,0.00,0.000,4,0.000,0.071,2222,981,3412
$GC,12024,-0.85,-146.6,877.5,-6.4,585,12028,0.00,2.65,0.00,0.000,6,0.000,0.060,2222,2408,3411
$GC,12346,-0.85,-146.6,896.3,-5.9,601,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2408,3411
$GC,12655,-0.85,-146.6,913.2,-5.1,616,12660,0.00,2.70,0.00,0.000,4,0.000,0.069,2222,985,3411
$GC,12699,-0.85,-146.6,915.7,-5.2,618,12703,0.00,2.62,0.00,0.000,6,0.000,0.058,2222,2404,3411
$GC,13020,-0.85,-146.6,932.1,-5.3,634,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3411
$GC,13330,-0.85,-146.6,948.6,-5.3,649,13334,0.00,2.70,0.00,0.000,4,0.000,0.067,2222,978,3411
$GC,13362,-0.85,-146.6,950.5,-5.5,650,13368,0.00,2.62,0.00,0.000,6,0.000,0.056,2222,2404,3411
$GC,13677,-0.85,-146.6,967.7,-5.5,666,13682,0.00,2.67,0.00,0.000,4,0.000,0.067,2222,985,3411
$GC,13704,-0.85,-146.6,969.4,-5.9,667,13709,0.00,2.60,0.00,0.000,6,0.000,0.054,2222,2400,3411
$GC,14019,-0.85,-146.6,986.5,-5.4,682,14021,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3411
$STATE,14100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14100,begin apogee
$GC,14106,-0.31,0.0,991.1,5.5,686,14235,0.60,0.00,125.28,1.391,6,0.119,0.000,2338,2190,2817
$STATE,14235,end apogee,CONTROL_FINISHED_OK
$STATE,14235,begin climb
$GC,14237,0.85,146.6,994.5,0.0,692,14369,1.25,2.72,124.12,1.363,4,0.100,0.067,2586,798,2218
$GC,14386,0.85,146.6,989.0,6.6,699,14391,0.00,2.60,0.00,0.000,6,0.000,0.048,2586,2203,2217
$GC,14708,0.85,146.6,968.0,6.7,715,14712,0.00,2.67,0.00,0.000,4,0.000,0.072,2586,3603,2217
$GC,14764,0.85,146.6,964.0,6.5,717,14770,0.00,2.58,0.00,0.000,6,0.000,0.050,2586,2204,2217
$GC,15078,0.85,146.6,943.3,6.4,733,15079,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2217
$GC,15388,0.85,146.6,923.1,6.7,748,15392,0.00,2.70,0.00,0.000,4,0.000,0.071,2586,789,2216
$GC,15414,0.85,146.6,921.4,7.1,749,15418,0.00,2.60,0.00,0.000,6,0.000,0.048,2586,2204,2216
$GC,15735,0.85,146.6,900.1,6.6,765,15739,0.00,2.67,0.00,0.000,4,0.000,0.072,2586,3607,2216
$GC,15784,0.85,146.6,896.4,7.0,767,15788,0.00,2.60,0.00,0.000,6,0.000,0.052,2586,2197,2216
$GC,16105,0.85,146.6,875.5,6.5,783,16106,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2197,2216
$GC,16414,0.85,146.6,855.1,6.5,798,16418,0.00,2.70,0.00,0.000,4,0.000,0.072,2586,3604,2216
$GC,16446,0.85,146.6,852.8,7.9,799,16452,0.00,2.60,0.00,0.000,6,0.000,0.054,2586,2192,2216
$GC,16761,0.85,146.6,832.2,6.6,815,16762,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2192,2216
$GC,17070,0.85,146.6,811.1,6.8,830,17071,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2192,2215
$GC,17380,0.85,146.6,789.1,7.2,845,17384,0.00,2.72,0.00,0.000,4,0.000,0.074,2586,3607,2216
$GC,17428,0.85,146.6,785.2,7.0,847,17433,0.00,2.65,0.00,0.000,6,0.000,0.057,2586,2200,2215
$GC,17750,0.85,146.6,762.6,6.8,863,17751,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2215
$GC,18059,0.85,146.6,742.4,6.4,878,18060,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2215
$GC,18368,0.85,146.6,723.0,6.3,893,18369,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2200,2216
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$GC,18710,0.85,146.6,701.3,6.4,909,18716,0.00,2.62,0.00,0.000,6,0.000,0.058,2586,2203,2215
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$STATE,29257,end climb,SURFACE_DEPTH_REACHED
$STATE,29257,begin surface coast
$FINISH,0.8,1.020186
$STATE,29279,end surface coast,CONTROL_FINISHED_OK
$STATE,29279,begin surface
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