version: 66.02
glider: 16
mission: 6
dive: 191
start: 12 17 107 1 55 34
data:
$ID,16
$MISSION,6
$DIVE,191
$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,-2079774.6
$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,14
$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
$GPS1,014425,6353.058,-745.743,25,1.6,42,-9.4
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-49.7
$GPS2,015444,6353.164,-745.537,17,1.7,34,-9.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.183,0.125
$KALMAN_X,-103679.9,75.1,152.9,173949.5,1579.5
$KALMAN_Y,101161.9,-145.8,84.0,148867.0,1741.2
$MHEAD_RNG_PITCHd_Wd,65.0,105260,-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,-101.95,0.000,2,0.000,0.000,76,2403,3055
$GC,127,-0.85,-146.6,3.5,-2.3,5,157,12.10,2.67,-9.62,0.000,4,0.171,0.094,2219,3772,3414
$GC,409,-0.85,-146.6,33.9,-8.8,17,416,0.00,2.58,0.00,0.000,6,0.000,0.056,2219,2403,3415
$GC,725,-0.85,-146.6,60.5,-8.8,33,729,0.00,2.67,0.00,0.000,4,0.000,0.070,2219,981,3414
$GC,768,-0.85,-146.6,66.1,-11.9,35,772,0.00,2.62,0.00,0.000,6,0.000,0.060,2219,2400,3415
$GC,1089,-0.85,-146.6,92.3,-6.9,51,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3415
$GC,1398,-0.85,-146.6,113.4,-6.8,66,1402,0.00,2.70,0.00,0.000,4,0.000,0.071,2219,978,3415
$GC,1441,-0.85,-146.6,116.5,-7.1,68,1445,0.00,2.62,0.00,0.000,6,0.000,0.059,2219,2400,3415
$GC,1768,-0.85,-146.6,140.5,-7.8,84,1773,0.00,2.67,0.00,0.000,4,0.000,0.070,2219,982,3415
$GC,1808,-0.85,-146.6,143.4,-7.6,86,1812,0.00,2.62,0.00,0.000,6,0.000,0.061,2219,2406,3415
$GC,2133,-0.85,-146.6,167.6,-7.1,102,2138,0.00,2.70,0.00,0.000,4,0.000,0.072,2219,974,3414
$GC,2188,-0.85,-146.6,171.7,-7.1,104,2195,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2405,3415
$GC,2503,-0.85,-146.6,196.2,-8.0,120,2508,0.00,2.62,0.00,0.000,4,0.000,0.082,2219,3767,3415
$GC,2598,-0.85,-146.6,204.0,-8.4,124,2602,0.00,2.53,0.00,0.000,6,0.000,0.057,2219,2398,3415
$GC,2918,-0.85,-146.6,229.3,-7.8,140,2923,0.00,2.67,0.00,0.000,4,0.000,0.074,2219,983,3415
$GC,3048,-0.85,-146.6,239.1,-7.6,146,3052,0.00,2.62,0.00,0.000,6,0.000,0.063,2219,2398,3415
$GC,3373,-0.85,-146.6,264.4,-8.2,162,3378,0.00,2.65,0.00,0.000,4,0.000,0.085,2219,3769,3415
$GC,3412,-0.85,-146.6,267.7,-8.8,164,3417,0.00,2.55,0.00,0.000,6,0.000,0.058,2219,2394,3415
$GC,3739,-0.85,-146.6,294.0,-7.8,180,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2395,3415
$GC,4048,-0.85,-146.6,319.4,-8.5,195,4052,0.00,2.70,0.00,0.000,4,0.000,0.076,2219,979,3416
$GC,4131,-0.85,-146.6,327.0,-9.4,199,4135,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2400,3416
$GC,4456,-0.85,-146.6,355.8,-8.7,215,4461,0.00,2.70,0.00,0.000,4,0.000,0.077,2219,985,3416
$GC,4522,-0.85,-146.6,361.5,-8.4,218,4527,0.00,2.67,0.00,0.000,6,0.000,0.069,2219,2392,3416
$GC,4849,-0.85,-146.6,385.4,-6.8,234,4853,0.00,2.70,0.00,0.000,4,0.000,0.093,2219,3770,3415
$GC,4875,-0.85,-146.6,387.3,-7.7,235,4880,0.00,2.58,0.00,0.000,6,0.000,0.064,2219,2396,3415
$GC,5196,-0.85,-146.6,407.0,-6.2,251,5201,0.00,2.72,0.00,0.000,4,0.000,0.083,2219,980,3415
$GC,5239,-0.85,-146.6,410.1,-6.6,253,5244,0.00,2.67,0.00,0.000,6,0.000,0.069,2219,2403,3415
$GC,5566,-0.85,-146.6,431.4,-6.7,269,5571,0.00,2.75,0.00,0.000,4,0.000,0.080,2217,977,3414
$GC,5638,-0.85,-146.6,436.5,-7.0,272,5642,0.00,2.67,0.00,0.000,6,0.000,0.068,2219,2402,3414
$GC,5959,-0.85,-146.6,458.3,-6.7,288,5963,0.00,2.72,0.00,0.000,4,0.000,0.079,2219,984,3413
$GC,5991,-0.85,-146.6,460.6,-7.2,289,5997,0.00,2.67,0.00,0.000,6,0.000,0.069,2219,2405,3413
$GC,6306,-0.85,-146.6,480.5,-6.2,305,6311,0.00,2.75,0.00,0.000,4,0.000,0.080,2219,980,3412
$GC,6338,-0.85,-146.6,482.5,-6.8,306,6344,0.00,2.67,0.00,0.000,6,0.000,0.070,2219,2401,3412
$GC,6654,-0.85,-146.6,501.3,-5.8,322,6658,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,985,3411
$GC,6685,-0.85,-146.6,503.6,-6.1,323,6692,0.00,2.67,0.00,0.000,6,0.000,0.071,2219,2402,3411
$GC,7001,-0.85,-146.6,522.5,-6.1,339,7005,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,985,3410
$GC,7045,-0.85,-146.6,525.2,-6.6,341,7050,0.00,2.70,0.00,0.000,6,0.000,0.071,2219,2404,3410
$GC,7365,-0.85,-146.6,544.1,-5.8,357,7369,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,980,3409
$GC,7414,-0.85,-146.6,547.2,-6.3,359,7418,0.00,2.67,0.00,0.000,6,0.000,0.071,2219,2400,3409
$GC,7735,-0.85,-146.6,566.8,-6.3,375,7739,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,985,3408
$GC,7773,-0.85,-146.6,569.4,-6.5,377,7778,0.00,2.67,0.00,0.000,6,0.000,0.071,2219,2400,3408
$GC,8098,-0.85,-146.6,591.3,-6.9,393,8103,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,985,3407
$GC,8137,-0.85,-146.6,593.9,-7.4,395,8142,0.00,2.70,0.00,0.000,6,0.000,0.071,2219,2405,3407
$GC,8464,-0.85,-146.6,616.0,-7.1,411,8468,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,980,3406
$GC,8507,-0.85,-146.6,619.3,-7.5,413,8511,0.00,2.70,0.00,0.000,6,0.000,0.071,2219,2404,3406
$GC,8834,-0.85,-146.6,641.8,-6.9,429,8838,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,980,3405
$GC,8860,-0.85,-146.6,643.7,-6.9,430,8864,0.00,2.70,0.00,0.000,6,0.000,0.071,2219,2405,3405
$GC,9181,-0.85,-146.6,665.3,-6.5,446,9186,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,984,3404
$GC,9220,-0.85,-146.6,668.0,-7.9,448,9225,0.00,2.67,0.00,0.000,6,0.000,0.071,2219,2402,3404
$GC,9546,-0.85,-146.6,689.2,-6.6,464,9550,0.00,2.75,0.00,0.000,4,0.000,0.081,2219,982,3403
$GC,9594,-0.85,-146.6,692.6,-6.7,466,9599,0.00,2.70,0.00,0.000,6,0.000,0.071,2219,2394,3403
$GC,9916,-0.85,-146.6,714.5,-7.0,482,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2394,3403
$GC,10225,-0.85,-146.6,736.8,-7.1,497,10229,0.00,2.72,0.00,0.000,4,0.000,0.080,2219,981,3402
$GC,10285,-0.85,-146.6,741.6,-7.9,500,10290,0.00,2.67,0.00,0.000,6,0.000,0.071,2219,2400,3402
$GC,10612,-0.85,-146.6,765.2,-7.3,516,10616,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,985,3402
$GC,10638,-0.85,-146.6,767.3,-7.7,517,10642,0.00,2.67,0.00,0.000,6,0.000,0.071,2219,2400,3402
$GC,10959,-0.85,-146.6,789.9,-7.0,533,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3401
$GC,11269,-0.85,-146.6,811.3,-6.9,548,11273,0.00,2.72,0.00,0.000,4,0.000,0.080,2219,986,3401
$GC,11307,-0.85,-146.6,814.1,-7.1,550,11312,0.00,2.67,0.00,0.000,6,0.000,0.071,2219,2398,3401
$GC,11634,-0.85,-146.6,836.9,-6.9,566,11638,0.00,2.72,0.00,0.000,4,0.000,0.081,2219,986,3401
$GC,11660,-0.85,-146.6,838.9,-7.6,567,11664,0.00,2.67,0.00,0.000,6,0.000,0.071,2219,2400,3400
$GC,11975,-0.85,-146.6,860.3,-6.7,582,11979,0.00,2.72,0.00,0.000,4,0.000,0.080,2217,985,3400
$GC,12019,-0.85,-146.6,863.4,-7.5,584,12024,0.00,2.70,0.00,0.000,6,0.000,0.070,2219,2406,3400
$GC,12340,-0.85,-146.6,884.4,-6.4,600,12344,0.00,2.75,0.00,0.000,4,0.000,0.079,2219,978,3400
$GC,12383,-0.85,-146.6,887.3,-6.7,602,12387,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2401,3400
$GC,12709,-0.85,-146.6,908.1,-6.4,618,12714,0.00,2.72,0.00,0.000,4,0.000,0.079,2219,985,3399
$GC,12758,-0.85,-146.6,911.4,-6.5,620,12763,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2407,3399
$GC,13073,-0.85,-146.6,931.5,-6.2,635,13078,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,985,3399
$GC,13112,-0.85,-146.6,934.1,-6.3,637,13117,0.00,2.65,0.00,0.000,6,0.000,0.067,2219,2403,3399
$GC,13439,-0.85,-146.6,953.8,-6.0,653,13443,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,982,3399
$GC,13488,-0.85,-146.6,956.9,-5.7,655,13492,0.00,2.65,0.00,0.000,6,0.000,0.065,2219,2404,3398
$GC,13805,-0.85,-146.6,975.2,-5.8,670,13809,0.00,2.70,0.00,0.000,4,0.000,0.076,2219,986,3398
$GC,13859,-0.85,-146.6,978.7,-6.5,672,13865,0.00,2.65,0.00,0.000,6,0.000,0.064,2219,2405,3398
$STATE,14049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14049,begin apogee
$GC,14054,-0.31,0.0,990.2,6.1,682,14179,0.62,0.00,122.18,1.371,6,0.126,0.000,2338,2189,2817
$STATE,14180,end apogee,CONTROL_FINISHED_OK
$STATE,14180,begin climb
$GC,14182,0.85,146.6,994.0,0.0,688,14314,1.23,2.78,123.50,1.339,4,0.084,0.076,2590,794,2219
$GC,14336,0.85,146.6,988.6,6.1,695,14341,0.00,2.65,0.00,0.000,6,0.000,0.058,2590,2199,2220
$GC,14658,0.85,146.6,968.4,6.4,711,14662,0.00,2.75,0.00,0.000,4,0.000,0.087,2590,3612,2218
$GC,14701,0.85,146.6,965.3,6.9,713,14705,0.00,2.62,0.00,0.000,6,0.000,0.062,2590,2202,2218
$GC,15027,0.85,146.6,944.1,6.3,729,15032,0.00,2.72,0.00,0.000,4,0.000,0.080,2590,791,2218
$GC,15059,0.85,146.6,942.0,6.3,730,15066,0.00,2.65,0.00,0.000,6,0.000,0.058,2590,2202,2218
$GC,15376,0.85,151.6,923.1,5.9,746,15383,0.00,0.00,5.70,1.036,6,0.000,0.000,2591,2202,2199
$GC,15684,0.88,180.3,905.8,5.2,761,15715,0.00,2.80,25.23,1.276,4,0.000,0.087,2590,3610,2082
$GC,15737,0.89,186.9,902.6,5.8,763,15751,0.00,2.67,7.70,1.065,6,0.000,0.060,2590,2195,2054
$GC,16073,0.89,186.9,882.3,6.0,780,16074,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2196,2053
$GC,16383,0.89,187.4,863.7,6.0,795,16384,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2196,2053
$GC,16692,0.90,194.4,845.4,5.8,810,16706,0.00,2.83,7.60,1.061,4,0.000,0.087,2590,3604,2024
$GC,16724,0.90,197.7,843.3,5.9,811,16736,0.00,2.65,4.57,0.853,6,0.000,0.062,2590,2201,2010
$GC,17044,0.92,210.8,824.2,5.6,827,17065,0.00,2.83,12.32,1.144,4,0.000,0.081,2590,792,1956
$GC,17093,0.92,210.8,821.1,6.3,829,17097,0.00,2.62,0.00,0.000,6,0.000,0.058,2590,2201,1955
$GC,17414,0.93,222.9,802.6,5.7,845,17436,0.10,2.85,11.50,1.121,4,0.078,0.089,2614,3610,1908
$GC,17451,0.93,222.9,800.0,7.3,846,17458,0.00,2.67,0.00,0.000,6,0.000,0.063,2614,2203,1908
$GC,17767,0.93,222.9,778.4,7.0,862,17772,0.00,2.75,0.00,0.000,4,0.000,0.083,2614,783,1908
$GC,17806,0.93,222.9,775.3,8.1,864,17811,0.00,2.65,0.00,0.000,6,0.000,0.059,2614,2200,1907
$GC,18132,0.93,222.9,751.8,7.4,880,18133,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2200,1907
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$STATE,28057,begin surface coast
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$STATE,28081,end surface coast,CONTROL_FINISHED_OK
$STATE,28082,begin surface
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