version: 66.02
glider: 16
mission: 6
dive: 192
start: 12 17 107 9 56 58
data:
$ID,16
$MISSION,6
$DIVE,192
$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,-2079818.5
$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
$GPS1,094856,6354.792,-739.394,41,1.9,41,-9.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-49.3
$GPS2,095607,6354.784,-739.344,37,1.9,43,-9.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.134,0.176
$KALMAN_X,-102211.9,-893.5,-1057.2,180101.3,5674.5
$KALMAN_Y,100795.9,-488.1,-490.6,153157.1,2115.5
$MHEAD_RNG_PITCHd_Wd,46.5,99558,-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,20,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-102.15,0.000,2,0.000,0.000,66,2402,3099
$GC,127,-0.85,-146.6,4.1,-2.8,5,153,12.35,2.70,-7.45,0.000,4,0.178,0.080,2220,979,3416
$GC,376,-0.85,-146.6,29.5,-8.1,16,381,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2400,3416
$GC,703,-0.85,-146.6,56.5,-9.5,32,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3417
$GC,1013,-0.85,-146.6,77.5,-6.0,47,1018,0.00,2.70,0.00,0.000,4,0.000,0.071,2220,979,3416
$GC,1075,-0.85,-146.6,82.4,-8.5,50,1079,0.00,2.62,0.00,0.000,6,0.000,0.056,2220,2400,3417
$GC,1400,-0.85,-146.6,107.8,-7.4,66,1405,0.00,2.62,0.00,0.000,4,0.000,0.077,2220,3772,3417
$GC,1433,-0.85,-146.6,110.6,-8.5,67,1440,0.00,2.55,0.00,0.000,6,0.000,0.054,2220,2400,3417
$GC,1749,-0.85,-146.6,136.0,-8.6,83,1753,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,980,3417
$GC,1825,-0.85,-146.6,142.8,-8.8,86,1832,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2392,3417
$GC,2141,-0.85,-146.6,167.5,-8.3,102,2145,0.00,2.67,0.00,0.000,4,0.000,0.070,2220,976,3418
$GC,2179,-0.85,-146.6,170.8,-8.2,104,2184,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2400,3418
$GC,2506,-0.85,-146.6,201.5,-9.5,120,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3418
$GC,2815,-0.85,-146.6,228.0,-8.5,135,2819,0.00,2.62,0.00,0.000,4,0.000,0.081,2220,3765,3418
$GC,2858,-0.85,-146.6,232.0,-8.9,137,2862,0.00,2.53,0.00,0.000,6,0.000,0.057,2219,2400,3418
$GC,3185,-0.85,-146.6,257.7,-7.9,153,3189,0.00,2.70,0.00,0.000,4,0.000,0.076,2220,979,3418
$GC,3284,-0.85,-146.6,266.4,-8.7,157,3291,0.00,2.65,0.00,0.000,6,0.000,0.063,2220,2403,3419
$GC,3599,-0.85,-146.6,291.6,-7.6,173,3604,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,978,3419
$GC,3670,-0.85,-146.6,297.0,-7.6,176,3675,0.00,2.65,0.00,0.000,6,0.000,0.063,2220,2401,3419
$GC,3986,-0.85,-146.6,317.7,-6.4,191,3991,0.00,2.72,0.00,0.000,4,0.000,0.076,2220,978,3419
$GC,4007,-0.85,-146.6,319.2,-6.8,192,4012,0.00,2.67,0.00,0.000,6,0.000,0.065,2220,2406,3419
$GC,4334,-0.85,-146.6,342.4,-7.0,208,4339,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,984,3418
$GC,4383,-0.85,-146.6,345.9,-6.9,210,4388,0.00,2.65,0.00,0.000,6,0.000,0.066,2220,2402,3419
$GC,4705,-0.85,-146.6,369.6,-8.0,226,4709,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,980,3418
$GC,4725,-0.85,-146.6,371.3,-7.9,227,4730,0.00,2.65,0.00,0.000,6,0.000,0.066,2220,2399,3418
$GC,5052,-0.85,-146.6,394.9,-6.6,243,5056,0.00,2.70,0.00,0.000,4,0.000,0.078,2221,986,3417
$GC,5072,-0.85,-146.6,396.3,-6.4,244,5077,0.00,2.65,0.00,0.000,6,0.000,0.067,2220,2400,3418
$GC,5400,-0.85,-146.6,414.8,-5.4,260,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3416
$GC,5709,-0.85,-146.6,432.5,-5.9,275,5713,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,983,3416
$GC,5814,-0.85,-146.6,439.3,-6.1,280,5819,0.00,2.65,0.00,0.000,6,0.000,0.068,2220,2400,3415
$GC,6141,-0.85,-146.6,459.8,-6.5,296,6145,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,982,3414
$GC,6202,-0.85,-146.6,464.0,-6.7,299,6206,0.00,2.67,0.00,0.000,6,0.000,0.069,2220,2406,3414
$GC,6527,-0.85,-146.6,486.5,-7.1,315,6531,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,987,3413
$GC,6593,-0.85,-146.6,491.5,-7.6,318,6597,0.00,2.67,0.00,0.000,6,0.000,0.068,2220,2406,3412
$GC,6913,-0.85,-146.6,514.7,-7.1,334,6918,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,986,3412
$GC,6957,-0.85,-146.6,518.0,-7.7,336,6961,0.00,2.67,0.00,0.000,6,0.000,0.068,2220,2403,3412
$GC,7284,-0.85,-146.6,539.5,-6.2,352,7288,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,987,3411
$GC,7322,-0.85,-146.6,541.8,-6.1,354,7327,0.00,2.65,0.00,0.000,6,0.000,0.068,2220,2400,3411
$GC,7648,-0.85,-146.6,561.4,-5.9,370,7652,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,984,3410
$GC,7686,-0.85,-146.6,563.7,-6.2,372,7691,0.00,2.67,0.00,0.000,6,0.000,0.067,2219,2400,3410
$GC,8012,-0.85,-146.6,581.2,-5.1,388,8017,0.00,2.72,0.00,0.000,4,0.000,0.079,2219,982,3410
$GC,8056,-0.85,-146.6,583.7,-5.4,390,8060,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2405,3409
$GC,8378,-0.85,-146.6,601.1,-5.4,406,8382,0.00,2.75,0.00,0.000,4,0.000,0.079,2220,980,3409
$GC,8426,-0.85,-146.6,604.1,-6.5,408,8430,0.00,2.67,0.00,0.000,6,0.000,0.068,2220,2400,3409
$GC,8748,-0.85,-146.6,622.0,-5.6,424,8752,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,984,3408
$GC,8791,-0.85,-146.6,624.7,-6.1,426,8795,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2403,3408
$GC,9118,-0.85,-146.6,643.7,-5.9,442,9122,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,986,3407
$GC,9161,-0.85,-146.6,646.5,-6.4,444,9165,0.00,2.65,0.00,0.000,6,0.000,0.068,2220,2399,3408
$GC,9488,-0.85,-146.6,666.4,-6.0,460,9492,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,983,3407
$GC,9526,-0.85,-146.6,668.9,-7.2,462,9531,0.00,2.67,0.00,0.000,6,0.000,0.069,2220,2398,3406
$GC,9851,-0.85,-146.6,689.5,-6.5,478,9856,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,983,3406
$GC,9890,-0.85,-146.6,692.2,-7.1,480,9894,0.00,2.70,0.00,0.000,6,0.000,0.070,2220,2408,3406
$GC,10216,-0.85,-146.6,713.7,-6.8,496,10220,0.00,2.75,0.00,0.000,4,0.000,0.079,2220,981,3406
$GC,10259,-0.85,-146.6,716.7,-7.1,498,10263,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2401,3405
$GC,10580,-0.85,-146.6,737.6,-6.5,514,10584,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,985,3405
$GC,10622,-0.85,-146.6,740.5,-6.6,516,10627,0.00,2.67,0.00,0.000,6,0.000,0.070,2219,2401,3405
$GC,10950,-0.85,-146.6,761.2,-6.4,532,10954,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,986,3405
$GC,11010,-0.85,-146.6,765.4,-6.7,535,11015,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2401,3404
$GC,11337,-0.85,-146.6,785.2,-5.9,551,11341,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,986,3404
$GC,11369,-0.85,-146.6,787.3,-6.4,552,11375,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2401,3404
$GC,11684,-0.85,-146.6,805.1,-5.7,568,11689,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,980,3404
$GC,11717,-0.85,-146.6,807.1,-5.3,569,11723,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2401,3404
$GC,12035,-0.85,-146.6,825.2,-5.9,585,12039,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,985,3403
$GC,12078,-0.85,-146.6,828.1,-6.6,587,12082,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2399,3403
$GC,12405,-0.85,-146.6,848.1,-6.2,603,12409,0.00,2.72,0.00,0.000,4,0.000,0.080,2220,985,3403
$GC,12459,-0.85,-146.6,851.6,-6.5,605,12466,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2405,3403
$GC,12775,-0.85,-146.6,871.3,-6.4,621,12779,0.00,2.72,0.00,0.000,4,0.000,0.079,2220,988,3403
$GC,12801,-0.85,-146.6,873.1,-6.9,622,12805,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2404,3403
$GC,13122,-0.85,-146.6,893.9,-6.5,638,13126,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,987,3402
$GC,13170,-0.85,-146.6,897.4,-6.6,640,13175,0.00,2.65,0.00,0.000,6,0.000,0.067,2220,2401,3402
$GC,13492,-0.85,-146.6,917.7,-6.2,656,13496,0.00,2.72,0.00,0.000,4,0.000,0.077,2220,984,3402
$GC,13535,-0.85,-146.6,920.6,-6.4,658,13540,0.00,2.67,0.00,0.000,6,0.000,0.067,2220,2406,3402
$GC,13856,-0.85,-146.6,940.9,-6.5,674,13860,0.00,2.72,0.00,0.000,4,0.000,0.075,2220,984,3402
$GC,13895,-0.85,-146.6,943.4,-6.7,676,13899,0.00,2.67,0.00,0.000,6,0.000,0.064,2220,2407,3402
$GC,14220,-0.85,-146.6,964.5,-6.5,692,14225,0.00,2.72,0.00,0.000,4,0.000,0.074,2220,984,3402
$GC,14264,-0.85,-146.6,967.5,-6.6,694,14268,0.00,2.65,0.00,0.000,6,0.000,0.064,2220,2403,3401
$GC,14591,-0.85,-146.6,987.3,-5.8,710,14596,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,987,3401
$GC,14635,-0.85,-146.6,990.0,-5.6,712,14640,0.00,2.65,0.00,0.000,1,0.000,0.063,2219,2407,3401
$STATE,14640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14640,begin apogee
$GC,14645,-0.31,0.0,990.3,6.3,712,14771,0.57,0.00,122.88,1.370,6,0.120,0.000,2333,2186,2817
$STATE,14772,end apogee,CONTROL_FINISHED_OK
$STATE,14772,begin climb
$GC,14774,0.85,146.6,993.9,0.0,718,14905,1.27,2.75,123.38,1.347,4,0.095,0.073,2587,797,2219
$GC,14945,0.85,146.6,987.2,6.3,726,14949,0.00,2.65,0.00,0.000,6,0.000,0.057,2588,2204,2219
$GC,15272,0.85,146.6,966.4,6.2,742,15276,0.00,2.75,0.00,0.000,4,0.000,0.086,2588,3615,2218
$GC,15326,0.85,146.6,962.6,7.7,744,15333,0.00,2.62,0.00,0.000,6,0.000,0.059,2588,2200,2218
$GC,15641,0.85,146.6,943.0,6.2,760,15646,0.00,2.70,0.00,0.000,4,0.000,0.078,2588,790,2218
$GC,15673,0.85,146.6,940.7,7.3,761,15680,0.00,2.65,0.00,0.000,6,0.000,0.058,2588,2208,2218
$GC,15989,0.85,146.6,920.5,6.4,777,15994,0.00,2.72,0.00,0.000,4,0.000,0.086,2588,3609,2218
$GC,16028,0.85,146.6,917.6,7.9,779,16033,0.00,2.62,0.00,0.000,6,0.000,0.059,2588,2201,2217
$GC,16354,0.85,146.6,896.6,6.6,795,16355,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,2218
$GC,16663,0.85,146.6,876.6,6.4,810,16664,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,2218
$GC,16972,0.85,146.6,857.3,6.1,825,16973,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2200,2218
$GC,17281,0.85,146.6,838.1,6.3,840,17286,0.00,2.75,0.00,0.000,4,0.000,0.087,2588,3609,2217
$GC,17307,0.85,146.6,836.2,6.4,841,17312,0.00,2.62,0.00,0.000,6,0.000,0.061,2588,2199,2217
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$GC,17937,0.85,146.6,796.3,6.3,872,17938,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,2217
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$STATE,29639,end climb,SURFACE_DEPTH_REACHED
$STATE,29639,begin surface coast
$FINISH,1.2,1.027443
$STATE,29647,end surface coast,CONTROL_FINISHED_OK
$STATE,29647,begin surface
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$10V_AH,10.1,16.225
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$DEVICE_SECS,25.675,307.100,377.450,175.725,0.000,32.589,39.160,210.221,49.750,0.000,0.000,43.292,2618.935,23139.869,856.607,3098.466,568.514,33.372,2401.889,0.000,3000.509,0.000,57.099
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$DATA_FILE_SIZE,72629,1441
$CFSIZE,260165632,248221696
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