version: 66.04
glider: 144
mission: 15
dive: 49
start: 6 28 109 3 41 40
data:
$ID,144
$MISSION,15
$DIVE,49
$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,600
$T_MISSION,630
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,3.2039999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-61908.957
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1.9652373
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,033501,4953.921,-14429.847,35,1.3,36,18.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-60.9
$GPS2,034044,4953.928,-14429.894,13,1.5,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.115,0.122
$KALMAN_X,-24588.9,-108.6,3.4,61548.6,586.1
$KALMAN_Y,10166.3,315.5,14.2,-21177.4,-800.9
$MHEAD_RNG_PITCHd_Wd,298.1,35413,-12.3,-5.500
$D_GRID,1001
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-42.03,0.000,2,0.000,0.000,100,2302,2858
$GC,61,-0.68,-117.3,3.9,-6.3,4,87,7.15,2.35,-12.32,0.000,4,0.253,0.071,1850,896,3412
$GC,117,-0.47,-117.3,13.9,-15.4,9,122,0.17,2.28,0.00,0.000,6,0.143,0.050,1898,2298,3414
$GC,442,-0.52,-117.3,43.5,-9.2,39,446,0.00,2.28,0.00,0.000,4,0.000,0.051,1898,889,3414
$GC,486,-0.63,-117.3,47.4,-8.3,42,493,0.10,2.25,0.00,0.000,6,0.072,0.045,1835,2306,3414
$GC,812,-0.48,-117.3,82.7,-11.8,72,814,0.20,0.00,0.00,0.000,6,0.133,0.000,1894,2306,3415
$GC,1120,-0.57,-117.3,105.6,-6.4,87,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,2306,3416
$GC,1430,-0.69,-117.3,126.7,-7.2,102,1434,0.15,2.25,0.00,0.000,4,0.060,0.050,1822,893,3416
$GC,1551,-0.55,-117.3,139.9,-10.4,107,1558,0.22,2.22,0.00,0.000,6,0.133,0.048,1881,2306,3416
$GC,1886,-0.68,-117.3,162.0,-6.2,121,1888,0.12,0.00,0.00,0.000,6,0.064,0.000,1820,2306,3416
$GC,2192,-0.57,-117.3,189.1,-9.2,131,2197,0.17,2.25,0.00,0.000,4,0.130,0.051,1877,891,3416
$GC,2227,-0.70,-117.3,191.6,-6.3,132,2232,0.10,2.22,0.00,0.000,6,0.076,0.049,1822,2301,3416
$GC,2567,-0.61,-117.3,220.4,-8.4,143,2572,0.15,2.28,0.00,0.000,4,0.133,0.062,1859,3720,3415
$GC,2601,-0.70,-117.3,222.8,-6.5,144,2605,0.00,2.17,0.00,0.000,6,0.000,0.039,1859,2300,3416
$GC,2942,-0.77,-117.3,245.7,-6.7,155,2947,0.10,2.22,0.00,0.000,4,0.072,0.052,1807,885,3415
$GC,3033,-0.64,-117.3,254.4,-10.1,157,3038,0.22,2.25,0.00,0.000,6,0.133,0.054,1864,2314,3416
$GC,3346,-0.74,-117.3,274.1,-6.1,167,3348,0.10,0.00,0.00,0.000,6,0.077,0.000,1815,2314,3415
$GC,3652,-0.65,-117.3,301.0,-9.0,177,3657,0.15,2.25,0.00,0.000,4,0.131,0.057,1858,894,3414
$GC,3696,-0.75,-117.3,304.5,-7.3,177,3700,0.00,2.22,0.00,0.000,6,0.000,0.053,1851,2306,3414
$GC,4017,-0.80,-117.3,328.2,-7.5,183,4019,0.10,0.00,0.00,0.000,6,0.074,0.000,1797,2306,3414
$GC,4320,-0.64,-117.3,357.7,-9.9,188,4325,0.17,2.22,0.00,0.000,4,0.133,0.059,1854,896,3414
$GC,4364,-0.72,-117.3,361.3,-7.1,188,4368,0.00,2.22,0.00,0.000,6,0.000,0.050,1850,2308,3414
$GC,4685,-0.78,-117.3,381.0,-6.1,194,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2308,3414
$GC,4988,-0.84,-117.3,398.9,-5.9,199,4993,0.12,2.25,0.00,0.000,4,0.069,0.053,1790,888,3413
$GC,5021,-0.67,-117.3,401.9,-9.6,199,5026,0.25,2.25,0.00,0.000,6,0.136,0.048,1857,2313,3413
$GC,5347,-0.78,-117.3,422.1,-6.1,205,5352,0.10,2.25,0.00,0.000,4,0.077,0.053,1806,896,3413
$GC,5380,-0.69,-117.3,425.0,-10.0,205,5385,0.17,2.22,0.00,0.000,6,0.133,0.048,1848,2308,3413
$GC,5706,-0.76,-117.3,447.5,-6.8,211,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2308,3412
$GC,6009,-0.83,-117.3,466.8,-6.3,216,6014,0.10,2.25,0.00,0.000,4,0.078,0.058,1799,888,3412
$GC,6087,-0.72,-117.3,473.7,-9.3,217,6092,0.17,2.25,0.00,0.000,6,0.137,0.049,1844,2313,3412
$GC,6436,-0.79,-117.3,495.5,-6.2,223,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2313,3412
$GC,6738,-0.86,-117.3,512.6,-5.6,228,6743,0.12,2.25,0.00,0.000,4,0.072,0.053,1787,893,3411
$GC,6794,-0.69,-117.3,517.2,-8.7,228,6801,0.22,2.22,0.00,0.000,6,0.137,0.051,1848,2305,3411
$GC,7104,-0.77,-117.3,534.4,-5.5,234,7107,0.00,2.22,0.00,0.000,4,0.000,0.059,1848,895,3411
$GC,7137,-0.87,-117.3,536.6,-6.5,234,7141,0.12,2.22,0.00,0.000,6,0.071,0.051,1787,2311,3411
$GC,7474,-0.72,-117.3,566.5,-9.1,240,7476,0.20,0.00,0.00,0.000,6,0.136,0.000,1846,2311,3411
$GC,7777,-0.80,-117.3,584.2,-5.7,245,7781,0.00,2.25,0.00,0.000,4,0.000,0.054,1846,889,3410
$GC,7804,-0.89,-117.3,585.9,-5.9,245,7809,0.12,2.22,0.00,0.000,6,0.072,0.050,1787,2306,3411
$GC,8136,-0.74,-117.3,613.7,-8.5,251,8141,0.17,2.25,0.00,0.000,4,0.137,0.064,1836,3715,3411
$GC,8180,-0.83,-117.3,616.7,-6.0,251,8184,0.00,2.17,0.00,0.000,6,0.000,0.041,1836,2302,3411
$GC,8496,-0.89,-117.3,634.2,-5.4,257,8501,0.10,2.25,0.00,0.000,4,0.082,0.056,1792,886,3410
$GC,8551,-0.75,-117.3,638.6,-7.9,257,8558,0.20,2.25,0.00,0.000,6,0.137,0.050,1841,2308,3410
$GC,8862,-0.83,-117.3,655.5,-5.3,263,8863,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2308,3410
$GC,9164,-0.92,-117.3,672.6,-5.6,268,9166,0.15,0.00,0.00,0.000,6,0.074,0.000,1781,2308,3410
$GC,9468,-0.75,-117.3,698.6,-8.7,273,9469,0.20,0.00,0.00,0.000,6,0.140,0.000,1839,2308,3409
$GC,9771,-0.82,-117.3,716.3,-5.8,278,9775,0.00,2.25,0.00,0.000,4,0.000,0.058,1839,897,3410
$GC,9798,-0.89,-117.3,718.2,-6.4,278,9803,0.10,2.22,0.00,0.000,6,0.088,0.057,1795,2306,3409
$GC,10130,-0.78,-117.3,743.3,-7.6,284,10132,0.12,0.00,0.00,0.000,6,0.147,0.000,1827,2306,3409
$GC,10433,-0.78,-117.3,762.5,-6.3,289,10437,0.00,2.25,0.00,0.000,4,0.000,0.058,1828,896,3409
$GC,10460,-0.78,-117.3,764.4,-7.5,289,10464,0.00,2.22,0.00,0.000,6,0.000,0.053,1822,2305,3409
$GC,10798,-0.78,-117.3,787.6,-6.9,295,10802,0.00,2.25,0.00,0.000,4,0.000,0.058,1822,892,3409
$GC,10841,-0.78,-117.3,791.2,-7.8,295,10845,0.00,2.22,0.00,0.000,6,0.000,0.056,1816,2303,3409
$GC,11163,-0.78,-117.3,815.2,-7.5,301,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2304,3409
$GC,11466,-0.78,-117.3,837.5,-7.4,306,11470,0.00,2.25,0.00,0.000,4,0.000,0.064,1816,897,3409
$GC,11492,-0.78,-117.3,839.8,-8.3,306,11497,0.10,2.22,0.00,0.000,6,0.160,0.055,1832,2303,3408
$GC,11830,-0.85,-117.3,860.9,-6.2,312,11831,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2303,3408
$GC,12134,-0.91,-117.3,879.0,-6.0,317,12138,0.12,2.25,0.00,0.000,4,0.089,0.064,1787,896,3409
$GC,12183,-0.78,-117.3,883.1,-8.8,317,12188,0.17,2.22,0.00,0.000,6,0.156,0.058,1828,2304,3408
$GC,12493,-0.83,-117.3,901.8,-5.9,322,12494,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2304,3409
$GC,12796,-0.89,-117.3,919.4,-5.8,327,12798,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2304,3409
$GC,13099,-0.94,-117.3,937.2,-5.9,332,13101,0.12,0.00,0.00,0.000,6,0.096,0.000,1786,2304,3408
$GC,13402,-0.81,-117.3,961.4,-8.2,337,13404,0.15,0.00,0.00,0.000,6,0.156,0.000,1825,2304,3408
$GC,13706,-0.85,-117.3,979.5,-5.9,342,13707,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2304,3408
$STATE,13947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13947,begin apogee
$GC,13952,-0.22,0.0,993.1,5.6,346,14048,0.40,0.00,93.35,1.350,6,0.140,0.000,1952,2304,2931
$STATE,14049,end apogee,CONTROL_FINISHED_OK
$STATE,14049,begin climb
$GC,14051,0.68,117.3,994.1,0.0,347,14153,0.62,0.00,98.10,1.319,6,0.101,0.000,2150,2304,2452
$GC,14492,0.38,117.3,964.7,8.3,355,14496,0.22,2.35,0.00,0.000,4,0.176,0.066,2084,3713,2441
$GC,14535,0.28,117.3,961.4,6.9,355,14540,0.12,2.28,0.00,0.000,6,0.180,0.053,2064,2310,2440
$GC,14862,0.37,145.2,946.3,4.6,361,14886,0.00,0.00,22.75,1.247,6,0.000,0.000,2063,2310,2338
$GC,15165,0.60,157.8,931.4,5.1,366,15184,0.20,2.45,11.43,1.159,4,0.078,0.064,2148,887,2286
$GC,15286,0.41,157.8,922.8,7.6,367,15292,0.22,2.35,0.00,0.000,6,0.160,0.053,2087,2310,2284
$GC,15596,0.44,179.7,907.4,4.8,372,15621,0.00,2.38,19.45,1.219,4,0.000,0.066,2087,3713,2197
$GC,15654,0.44,179.7,904.3,5.7,372,15661,0.00,2.30,0.00,0.000,6,0.000,0.047,2095,2291,2195
$GC,15964,0.45,191.2,888.4,5.1,378,15980,0.00,2.40,10.77,1.127,4,0.000,0.063,2095,3719,2150
$GC,15996,0.45,191.2,886.5,5.7,378,16000,0.00,2.30,0.00,0.000,6,0.000,0.048,2104,2304,2149
$GC,16328,0.45,191.2,868.1,5.5,384,16332,0.00,2.33,0.00,0.000,4,0.000,0.063,2105,3713,2147
$GC,16350,0.41,191.2,866.6,6.7,384,16355,0.12,2.25,0.00,0.000,6,0.173,0.051,2085,2300,2146
$GC,16694,0.51,213.2,850.2,4.8,390,16720,0.10,2.35,19.65,1.190,4,0.086,0.067,2134,886,2061
$GC,16736,0.45,213.2,847.4,6.2,390,16741,0.15,2.33,0.00,0.000,6,0.150,0.055,2095,2304,2058
$GC,17057,0.51,214.1,829.6,5.5,396,17061,0.00,2.33,0.00,0.000,4,0.000,0.062,2095,3723,2055
$GC,17085,0.51,214.1,827.8,6.6,396,17089,0.00,2.28,0.00,0.000,6,0.000,0.046,2102,2301,2055
$GC,17417,0.51,214.1,807.4,6.2,402,17421,0.00,2.30,0.00,0.000,4,0.000,0.064,2114,891,2055
$GC,17443,0.51,214.1,805.4,7.5,402,17448,0.00,2.28,0.00,0.000,6,0.000,0.050,2113,2305,2054
$GC,17781,0.51,214.1,782.5,6.8,408,17783,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2306,2054
$GC,18085,0.51,214.1,762.1,6.6,413,18089,0.00,2.30,0.00,0.000,4,0.000,0.061,2120,892,2053
$GC,18112,0.51,214.1,760.2,5.9,413,18116,0.00,2.28,0.00,0.000,6,0.000,0.053,2120,2309,2053
$GC,18450,0.51,214.1,736.6,7.1,419,18451,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2309,2053
$GC,18753,0.46,214.1,715.8,6.8,424,18754,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2309,2053
$GC,19056,0.46,214.1,696.1,6.4,429,19057,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2309,2053
$GC,19359,0.46,214.1,676.1,6.6,434,19361,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2309,2053
$GC,19662,0.42,214.1,655.7,6.7,439,19667,0.12,2.30,0.00,0.000,4,0.156,0.059,2095,891,2053
$GC,19690,0.52,214.1,654.1,6.0,439,19694,0.00,2.25,0.00,0.000,6,0.000,0.057,2096,2304,2052
$GC,20022,0.59,214.1,635.5,5.6,445,20027,0.12,2.28,0.00,0.000,4,0.074,0.066,2150,3717,2052
$GC,20044,0.51,214.1,633.8,7.3,445,20048,0.20,2.22,0.00,0.000,6,0.170,0.045,2107,2300,2052
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$STATE,28945,end climb,SURFACE_DEPTH_REACHED
$STATE,28945,begin surface coast
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$STATE,28978,end surface coast,CONTROL_FINISHED_OK
$STATE,28978,begin surface
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$DATA_FILE_SIZE,41266,724
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