version: 66.02
glider: 16
mission: 6
dive: 201
start: 12 20 107 13 0 56
data:
$ID,16
$MISSION,6
$DIVE,201
$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,-2080102.8
$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,18
$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
$GPS1,125307,6410.827,-657.246,37,1.4,37,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-54.6
$GPS2,130005,6410.789,-657.154,12,5.8,31,-9.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,NSEC_N
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.052,0.215
$KALMAN_X,-89158.5,156.8,-445.4,202492.1,2821.3
$KALMAN_Y,70944.0,-83.2,70.8,211647.2,-3584.8
$MHEAD_RNG_PITCHd_Wd,22.5,54727,-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,-102.05,0.000,2,0.000,0.000,72,2406,2866
$GC,127,-0.85,-146.6,3.8,-2.2,5,163,12.35,2.75,-16.35,0.000,4,0.179,0.084,2219,988,3417
$GC,416,-0.85,-146.6,28.7,-6.8,18,421,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2403,3418
$GC,742,-0.85,-146.6,50.8,-6.6,34,746,0.00,2.72,0.00,0.000,4,0.000,0.072,2220,975,3418
$GC,785,-0.85,-146.6,53.9,-7.2,36,789,0.00,2.65,0.00,0.000,6,0.000,0.058,2219,2403,3418
$GC,1112,-0.85,-146.6,76.1,-7.3,52,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3418
$GC,1421,-0.85,-146.6,98.6,-7.5,67,1426,0.00,2.72,0.00,0.000,4,0.000,0.073,2220,976,3418
$GC,1488,-0.85,-146.6,104.1,-8.4,70,1492,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2403,3418
$GC,1808,-0.85,-146.6,129.1,-7.4,86,1813,0.00,2.72,0.00,0.000,4,0.000,0.074,2219,978,3418
$GC,1851,-0.85,-146.6,132.6,-8.2,88,1855,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2402,3418
$GC,2178,-0.85,-146.6,156.6,-7.3,104,2183,0.00,2.72,0.00,0.000,4,0.000,0.074,2219,980,3419
$GC,2198,-0.85,-146.6,158.4,-7.9,105,2203,0.00,2.67,0.00,0.000,6,0.000,0.061,2219,2397,3419
$GC,2526,-0.85,-146.6,182.8,-7.4,121,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2397,3419
$GC,2835,-0.85,-146.6,205.7,-7.8,136,2840,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,979,3419
$GC,2868,-0.85,-146.6,208.6,-8.8,137,2874,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2400,3419
$GC,3183,-0.85,-146.6,235.3,-8.8,153,3187,0.00,2.72,0.00,0.000,4,0.000,0.075,2220,977,3419
$GC,3222,-0.85,-146.6,238.5,-8.3,155,3226,0.00,2.67,0.00,0.000,6,0.000,0.063,2219,2401,3419
$GC,3547,-0.85,-146.6,263.8,-7.3,171,3552,0.00,2.75,0.00,0.000,4,0.000,0.077,2220,976,3419
$GC,3586,-0.85,-146.6,266.9,-7.8,173,3591,0.00,2.67,0.00,0.000,6,0.000,0.063,2219,2399,3419
$GC,3912,-0.85,-146.6,290.5,-7.2,189,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2400,3419
$GC,4221,-0.85,-146.6,312.3,-7.2,204,4226,0.00,2.72,0.00,0.000,4,0.000,0.078,2219,980,3419
$GC,4283,-0.85,-146.6,316.9,-8.0,207,4287,0.00,2.67,0.00,0.000,6,0.000,0.064,2220,2403,3419
$GC,4608,-0.85,-146.6,338.8,-6.7,223,4613,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,979,3419
$GC,4663,-0.85,-146.6,342.8,-7.1,225,4670,0.00,2.67,0.00,0.000,6,0.000,0.064,2220,2393,3418
$GC,4979,-0.85,-146.6,363.3,-6.2,241,4983,0.00,2.70,0.00,0.000,4,0.000,0.077,2219,981,3418
$GC,5005,-0.85,-146.6,365.1,-6.2,242,5010,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2406,3419
$GC,5320,-0.85,-146.6,383.7,-6.2,257,5325,0.00,2.75,0.00,0.000,4,0.000,0.077,2220,975,3418
$GC,5359,-0.85,-146.6,386.1,-6.3,259,5363,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2400,3419
$GC,5684,-0.85,-146.6,406.3,-6.4,275,5689,0.00,2.72,0.00,0.000,4,0.000,0.078,2219,978,3418
$GC,5718,-0.85,-146.6,408.5,-6.2,276,5724,0.00,2.67,0.00,0.000,6,0.000,0.063,2219,2400,3418
$GC,6033,-0.85,-146.6,428.2,-6.4,292,6037,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,982,3417
$GC,6076,-0.85,-146.6,431.0,-6.2,294,6080,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2400,3417
$GC,6397,-0.85,-146.6,449.3,-5.6,310,6401,0.00,2.72,0.00,0.000,4,0.000,0.077,2221,981,3417
$GC,6423,-0.85,-146.6,451.0,-5.9,311,6428,0.00,2.65,0.00,0.000,6,0.000,0.063,2219,2399,3417
$GC,6740,-0.85,-146.6,468.8,-5.9,326,6744,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,983,3416
$GC,6778,-0.85,-146.6,471.3,-6.3,328,6782,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2404,3417
$GC,7103,-0.85,-146.6,492.3,-6.5,344,7108,0.00,2.75,0.00,0.000,4,0.000,0.077,2220,975,3416
$GC,7136,-0.85,-146.6,494.4,-6.6,345,7143,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2407,3416
$GC,7452,-0.85,-146.6,513.7,-6.4,361,7456,0.00,2.75,0.00,0.000,4,0.000,0.077,2219,976,3416
$GC,7490,-0.85,-146.6,516.3,-7.3,363,7494,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2401,3416
$GC,7816,-0.85,-146.6,536.6,-6.0,379,7820,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,976,3416
$GC,7855,-0.85,-146.6,539.0,-6.5,381,7860,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2401,3415
$GC,8181,-0.85,-146.6,558.0,-5.8,397,8185,0.00,2.72,0.00,0.000,4,0.000,0.077,2219,982,3415
$GC,8219,-0.85,-146.6,560.3,-6.1,399,8224,0.00,2.67,0.00,0.000,6,0.000,0.063,2220,2405,3414
$GC,8546,-0.85,-146.6,578.9,-5.6,415,8550,0.00,2.72,0.00,0.000,4,0.000,0.076,2219,981,3414
$GC,8584,-0.85,-146.6,581.3,-6.5,417,8588,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2406,3414
$GC,8911,-0.85,-146.6,600.5,-5.9,433,8915,0.00,2.72,0.00,0.000,4,0.000,0.076,2219,981,3414
$GC,8949,-0.85,-146.6,602.7,-5.7,435,8954,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2405,3413
$GC,9277,-0.85,-146.6,621.0,-5.5,451,9281,0.00,2.72,0.00,0.000,4,0.000,0.075,2219,981,3413
$GC,9310,-0.85,-146.6,623.0,-6.3,452,9316,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2403,3413
$GC,9625,-0.85,-146.6,640.8,-5.9,468,9629,0.00,2.72,0.00,0.000,4,0.000,0.076,2219,981,3413
$GC,9645,-0.85,-146.6,642.2,-6.2,469,9649,0.00,2.65,0.00,0.000,6,0.000,0.064,2220,2400,3413
$GC,9972,-0.85,-146.6,662.2,-6.2,485,9977,0.00,2.70,0.00,0.000,4,0.000,0.076,2220,982,3412
$GC,9998,-0.85,-146.6,664.1,-6.7,486,10003,0.00,2.67,0.00,0.000,6,0.000,0.064,2219,2395,3412
$GC,10319,-0.85,-146.6,684.6,-6.7,502,10324,0.00,2.72,0.00,0.000,4,0.000,0.076,2219,975,3412
$GC,10359,-0.85,-146.6,687.0,-6.9,504,10363,0.00,2.67,0.00,0.000,6,0.000,0.061,2220,2403,3412
$GC,10684,-0.85,-146.6,707.6,-6.4,520,10688,0.00,2.72,0.00,0.000,4,0.000,0.074,2220,978,3411
$GC,10710,-0.85,-146.6,709.4,-6.9,521,10714,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2404,3412
$GC,11031,-0.85,-146.6,730.4,-6.6,537,11036,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,982,3412
$GC,11063,-0.85,-146.6,732.7,-7.1,538,11070,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2407,3412
$GC,11379,-0.85,-146.6,752.6,-6.2,554,11383,0.00,2.72,0.00,0.000,4,0.000,0.072,2219,976,3411
$GC,11422,-0.85,-146.6,755.3,-6.2,556,11426,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2406,3411
$GC,11743,-0.85,-146.6,774.3,-5.7,572,11747,0.00,2.70,0.00,0.000,4,0.000,0.072,2220,981,3411
$GC,11786,-0.85,-146.6,777.0,-6.3,574,11790,0.00,2.65,0.00,0.000,6,0.000,0.061,2219,2405,3411
$GC,12113,-0.85,-146.6,795.3,-5.3,590,12118,0.00,2.72,0.00,0.000,4,0.000,0.071,2220,978,3411
$GC,12163,-0.85,-146.6,798.1,-5.8,592,12167,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2409,3411
$GC,12484,-0.85,-146.6,815.5,-5.4,608,12489,0.00,2.72,0.00,0.000,4,0.000,0.071,2220,978,3410
$GC,12517,-0.85,-146.6,817.5,-5.9,609,12523,0.00,2.65,0.00,0.000,6,0.000,0.061,2220,2404,3411
$GC,12832,-0.85,-146.6,834.4,-5.3,625,12837,0.00,2.70,0.00,0.000,4,0.000,0.072,2220,982,3410
$GC,12876,-0.85,-146.6,836.8,-6.0,627,12881,0.00,2.62,0.00,0.000,6,0.000,0.061,2220,2399,3410
$GC,13197,-0.85,-146.6,853.4,-5.6,643,13202,0.00,2.67,0.00,0.000,4,0.000,0.072,2219,982,3410
$GC,13229,-0.85,-146.6,855.5,-6.4,644,13236,0.00,2.62,0.00,0.000,6,0.000,0.060,2220,2400,3410
$GC,13545,-0.85,-146.6,874.6,-6.1,660,13550,0.00,2.70,0.00,0.000,4,0.000,0.071,2220,977,3410
$GC,13578,-0.85,-146.6,876.6,-5.6,661,13584,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2401,3410
$GC,13893,-0.85,-146.6,894.8,-5.7,677,13898,0.00,2.70,0.00,0.000,4,0.000,0.070,2219,982,3410
$GC,13937,-0.85,-146.6,897.5,-6.0,679,13942,0.00,2.62,0.00,0.000,6,0.000,0.058,2220,2401,3410
$GC,14258,-0.85,-146.6,916.6,-6.3,695,14262,0.00,2.70,0.00,0.000,4,0.000,0.070,2220,977,3410
$GC,14290,-0.85,-146.6,918.6,-6.4,696,14296,0.00,2.62,0.00,0.000,6,0.000,0.057,2220,2401,3409
$GC,14605,-0.85,-146.6,938.0,-6.2,712,14610,0.00,2.67,0.00,0.000,4,0.000,0.067,2220,978,3409
$GC,14637,-0.85,-146.6,940.3,-7.1,713,14644,0.00,2.60,0.00,0.000,6,0.000,0.054,2219,2402,3409
$GC,14953,-0.85,-146.6,960.0,-6.4,729,14957,0.00,2.67,0.00,0.000,4,0.000,0.068,2220,983,3409
$GC,15001,-0.85,-146.6,963.3,-6.7,731,15006,0.00,2.60,0.00,0.000,6,0.000,0.054,2219,2403,3409
$GC,15317,-0.85,-146.6,983.1,-6.2,746,15321,0.00,2.67,0.00,0.000,4,0.000,0.067,2219,981,3409
$GC,15349,-0.85,-146.6,985.4,-6.8,747,15355,0.00,2.60,0.00,0.000,6,0.000,0.054,2220,2401,3409
$STATE,15435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15436,begin apogee
$GC,15441,-0.31,0.0,990.8,6.4,752,15569,0.62,0.00,124.70,1.393,6,0.123,0.000,2339,2176,2817
$STATE,15570,end apogee,CONTROL_FINISHED_OK
$STATE,15570,begin climb
$GC,15572,0.85,146.6,995.1,0.0,758,15703,1.20,2.72,123.78,1.363,4,0.084,0.067,2586,792,2219
$GC,15731,0.85,146.6,990.3,7.0,765,15738,0.00,2.62,0.00,0.000,6,0.000,0.049,2587,2209,2218
$GC,16047,0.85,146.7,971.6,6.0,781,16052,0.00,2.65,0.00,0.000,4,0.000,0.071,2587,3607,2216
$GC,16102,0.85,146.7,967.8,7.3,783,16109,0.00,2.58,0.00,0.000,6,0.000,0.050,2587,2208,2216
$GC,16417,0.85,146.7,947.4,6.5,799,16422,0.00,2.70,0.00,0.000,4,0.000,0.071,2587,791,2216
$GC,16456,0.85,146.7,944.9,7.0,801,16461,0.00,2.58,0.00,0.000,6,0.000,0.049,2587,2202,2217
$GC,16782,0.86,155.2,925.1,5.8,817,16796,0.00,2.75,8.60,1.177,4,0.000,0.071,2587,3603,2184
$GC,16842,0.86,155.2,921.2,6.9,819,16848,0.00,2.60,0.00,0.000,6,0.000,0.050,2588,2196,2184
$GC,17157,0.86,155.2,901.5,6.3,835,17158,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2196,2184
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$STATE,30130,end climb,SURFACE_DEPTH_REACHED
$STATE,30130,begin surface coast
$FINISH,1.1,1.008122
$STATE,30154,end surface coast,CONTROL_FINISHED_OK
$STATE,30154,begin surface
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