version: 66.04
glider: 144
mission: 15
dive: 840
start: 3 20 110 18 27 32
data:
$ID,144
$MISSION,15
$DIVE,840
$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,-78774.625
$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,36
$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
$GPS1,181937,4852.567,-12912.435,36,1.5,36,19.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-58.0
$GPS2,182638,4852.659,-12912.487,14,1.7,14,19.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P8
$TGT_LATLONG,4849.000,-12840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.165,-0.030
$KALMAN_X,-24589.2,-157.8,-142.6,1157127.9,1028.9
$KALMAN_Y,76473.6,323.4,342.0,-240726.8,-145.8
$MHEAD_RNG_PITCHd_Wd,80.9,40192,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.68,-117.3,0.0,0.0,0,63,0.00,0.00,-39.67,0.000,2,0.000,0.000,98,2303,2483
$GC,68,-0.68,-117.3,3.1,-3.3,2,111,7.15,2.42,-25.67,0.000,4,0.231,0.060,1836,3709,3411
$GC,164,-0.63,-117.3,12.2,-10.6,6,169,0.10,2.25,0.00,0.000,6,0.130,0.035,1862,2299,3412
$GC,487,-0.63,-117.3,44.9,-9.4,22,491,0.00,2.25,0.00,0.000,4,0.000,0.040,1862,898,3413
$GC,544,-0.63,-117.3,51.2,-11.1,24,550,0.00,2.25,0.00,0.000,6,0.000,0.037,1859,2311,3413
$GC,863,-0.63,-117.3,82.7,-9.5,41,869,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2311,3413
$GC,1191,-0.67,-117.3,109.0,-7.2,72,1195,0.00,2.33,0.00,0.000,4,0.000,0.046,1849,3711,3413
$GC,1222,-0.71,-117.3,111.4,-8.3,74,1228,0.00,2.22,0.00,0.000,6,0.000,0.028,1849,2299,3413
$GC,1553,-0.74,-117.3,134.9,-7.1,105,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2299,3413
$GC,1896,-0.78,-117.3,158.1,-6.7,130,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2299,3413
$GC,2203,-0.82,-117.3,179.7,-7.5,140,2208,0.10,2.35,0.00,0.000,4,0.064,0.045,1765,3708,3413
$GC,2240,-0.71,-117.3,183.6,-12.0,141,2244,0.28,2.20,0.00,0.000,6,0.110,0.028,1848,2298,3413
$GC,2583,-0.76,-117.3,210.1,-7.4,152,2587,0.00,2.25,0.00,0.000,4,0.000,0.040,1848,900,3413
$GC,2630,-0.81,-117.3,213.8,-7.8,153,2634,0.10,2.28,0.00,0.000,6,0.062,0.041,1778,2306,3413
$GC,2955,-0.72,-117.3,249.4,-11.1,164,2960,0.20,2.30,0.00,0.000,4,0.121,0.040,1844,901,3412
$GC,2993,-0.74,-117.3,252.7,-8.3,165,2997,0.00,2.30,0.00,0.000,6,0.000,0.035,1837,2317,3413
$GC,3336,-0.77,-117.3,277.8,-7.0,176,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2317,3413
$GC,3642,-0.80,-117.3,297.3,-6.1,186,3646,0.00,2.33,0.00,0.000,4,0.000,0.040,1837,896,3412
$GC,3694,-0.84,-117.3,301.0,-7.3,187,3698,0.00,2.30,0.00,0.000,6,0.000,0.042,1837,2302,3413
$GC,4012,-0.87,-117.3,319.9,-6.0,193,4016,0.10,2.35,0.00,0.000,4,0.064,0.048,1755,3714,3413
$GC,4046,-0.75,-117.3,323.2,-11.0,193,4051,0.28,2.20,0.00,0.000,6,0.114,0.029,1837,2305,3413
$GC,4375,-0.79,-117.3,346.2,-7.0,199,4379,0.00,2.30,0.00,0.000,4,0.000,0.047,1837,902,3412
$GC,4427,-0.84,-117.3,350.4,-8.2,199,4431,0.00,2.30,0.00,0.000,6,0.000,0.040,1837,2309,3412
$GC,4739,-0.87,-117.3,373.8,-7.5,204,4741,0.10,0.00,0.00,0.000,6,0.064,0.000,1762,2309,3412
$GC,5042,-0.76,-117.3,409.6,-12.1,209,5047,0.20,2.38,0.00,0.000,4,0.122,0.047,1822,3714,3411
$GC,5073,-0.76,-117.3,412.9,-10.1,209,5077,0.00,2.22,0.00,0.000,6,0.000,0.029,1822,2302,3412
$GC,5407,-0.76,-117.3,442.5,-8.9,215,5411,0.00,2.28,0.00,0.000,4,0.000,0.041,1821,897,3411
$GC,5453,-0.76,-117.3,446.6,-9.3,215,5457,0.10,2.30,0.00,0.000,6,0.124,0.041,1839,2310,3411
$GC,5771,-0.81,-117.3,469.9,-7.2,221,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2310,3411
$GC,6073,-0.86,-117.3,489.8,-6.6,226,6074,0.10,0.00,0.00,0.000,6,0.063,0.000,1766,2310,3411
$GC,6376,-0.76,-117.3,520.8,-10.4,231,6378,0.22,0.00,0.00,0.000,6,0.114,0.000,1836,2310,3410
$GC,6679,-0.82,-117.3,541.5,-6.7,236,6683,0.00,2.33,0.00,0.000,4,0.000,0.043,1837,901,3410
$GC,6726,-0.88,-117.3,544.7,-6.7,236,6731,0.10,2.33,0.00,0.000,6,0.064,0.040,1771,2306,3410
$GC,7054,-0.79,-117.3,576.3,-9.8,242,7056,0.20,0.00,0.00,0.000,6,0.119,0.000,1830,2306,3409
$GC,7357,-0.84,-117.3,595.6,-6.1,247,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2306,3409
$GC,7661,-0.88,-117.3,611.5,-5.1,252,7665,0.00,2.35,0.00,0.000,4,0.000,0.044,1830,899,3409
$GC,7692,-0.93,-117.3,613.0,-5.1,252,7697,0.10,2.35,0.00,0.000,6,0.063,0.038,1754,2311,3409
$GC,8025,-0.82,-117.3,642.6,-9.2,258,8027,0.22,0.00,0.00,0.000,6,0.120,0.000,1822,2311,3409
$GC,8329,-0.85,-117.3,658.9,-5.2,263,8333,0.00,2.35,0.00,0.000,4,0.000,0.045,1823,900,3408
$GC,8371,-0.89,-117.3,661.5,-6.2,263,8375,0.00,2.30,0.00,0.000,6,0.000,0.038,1822,2305,3408
$GC,8693,-0.92,-117.3,681.0,-6.1,269,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2305,3408
$GC,8996,-0.94,-117.3,701.6,-6.8,274,9001,0.10,2.33,0.00,0.000,4,0.065,0.049,1757,901,3407
$GC,9043,-0.85,-117.3,705.9,-10.4,274,9048,0.22,2.38,0.00,0.000,6,0.122,0.041,1819,2306,3407
$GC,9360,-0.87,-117.3,727.3,-6.5,280,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2306,3407
$GC,9663,-0.91,-117.3,745.1,-5.9,285,9664,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2306,3407
$GC,9966,-0.94,-117.3,763.6,-6.3,290,9968,0.10,0.00,0.00,0.000,6,0.067,0.000,1755,2306,3407
$GC,10270,-0.84,-117.3,792.3,-9.6,295,10272,0.22,0.00,0.00,0.000,6,0.117,0.000,1824,2306,3407
$GC,10573,-0.89,-117.3,810.7,-5.9,300,10574,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2306,3407
$GC,10876,-0.94,-117.3,826.5,-5.1,305,10878,0.10,0.00,0.00,0.000,6,0.067,0.000,1755,2306,3406
$GC,11180,-0.84,-117.3,851.0,-8.3,310,11182,0.22,0.00,0.00,0.000,6,0.116,0.000,1824,2306,3406
$GC,11482,-0.89,-117.3,865.7,-4.7,315,11486,0.00,2.35,0.00,0.000,4,0.000,0.045,1824,900,3405
$GC,11517,-0.95,-117.3,867.6,-5.8,315,11522,0.10,2.33,0.00,0.000,6,0.070,0.041,1771,2305,3406
$GC,11846,-0.89,-117.3,892.1,-7.7,321,11850,0.12,2.38,0.00,0.000,4,0.127,0.056,1799,3713,3405
$GC,11881,-0.89,-117.3,894.5,-7.3,321,11885,0.00,2.28,0.00,0.000,6,0.000,0.031,1798,2306,3405
$GC,12214,-0.89,-117.3,916.2,-6.5,327,12215,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2306,3405
$GC,12517,-0.89,-117.3,936.7,-6.7,332,12518,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2306,3405
$GC,12820,-0.89,-117.3,956.9,-6.7,337,12821,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2306,3405
$GC,13124,-0.89,-117.3,976.2,-6.4,342,13125,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2306,3405
$STATE,13362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13362,begin apogee
$GC,13372,-0.22,0.0,992.0,6.5,346,13472,0.47,0.00,97.22,1.272,6,0.107,0.000,1951,2306,2931
$STATE,13472,end apogee,CONTROL_FINISHED_OK
$STATE,13473,begin climb
$GC,13477,0.68,117.3,993.5,0.0,347,13588,0.57,2.62,103.12,1.246,4,0.071,0.056,2151,3698,2451
$GC,13643,0.49,117.3,990.0,6.9,349,13649,0.22,2.42,0.00,0.000,6,0.153,0.034,2108,2303,2446
$GC,13972,0.47,127.2,972.5,5.2,355,13982,0.00,0.00,8.23,1.027,6,0.000,0.000,2108,2303,2412
$GC,14276,0.46,132.2,956.3,5.3,360,14287,0.00,2.35,5.82,0.917,4,0.000,0.055,2107,3719,2391
$GC,14328,0.39,132.2,953.0,6.1,360,14333,0.12,2.28,0.00,0.000,6,0.156,0.037,2086,2294,2390
$GC,14640,0.45,158.3,938.3,4.6,365,14665,0.00,0.00,23.85,1.180,6,0.000,0.000,2086,2293,2285
$GC,14943,0.54,158.6,922.2,5.5,370,14947,0.12,2.35,0.00,0.000,4,0.070,0.052,2146,3714,2280
$GC,15094,0.41,158.6,910.1,8.7,372,15099,0.25,2.25,0.00,0.000,6,0.152,0.034,2090,2304,2279
$GC,15445,0.48,184.9,892.9,4.6,378,15471,0.00,0.00,23.15,1.156,6,0.000,0.000,2090,2303,2177
$GC,15810,0.62,184.9,872.9,5.6,384,15815,0.15,2.35,0.00,0.000,4,0.063,0.045,2161,883,2173
$GC,15951,0.55,184.9,863.4,7.0,386,15956,0.17,2.30,0.00,0.000,6,0.138,0.038,2115,2304,2172
$GC,16318,0.56,197.0,843.8,5.1,392,16336,0.00,2.38,11.52,1.052,4,0.000,0.054,2115,3713,2126
$GC,16390,0.54,197.0,839.4,6.4,393,16394,0.00,2.22,0.00,0.000,6,0.000,0.032,2123,2299,2125
$GC,16759,0.54,197.0,817.1,6.1,399,16760,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2299,2124
$GC,17061,0.54,197.0,797.0,6.7,404,17065,0.00,2.38,0.00,0.000,4,0.000,0.054,2123,3710,2124
$GC,17101,0.50,197.0,793.9,7.0,404,17106,0.10,2.28,0.00,0.000,6,0.146,0.032,2109,2305,2123
$GC,17425,0.53,197.0,775.4,5.6,410,17426,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2305,2123
$GC,17727,0.56,197.0,758.1,5.7,415,17728,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2305,2123
$GC,18031,0.60,197.0,738.8,6.4,420,18032,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2305,2123
$GC,18333,0.63,197.0,719.4,6.4,425,18338,0.10,2.38,0.00,0.000,4,0.066,0.047,2174,3710,2123
$GC,18363,0.52,197.0,716.8,9.9,425,18368,0.28,2.25,0.00,0.000,6,0.146,0.031,2111,2297,2122
$GC,18703,0.55,197.0,696.3,5.8,431,18707,0.00,2.33,0.00,0.000,4,0.000,0.052,2120,885,2122
$GC,18740,0.59,197.0,694.1,6.3,431,18744,0.00,2.35,0.00,0.000,6,0.000,0.040,2121,2308,2122
$GC,19069,0.59,197.0,675.0,5.7,437,19073,0.00,2.33,0.00,0.000,4,0.000,0.054,2121,3713,2121
$GC,19109,0.56,197.0,672.3,6.7,437,19113,0.00,2.25,0.00,0.000,6,0.000,0.033,2130,2299,2121
$GC,19432,0.56,197.0,654.1,5.5,443,19433,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2299,2121
$GC,19735,0.58,212.3,638.8,5.0,448,19754,0.00,2.35,14.00,0.957,4,0.000,0.052,2130,3705,2065
$GC,19786,0.54,212.3,636.0,5.8,448,19791,0.10,2.25,0.00,0.000,6,0.140,0.032,2116,2292,2064
$GC,20103,0.63,258.3,623.1,4.0,454,20149,0.08,2.35,40.97,1.006,4,0.080,0.044,2183,887,1877
$GC,20175,0.58,258.3,618.3,6.6,455,20180,0.22,2.33,0.00,0.000,6,0.130,0.037,2121,2312,1875
$GC,20532,0.63,258.3,598.8,5.5,461,20536,0.00,2.30,0.00,0.000,4,0.000,0.048,2121,3715,1871
$GC,20584,0.66,258.3,595.0,7.1,461,20588,0.00,2.22,0.00,0.000,6,0.000,0.031,2129,2299,1870
$GC,20897,0.69,258.3,573.5,6.9,466,20900,0.00,2.28,0.00,0.000,4,0.000,0.044,2139,890,1869
$GC,20932,0.74,258.3,570.7,7.8,466,20937,0.08,2.28,0.00,0.000,6,0.076,0.041,2197,2308,1869
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$STATE,29241,end climb,SURFACE_DEPTH_REACHED
$STATE,29241,begin surface coast
$FINISH,1.6,1.012689
$STATE,29263,end surface coast,CONTROL_FINISHED_OK
$STATE,29263,begin surface
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$10V_AH,10.3,102.145
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$DATA_FILE_SIZE,44503,757
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$CFSIZE,260165632,193347584
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