version: 66.04
glider: 144
mission: 15
dive: 424
start: 10 31 109 6 31 13
data:
$ID,144
$MISSION,15
$DIVE,424
$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,-69710.102
$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,0.02
$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,35
$R_STBD_OVSHOOT,34
$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
$GPS1,062436,5004.845,-14455.843,59,1.8,59,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-54.8
$GPS2,063019,5004.760,-14455.887,14,1.9,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.158,0.057
$KALMAN_X,-85742.9,391.1,1.7,102700.0,-1951.3
$KALMAN_Y,20449.1,-184.1,-24.5,-50275.6,1137.7
$MHEAD_RNG_PITCHd_Wd,51.5,7820,-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,18,-0.68,-117.3,0.0,0.0,0,61,0.00,0.00,-41.20,0.000,2,0.000,0.000,98,2296,2778
$GC,64,-0.68,-117.3,3.8,-5.9,4,90,7.20,2.30,-14.00,0.000,4,0.235,0.066,1847,897,3412
$GC,345,-0.63,-117.3,39.0,-10.2,29,350,0.10,2.20,0.00,0.000,6,0.136,0.037,1865,2303,3414
$GC,673,-0.63,-117.3,71.0,-10.0,59,677,0.00,2.22,0.00,0.000,4,0.000,0.041,1865,891,3414
$GC,736,-0.65,-117.3,76.9,-8.7,64,740,0.00,2.20,0.00,0.000,6,0.000,0.037,1861,2303,3415
$GC,1053,-0.65,-117.3,101.0,-7.8,81,1057,0.00,2.20,0.00,0.000,4,0.000,0.040,1861,893,3415
$GC,1109,-0.68,-117.3,106.3,-9.2,83,1113,0.00,2.20,0.00,0.000,6,0.000,0.036,1852,2303,3415
$GC,1426,-0.68,-117.3,134.5,-8.6,98,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2304,3416
$GC,1744,-0.71,-117.3,156.5,-6.5,112,1748,0.00,2.25,0.00,0.000,4,0.000,0.049,1847,3714,3416
$GC,1775,-0.75,-117.3,158.5,-6.7,113,1778,0.00,2.17,0.00,0.000,6,0.000,0.029,1847,2299,3416
$GC,2116,-0.78,-117.3,181.4,-6.5,124,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2298,3416
$GC,2422,-0.83,-117.3,201.4,-6.6,134,2427,0.10,2.22,0.00,0.000,4,0.066,0.041,1768,899,3415
$GC,2546,-0.72,-117.3,215.4,-11.6,137,2553,0.30,2.20,0.00,0.000,6,0.131,0.037,1846,2302,3415
$GC,2859,-0.76,-117.3,236.4,-6.4,148,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2301,3415
$GC,3165,-0.81,-117.3,255.2,-6.2,158,3170,0.10,2.22,0.00,0.000,4,0.067,0.041,1778,896,3414
$GC,3227,-0.73,-117.3,261.3,-11.0,159,3234,0.25,2.22,0.00,0.000,6,0.129,0.044,1840,2301,3414
$GC,3540,-0.77,-117.3,283.7,-7.2,170,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2302,3414
$GC,3846,-0.80,-117.3,304.4,-6.7,179,3850,0.00,2.25,0.00,0.000,4,0.000,0.044,1840,891,3413
$GC,3886,-0.86,-117.3,307.1,-6.6,179,3890,0.08,2.28,0.00,0.000,6,0.078,0.042,1770,2319,3413
$GC,4206,-0.76,-117.3,340.5,-10.7,185,4211,0.17,2.30,0.00,0.000,4,0.129,0.043,1828,893,3412
$GC,4256,-0.79,-117.3,344.7,-7.6,185,4260,0.00,2.25,0.00,0.000,6,0.000,0.042,1821,2311,3412
$GC,4567,-0.79,-117.3,367.4,-7.3,190,4571,0.00,2.25,0.00,0.000,4,0.000,0.043,1821,896,3412
$GC,4600,-0.79,-117.3,370.1,-7.3,190,4604,0.00,2.22,0.00,0.000,6,0.000,0.038,1812,2300,3412
$GC,4926,-0.79,-117.3,394.9,-7.6,196,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2300,3411
$GC,5229,-0.79,-117.3,418.4,-7.8,201,5233,0.00,2.25,0.00,0.000,4,0.000,0.051,1812,893,3411
$GC,5273,-0.79,-117.3,422.2,-8.4,201,5278,0.10,2.25,0.00,0.000,6,0.134,0.040,1831,2308,3411
$GC,5589,-0.83,-117.3,443.7,-6.8,207,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2309,3411
$GC,5892,-0.86,-117.3,464.2,-6.8,212,5896,0.00,2.25,0.00,0.000,4,0.000,0.045,1830,899,3410
$GC,5937,-0.91,-117.3,467.4,-7.2,212,5941,0.00,2.22,0.00,0.000,6,0.000,0.038,1824,2304,3410
$GC,6252,-0.91,-117.3,488.7,-6.7,218,6257,0.08,2.28,0.00,0.000,4,0.079,0.044,1759,894,3410
$GC,6285,-0.82,-117.3,491.8,-10.9,218,6290,0.25,2.25,0.00,0.000,6,0.130,0.044,1823,2306,3409
$GC,6612,-0.84,-117.3,514.0,-6.7,224,6616,0.00,2.25,0.00,0.000,4,0.000,0.047,1823,894,3409
$GC,6658,-0.88,-117.3,517.2,-7.1,224,6662,0.00,2.25,0.00,0.000,6,0.000,0.042,1822,2309,3409
$GC,6979,-0.90,-117.3,538.6,-6.6,230,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2309,3409
$GC,7282,-0.93,-117.3,558.0,-6.3,235,7287,0.10,2.25,0.00,0.000,4,0.066,0.048,1757,902,3409
$GC,7338,-0.83,-117.3,563.4,-10.7,235,7346,0.20,2.25,0.00,0.000,6,0.123,0.045,1814,2299,3409
$GC,7648,-0.83,-117.3,584.8,-6.7,241,7652,0.00,2.25,0.00,0.000,4,0.000,0.044,1814,894,3408
$GC,7687,-0.85,-117.3,587.6,-7.2,241,7691,0.00,2.25,0.00,0.000,6,0.000,0.039,1809,2311,3408
$GC,8008,-0.85,-117.3,610.4,-7.2,247,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2312,3408
$GC,8311,-0.85,-117.3,633.0,-7.5,252,8315,0.00,2.25,0.00,0.000,4,0.000,0.047,1809,902,3408
$GC,8373,-0.85,-117.3,638.2,-8.1,253,8377,0.00,2.25,0.00,0.000,6,0.000,0.044,1807,2308,3408
$GC,8740,-0.85,-117.3,667.4,-8.0,259,8744,0.00,2.25,0.00,0.000,4,0.000,0.044,1807,900,3408
$GC,8779,-0.85,-117.3,670.9,-8.6,259,8783,0.00,2.25,0.00,0.000,6,0.000,0.044,1798,2307,3407
$GC,9100,-0.85,-117.3,697.1,-8.1,265,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2307,3407
$GC,9403,-0.85,-117.3,721.2,-8.0,270,9407,0.00,2.28,0.00,0.000,4,0.000,0.051,1798,900,3407
$GC,9466,-0.85,-117.3,726.4,-8.4,271,9470,0.00,2.25,0.00,0.000,6,0.000,0.046,1795,2304,3407
$GC,9832,-0.85,-117.3,754.9,-7.7,277,9836,0.00,2.28,0.00,0.000,4,0.000,0.048,1794,892,3406
$GC,9887,-0.85,-117.3,759.4,-8.2,277,9894,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2307,3407
$GC,10197,-0.85,-117.3,781.9,-7.3,283,10201,0.00,2.28,0.00,0.000,4,0.000,0.049,1794,893,3407
$GC,10241,-0.85,-117.3,785.4,-8.1,283,10246,0.12,2.25,0.00,0.000,6,0.125,0.040,1820,2304,3406
$GC,10557,-0.90,-117.3,803.8,-5.8,289,10561,0.00,2.28,0.00,0.000,4,0.000,0.051,1820,893,3406
$GC,10584,-0.95,-117.3,805.6,-7.1,289,10589,0.10,2.28,0.00,0.000,6,0.071,0.045,1768,2313,3406
$GC,10917,-0.88,-117.3,833.4,-8.6,295,10919,0.15,0.00,0.00,0.000,6,0.127,0.000,1811,2313,3406
$GC,11220,-0.91,-117.3,853.0,-6.3,300,11224,0.00,2.28,0.00,0.000,4,0.000,0.053,1811,900,3406
$GC,11270,-0.95,-117.3,856.7,-7.6,300,11274,0.00,2.25,0.00,0.000,6,0.000,0.042,1809,2305,3406
$GC,11581,-0.97,-117.3,876.4,-6.4,305,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3406
$GC,11883,-0.99,-117.3,895.8,-6.4,310,11885,0.10,0.00,0.00,0.000,6,0.078,0.000,1763,2305,3406
$GC,12187,-0.92,-117.3,921.3,-8.6,315,12191,0.12,2.28,0.00,0.000,4,0.133,0.052,1798,901,3405
$GC,12249,-0.92,-117.3,926.0,-7.8,316,12253,0.00,2.28,0.00,0.000,6,0.000,0.044,1795,2312,3405
$GC,12616,-0.92,-117.3,950.5,-6.6,322,12620,0.00,2.30,0.00,0.000,4,0.000,0.050,1795,897,3405
$GC,12665,-0.92,-117.3,954.0,-6.5,322,12670,0.00,2.28,0.00,0.000,6,0.000,0.044,1792,2306,3405
$GC,12976,-0.92,-117.3,974.2,-6.6,327,12980,0.00,2.28,0.00,0.000,4,0.000,0.048,1792,901,3405
$GC,13017,-0.92,-117.3,977.3,-6.9,327,13021,0.00,2.28,0.00,0.000,6,0.000,0.046,1782,2313,3405
$STATE,13213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13213,begin apogee
$GC,13220,-0.22,0.0,991.5,7.1,331,13320,0.55,0.00,97.75,1.296,6,0.123,0.000,1954,2313,2931
$STATE,13321,end apogee,CONTROL_FINISHED_OK
$STATE,13321,begin climb
$GC,13324,0.68,117.3,992.8,0.0,332,13436,0.55,2.55,103.43,1.266,4,0.076,0.054,2147,3705,2451
$GC,13469,0.50,117.3,988.9,6.9,334,13474,0.20,2.40,0.00,0.000,6,0.163,0.035,2111,2307,2447
$GC,13814,0.45,117.4,969.8,5.5,340,13815,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2307,2441
$GC,14116,0.41,117.4,953.1,5.5,345,14117,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2307,2439
$GC,14420,0.38,128.1,937.5,5.1,350,14435,0.12,2.35,8.55,1.055,4,0.161,0.056,2078,3711,2407
$GC,14463,0.40,142.7,935.4,5.0,350,14485,0.00,2.28,14.38,1.145,6,0.000,0.036,2086,2293,2348
$GC,14789,0.47,178.6,921.3,4.3,356,14823,0.00,0.00,32.38,1.211,6,0.000,0.000,2086,2293,2202
$GC,15093,0.59,186.3,906.1,5.2,361,15107,0.15,2.42,7.28,0.990,4,0.069,0.052,2147,3712,2171
$GC,15239,0.49,186.3,894.5,8.3,363,15244,0.20,2.28,0.00,0.000,6,0.152,0.035,2104,2296,2169
$GC,15594,0.50,194.5,875.6,5.2,369,15605,0.00,0.00,8.75,1.032,6,0.000,0.000,2104,2296,2137
$GC,15898,0.53,198.2,859.5,5.4,374,15904,0.00,0.00,4.78,0.824,6,0.000,0.000,2104,2296,2122
$GC,16200,0.56,198.2,842.6,5.6,379,16202,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2296,2120
$GC,16504,0.59,200.9,826.1,5.4,384,16506,0.10,0.00,0.00,0.000,6,0.067,0.000,2156,2296,2120
$GC,16806,0.50,200.9,802.2,8.1,389,16811,0.17,2.33,0.00,0.000,4,0.143,0.055,2108,3719,2119
$GC,16850,0.50,200.9,798.9,6.4,389,16854,0.00,2.25,0.00,0.000,6,0.000,0.033,2117,2294,2119
$GC,17165,0.50,200.9,781.0,5.7,395,17169,0.00,2.30,0.00,0.000,4,0.000,0.053,2117,3712,2119
$GC,17199,0.46,200.9,778.7,6.8,395,17203,0.12,2.22,0.00,0.000,6,0.147,0.038,2095,2301,2119
$GC,17526,0.53,210.9,761.7,5.2,401,17545,0.00,2.33,12.30,1.042,4,0.000,0.054,2103,896,2070
$GC,17563,0.61,223.2,759.7,5.1,401,17582,0.10,2.25,12.43,1.027,6,0.074,0.044,2157,2314,2021
$GC,17894,0.53,223.2,730.8,9.1,407,17898,0.17,2.28,0.00,0.000,4,0.139,0.050,2109,3713,2017
$GC,17971,0.53,223.2,724.8,7.2,408,17975,0.00,2.22,0.00,0.000,6,0.000,0.033,2117,2301,2016
$GC,18320,0.53,223.2,703.4,6.1,414,18324,0.00,2.28,0.00,0.000,4,0.000,0.054,2117,3708,2016
$GC,18348,0.53,223.2,701.3,7.5,414,18352,0.00,2.22,0.00,0.000,6,0.000,0.035,2127,2297,2016
$GC,18680,0.53,223.2,679.5,6.5,420,18684,0.00,2.28,0.00,0.000,4,0.000,0.049,2127,3707,2016
$GC,18719,0.50,223.2,676.5,8.7,420,18724,0.12,2.20,0.00,0.000,6,0.140,0.033,2103,2297,2015
$GC,19041,0.57,232.8,659.6,5.2,426,19052,0.00,0.00,9.18,0.935,6,0.000,0.000,2103,2297,1982
$GC,19344,0.65,248.3,644.5,5.0,431,19361,0.12,0.00,15.43,0.992,6,0.061,0.000,2182,2297,1918
$GC,19647,0.54,248.3,616.0,9.8,436,19651,0.20,2.30,0.00,0.000,4,0.140,0.048,2120,3716,1913
$GC,19697,0.54,248.3,612.0,6.4,436,19701,0.00,2.22,0.00,0.000,6,0.000,0.032,2129,2297,1913
$GC,20007,0.54,248.3,593.0,6.1,441,20011,0.00,2.28,0.00,0.000,4,0.000,0.048,2128,3710,1912
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$STATE,29323,end climb,SURFACE_DEPTH_REACHED
$STATE,29324,begin surface coast
$FINISH,1.1,1.019087
$STATE,29343,end surface coast,CONTROL_FINISHED_OK
$STATE,29343,begin surface
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$10V_AH,10.5,53.214
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$DATA_FILE_SIZE,44333,769
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$CFSIZE,260165632,225648640
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