version: 66.04
glider: 144
mission: 15
dive: 269
start: 9 8 109 9 15 31
data:
$ID,144
$MISSION,15
$DIVE,269
$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,-66185.211
$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,34
$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
$GPS1,090907,5003.925,-14426.596,31,1.0,31,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-62.1
$GPS2,091437,5003.948,-14426.644,10,1.1,10,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.019,-0.167
$KALMAN_X,-23397.9,186.9,153.5,74968.8,-544.1
$KALMAN_Y,16765.7,31.5,118.7,-48445.0,-3.1
$MHEAD_RNG_PITCHd_Wd,167.9,18792,-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,-117.3,0.0,0.0,0,61,0.00,0.00,-42.08,0.000,2,0.000,0.000,99,2308,2712
$GC,64,-0.68,-117.3,3.5,-5.2,4,92,7.45,2.30,-15.70,0.000,4,0.254,0.067,1837,3713,3411
$GC,139,-0.44,-117.3,16.1,-17.1,10,143,0.22,2.22,0.00,0.000,6,0.123,0.032,1903,2301,3413
$GC,466,-0.59,-117.3,43.6,-6.3,40,470,0.12,2.22,0.00,0.000,4,0.057,0.039,1821,890,3414
$GC,642,-0.48,-117.3,61.8,-9.8,55,647,0.28,2.22,0.00,0.000,6,0.126,0.037,1893,2311,3414
$GC,969,-0.64,-117.3,80.0,-5.9,85,973,0.12,2.25,0.00,0.000,4,0.058,0.038,1811,882,3415
$GC,1002,-0.50,-117.3,83.2,-10.1,86,1009,0.30,2.25,0.00,0.000,6,0.133,0.038,1893,2304,3415
$GC,1318,-0.66,-117.3,104.1,-6.6,102,1323,0.12,2.22,0.00,0.000,4,0.056,0.038,1809,888,3416
$GC,1351,-0.51,-117.3,107.4,-11.3,103,1358,0.30,2.25,0.00,0.000,6,0.133,0.041,1889,2310,3416
$GC,1668,-0.69,-117.3,126.6,-5.5,119,1669,0.12,0.00,0.00,0.000,6,0.057,0.000,1805,2310,3416
$GC,1976,-0.56,-117.3,156.7,-10.0,133,1978,0.25,0.00,0.00,0.000,6,0.127,0.000,1881,2310,3416
$GC,2282,-0.75,-117.3,174.0,-5.4,143,2287,0.15,2.25,0.00,0.000,4,0.052,0.042,1786,888,3415
$GC,2321,-0.57,-117.3,177.5,-10.3,144,2326,0.32,2.25,0.00,0.000,6,0.137,0.045,1878,2307,3415
$GC,2645,-0.76,-117.3,195.3,-5.4,155,2647,0.15,0.00,0.00,0.000,6,0.050,0.000,1780,2307,3415
$GC,2951,-0.55,-117.3,228.2,-10.7,165,2956,0.30,2.25,0.00,0.000,4,0.132,0.042,1876,893,3414
$GC,3001,-0.76,-117.3,231.8,-6.3,166,3005,0.15,2.25,0.00,0.000,6,0.052,0.039,1802,2314,3414
$GC,3314,-0.65,-117.3,259.6,-9.4,176,3318,0.17,2.28,0.00,0.000,4,0.130,0.044,1858,888,3414
$GC,3358,-0.80,-117.3,263.1,-6.9,177,3363,0.10,2.25,0.00,0.000,6,0.066,0.038,1783,2306,3414
$GC,3682,-0.62,-117.3,297.4,-10.9,188,3686,0.25,2.25,0.00,0.000,4,0.132,0.047,1863,888,3413
$GC,3716,-0.73,-117.3,300.3,-7.4,189,3721,0.08,2.25,0.00,0.000,6,0.081,0.045,1804,2306,3413
$GC,4054,-0.64,-117.3,329.5,-8.7,195,4058,0.20,2.25,0.00,0.000,4,0.126,0.043,1870,892,3413
$GC,4094,-0.83,-117.3,332.1,-6.1,195,4098,0.15,2.25,0.00,0.000,6,0.056,0.039,1785,2314,3412
$GC,4415,-0.67,-117.3,360.3,-9.0,201,4417,0.22,0.00,0.00,0.000,6,0.129,0.000,1852,2314,3412
$GC,4718,-0.79,-117.3,374.1,-4.3,206,4719,0.10,0.00,0.00,0.000,6,0.067,0.000,1781,2314,3412
$GC,5020,-0.62,-117.3,399.5,-8.6,211,5025,0.25,2.28,0.00,0.000,4,0.130,0.045,1862,891,3411
$GC,5071,-0.80,-117.3,402.6,-5.2,211,5075,0.12,2.25,0.00,0.000,6,0.058,0.043,1784,2308,3411
$GC,5381,-0.65,-117.3,429.7,-9.2,216,5383,0.25,0.00,0.00,0.000,6,0.128,0.000,1859,2308,3411
$GC,5684,-0.80,-117.3,444.7,-4.7,221,5686,0.12,0.00,0.00,0.000,6,0.058,0.000,1777,2308,3410
$GC,5987,-0.63,-117.3,471.0,-8.9,226,5992,0.25,2.25,0.00,0.000,4,0.129,0.055,1849,3707,3409
$GC,6014,-0.69,-117.3,472.9,-5.5,226,6019,0.00,2.20,0.00,0.000,6,0.000,0.035,1849,2292,3409
$GC,6347,-0.83,-117.3,488.9,-4.8,232,6349,0.12,0.00,0.00,0.000,6,0.061,0.000,1767,2291,3409
$GC,6650,-0.63,-117.3,517.8,-9.9,237,6652,0.32,0.00,0.00,0.000,6,0.130,0.000,1865,2291,3409
$GC,6954,-0.81,-117.3,533.7,-5.1,242,6955,0.15,0.00,0.00,0.000,6,0.055,0.000,1776,2291,3409
$GC,7256,-0.65,-117.3,562.3,-9.7,247,7258,0.28,0.00,0.00,0.000,6,0.128,0.000,1858,2291,3409
$GC,7559,-0.82,-117.3,579.4,-5.4,252,7561,0.12,0.00,0.00,0.000,6,0.059,0.000,1778,2291,3408
$GC,7863,-0.67,-117.3,606.6,-9.2,257,7865,0.25,0.00,0.00,0.000,6,0.127,0.000,1853,2291,3408
$GC,8166,-0.83,-117.3,622.8,-5.1,262,8167,0.12,0.00,0.00,0.000,6,0.061,0.000,1777,2291,3407
$GC,8468,-0.68,-117.3,649.0,-8.8,267,8473,0.22,2.35,0.00,0.000,4,0.128,0.056,1849,3710,3407
$GC,8513,-0.90,-117.3,651.9,-5.4,267,8518,0.15,2.20,0.00,0.000,6,0.054,0.031,1764,2302,3407
$GC,8828,-0.71,-117.3,680.8,-9.4,273,8830,0.28,0.00,0.00,0.000,6,0.131,0.000,1846,2301,3407
$GC,9131,-0.85,-117.3,696.5,-5.0,278,9133,0.12,0.00,0.00,0.000,6,0.059,0.000,1767,2301,3407
$GC,9435,-0.67,-117.3,721.9,-8.5,283,9437,0.28,0.00,0.00,0.000,6,0.128,0.000,1850,2301,3406
$GC,9737,-0.83,-117.3,734.3,-3.9,288,9742,0.12,2.33,0.00,0.000,4,0.062,0.051,1769,3716,3407
$GC,9765,-0.75,-117.3,736.1,-7.1,288,9770,0.25,2.22,0.00,0.000,6,0.123,0.034,1843,2298,3406
$GC,10098,-0.88,-117.3,749.8,-4.0,294,10099,0.12,0.00,0.00,0.000,6,0.065,0.000,1778,2297,3406
$GC,10400,-0.75,-117.3,771.5,-7.4,299,10404,0.17,2.33,0.00,0.000,4,0.130,0.052,1826,3714,3406
$GC,10443,-0.87,-117.3,774.4,-5.5,299,10448,0.00,2.22,0.00,0.000,6,0.000,0.033,1826,2299,3406
$GC,10760,-0.95,-117.3,790.8,-5.2,305,10765,0.12,2.25,0.00,0.000,4,0.071,0.047,1764,893,3405
$GC,10815,-0.76,-117.3,795.5,-8.8,305,10822,0.28,2.25,0.00,0.000,6,0.139,0.040,1834,2301,3405
$GC,11126,-0.88,-117.3,811.4,-5.1,311,11127,0.10,0.00,0.00,0.000,6,0.076,0.000,1785,2301,3406
$GC,11428,-0.79,-117.3,834.7,-7.9,316,11433,0.15,2.28,0.00,0.000,4,0.132,0.045,1828,894,3405
$GC,11478,-0.88,-117.3,838.3,-7.1,316,11482,0.00,2.28,0.00,0.000,6,0.000,0.043,1824,2309,3405
$GC,11788,-0.94,-117.3,857.3,-6.2,321,11790,0.10,0.00,0.00,0.000,6,0.081,0.000,1776,2309,3405
$GC,12092,-0.82,-117.3,883.8,-8.9,326,12094,0.17,0.00,0.00,0.000,6,0.130,0.000,1826,2310,3405
$GC,12394,-0.90,-117.3,902.7,-6.1,331,12396,0.10,0.00,0.00,0.000,6,0.082,0.000,1782,2309,3405
$GC,12697,-0.81,-117.3,926.3,-7.9,336,12702,0.15,2.30,0.00,0.000,4,0.133,0.048,1824,891,3405
$GC,12724,-0.81,-117.3,928.3,-6.9,336,12728,0.00,2.28,0.00,0.000,6,0.000,0.043,1822,2302,3404
$GC,13062,-0.88,-117.3,947.4,-5.6,342,13067,0.00,2.28,0.00,0.000,4,0.000,0.048,1823,897,3405
$GC,13096,-0.94,-117.3,949.5,-6.2,342,13100,0.08,2.28,0.00,0.000,6,0.092,0.048,1782,2306,3405
$GC,13422,-0.84,-117.3,973.4,-7.5,348,13424,0.12,0.00,0.00,0.000,6,0.143,0.000,1815,2307,3405
$STATE,13722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13722,begin apogee
$GC,13728,-0.22,0.0,991.8,6.0,353,13826,0.43,0.00,95.25,1.309,6,0.123,0.000,1950,2306,2931
$STATE,13827,end apogee,CONTROL_FINISHED_OK
$STATE,13827,begin climb
$GC,13829,0.68,117.3,993.2,0.0,354,13937,0.57,2.53,100.88,1.280,4,0.079,0.057,2149,3704,2451
$GC,13971,0.28,117.3,989.9,7.2,356,13976,0.40,2.38,0.00,0.000,6,0.173,0.037,2061,2311,2446
$GC,14315,0.48,152.9,975.6,4.3,362,14351,0.15,2.40,30.23,1.231,4,0.071,0.055,2121,3710,2306
$GC,14431,0.28,152.9,967.7,7.4,363,14436,0.28,2.30,0.00,0.000,6,0.160,0.037,2058,2300,2303
$GC,14742,0.57,171.0,952.8,4.9,368,14763,0.20,2.33,16.08,1.174,4,0.073,0.054,2146,895,2233
$GC,14865,0.42,171.0,944.2,7.0,369,14872,0.20,2.30,0.00,0.000,6,0.145,0.041,2093,2301,2230
$GC,15174,0.42,171.9,927.2,5.5,375,15178,0.00,2.33,0.00,0.000,4,0.000,0.058,2093,3716,2229
$GC,15230,0.42,171.9,923.5,6.9,375,15237,0.00,2.28,0.00,0.000,6,0.000,0.035,2100,2306,2228
$GC,15539,0.42,171.9,905.0,6.0,381,15541,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2306,2227
$GC,15843,0.42,171.9,886.8,6.1,386,15847,0.00,2.30,0.00,0.000,4,0.000,0.057,2101,3712,2227
$GC,15887,0.34,171.9,883.6,7.9,386,15892,0.15,2.25,0.00,0.000,6,0.158,0.040,2072,2293,2226
$GC,16202,0.60,171.9,866.5,5.6,392,16207,0.17,2.28,0.00,0.000,4,0.070,0.052,2144,886,2226
$GC,16280,0.46,171.9,861.1,6.8,393,16285,0.17,2.28,0.00,0.000,6,0.144,0.041,2097,2305,2226
$GC,16628,0.46,171.9,840.8,5.8,399,16632,0.00,2.28,0.00,0.000,4,0.000,0.052,2097,3714,2226
$GC,16694,0.41,171.9,836.2,6.1,400,16698,0.00,2.22,0.00,0.000,6,0.000,0.039,2104,2300,2226
$GC,17055,0.41,171.9,813.5,6.4,406,17056,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2300,2226
$GC,17358,0.41,171.9,794.4,6.3,411,17362,0.00,2.30,0.00,0.000,4,0.000,0.053,2104,3720,2226
$GC,17398,0.33,171.9,791.5,7.5,411,17403,0.17,2.22,0.00,0.000,6,0.150,0.038,2068,2303,2225
$GC,17719,0.61,171.9,773.2,5.9,417,17724,0.20,2.25,0.00,0.000,4,0.062,0.048,2157,895,2225
$GC,17825,0.44,171.9,765.0,7.4,418,17830,0.22,2.25,0.00,0.000,6,0.140,0.040,2093,2308,2225
$GC,18145,0.49,171.9,747.0,5.5,424,18149,0.00,2.28,0.00,0.000,4,0.000,0.051,2093,3712,2225
$GC,18218,0.49,175.4,742.5,5.4,425,18222,0.00,2.22,0.00,0.000,6,0.000,0.041,2101,2295,2224
$GC,18578,0.50,182.1,723.3,5.3,431,18592,0.00,2.30,9.62,0.994,4,0.000,0.050,2101,3709,2187
$GC,18621,0.46,182.1,720.8,5.5,431,18625,0.00,2.22,0.00,0.000,6,0.000,0.040,2111,2296,2187
$GC,18942,0.47,188.0,703.7,5.3,437,18950,0.00,0.00,6.78,0.902,6,0.000,0.000,2110,2296,2164
$GC,19245,0.47,195.1,687.7,5.3,442,19255,0.00,0.00,7.75,0.924,6,0.000,0.000,2111,2296,2135
$GC,19548,0.47,195.1,670.2,5.8,447,19552,0.00,2.30,0.00,0.000,4,0.000,0.054,2111,3709,2133
$GC,19569,0.47,195.1,668.6,7.6,447,19573,0.00,2.22,0.00,0.000,6,0.000,0.033,2120,2293,2133
$GC,19912,0.47,195.1,645.3,6.8,453,19913,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2293,2133
$GC,20216,0.47,195.1,624.9,6.7,458,20220,0.00,2.33,0.00,0.000,4,0.000,0.051,2120,3716,2132
$GC,20260,0.36,195.1,621.4,7.2,458,20265,0.20,2.22,0.00,0.000,6,0.143,0.032,2075,2301,2132
$GC,20577,0.67,195.1,604.0,5.7,464,20582,0.17,2.25,0.00,0.000,4,0.063,0.048,2155,895,2132
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$GC,21717,0.53,223.5,539.7,4.9,481,21741,0.00,2.20,17.65,0.956,6,0.000,0.032,2096,2302,2018
$GC,22103,0.86,223.5,518.7,5.8,488,22108,0.25,2.33,0.00,0.000,4,0.057,0.054,2204,3720,2014
$GC,22275,0.42,223.5,497.1,12.4,490,22281,0.45,2.22,0.00,0.000,6,0.165,0.034,2091,2297,2014
$GC,22596,0.68,223.5,477.6,5.9,496,22601,0.17,2.25,0.00,0.000,4,0.062,0.044,2162,887,2013
$GC,22663,0.60,223.5,472.4,8.0,497,22668,0.12,2.25,0.00,0.000,6,0.132,0.038,2130,2308,2013
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$GC,23422,0.67,223.5,421.7,5.8,509,23426,0.08,2.22,0.00,0.000,6,0.077,0.041,2176,2300,2013
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$STATE,28870,begin surface coast
$FINISH,0.9,1.012425
$STATE,28894,end surface coast,CONTROL_FINISHED_OK
$STATE,28894,begin surface
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$10V_AH,10.6,33.547
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$DATA_FILE_SIZE,44450,732
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