version: 66.04
glider: 144
mission: 15
dive: 27
start: 6 20 109 17 2 27
data:
$ID,144
$MISSION,15
$DIVE,27
$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,150
$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,-61423.426
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,165345,4954.409,-14512.678,38,2.1,58,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-62.0
$GPS2,170131,4954.424,-14512.647,10,2.0,15,18.4
$SPEED_LIMITS,0.055,0.182
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.127,0.131
$KALMAN_X,-14136.9,13.1,35.6,46.4,453.2
$KALMAN_Y,4296.1,-70.6,-217.7,-13775.7,-6.3
$MHEAD_RNG_PITCHd_Wd,25.8,35422,-10.5,-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,-0.64,-146.6,0.0,0.0,0,59,0.00,0.00,-42.05,0.000,2,0.000,0.000,100,2296,2556
$GC,62,-0.64,-146.6,3.0,-3.9,4,107,7.18,2.33,-28.10,0.000,4,0.260,0.075,1855,888,3531
$GC,360,-0.53,-146.6,34.2,-10.1,30,367,0.12,2.28,0.00,0.000,6,0.146,0.050,1883,2312,3533
$GC,686,-0.53,-146.6,59.0,-8.1,61,690,0.00,2.28,0.00,0.000,4,0.000,0.054,1883,894,3534
$GC,718,-0.53,-146.6,61.8,-8.4,63,725,0.00,2.28,0.00,0.000,6,0.000,0.048,1877,2304,3534
$GC,1051,-0.53,-146.6,89.3,-8.5,90,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,2305,3534
$GC,1360,-0.53,-146.6,114.7,-8.1,105,1364,0.00,2.25,0.00,0.000,4,0.000,0.054,1877,888,3534
$GC,1388,-0.58,-146.6,117.1,-8.5,106,1392,0.00,2.25,0.00,0.000,6,0.000,0.054,1877,2306,3534
$GC,1704,-0.63,-146.6,140.2,-6.8,121,1708,0.00,2.25,0.00,0.000,4,0.000,0.065,1876,3711,3534
$GC,1737,-0.75,-146.6,142.5,-6.8,122,1745,0.12,2.17,0.00,0.000,6,0.071,0.041,1810,2300,3534
$GC,2072,-0.58,-146.6,176.5,-10.4,135,2076,0.17,2.22,0.00,0.000,4,0.139,0.054,1867,886,3534
$GC,2138,-0.69,-146.6,181.6,-7.0,137,2142,0.00,2.25,0.00,0.000,6,0.000,0.049,1863,2310,3534
$GC,2468,-0.75,-146.6,199.0,-5.0,148,2473,0.10,2.25,0.00,0.000,4,0.078,0.062,1803,3715,3534
$GC,2512,-0.60,-146.6,202.4,-8.3,149,2517,0.22,2.20,0.00,0.000,6,0.130,0.041,1871,2294,3534
$GC,2831,-0.71,-146.6,218.6,-5.3,160,2833,0.10,0.00,0.00,0.000,6,0.080,0.000,1820,2293,3534
$GC,3136,-0.61,-146.6,244.5,-8.7,170,3138,0.17,0.00,0.00,0.000,6,0.138,0.000,1870,2293,3533
$GC,3443,-0.72,-146.6,263.1,-5.9,180,3444,0.10,0.00,0.00,0.000,6,0.079,0.000,1818,2293,3533
$GC,3749,-0.61,-146.6,289.7,-8.7,190,3753,0.17,2.22,0.00,0.000,4,0.139,0.055,1874,884,3532
$GC,3783,-0.74,-146.6,292.1,-6.8,191,3787,0.12,2.22,0.00,0.000,6,0.072,0.051,1820,2309,3532
$GC,4151,-0.66,-146.6,318.8,-7.1,199,4156,0.15,2.22,0.00,0.000,4,0.141,0.061,1854,3715,3532
$GC,4190,-0.76,-146.6,321.0,-5.5,199,4194,0.00,2.17,0.00,0.000,6,0.000,0.041,1854,2303,3532
$GC,4511,-0.84,-146.6,336.9,-5.0,205,4516,0.12,2.22,0.00,0.000,4,0.075,0.055,1793,892,3531
$GC,4550,-0.66,-146.6,340.1,-9.1,205,4554,0.25,2.22,0.00,0.000,6,0.142,0.052,1859,2304,3531
$GC,4870,-0.75,-146.6,356.6,-5.1,211,4874,0.00,2.25,0.00,0.000,4,0.000,0.062,1850,3719,3531
$GC,4900,-0.84,-146.6,358.2,-5.8,211,4904,0.12,2.17,0.00,0.000,6,0.075,0.041,1792,2301,3531
$GC,5232,-0.65,-146.6,389.0,-9.5,217,5236,0.20,2.22,0.00,0.000,4,0.140,0.056,1855,890,3531
$GC,5287,-0.74,-146.6,393.4,-6.7,217,5293,0.00,2.22,0.00,0.000,6,0.000,0.049,1850,2309,3530
$GC,5597,-0.80,-146.6,414.3,-6.9,223,5602,0.10,2.25,0.00,0.000,4,0.081,0.067,1794,3722,3530
$GC,5624,-0.70,-146.6,416.7,-9.0,223,5629,0.20,2.17,0.00,0.000,6,0.133,0.042,1853,2302,3530
$GC,5963,-0.78,-146.6,439.5,-6.6,229,5967,0.00,2.22,0.00,0.000,4,0.000,0.055,1853,886,3530
$GC,5996,-0.88,-146.6,441.9,-7.3,229,6000,0.15,2.22,0.00,0.000,6,0.071,0.054,1784,2310,3530
$GC,6328,-0.67,-146.6,475.9,-10.5,235,6330,0.25,0.00,0.00,0.000,6,0.141,0.000,1858,2311,3530
$GC,6630,-0.78,-146.6,494.3,-5.9,240,6635,0.10,2.25,0.00,0.000,4,0.086,0.064,1808,3716,3529
$GC,6657,-0.78,-146.6,496.4,-7.8,240,6662,0.10,2.20,0.00,0.000,6,0.140,0.048,1835,2295,3529
$GC,6989,-0.78,-146.6,517.9,-6.5,246,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2295,3529
$GC,7292,-0.78,-146.6,536.3,-6.0,251,7296,0.00,2.22,0.00,0.000,4,0.000,0.064,1835,894,3529
$GC,7324,-0.78,-146.6,538.5,-7.3,251,7328,0.00,2.22,0.00,0.000,6,0.000,0.052,1835,2304,3529
$GC,7657,-0.78,-146.6,556.8,-5.4,257,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2305,3529
$GC,7960,-0.78,-146.6,573.8,-5.7,262,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2304,3528
$GC,8263,-0.78,-146.6,592.6,-6.2,267,8267,0.00,2.25,0.00,0.000,4,0.000,0.059,1834,894,3528
$GC,8296,-0.82,-146.6,594.9,-7.0,267,8300,0.00,2.22,0.00,0.000,6,0.000,0.057,1835,2307,3528
$GC,8629,-0.82,-146.6,616.2,-6.4,273,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2308,3527
$GC,8931,-0.82,-146.6,634.8,-6.1,278,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2308,3528
$GC,9235,-0.82,-146.6,652.6,-5.9,283,9239,0.00,2.28,0.00,0.000,4,0.000,0.061,1835,887,3528
$GC,9262,-0.86,-146.6,654.3,-6.4,283,9266,0.00,2.25,0.00,0.000,6,0.000,0.059,1834,2306,3527
$GC,9600,-0.86,-146.6,672.6,-5.3,289,9604,0.00,2.25,0.00,0.000,4,0.000,0.067,1825,3714,3527
$GC,9638,-0.86,-146.6,675.0,-6.2,289,9642,0.00,2.20,0.00,0.000,6,0.000,0.044,1825,2297,3527
$GC,9964,-0.86,-146.6,693.2,-5.6,295,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2297,3527
$GC,10267,-0.86,-146.6,710.3,-5.7,300,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2297,3527
$GC,10571,-0.86,-146.6,729.0,-6.2,305,10575,0.00,2.30,0.00,0.000,4,0.000,0.067,1819,3719,3527
$GC,10603,-0.86,-146.6,731.4,-7.2,305,10608,0.00,2.22,0.00,0.000,6,0.000,0.046,1819,2307,3526
$GC,10936,-0.86,-146.6,755.1,-7.3,311,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2307,3526
$GC,11238,-0.86,-146.6,777.6,-7.4,316,11239,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2307,3527
$GC,11541,-0.86,-146.6,800.2,-7.5,321,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2307,3527
$GC,11845,-0.86,-146.6,822.6,-7.4,326,11846,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2307,3527
$GC,12147,-0.86,-146.6,843.0,-6.7,331,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2307,3526
$GC,12451,-0.86,-146.6,862.6,-6.5,336,12455,0.00,2.28,0.00,0.000,4,0.000,0.070,1809,3711,3526
$GC,12478,-0.86,-146.6,864.6,-6.5,336,12482,0.00,2.20,0.00,0.000,6,0.000,0.050,1809,2303,3526
$GC,12816,-0.81,-146.6,888.0,-6.9,342,12820,0.00,2.28,0.00,0.000,4,0.000,0.068,1801,3714,3526
$GC,12843,-0.75,-146.6,890.0,-7.4,342,12848,0.15,2.20,0.00,0.000,6,0.143,0.054,1843,2303,3526
$GC,13175,-0.83,-146.6,907.0,-5.0,348,13180,0.10,2.28,0.00,0.000,4,0.106,0.067,1812,883,3526
$GC,13213,-0.83,-146.6,909.4,-5.5,348,13217,0.00,2.25,0.00,0.000,6,0.000,0.057,1806,2302,3526
$GC,13540,-0.76,-146.6,929.0,-6.0,354,13542,0.12,0.00,0.00,0.000,6,0.170,0.000,1838,2303,3525
$GC,13843,-0.84,-146.6,940.6,-3.7,359,13844,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2303,3525
$GC,14147,-0.91,-146.6,951.7,-3.7,364,14149,0.15,0.00,0.00,0.000,6,0.100,0.000,1787,2303,3525
$GC,14450,-0.77,-146.6,971.1,-6.6,369,14451,0.17,0.00,0.00,0.000,6,0.163,0.000,1834,2303,3525
$GC,14753,-0.83,-146.6,985.7,-4.7,374,14757,0.00,2.28,0.00,0.000,4,0.000,0.071,1834,893,3525
$GC,14780,-0.89,-146.6,987.2,-5.6,374,14785,0.10,2.25,0.00,0.000,6,0.108,0.065,1798,2302,3525
$STATE,14867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14867,begin apogee
$GC,14872,-0.22,0.0,993.4,7.1,376,14992,0.50,0.00,116.85,1.345,6,0.154,0.000,1950,2302,2931
$STATE,14993,end apogee,CONTROL_FINISHED_OK
$STATE,14993,begin climb
$GC,14996,0.64,146.6,997.0,0.0,378,15122,0.62,0.00,123.05,1.315,6,0.113,0.000,2143,2302,2333
$GC,15413,0.32,146.6,971.7,7.8,385,15415,0.28,0.00,0.00,0.000,6,0.183,0.000,2073,2302,2323
$GC,15716,0.36,182.7,957.7,4.5,390,15747,0.00,0.00,29.80,1.259,6,0.000,0.000,2073,2302,2186
$GC,16020,0.56,183.5,941.6,5.5,395,16025,0.17,2.38,0.00,0.000,4,0.106,0.071,2140,894,2179
$GC,16092,0.35,183.5,936.6,7.5,396,16097,0.22,2.33,0.00,0.000,6,0.163,0.061,2078,2301,2179
$GC,16446,0.39,208.8,919.2,4.8,402,16476,0.00,2.42,22.52,1.232,4,0.000,0.074,2078,3706,2078
$GC,16516,0.40,223.5,915.4,5.1,403,16535,0.00,2.30,13.93,1.161,6,0.000,0.050,2084,2305,2019
$GC,16880,0.42,239.6,897.2,5.1,409,16896,0.00,0.00,14.45,1.173,6,0.000,0.000,2085,2306,1954
$GC,17183,0.50,261.9,882.4,4.9,414,17209,0.10,2.40,20.20,1.198,4,0.102,0.073,2121,3713,1861
$GC,17232,0.39,261.9,879.0,8.1,414,17237,0.17,2.33,0.00,0.000,6,0.171,0.049,2088,2305,1860
$GC,17542,0.55,263.0,862.1,5.5,419,17546,0.12,2.35,0.00,0.000,4,0.116,0.064,2127,884,1856
$GC,17597,0.73,263.0,858.0,7.5,419,17605,0.10,2.35,0.00,0.000,6,0.104,0.054,2163,2304,1855
$GC,17907,0.78,263.0,833.4,8.0,425,17911,0.00,2.33,0.00,0.000,4,0.000,0.069,2172,890,1855
$GC,17970,0.55,263.0,827.7,9.6,426,17975,0.20,2.30,0.00,0.000,6,0.164,0.055,2120,2307,1854
$GC,18335,0.46,263.0,799.2,7.7,432,18339,0.00,2.30,0.00,0.000,4,0.000,0.069,2120,3717,1854
$GC,18399,0.33,263.0,793.6,9.2,433,18404,0.20,2.28,0.00,0.000,6,0.167,0.053,2074,2291,1854
$GC,18764,0.81,263.0,765.8,8.4,439,18769,0.30,2.35,0.00,0.000,4,0.115,0.071,2175,3720,1852
$GC,18820,0.56,263.0,760.4,8.8,439,18827,0.22,2.28,0.00,0.000,6,0.179,0.049,2120,2310,1852
$GC,19129,0.48,263.0,737.5,7.2,445,19131,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2310,1852
$GC,19433,0.40,263.0,716.3,6.9,450,19438,0.12,2.30,0.00,0.000,4,0.168,0.068,2087,3717,1852
$GC,19459,0.40,263.0,714.4,6.9,450,19464,0.00,2.28,0.00,0.000,6,0.000,0.048,2094,2284,1852
$GC,19798,0.46,263.0,695.8,5.5,456,19799,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2284,1852
$GC,20101,0.53,271.5,679.8,5.3,461,20115,0.00,2.38,7.95,0.976,4,0.000,0.067,2094,3711,1824
$GC,20138,0.59,271.5,677.5,5.7,461,20143,0.10,2.22,0.00,0.000,6,0.082,0.049,2145,2305,1823
$GC,20464,0.40,271.5,650.9,8.4,467,20466,0.22,0.00,0.00,0.000,6,0.153,0.000,2082,2304,1823
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$STATE,28785,end climb,SURFACE_DEPTH_REACHED
$STATE,28785,begin surface coast
$FINISH,1.2,1.025089
$STATE,28807,end surface coast,CONTROL_FINISHED_OK
$STATE,28808,begin surface
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$10V_AH,10.7,3.878
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$DATA_FILE_SIZE,44234,760
$CAP_FILE_SIZE,190976,0
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