version: 66.04
glider: 144
mission: 15
dive: 251
start: 9 2 109 7 45 14
data:
$ID,144
$MISSION,15
$DIVE,251
$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,-65796.344
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,073828,4958.583,-14507.223,37,1.6,40,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-66.8
$GPS2,074420,4958.551,-14507.249,11,1.4,11,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.144,0.086
$KALMAN_X,-13181.3,-189.2,-151.7,17459.1,-555.7
$KALMAN_Y,7443.9,-182.8,59.2,-48856.5,878.4
$MHEAD_RNG_PITCHd_Wd,40.8,25546,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-32.17,0.000,2,0.000,0.000,100,2311,2503
$GC,54,-0.68,-117.3,3.2,-5.5,3,91,7.07,2.35,-23.27,0.000,4,0.235,0.067,1835,3710,3412
$GC,266,-0.46,-117.3,33.3,-14.0,22,271,0.22,2.22,0.00,0.000,6,0.127,0.030,1900,2289,3414
$GC,594,-0.60,-117.3,56.1,-5.0,52,599,0.12,2.22,0.00,0.000,4,0.058,0.039,1821,887,3415
$GC,683,-0.45,-117.3,64.8,-9.9,59,690,0.30,2.22,0.00,0.000,6,0.124,0.036,1900,2304,3415
$GC,1008,-0.59,-117.3,84.5,-6.2,87,1012,0.10,2.25,0.00,0.000,4,0.066,0.041,1834,890,3416
$GC,1063,-0.50,-117.3,90.2,-10.8,89,1070,0.22,2.25,0.00,0.000,6,0.123,0.044,1891,2308,3416
$GC,1380,-0.63,-117.3,112.5,-6.8,105,1382,0.10,0.00,0.00,0.000,6,0.065,0.000,1824,2309,3416
$GC,1689,-0.52,-117.3,143.7,-9.8,120,1694,0.17,2.25,0.00,0.000,4,0.124,0.043,1882,892,3416
$GC,1752,-0.69,-117.3,148.6,-7.4,123,1756,0.10,2.22,0.00,0.000,6,0.067,0.044,1808,2305,3417
$GC,2065,-0.56,-117.3,179.6,-9.8,134,2067,0.22,0.00,0.00,0.000,6,0.123,0.000,1877,2305,3416
$GC,2372,-0.73,-117.3,198.2,-6.0,144,2376,0.12,2.20,0.00,0.000,4,0.060,0.041,1792,896,3416
$GC,2399,-0.63,-117.3,200.8,-10.0,144,2406,0.28,2.20,0.00,0.000,6,0.123,0.040,1863,2299,3416
$GC,2712,-0.75,-117.3,220.7,-6.0,155,2717,0.10,2.22,0.00,0.000,4,0.071,0.041,1801,888,3415
$GC,2747,-0.63,-117.3,223.5,-8.9,156,2751,0.22,2.22,0.00,0.000,6,0.123,0.044,1860,2305,3415
$GC,3087,-0.74,-117.3,242.8,-5.6,167,3091,0.00,2.22,0.00,0.000,4,0.000,0.045,1861,895,3415
$GC,3121,-0.85,-117.3,244.8,-6.2,168,3126,0.15,2.22,0.00,0.000,6,0.054,0.043,1778,2307,3415
$GC,3462,-0.65,-117.3,279.9,-10.6,179,3466,0.25,2.25,0.00,0.000,4,0.132,0.052,1850,3709,3414
$GC,3496,-0.73,-117.3,282.8,-7.0,180,3500,0.00,2.17,0.00,0.000,6,0.000,0.031,1850,2294,3414
$GC,3836,-0.82,-117.3,304.9,-6.6,190,3841,0.10,2.20,0.00,0.000,4,0.067,0.044,1780,902,3414
$GC,3914,-0.64,-117.3,313.0,-11.1,191,3919,0.30,2.22,0.00,0.000,6,0.123,0.046,1861,2308,3414
$GC,4262,-0.77,-117.3,333.7,-5.8,197,4267,0.10,2.25,0.00,0.000,4,0.069,0.042,1797,890,3413
$GC,4318,-0.65,-117.3,338.7,-9.2,197,4325,0.20,2.28,0.00,0.000,6,0.117,0.040,1854,2304,3413
$GC,4628,-0.77,-117.3,357.4,-5.9,203,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2304,3412
$GC,4931,-0.88,-117.3,376.2,-6.3,208,4935,0.15,2.25,0.00,0.000,4,0.057,0.044,1777,894,3412
$GC,4969,-0.68,-117.3,379.9,-10.9,208,4974,0.28,2.25,0.00,0.000,6,0.123,0.042,1851,2309,3412
$GC,5290,-0.79,-117.3,400.0,-6.0,214,5295,0.10,2.25,0.00,0.000,4,0.072,0.050,1793,893,3412
$GC,5323,-0.67,-117.3,402.9,-8.9,214,5327,0.25,2.25,0.00,0.000,6,0.117,0.044,1859,2313,3412
$GC,5650,-0.82,-117.3,420.8,-5.3,220,5651,0.12,0.00,0.00,0.000,6,0.060,0.000,1785,2314,3411
$GC,5952,-0.67,-117.3,447.5,-9.0,225,5957,0.20,2.28,0.00,0.000,4,0.127,0.045,1851,901,3410
$GC,6015,-0.81,-117.3,451.6,-6.0,226,6019,0.10,2.25,0.00,0.000,6,0.070,0.041,1789,2311,3410
$GC,6380,-0.68,-117.3,483.2,-8.8,232,6382,0.22,0.00,0.00,0.000,6,0.123,0.000,1857,2311,3410
$GC,6683,-0.83,-117.3,500.5,-5.6,237,6688,0.12,2.28,0.00,0.000,4,0.060,0.050,1782,892,3410
$GC,6723,-0.66,-117.3,503.8,-9.0,237,6728,0.28,2.25,0.00,0.000,6,0.120,0.047,1856,2306,3410
$GC,7045,-0.81,-117.3,521.8,-5.3,243,7050,0.12,2.28,0.00,0.000,4,0.062,0.051,1781,3715,3410
$GC,7072,-0.74,-117.3,524.1,-8.8,243,7077,0.20,2.20,0.00,0.000,6,0.124,0.036,1840,2296,3410
$GC,7411,-0.83,-117.3,543.7,-5.6,249,7415,0.00,2.22,0.00,0.000,4,0.000,0.046,1840,893,3409
$GC,7467,-0.94,-117.3,547.3,-5.9,249,7474,0.15,2.25,0.00,0.000,6,0.055,0.041,1760,2313,3409
$GC,7777,-0.72,-117.3,576.5,-9.7,255,7782,0.25,2.25,0.00,0.000,4,0.134,0.051,1832,3709,3409
$GC,7803,-0.72,-117.3,578.7,-6.7,255,7808,0.00,2.20,0.00,0.000,6,0.000,0.037,1832,2307,3409
$GC,8142,-0.79,-117.3,597.7,-5.6,261,8146,0.00,2.25,0.00,0.000,4,0.000,0.052,1831,888,3409
$GC,8181,-0.86,-117.3,600.4,-7.0,261,8185,0.00,2.25,0.00,0.000,6,0.000,0.040,1823,2309,3408
$GC,8502,-0.86,-117.3,620.4,-6.3,267,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2310,3408
$GC,8804,-0.86,-117.3,640.6,-6.8,272,8808,0.00,2.25,0.00,0.000,4,0.000,0.046,1823,896,3408
$GC,8848,-0.86,-117.3,644.1,-8.0,272,8852,0.00,2.22,0.00,0.000,6,0.000,0.041,1815,2306,3407
$GC,9163,-0.86,-117.3,668.9,-8.0,278,9167,0.00,2.25,0.00,0.000,4,0.000,0.045,1815,891,3408
$GC,9195,-0.86,-117.3,671.6,-8.0,278,9200,0.00,2.28,0.00,0.000,6,0.000,0.046,1808,2301,3407
$GC,9529,-0.86,-117.3,697.3,-7.7,284,9533,0.00,2.25,0.00,0.000,4,0.000,0.045,1808,888,3408
$GC,9561,-0.86,-117.3,700.0,-7.4,284,9566,0.00,2.28,0.00,0.000,6,0.000,0.044,1799,2301,3407
$GC,9894,-0.80,-117.3,724.7,-7.4,290,9896,0.10,0.00,0.00,0.000,6,0.140,0.000,1826,2300,3407
$GC,10197,-0.86,-117.3,742.6,-5.8,295,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2301,3407
$GC,10501,-0.93,-117.3,759.5,-5.6,300,10505,0.10,2.28,0.00,0.000,4,0.073,0.045,1770,891,3407
$GC,10573,-0.76,-117.3,765.7,-8.8,301,10578,0.25,2.25,0.00,0.000,6,0.127,0.048,1835,2301,3406
$GC,10928,-0.86,-117.3,785.0,-5.3,307,10930,0.10,0.00,0.00,0.000,6,0.075,0.000,1784,2301,3407
$GC,11231,-0.76,-117.3,808.5,-7.9,312,11235,0.17,2.28,0.00,0.000,4,0.123,0.051,1843,894,3406
$GC,11275,-0.92,-117.3,811.3,-5.3,312,11280,0.12,2.25,0.00,0.000,6,0.067,0.043,1777,2304,3407
$GC,11592,-0.79,-117.3,835.9,-8.0,318,11597,0.17,2.30,0.00,0.000,4,0.129,0.051,1826,3718,3406
$GC,11637,-0.91,-117.3,838.9,-6.2,318,11641,0.10,2.20,0.00,0.000,6,0.079,0.037,1779,2302,3406
$GC,11952,-0.78,-117.3,863.4,-7.9,324,11956,0.17,2.28,0.00,0.000,4,0.130,0.046,1836,889,3406
$GC,12002,-0.90,-117.3,866.6,-6.4,324,12006,0.12,2.28,0.00,0.000,6,0.071,0.041,1781,2309,3406
$GC,12312,-0.79,-117.3,888.9,-7.3,329,12314,0.17,0.00,0.00,0.000,6,0.129,0.000,1831,2309,3406
$GC,12615,-0.89,-117.3,902.9,-4.4,334,12617,0.10,0.00,0.00,0.000,6,0.083,0.000,1790,2309,3406
$GC,12918,-0.83,-117.3,922.6,-6.7,339,12923,0.12,2.28,0.00,0.000,4,0.131,0.048,1825,899,3406
$GC,12956,-0.92,-117.3,925.1,-6.1,339,12960,0.00,2.25,0.00,0.000,6,0.000,0.048,1823,2307,3406
$GC,13278,-0.98,-117.3,942.0,-5.3,345,13280,0.12,0.00,0.00,0.000,6,0.077,0.000,1769,2307,3405
$GC,13581,-0.83,-117.3,965.8,-8.0,350,13582,0.17,0.00,0.00,0.000,6,0.137,0.000,1819,2307,3405
$GC,13884,-0.88,-117.3,984.0,-5.9,355,13889,0.00,2.30,0.00,0.000,4,0.000,0.054,1819,893,3406
$GC,13929,-0.94,-117.3,987.2,-7.2,355,13933,0.00,2.28,0.00,0.000,6,0.000,0.042,1811,2311,3405
$STATE,14000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14000,begin apogee
$GC,14006,-0.22,0.0,991.9,6.7,357,14103,0.45,0.00,95.18,1.316,6,0.122,0.000,1954,2311,2931
$STATE,14104,end apogee,CONTROL_FINISHED_OK
$STATE,14104,begin climb
$GC,14107,0.68,117.3,993.4,0.0,358,14211,0.57,0.00,100.80,1.289,6,0.074,0.000,2152,2311,2452
$GC,14473,0.40,117.3,975.2,7.0,364,14475,0.25,0.00,0.00,0.000,6,0.154,0.000,2088,2311,2442
$GC,14775,0.44,151.5,961.7,4.3,369,14809,0.00,2.40,28.40,1.238,4,0.000,0.058,2087,3708,2312
$GC,14828,0.48,185.3,958.9,4.4,369,14864,0.00,2.30,30.73,1.229,6,0.000,0.035,2095,2302,2174
$GC,15202,0.48,188.3,938.7,5.4,376,15203,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2302,2167
$GC,15505,0.49,195.9,922.7,5.2,381,15516,0.00,0.00,9.20,1.085,6,0.000,0.000,2095,2302,2132
$GC,15809,0.54,195.9,906.0,5.5,386,15810,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2302,2129
$GC,16111,0.58,195.9,888.7,5.7,391,16113,0.10,0.00,0.00,0.000,6,0.074,0.000,2141,2301,2128
$GC,16414,0.42,195.9,864.3,8.2,396,16419,0.17,2.30,0.00,0.000,4,0.145,0.051,2086,3712,2128
$GC,16436,0.36,195.9,862.7,7.1,396,16440,0.00,2.25,0.00,0.000,6,0.000,0.041,2094,2291,2127
$GC,16774,0.43,204.1,844.9,5.2,402,16788,0.00,2.30,8.00,1.026,4,0.000,0.054,2104,893,2098
$GC,16811,0.52,204.1,842.6,5.5,402,16815,0.00,2.25,0.00,0.000,6,0.000,0.040,2104,2305,2098
$GC,17137,0.52,204.1,824.3,5.7,408,17138,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2305,2097
$GC,17440,0.52,204.1,806.4,5.9,413,17444,0.00,2.28,0.00,0.000,4,0.000,0.048,2113,892,2097
$GC,17461,0.57,204.1,805.1,5.8,413,17465,0.00,2.25,0.00,0.000,6,0.000,0.039,2113,2305,2096
$GC,17799,0.57,204.1,783.2,6.5,419,17800,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2305,2096
$GC,18102,0.57,204.1,763.6,6.4,424,18106,0.00,2.28,0.00,0.000,4,0.000,0.052,2122,896,2096
$GC,18140,0.57,204.1,761.1,6.4,424,18144,0.00,2.25,0.00,0.000,6,0.000,0.041,2122,2304,2095
$GC,18460,0.52,204.1,740.2,6.5,430,18461,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2305,2095
$GC,18763,0.48,204.1,720.5,6.6,435,18767,0.00,2.28,0.00,0.000,4,0.000,0.051,2122,3710,2095
$GC,18791,0.39,204.1,718.2,8.4,435,18796,0.17,2.22,0.00,0.000,6,0.142,0.034,2083,2297,2095
$GC,19123,0.64,207.7,700.7,5.4,441,19133,0.17,2.25,4.25,0.735,4,0.061,0.047,2167,889,2084
$GC,19195,0.46,207.7,695.0,7.9,442,19200,0.25,2.25,0.00,0.000,6,0.135,0.047,2095,2304,2084
$GC,19555,0.56,207.7,675.0,5.6,448,19560,0.10,2.28,0.00,0.000,4,0.064,0.049,2156,3712,2083
$GC,19588,0.33,207.7,672.1,8.6,448,19593,0.32,2.20,0.00,0.000,6,0.146,0.035,2075,2305,2083
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$STATE,29681,end climb,SURFACE_DEPTH_REACHED
$STATE,29681,begin surface coast
$FINISH,0.9,1.003057
$STATE,29724,end surface coast,CONTROL_FINISHED_OK
$STATE,29724,begin surface
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$10V_AH,10.6,31.281
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$DEVICE_SECS,28.525,242.675,370.025,0.000,0.000,29.287,28.857,165.811,21.000,0.000,0.000,13.186,1800.257,24762.719,529.182,2402.416,643.916,33.372,1743.195,0.000,2397.056,0.000,0.528,0.000
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$DATA_FILE_SIZE,47496,774
$CAP_FILE_SIZE,205375,0
$CFSIZE,260165632,239165440
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