version: 66.04
glider: 144
mission: 15
dive: 196
start: 8 15 109 3 54 1
data:
$ID,144
$MISSION,15
$DIVE,196
$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,-64719.66
$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,41
$R_STBD_OVSHOOT,32
$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
$GPS1,034830,5020.967,-14510.581,38,1.6,38,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-45.4
$GPS2,035302,5020.979,-14510.574,10,1.5,10,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.005,-0.168
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,163.4,49971,-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,-117.3,0.0,0.0,0,99,0.00,0.00,-81.90,0.000,2,0.000,0.000,122,2292,2853
$GC,102,-0.68,-117.3,4.1,-5.7,8,126,6.78,2.38,-11.20,0.000,4,0.232,0.061,1836,3719,3414
$GC,172,-0.39,-117.3,18.7,-15.1,14,177,0.28,2.22,0.00,0.000,6,0.124,0.033,1918,2305,3415
$GC,498,-0.57,-117.3,41.4,-6.2,44,502,0.15,2.25,0.00,0.000,4,0.051,0.041,1822,885,3416
$GC,564,-0.42,-117.3,48.6,-11.6,49,572,0.25,2.25,0.00,0.000,6,0.115,0.038,1912,2295,3416
$GC,891,-0.59,-117.3,69.0,-5.7,80,896,0.15,2.28,0.00,0.000,4,0.048,0.047,1810,3722,3417
$GC,908,-0.65,-117.3,70.4,-6.8,81,913,0.17,2.20,0.00,0.000,6,0.126,0.031,1861,2299,3417
$GC,1228,-0.65,-117.3,98.9,-9.0,101,1231,0.00,2.22,0.00,0.000,4,0.000,0.043,1861,901,3417
$GC,1328,-0.65,-117.3,108.4,-9.3,105,1332,0.00,2.22,0.00,0.000,6,0.000,0.039,1861,2300,3418
$GC,1649,-0.65,-117.3,135.3,-7.1,121,1653,0.00,2.20,0.00,0.000,4,0.000,0.043,1861,898,3418
$GC,1710,-0.71,-117.3,139.4,-6.5,123,1716,0.00,2.20,0.00,0.000,6,0.000,0.038,1855,2304,3418
$GC,2024,-0.71,-117.3,159.3,-6.8,137,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2304,3417
$GC,2331,-0.76,-117.3,181.8,-7.3,147,2335,0.00,2.20,0.00,0.000,4,0.000,0.043,1855,896,3416
$GC,2380,-0.83,-117.3,185.7,-7.6,148,2385,0.10,2.22,0.00,0.000,6,0.070,0.039,1788,2308,3416
$GC,2698,-0.63,-117.3,219.6,-10.8,159,2703,0.22,2.25,0.00,0.000,4,0.130,0.044,1861,893,3415
$GC,2738,-0.73,-117.3,223.0,-7.4,160,2743,0.00,2.22,0.00,0.000,6,0.000,0.042,1861,2299,3415
$GC,3068,-0.82,-117.3,245.9,-7.0,171,3073,0.15,2.22,0.00,0.000,4,0.052,0.042,1777,892,3415
$GC,3123,-0.60,-117.3,252.2,-12.6,172,3128,0.32,2.22,0.00,0.000,6,0.123,0.042,1868,2305,3415
$GC,3436,-0.74,-117.3,273.3,-6.4,182,3438,0.10,0.00,0.00,0.000,6,0.069,0.000,1799,2306,3414
$GC,3742,-0.61,-117.3,302.5,-9.6,192,3747,0.22,2.25,0.00,0.000,4,0.120,0.044,1874,891,3413
$GC,3805,-0.80,-117.3,306.8,-6.0,193,3810,0.12,2.22,0.00,0.000,6,0.059,0.040,1791,2305,3413
$GC,4171,-0.63,-117.3,344.5,-10.6,199,4173,0.25,0.00,0.00,0.000,6,0.123,0.000,1867,2305,3413
$GC,4474,-0.79,-117.3,363.4,-6.0,204,4478,0.12,2.25,0.00,0.000,4,0.059,0.044,1789,889,3412
$GC,4501,-0.69,-117.3,365.9,-9.6,204,4506,0.22,2.25,0.00,0.000,6,0.127,0.044,1848,2312,3412
$GC,4833,-0.77,-117.3,389.2,-6.9,210,4837,0.00,2.25,0.00,0.000,4,0.000,0.044,1848,900,3411
$GC,4877,-0.87,-117.3,392.6,-7.3,210,4882,0.12,2.22,0.00,0.000,6,0.062,0.041,1777,2305,3411
$GC,5198,-0.67,-117.3,425.5,-10.5,216,5200,0.25,0.00,0.00,0.000,6,0.127,0.000,1853,2305,3411
$GC,5501,-0.78,-117.3,445.5,-6.3,221,5505,0.00,2.25,0.00,0.000,4,0.000,0.047,1852,894,3410
$GC,5534,-0.89,-117.3,447.7,-7.1,221,5539,0.15,2.22,0.00,0.000,6,0.055,0.044,1768,2304,3410
$GC,5860,-0.67,-117.3,482.4,-10.9,227,5862,0.30,0.00,0.00,0.000,6,0.127,0.000,1860,2304,3409
$GC,6164,-0.81,-117.3,500.8,-5.9,232,6168,0.12,2.25,0.00,0.000,4,0.059,0.050,1787,892,3409
$GC,6208,-0.66,-117.3,504.7,-9.4,232,6213,0.25,2.25,0.00,0.000,6,0.123,0.047,1857,2312,3409
$GC,6523,-0.79,-117.3,522.8,-5.5,238,6525,0.12,0.00,0.00,0.000,6,0.061,0.000,1783,2312,3408
$GC,6826,-0.64,-117.3,549.3,-8.9,243,6831,0.22,2.28,0.00,0.000,4,0.123,0.049,1856,891,3409
$GC,6876,-0.80,-117.3,552.6,-5.5,243,6880,0.10,2.25,0.00,0.000,6,0.070,0.040,1784,2316,3408
$GC,7186,-0.65,-117.3,578.4,-8.5,248,7188,0.25,0.00,0.00,0.000,6,0.123,0.000,1860,2317,3408
$GC,7489,-0.81,-117.3,593.0,-4.7,253,7494,0.12,2.28,0.00,0.000,4,0.059,0.051,1783,897,3408
$GC,7538,-0.65,-117.3,597.1,-8.9,253,7543,0.28,2.25,0.00,0.000,6,0.123,0.041,1864,2315,3408
$GC,7850,-0.83,-117.3,612.7,-4.9,258,7855,0.15,2.28,0.00,0.000,4,0.057,0.051,1783,890,3407
$GC,7878,-0.75,-117.3,615.1,-8.7,258,7883,0.20,2.25,0.00,0.000,6,0.129,0.042,1840,2309,3407
$GC,8210,-0.84,-117.3,633.5,-5.4,264,8215,0.10,2.25,0.00,0.000,4,0.074,0.049,1782,900,3407
$GC,8237,-0.75,-117.3,635.7,-7.9,264,8242,0.22,2.22,0.00,0.000,6,0.124,0.048,1840,2308,3406
$GC,8569,-0.84,-117.3,654.8,-5.7,270,8574,0.10,2.25,0.00,0.000,4,0.074,0.051,1782,900,3406
$GC,8618,-0.70,-117.3,659.0,-8.6,270,8623,0.25,2.22,0.00,0.000,6,0.121,0.048,1848,2307,3406
$GC,8929,-0.83,-117.3,675.6,-5.2,275,8934,0.12,2.25,0.00,0.000,4,0.063,0.045,1781,898,3406
$GC,8956,-0.75,-117.3,677.7,-7.8,275,8961,0.22,2.22,0.00,0.000,6,0.123,0.041,1837,2307,3406
$GC,9288,-0.84,-117.3,696.8,-5.6,281,9292,0.00,2.25,0.00,0.000,4,0.000,0.052,1838,894,3406
$GC,9321,-0.93,-117.3,698.8,-6.3,281,9326,0.12,2.22,0.00,0.000,6,0.064,0.043,1772,2303,3406
$GC,9647,-0.76,-117.3,727.4,-8.9,287,9649,0.22,0.00,0.00,0.000,6,0.130,0.000,1839,2303,3406
$GC,9950,-0.86,-117.3,745.0,-5.7,292,9955,0.10,2.28,0.00,0.000,4,0.077,0.049,1789,892,3406
$GC,10017,-0.75,-117.3,750.6,-8.4,293,10022,0.20,2.25,0.00,0.000,6,0.124,0.041,1841,2309,3405
$GC,10377,-0.87,-117.3,770.2,-5.4,299,10382,0.12,2.25,0.00,0.000,4,0.069,0.049,1783,901,3405
$GC,10416,-0.73,-117.3,773.4,-9.2,299,10421,0.22,2.22,0.00,0.000,6,0.124,0.044,1840,2308,3405
$GC,10737,-0.85,-117.3,790.6,-5.2,305,10742,0.10,2.28,0.00,0.000,4,0.080,0.048,1794,894,3405
$GC,10764,-0.81,-117.3,792.6,-7.6,305,10769,0.15,2.25,0.00,0.000,6,0.125,0.046,1827,2314,3405
$GC,11097,-0.87,-117.3,811.5,-5.6,311,11101,0.00,2.28,0.00,0.000,4,0.000,0.054,1827,893,3404
$GC,11119,-0.94,-117.3,813.0,-6.0,311,11124,0.10,2.25,0.00,0.000,6,0.078,0.041,1776,2312,3405
$GC,11456,-0.78,-117.3,839.7,-8.0,317,11461,0.17,2.28,0.00,0.000,4,0.136,0.053,1833,894,3404
$GC,11495,-0.86,-117.3,842.5,-6.2,317,11499,0.00,2.25,0.00,0.000,6,0.000,0.044,1825,2312,3404
$GC,11815,-0.91,-117.3,861.5,-6.0,323,11820,0.00,2.25,0.00,0.000,4,0.000,0.048,1824,902,3404
$GC,11865,-0.96,-117.3,864.8,-6.7,323,11870,0.10,2.22,0.00,0.000,6,0.078,0.044,1772,2305,3404
$GC,12176,-0.80,-117.3,890.8,-8.5,328,12178,0.20,0.00,0.00,0.000,6,0.136,0.000,1830,2305,3404
$GC,12479,-0.89,-117.3,908.0,-5.5,333,12483,0.10,2.28,0.00,0.000,4,0.083,0.049,1789,899,3403
$GC,12523,-0.78,-117.3,911.4,-7.5,333,12527,0.17,2.25,0.00,0.000,6,0.135,0.049,1828,2311,3403
$GC,12838,-0.86,-117.3,929.6,-5.7,339,12842,0.00,2.28,0.00,0.000,4,0.000,0.052,1828,899,3403
$GC,12888,-0.94,-117.3,932.8,-5.5,339,12893,0.10,2.25,0.00,0.000,6,0.084,0.042,1779,2314,3403
$GC,13198,-0.81,-117.3,955.6,-7.4,344,13200,0.15,0.00,0.00,0.000,6,0.142,0.000,1821,2314,3403
$GC,13502,-0.87,-117.3,972.3,-5.4,349,13506,0.00,2.28,0.00,0.000,4,0.000,0.053,1821,901,3403
$GC,13542,-0.93,-117.3,974.7,-6.9,349,13546,0.00,2.22,0.00,0.000,6,0.000,0.044,1814,2303,3403
$STATE,13861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13861,begin apogee
$GC,13867,-0.22,0.0,992.7,5.5,355,13963,0.45,0.00,94.03,1.326,6,0.125,0.000,1955,2304,2931
$STATE,13964,end apogee,CONTROL_FINISHED_OK
$STATE,13964,begin climb
$GC,13966,0.68,117.3,993.5,0.0,356,14074,0.60,2.53,100.40,1.295,4,0.078,0.056,2157,3707,2451
$GC,14093,0.33,117.3,989.2,8.1,358,14098,0.40,2.40,0.00,0.000,6,0.180,0.041,2072,2307,2448
$GC,14402,0.35,130.1,973.0,5.1,363,14415,0.00,0.00,10.55,1.129,6,0.000,0.000,2072,2307,2400
$GC,14706,0.36,145.5,957.7,5.0,368,14722,0.00,0.00,14.40,1.181,6,0.000,0.000,2072,2307,2337
$GC,15009,0.44,150.9,941.8,5.3,373,15018,0.10,0.00,5.82,0.956,6,0.080,0.000,2112,2306,2315
$GC,15312,0.35,150.9,919.9,7.4,378,15314,0.15,0.00,0.00,0.000,6,0.148,0.000,2073,2306,2312
$GC,15615,0.42,151.0,902.9,5.5,383,15616,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2306,2311
$GC,15919,0.50,160.6,886.9,5.2,388,15930,0.12,0.00,9.18,1.088,6,0.071,0.000,2126,2306,2276
$GC,16221,0.36,160.6,865.3,7.2,393,16223,0.17,0.00,0.00,0.000,6,0.146,0.000,2079,2306,2274
$GC,16524,0.46,190.1,851.3,4.5,398,16555,0.00,2.38,26.15,1.195,4,0.000,0.054,2087,886,2154
$GC,16573,0.63,239.1,849.2,3.8,398,16623,0.17,2.33,42.78,1.195,6,0.061,0.043,2159,2312,1955
$GC,16952,0.43,239.1,815.2,9.3,405,16957,0.22,2.30,0.00,0.000,4,0.149,0.056,2093,3713,1944
$GC,17015,0.50,239.1,810.8,5.8,406,17020,0.00,2.25,0.00,0.000,6,0.000,0.037,2100,2299,1944
$GC,17382,0.59,248.8,791.6,5.2,412,17396,0.10,2.35,7.53,0.980,4,0.074,0.054,2163,892,1916
$GC,17419,0.46,248.8,788.6,7.9,412,17423,0.22,2.28,0.00,0.000,6,0.137,0.040,2100,2309,1914
$GC,17746,0.58,260.5,771.7,5.1,418,17763,0.10,2.35,11.38,1.058,4,0.068,0.058,2151,3719,1868
$GC,17796,0.40,260.5,767.3,8.8,418,17802,0.28,2.28,0.00,0.000,6,0.144,0.041,2084,2299,1866
$GC,18107,0.83,260.5,750.5,5.5,423,18112,0.28,2.30,0.00,0.000,4,0.076,0.054,2177,3713,1863
$GC,18174,0.54,260.5,744.9,10.8,424,18179,0.25,2.25,0.00,0.000,6,0.153,0.036,2118,2298,1863
$GC,18534,0.54,260.5,722.1,6.3,430,18538,0.00,2.28,0.00,0.000,4,0.000,0.054,2127,891,1863
$GC,18562,0.60,260.5,720.1,6.2,430,18566,0.00,2.25,0.00,0.000,6,0.000,0.047,2127,2306,1862
$GC,18893,0.60,260.5,697.1,7.0,436,18897,0.00,2.25,0.00,0.000,4,0.000,0.054,2127,3712,1862
$GC,18938,0.54,260.5,693.4,7.9,436,18942,0.00,2.22,0.00,0.000,6,0.000,0.035,2136,2292,1861
$GC,19253,0.48,260.5,668.6,7.9,442,19255,0.12,0.00,0.00,0.000,6,0.148,0.000,2103,2291,1862
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$STATE,27775,end climb,SURFACE_DEPTH_REACHED
$STATE,27775,begin surface coast
$FINISH,1.0,1.024575
$STATE,27819,end surface coast,CONTROL_FINISHED_OK
$STATE,27819,begin surface
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$10V_AH,10.7,24.484
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$DATA_FILE_SIZE,41182,714
$CAP_FILE_SIZE,206117,0
$CFSIZE,260165632,243593216
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