version: 66.02
glider: 16
mission: 6
dive: 393
start: 1 29 108 0 55 9
data:
$ID,16
$MISSION,6
$DIVE,393
$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,0
$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,300
$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,-2086564.8
$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,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
$GPS1,004658,6154.227,-230.043,26,2.7,45,-5.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-52.5
$GPS2,005417,6154.257,-229.913,14,2.4,33,-5.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.056,-0.214
$KALMAN_X,-3500.7,28.3,616.4,350996.5,-246.7
$KALMAN_Y,-8819.3,-249.3,495.1,38287.7,2936.1
$MHEAD_RNG_PITCHd_Wd,164.5,97976,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-60.95,0.000,2,0.000,0.000,76,2403,3124
$GC,89,-0.85,-146.6,5.1,-8.2,3,114,12.25,2.67,-6.35,0.000,4,0.176,0.094,2221,3765,3417
$GC,367,-0.85,-146.6,33.8,-8.8,15,372,0.00,2.58,0.00,0.000,6,0.000,0.059,2221,2391,3419
$GC,684,-0.85,-146.6,58.7,-7.3,30,688,0.00,2.67,0.00,0.000,4,0.000,0.083,2221,3766,3419
$GC,739,-0.85,-146.6,63.6,-9.3,32,745,0.00,2.55,0.00,0.000,6,0.000,0.059,2221,2398,3419
$GC,1055,-0.85,-146.6,89.0,-8.5,48,1059,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,982,3419
$GC,1117,-0.85,-146.6,93.9,-8.1,51,1121,0.00,2.65,0.00,0.000,6,0.000,0.065,2221,2399,3419
$GC,1444,-0.85,-146.6,121.9,-8.6,67,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3419
$GC,1752,-0.85,-146.6,148.4,-8.5,82,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3419
$GC,2061,-0.85,-146.6,173.8,-8.1,97,2065,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,977,3420
$GC,2128,-0.85,-146.6,179.4,-8.6,100,2132,0.00,2.67,0.00,0.000,6,0.000,0.064,2221,2407,3420
$GC,2449,-0.85,-146.6,203.8,-7.3,116,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3420
$GC,2761,-0.85,-146.6,225.1,-6.8,131,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3419
$GC,3067,-0.85,-146.6,247.8,-8.0,146,3072,0.00,2.72,0.00,0.000,4,0.000,0.074,2221,974,3420
$GC,3129,-0.85,-146.6,253.2,-8.6,149,3134,0.00,2.65,0.00,0.000,6,0.000,0.065,2221,2401,3420
$GC,3457,-0.85,-146.6,280.1,-7.9,165,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3420
$GC,3765,-0.85,-146.6,305.4,-7.8,180,3770,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,981,3421
$GC,3809,-0.85,-146.6,308.9,-7.6,182,3814,0.00,2.65,0.00,0.000,6,0.000,0.067,2221,2399,3421
$GC,4131,-0.85,-146.6,330.9,-6.4,198,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3421
$GC,4440,-0.85,-146.6,348.9,-6.6,213,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3421
$GC,4749,-0.85,-146.6,369.7,-6.9,228,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3421
$GC,5059,-0.85,-146.6,390.1,-6.3,243,5064,0.00,2.72,0.00,0.000,4,0.000,0.079,2221,980,3421
$GC,5108,-0.85,-146.6,393.5,-6.7,245,5113,0.00,2.67,0.00,0.000,6,0.000,0.069,2221,2400,3421
$GC,5424,-0.85,-146.6,414.0,-6.8,260,5428,0.00,2.70,0.00,0.000,4,0.000,0.092,2221,3767,3422
$GC,5479,-0.85,-146.6,418.3,-7.7,262,5485,0.00,2.58,0.00,0.000,6,0.000,0.065,2221,2400,3422
$GC,5795,-0.85,-146.6,439.6,-6.4,278,5799,0.00,2.72,0.00,0.000,4,0.000,0.084,2221,983,3422
$GC,5879,-0.85,-146.6,445.3,-6.8,282,5883,0.00,2.67,0.00,0.000,6,0.000,0.070,2221,2400,3421
$GC,6206,-0.85,-146.6,465.9,-6.3,298,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3421
$GC,6514,-0.85,-146.6,486.6,-7.1,313,6519,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,983,3420
$GC,6586,-0.85,-146.6,492.0,-7.7,316,6590,0.00,2.67,0.00,0.000,6,0.000,0.073,2221,2403,3420
$GC,6903,-0.85,-146.6,514.8,-7.4,331,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3419
$GC,7211,-0.85,-146.6,537.0,-7.1,346,7215,0.00,2.75,0.00,0.000,4,0.000,0.081,2221,979,3418
$GC,7273,-0.85,-146.6,541.4,-7.2,349,7277,0.00,2.70,0.00,0.000,6,0.000,0.074,2221,2407,3418
$GC,7599,-0.85,-146.6,562.4,-6.3,365,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2406,3417
$GC,7908,-0.85,-146.6,581.4,-6.3,380,7912,0.00,2.75,0.00,0.000,4,0.000,0.081,2221,977,3416
$GC,7974,-0.85,-146.6,585.9,-6.5,383,7978,0.00,2.70,0.00,0.000,6,0.000,0.074,2221,2400,3416
$GC,8295,-0.85,-146.6,606.2,-6.2,399,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3414
$GC,8604,-0.85,-146.6,624.5,-6.0,414,8608,0.00,2.72,0.00,0.000,4,0.000,0.080,2221,982,3413
$GC,8666,-0.85,-146.6,628.4,-7.1,417,8670,0.00,2.70,0.00,0.000,6,0.000,0.074,2221,2400,3413
$GC,8993,-0.85,-146.6,648.0,-6.0,433,8995,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3412
$GC,9301,-0.85,-146.6,666.2,-6.2,448,9306,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,985,3412
$GC,9357,-0.85,-146.6,669.8,-7.2,450,9363,0.00,2.70,0.00,0.000,6,0.000,0.074,2221,2400,3412
$GC,9673,-0.85,-146.6,688.7,-6.2,466,9674,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2399,3410
$GC,9982,-0.85,-146.6,706.6,-5.7,481,9987,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,985,3410
$GC,10049,-0.85,-146.6,710.6,-5.9,484,10054,0.00,2.70,0.00,0.000,6,0.000,0.074,2221,2401,3410
$GC,10370,-0.85,-146.6,728.6,-5.6,500,10371,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2402,3409
$GC,10679,-0.85,-146.6,745.5,-5.5,515,10684,0.00,2.75,0.00,0.000,4,0.000,0.083,2221,979,3408
$GC,10724,-0.85,-146.6,748.2,-6.0,517,10728,0.00,2.72,0.00,0.000,6,0.000,0.074,2221,2407,3408
$GC,11045,-0.85,-146.6,765.2,-5.3,533,11046,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2408,3408
$GC,11355,-0.85,-146.6,782.2,-5.7,548,11359,0.00,2.75,0.00,0.000,4,0.000,0.083,2221,981,3407
$GC,11417,-0.85,-146.6,786.1,-6.6,551,11421,0.00,2.70,0.00,0.000,6,0.000,0.074,2221,2400,3407
$GC,11743,-0.85,-146.6,805.9,-6.1,567,11744,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3406
$GC,12053,-0.85,-146.6,823.9,-5.8,582,12058,0.00,2.75,0.00,0.000,4,0.000,0.084,2221,980,3405
$GC,12110,-0.85,-146.6,827.5,-5.9,584,12116,0.00,2.72,0.00,0.000,6,0.000,0.074,2221,2405,3406
$GC,12426,-0.85,-146.6,846.2,-5.8,600,12430,0.00,2.75,0.00,0.000,4,0.000,0.083,2221,983,3405
$GC,12466,-0.85,-146.6,848.5,-5.6,602,12470,0.00,2.70,0.00,0.000,6,0.000,0.074,2221,2399,3405
$GC,12792,-0.85,-146.6,866.5,-5.3,618,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3405
$GC,13101,-0.85,-146.6,882.6,-5.3,633,13106,0.00,2.75,0.00,0.000,4,0.000,0.083,2221,979,3404
$GC,13169,-0.85,-146.6,886.3,-5.0,636,13173,0.00,2.70,0.00,0.000,6,0.000,0.072,2221,2400,3404
$GC,13489,-0.85,-146.6,902.9,-5.1,652,13491,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3404
$GC,13800,-0.85,-146.6,919.8,-5.6,667,13804,0.00,2.72,0.00,0.000,4,0.000,0.082,2221,985,3404
$GC,13855,-0.85,-146.6,923.0,-5.7,669,13861,0.00,2.70,0.00,0.000,6,0.000,0.071,2221,2403,3404
$GC,14170,-0.85,-146.6,940.9,-5.8,685,14172,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3404
$GC,14481,-0.85,-146.6,958.6,-5.8,700,14485,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,986,3403
$GC,14535,-0.85,-146.6,962.2,-6.3,702,14541,0.00,2.67,0.00,0.000,6,0.000,0.070,2221,2405,3403
$GC,14851,-0.85,-146.6,980.9,-5.8,718,14852,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3403
$STATE,15014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15014,begin apogee
$GC,15021,-0.31,0.0,990.5,5.8,726,15158,0.60,0.00,128.93,1.338,6,0.120,0.000,2337,2191,2817
$STATE,15159,end apogee,CONTROL_FINISHED_OK
$STATE,15159,begin climb
$GC,15162,0.85,146.6,995.2,0.0,733,15298,1.27,2.83,126.78,1.325,4,0.104,0.079,2588,797,2219
$GC,15312,0.86,161.6,990.3,5.6,740,15332,0.00,2.67,14.52,1.243,6,0.000,0.061,2588,2202,2158
$GC,15660,0.86,161.6,968.4,6.4,757,15664,0.00,2.78,0.00,0.000,4,0.000,0.091,2588,3612,2156
$GC,15692,0.86,161.6,966.1,7.2,758,15698,0.00,2.65,0.00,0.000,6,0.000,0.066,2589,2204,2156
$GC,16008,0.86,161.6,946.1,6.0,774,16010,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,2156
$GC,16317,0.86,161.6,926.2,6.4,789,16318,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,2155
$GC,16626,0.86,161.6,906.1,6.6,804,16631,0.00,2.72,0.00,0.000,4,0.000,0.084,2588,790,2155
$GC,16654,0.86,161.6,904.2,8.1,805,16658,0.00,2.65,0.00,0.000,6,0.000,0.061,2588,2204,2154
$GC,16969,0.86,161.6,883.5,6.6,820,16970,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2205,2154
$GC,17278,0.86,161.6,863.0,6.6,835,17279,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2205,2155
$GC,17588,0.86,161.6,843.0,6.2,850,17589,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2205,2154
$GC,17897,0.86,161.6,823.3,6.7,865,17898,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,2154
$GC,18206,0.86,161.6,803.7,6.4,880,18210,0.00,2.75,0.00,0.000,4,0.000,0.093,2588,3610,2153
$GC,18241,0.86,161.6,801.5,7.5,881,18247,0.00,2.67,0.00,0.000,6,0.000,0.070,2588,2202,2154
$GC,18556,0.86,161.6,781.3,6.5,897,18557,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2202,2154
$GC,18866,0.87,167.4,762.7,5.8,912,18874,0.00,0.00,6.40,1.003,6,0.000,0.000,2588,2201,2134
$GC,19176,0.88,174.1,744.5,5.8,927,19185,0.00,0.00,7.18,1.000,6,0.000,0.000,2588,2202,2107
$GC,19484,0.88,178.6,726.5,5.9,942,19492,0.00,0.00,5.80,0.927,6,0.000,0.000,2588,2201,2087
$GC,19793,0.90,192.9,708.7,5.6,957,19813,0.00,0.00,13.70,1.097,6,0.000,0.000,2588,2202,2030
$GC,20123,0.90,192.9,688.5,6.2,973,20128,0.00,2.75,0.00,0.000,4,0.000,0.087,2588,787,2028
$GC,20162,0.90,192.9,685.8,7.2,975,20167,0.00,2.65,0.00,0.000,6,0.000,0.064,2588,2199,2028
$GC,20490,0.90,192.9,664.4,6.7,991,20491,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,2029
$GC,20799,0.90,192.9,643.1,6.9,1006,20800,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,2028
$GC,21108,0.90,192.9,621.7,7.0,1021,21109,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,2028
$GC,21418,0.90,192.9,599.7,7.0,1036,21423,0.00,2.72,0.00,0.000,4,0.000,0.082,2588,788,2028
$GC,21450,0.90,192.9,597.3,6.6,1037,21457,0.00,2.67,0.00,0.000,6,0.000,0.064,2588,2205,2028
$GC,21769,0.90,192.9,577.0,6.3,1053,21770,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,2028
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$STATE,30448,end climb,SURFACE_DEPTH_REACHED
$STATE,30448,begin surface coast
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$STATE,30470,end surface coast,CONTROL_FINISHED_OK
$STATE,30470,begin surface
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