version: 66.02
glider: 16
mission: 6
dive: 186
start: 12 15 107 10 39 42
data:
$ID,16
$MISSION,6
$DIVE,186
$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,-2079655.9
$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,15
$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
$GPS1,103225,6345.557,-825.815,41,1.9,41,-9.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-56.9
$GPS2,103851,6345.666,-825.571,35,1.7,35,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRN1K
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.166,0.146
$KALMAN_X,-115217.6,-407.2,-1583.3,152504.7,6157.1
$KALMAN_Y,92706.3,443.7,526.5,142373.8,-5446.0
$MHEAD_RNG_PITCHd_Wd,58.5,20982,-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,-102.30,0.000,2,0.000,0.000,71,2402,3111
$GC,127,-0.85,-146.6,4.1,-2.7,5,153,12.15,2.65,-7.05,0.000,4,0.171,0.089,2220,3764,3416
$GC,360,-0.85,-146.6,28.5,-7.9,15,364,0.00,2.53,0.00,0.000,6,0.000,0.053,2219,2395,3417
$GC,681,-0.85,-146.6,53.8,-7.8,31,685,0.00,2.67,0.00,0.000,4,0.000,0.072,2220,982,3417
$GC,720,-0.85,-146.6,57.0,-8.6,33,724,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2407,3417
$GC,1046,-0.85,-146.6,82.5,-7.9,49,1050,0.00,2.70,0.00,0.000,4,0.000,0.071,2220,982,3417
$GC,1066,-0.85,-146.6,84.3,-7.9,50,1070,0.00,2.62,0.00,0.000,6,0.000,0.059,2220,2403,3417
$GC,1394,-0.85,-146.6,108.6,-7.0,66,1398,0.00,2.70,0.00,0.000,4,0.000,0.071,2220,977,3417
$GC,1414,-0.85,-146.6,110.3,-7.2,67,1419,0.00,2.62,0.00,0.000,6,0.000,0.060,2220,2398,3417
$GC,1741,-0.85,-146.6,133.1,-6.7,83,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2398,3417
$GC,2050,-0.85,-146.6,155.9,-8.5,98,2055,0.00,2.67,0.00,0.000,4,0.000,0.071,2220,985,3417
$GC,2116,-0.85,-146.6,161.6,-8.9,101,2121,0.00,2.60,0.00,0.000,6,0.000,0.060,2220,2401,3417
$GC,2443,-0.85,-146.6,188.7,-8.2,117,2447,0.00,2.60,0.00,0.000,4,0.000,0.079,2220,3767,3417
$GC,2531,-0.85,-146.6,197.1,-9.5,121,2535,0.00,2.55,0.00,0.000,6,0.000,0.058,2221,2404,3417
$GC,2857,-0.85,-146.6,224.3,-7.8,137,2862,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,975,3418
$GC,2951,-0.85,-146.6,231.0,-7.2,141,2956,0.00,2.67,0.00,0.000,6,0.000,0.064,2220,2400,3418
$GC,3273,-0.85,-146.6,256.5,-8.4,157,3277,0.00,2.70,0.00,0.000,4,0.000,0.074,2220,979,3418
$GC,3356,-0.85,-146.6,263.5,-8.6,161,3361,0.00,2.65,0.00,0.000,6,0.000,0.064,2220,2405,3418
$GC,3682,-0.85,-146.6,287.8,-7.5,177,3687,0.00,2.72,0.00,0.000,4,0.000,0.077,2222,978,3419
$GC,3709,-0.85,-146.6,290.1,-8.0,178,3713,0.00,2.65,0.00,0.000,6,0.000,0.064,2220,2403,3419
$GC,4030,-0.85,-146.6,313.2,-7.1,194,4034,0.00,2.62,0.00,0.000,4,0.000,0.087,2220,3766,3419
$GC,4118,-0.85,-146.6,319.9,-7.6,198,4122,0.00,2.55,0.00,0.000,6,0.000,0.064,2220,2402,3419
$GC,4444,-0.85,-146.6,343.1,-6.9,214,4449,0.00,2.72,0.00,0.000,4,0.000,0.082,2220,979,3419
$GC,4577,-0.85,-146.6,353.2,-7.6,220,4582,0.00,2.65,0.00,0.000,6,0.000,0.069,2220,2399,3419
$GC,4905,-0.85,-146.6,376.0,-7.3,236,4910,0.00,2.72,0.00,0.000,4,0.000,0.081,2220,979,3419
$GC,4977,-0.85,-146.6,382.0,-8.2,239,4981,0.00,2.67,0.00,0.000,6,0.000,0.070,2220,2407,3419
$GC,5298,-0.85,-146.6,404.9,-6.4,255,5302,0.00,2.75,0.00,0.000,4,0.000,0.083,2220,982,3418
$GC,5341,-0.85,-146.6,407.9,-6.5,257,5345,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2403,3418
$GC,5667,-0.85,-146.6,429.1,-6.7,273,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3418
$GC,5977,-0.85,-146.6,447.8,-5.6,288,5982,0.00,2.65,0.00,0.000,4,0.000,0.093,2220,3765,3417
$GC,6010,-0.85,-146.6,449.8,-5.9,289,6017,0.00,2.58,0.00,0.000,6,0.000,0.070,2220,2400,3416
$GC,6325,-0.85,-146.6,464.3,-4.8,305,6330,0.00,2.75,0.00,0.000,4,0.000,0.087,2220,978,3416
$GC,6359,-0.85,-146.6,466.1,-5.9,306,6365,0.00,2.70,0.00,0.000,6,0.000,0.074,2220,2401,3416
$GC,6675,-0.85,-146.6,482.9,-5.7,322,6679,0.00,2.75,0.00,0.000,4,0.000,0.085,2220,983,3415
$GC,6701,-0.85,-146.6,484.3,-5.9,323,6705,0.00,2.67,0.00,0.000,6,0.000,0.073,2220,2402,3415
$GC,7017,-0.85,-146.6,501.8,-5.7,338,7021,0.00,2.75,0.00,0.000,4,0.000,0.087,2220,980,3413
$GC,7060,-0.85,-146.6,504.6,-6.2,340,7064,0.00,2.70,0.00,0.000,6,0.000,0.076,2220,2401,3413
$GC,7387,-0.85,-146.6,523.0,-5.7,356,7392,0.00,2.78,0.00,0.000,4,0.000,0.088,2220,982,3412
$GC,7421,-0.85,-146.6,525.1,-6.6,357,7427,0.00,2.70,0.00,0.000,6,0.000,0.074,2220,2398,3412
$GC,7736,-0.85,-146.6,544.8,-6.4,373,7740,0.00,2.75,0.00,0.000,4,0.000,0.087,2220,985,3411
$GC,7756,-0.85,-146.6,546.2,-7.1,374,7760,0.00,2.67,0.00,0.000,6,0.000,0.074,2220,2401,3411
$GC,8083,-0.85,-146.6,567.7,-6.6,390,8087,0.00,2.75,0.00,0.000,4,0.000,0.087,2220,985,3410
$GC,8126,-0.85,-146.6,570.8,-7.2,392,8130,0.00,2.67,0.00,0.000,6,0.000,0.073,2220,2401,3409
$GC,8447,-0.85,-146.6,592.0,-6.5,408,8451,0.00,2.75,0.00,0.000,4,0.000,0.086,2220,984,3409
$GC,8467,-0.85,-146.6,593.4,-6.8,409,8472,0.00,2.70,0.00,0.000,6,0.000,0.071,2220,2398,3408
$GC,8794,-0.85,-146.6,614.0,-6.3,425,8798,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,982,3408
$GC,8820,-0.85,-146.6,615.8,-7.1,426,8824,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2401,3407
$GC,9141,-0.85,-146.6,635.9,-6.3,442,9145,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,981,3407
$GC,9167,-0.85,-146.6,637.7,-6.9,443,9172,0.00,2.70,0.00,0.000,6,0.000,0.072,2220,2407,3407
$GC,9482,-0.85,-146.6,657.2,-6.1,458,9487,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,984,3406
$GC,9508,-0.85,-146.6,658.9,-6.5,459,9512,0.00,2.67,0.00,0.000,6,0.000,0.072,2220,2401,3405
$GC,9829,-0.85,-146.6,678.6,-6.1,475,9834,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,979,3405
$GC,9850,-0.85,-146.6,680.0,-6.7,476,9854,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2401,3404
$GC,10177,-0.85,-146.6,701.6,-6.8,492,10181,0.00,2.72,0.00,0.000,4,0.000,0.083,2220,985,3404
$GC,10215,-0.85,-146.6,704.3,-8.1,494,10220,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2401,3404
$GC,10542,-0.85,-146.6,726.2,-6.6,510,10543,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3403
$GC,10850,-0.85,-146.6,746.8,-6.7,525,10855,0.00,2.72,0.00,0.000,4,0.000,0.083,2220,983,3403
$GC,10877,-0.85,-146.6,748.6,-7.3,526,10882,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2403,3403
$GC,11193,-0.85,-146.6,769.5,-6.8,541,11197,0.00,2.75,0.00,0.000,4,0.000,0.083,2220,979,3402
$GC,11219,-0.85,-146.6,771.3,-6.7,542,11224,0.00,2.70,0.00,0.000,6,0.000,0.071,2220,2393,3402
$GC,11540,-0.85,-146.6,792.6,-6.6,558,11545,0.00,2.72,0.00,0.000,4,0.000,0.084,2220,985,3402
$GC,11566,-0.85,-146.6,794.3,-7.4,559,11571,0.00,2.67,0.00,0.000,6,0.000,0.071,2220,2402,3402
$GC,11887,-0.85,-146.6,815.1,-6.6,575,11889,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2402,3401
$GC,12197,-0.85,-146.6,835.7,-6.5,590,12202,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,982,3401
$GC,12229,-0.85,-146.6,838.0,-7.3,591,12236,0.00,2.70,0.00,0.000,6,0.000,0.073,2220,2405,3401
$GC,12544,-0.85,-146.6,857.3,-6.1,607,12549,0.00,2.75,0.00,0.000,4,0.000,0.084,2220,985,3400
$GC,12565,-0.85,-146.6,858.7,-5.6,608,12569,0.00,2.65,0.00,0.000,6,0.000,0.071,2220,2404,3400
$GC,12892,-0.85,-146.6,880.7,-7.0,624,12893,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3400
$GC,13200,-0.85,-146.6,900.9,-6.3,639,13205,0.00,2.75,0.00,0.000,4,0.000,0.083,2220,981,3400
$GC,13232,-0.85,-146.6,903.2,-6.5,640,13239,0.00,2.65,0.00,0.000,6,0.000,0.069,2220,2400,3400
$GC,13548,-0.85,-146.6,923.3,-6.4,656,13549,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2400,3399
$STATE,13608,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13608,begin apogee
$GC,13613,-0.31,0.0,927.5,6.8,659,13737,0.62,0.00,121.00,1.330,6,0.117,0.000,2342,2186,2817
$STATE,13738,end apogee,CONTROL_FINISHED_OK
$STATE,13738,begin climb
$GC,13740,0.85,146.6,931.2,0.0,665,13867,1.25,0.00,122.03,1.306,6,0.087,0.000,2593,2188,2219
$GC,14161,0.85,146.6,909.8,6.1,686,14166,0.00,2.83,0.00,0.000,4,0.000,0.092,2594,3614,2218
$GC,14199,0.85,146.6,907.2,6.7,688,14204,0.00,2.67,0.00,0.000,6,0.000,0.071,2594,2201,2218
$GC,14525,0.85,154.4,887.3,5.8,704,14535,0.00,0.00,8.05,1.121,6,0.000,0.000,2593,2202,2188
$GC,14834,0.85,154.4,868.3,6.6,719,14835,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2201,2187
$GC,15143,0.85,154.4,848.0,6.7,734,15144,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2202,2186
$GC,15452,0.85,154.4,827.8,6.5,749,15453,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2202,2186
$GC,15761,0.85,154.4,808.3,6.3,764,15763,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2202,2186
$GC,16071,0.85,154.4,788.7,6.4,779,16072,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2201,2187
$GC,16380,0.85,154.4,769.7,6.1,794,16381,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2201,2186
$GC,16690,0.86,157.0,750.7,5.9,809,16695,0.00,0.00,3.85,0.762,6,0.000,0.000,2594,2202,2176
$GC,16999,0.86,157.0,732.2,6.3,824,17000,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2201,2176
$GC,17308,0.86,157.0,712.5,6.4,839,17309,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2201,2176
$GC,17617,0.86,157.0,693.5,6.1,854,17618,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2201,2176
$GC,17927,0.88,180.9,675.8,5.3,869,17955,0.00,2.90,21.02,1.122,4,0.000,0.095,2594,3609,2079
$GC,17972,0.91,205.5,673.4,5.3,871,17999,0.00,2.72,21.38,1.106,6,0.000,0.071,2594,2197,1979
$GC,18314,0.91,208.1,653.7,5.9,888,18323,0.00,2.80,3.78,0.752,4,0.000,0.089,2594,784,1968
$GC,18374,0.92,219.1,649.8,5.7,890,18391,0.00,2.67,10.73,1.097,6,0.000,0.068,2594,2202,1923
$GC,18706,0.94,228.6,630.2,5.7,907,18717,0.00,0.00,9.57,1.065,6,0.000,0.000,2594,2202,1885
$GC,19015,0.94,228.6,611.4,6.2,922,19019,0.00,2.78,0.00,0.000,4,0.000,0.087,2594,785,1884
$GC,19058,0.94,228.6,608.4,6.4,924,19062,0.00,2.70,0.00,0.000,6,0.000,0.067,2594,2206,1884
$GC,19384,0.95,242.0,589.2,5.6,940,19400,0.10,0.00,12.98,1.085,6,0.081,0.000,2616,2206,1830
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$STATE,26481,end climb,SURFACE_DEPTH_REACHED
$STATE,26481,begin surface coast
$FINISH,1.0,1.004828
$STATE,26503,end surface coast,CONTROL_FINISHED_OK
$STATE,26503,begin surface
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$10V_AH,10.1,15.498
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$DATA_FILE_SIZE,66229,1288
$CFSIZE,260165632,248745984
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