version: 66.04
glider: 144
mission: 15
dive: 30
start: 6 21 109 17 49 45
data:
$ID,144
$MISSION,15
$DIVE,30
$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,-61501.898
$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,26
$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
$GPS1,174006,5000.795,-14504.326,48,1.5,48,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-63.6
$GPS2,174849,5000.835,-14504.250,29,1.2,29,18.4
$SPEED_LIMITS,0.055,0.182
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.146,0.109
$KALMAN_X,-18677.3,-22.0,-143.1,14795.0,-1252.7
$KALMAN_Y,2715.0,-62.7,-44.3,-497.0,-817.2
$MHEAD_RNG_PITCHd_Wd,34.8,20112,-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,-41.97,0.000,2,0.000,0.000,101,2306,2852
$GC,61,-0.64,-146.6,3.7,-6.2,4,89,7.12,2.30,-14.82,0.000,4,0.256,0.075,1849,3713,3531
$GC,292,-0.56,-146.6,33.5,-11.6,24,297,0.12,2.25,0.00,0.000,6,0.131,0.041,1884,2291,3532
$GC,619,-0.56,-146.6,61.2,-8.2,54,623,0.00,2.25,0.00,0.000,4,0.000,0.055,1884,890,3533
$GC,652,-0.60,-146.6,64.2,-8.5,56,658,0.00,2.25,0.00,0.000,6,0.000,0.049,1877,2306,3533
$GC,973,-0.60,-146.6,89.4,-7.4,81,977,0.00,2.28,0.00,0.000,4,0.000,0.054,1877,884,3534
$GC,1012,-0.60,-146.6,92.5,-8.2,83,1016,0.00,2.25,0.00,0.000,6,0.000,0.050,1877,2302,3534
$GC,1339,-0.60,-146.6,117.5,-7.6,99,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,2302,3534
$GC,1649,-0.65,-146.6,138.4,-5.5,114,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,2302,3534
$GC,1977,-0.73,-146.6,157.3,-5.9,128,1979,0.12,0.00,0.00,0.000,6,0.068,0.000,1809,2303,3534
$GC,2283,-0.55,-146.6,189.3,-10.8,138,2288,0.20,2.28,0.00,0.000,4,0.137,0.063,1866,3716,3534
$GC,2322,-0.66,-146.6,192.8,-7.9,139,2326,0.00,2.20,0.00,0.000,6,0.000,0.043,1865,2300,3534
$GC,2651,-0.75,-146.6,214.9,-6.4,150,2653,0.10,0.00,0.00,0.000,6,0.081,0.000,1808,2299,3534
$GC,2958,-0.59,-146.6,243.5,-9.5,160,2962,0.17,2.22,0.00,0.000,4,0.137,0.059,1866,897,3533
$GC,3029,-0.69,-146.6,248.8,-7.0,162,3033,0.00,2.22,0.00,0.000,6,0.000,0.052,1863,2304,3533
$GC,3359,-0.77,-146.6,270.6,-6.8,173,3364,0.10,2.25,0.00,0.000,4,0.075,0.067,1802,3712,3533
$GC,3397,-0.62,-146.6,274.2,-10.0,174,3402,0.22,2.20,0.00,0.000,6,0.130,0.042,1870,2292,3533
$GC,3721,-0.73,-146.6,295.5,-6.3,185,3723,0.12,0.00,0.00,0.000,6,0.070,0.000,1806,2291,3533
$GC,4025,-0.58,-146.6,324.2,-9.6,191,4030,0.20,2.22,0.00,0.000,4,0.138,0.057,1870,890,3532
$GC,4069,-0.73,-146.6,327.4,-6.4,191,4073,0.00,2.25,0.00,0.000,6,0.000,0.051,1864,2314,3532
$GC,4384,-0.82,-146.6,345.1,-5.6,197,4388,0.15,2.22,0.00,0.000,4,0.065,0.067,1782,3710,3532
$GC,4446,-0.62,-146.6,350.6,-9.4,198,4451,0.28,2.17,0.00,0.000,6,0.132,0.043,1866,2303,3531
$GC,4812,-0.72,-146.6,369.1,-4.8,204,4817,0.10,2.25,0.00,0.000,4,0.081,0.057,1812,888,3531
$GC,4839,-0.67,-146.6,370.9,-6.6,204,4844,0.17,2.25,0.00,0.000,6,0.139,0.052,1859,2313,3531
$GC,5171,-0.76,-146.6,387.3,-4.9,210,5173,0.10,0.00,0.00,0.000,6,0.078,0.000,1806,2313,3531
$GC,5474,-0.63,-146.6,412.3,-8.5,215,5479,0.17,2.28,0.00,0.000,4,0.134,0.059,1863,886,3530
$GC,5506,-0.73,-146.6,414.8,-6.2,215,5510,0.00,2.25,0.00,0.000,6,0.000,0.057,1863,2313,3530
$GC,5839,-0.83,-146.6,432.9,-5.5,221,5844,0.15,2.25,0.00,0.000,4,0.064,0.064,1781,3720,3530
$GC,5906,-0.64,-146.6,439.1,-10.1,222,5911,0.28,2.20,0.00,0.000,6,0.131,0.044,1866,2302,3530
$GC,6266,-0.77,-146.6,458.0,-5.0,228,6268,0.12,0.00,0.00,0.000,6,0.074,0.000,1804,2301,3530
$GC,6569,-0.65,-146.6,481.9,-8.1,233,6573,0.17,2.25,0.00,0.000,4,0.135,0.057,1862,886,3529
$GC,6618,-0.80,-146.6,485.2,-6.0,233,6623,0.12,2.25,0.00,0.000,6,0.074,0.052,1806,2309,3529
$GC,6929,-0.69,-146.6,509.4,-7.9,238,6934,0.15,2.25,0.00,0.000,4,0.138,0.064,1849,3713,3529
$GC,6962,-0.78,-146.6,511.8,-6.3,238,6966,0.00,2.17,0.00,0.000,6,0.000,0.043,1849,2303,3529
$GC,7295,-0.87,-146.6,530.3,-5.5,244,7297,0.12,0.00,0.00,0.000,6,0.079,0.000,1792,2303,3529
$GC,7597,-0.71,-146.6,556.6,-8.9,249,7601,0.17,2.25,0.00,0.000,4,0.140,0.058,1848,885,3529
$GC,7629,-0.77,-146.6,559.1,-6.2,249,7633,0.00,2.25,0.00,0.000,6,0.000,0.057,1848,2309,3529
$GC,7957,-0.85,-146.6,576.7,-5.3,255,7958,0.12,0.00,0.00,0.000,6,0.080,0.000,1794,2309,3529
$GC,8259,-0.70,-146.6,601.3,-8.2,260,8261,0.20,0.00,0.00,0.000,6,0.137,0.000,1853,2309,3528
$GC,8562,-0.80,-146.6,618.8,-5.7,265,8564,0.10,0.00,0.00,0.000,6,0.090,0.000,1811,2309,3528
$GC,8865,-0.74,-146.6,642.6,-8.0,270,8870,0.10,2.25,0.00,0.000,4,0.143,0.071,1831,3716,3528
$GC,8886,-0.74,-146.6,644.5,-8.2,270,8890,0.00,2.20,0.00,0.000,6,0.000,0.044,1831,2302,3528
$GC,9230,-0.74,-146.6,666.9,-6.5,276,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2303,3528
$GC,9533,-0.74,-146.6,686.1,-6.3,281,9537,0.00,2.25,0.00,0.000,4,0.000,0.066,1832,893,3528
$GC,9560,-0.74,-146.6,688.1,-7.2,281,9564,0.00,2.25,0.00,0.000,6,0.000,0.057,1823,2310,3528
$GC,9897,-0.74,-146.6,711.4,-6.9,287,9899,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2311,3528
$GC,10201,-0.74,-146.6,731.8,-6.7,292,10205,0.00,2.28,0.00,0.000,4,0.000,0.061,1823,897,3527
$GC,10228,-0.74,-146.6,733.8,-7.5,292,10232,0.00,2.25,0.00,0.000,6,0.000,0.058,1819,2309,3527
$GC,10566,-0.74,-146.6,755.7,-6.5,298,10567,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2309,3527
$GC,10869,-0.74,-146.6,774.4,-6.1,303,10873,0.00,2.28,0.00,0.000,4,0.000,0.061,1820,893,3527
$GC,10901,-0.74,-146.6,776.6,-6.5,303,10906,0.05,2.28,0.00,0.000,6,0.154,0.055,1832,2303,3527
$GC,11234,-0.74,-146.6,793.8,-5.2,309,11235,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2303,3527
$GC,11536,-0.74,-146.6,810.2,-5.4,314,11540,0.00,2.25,0.00,0.000,4,0.000,0.063,1832,896,3527
$GC,11563,-0.78,-146.6,811.9,-6.2,314,11567,0.00,2.25,0.00,0.000,6,0.000,0.059,1829,2314,3527
$GC,11895,-0.78,-146.6,831.9,-6.0,320,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2314,3527
$GC,12198,-0.78,-146.6,850.7,-6.3,325,12202,0.00,2.28,0.00,0.000,4,0.000,0.063,1830,896,3526
$GC,12248,-0.83,-146.6,854.2,-6.5,325,12252,0.00,2.25,0.00,0.000,6,0.000,0.058,1822,2314,3526
$GC,12563,-0.83,-146.6,874.7,-6.6,331,12564,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2314,3526
$GC,12866,-0.83,-146.6,895.0,-6.7,336,12870,0.00,2.28,0.00,0.000,4,0.000,0.064,1822,897,3526
$GC,12905,-0.83,-146.6,898.0,-7.3,336,12909,0.00,2.25,0.00,0.000,6,0.000,0.061,1819,2310,3526
$GC,13231,-0.83,-146.6,919.8,-6.7,342,13232,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2310,3526
$GC,13535,-0.83,-146.6,939.5,-6.5,347,13539,0.00,2.28,0.00,0.000,4,0.000,0.068,1819,893,3526
$GC,13579,-0.83,-146.6,942.6,-6.8,347,13583,0.00,2.25,0.00,0.000,6,0.000,0.061,1810,2308,3526
$GC,13900,-0.78,-146.6,964.2,-6.8,353,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2308,3526
$GC,14203,-0.73,-146.6,984.4,-6.6,358,14208,0.12,2.28,0.00,0.000,4,0.166,0.069,1843,894,3526
$GC,14241,-0.84,-146.6,986.8,-5.9,358,14245,0.00,2.25,0.00,0.000,6,0.000,0.059,1837,2302,3526
$STATE,14322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14323,begin apogee
$GC,14328,-0.22,0.0,991.5,5.6,360,14448,0.38,0.00,116.95,1.341,6,0.144,0.000,1952,2302,2931
$STATE,14448,end apogee,CONTROL_FINISHED_OK
$STATE,14449,begin climb
$GC,14451,0.64,146.6,995.3,0.0,362,14580,0.57,2.53,122.32,1.312,4,0.110,0.063,2146,893,2332
$GC,14604,0.40,146.6,990.3,6.9,364,14609,0.25,2.45,0.00,0.000,6,0.172,0.062,2084,2302,2328
$GC,14936,0.37,169.8,974.1,4.9,370,14961,0.00,2.45,19.50,1.230,4,0.000,0.069,2084,3723,2237
$GC,14995,0.27,169.8,970.7,5.9,370,15002,0.15,2.35,0.00,0.000,6,0.175,0.048,2056,2307,2234
$GC,15306,0.52,172.3,954.7,5.4,376,15311,0.17,2.38,0.00,0.000,4,0.103,0.065,2117,3722,2231
$GC,15406,0.24,172.3,947.0,8.4,377,15411,0.30,2.30,0.00,0.000,6,0.181,0.054,2048,2303,2231
$GC,15732,0.52,178.0,930.4,5.3,383,15747,0.17,2.40,7.22,1.056,4,0.104,0.065,2117,890,2205
$GC,15845,0.40,178.0,923.1,6.7,384,15850,0.12,2.33,0.00,0.000,6,0.160,0.058,2086,2314,2203
$GC,16165,0.40,178.0,904.6,5.7,390,16169,0.00,2.30,0.00,0.000,4,0.000,0.063,2086,3722,2203
$GC,16209,0.31,178.0,901.5,7.1,390,16214,0.12,2.28,0.00,0.000,6,0.179,0.050,2063,2300,2202
$GC,16524,0.52,178.0,882.1,6.4,396,16529,0.17,2.30,0.00,0.000,4,0.096,0.067,2130,886,2202
$GC,16590,0.36,178.0,877.1,7.3,397,16595,0.20,2.30,0.00,0.000,6,0.164,0.057,2076,2314,2202
$GC,16950,0.36,178.0,856.7,5.6,403,16954,0.00,2.28,0.00,0.000,4,0.000,0.067,2076,3717,2201
$GC,17005,0.32,178.0,853.1,6.7,403,17012,0.00,2.28,0.00,0.000,6,0.000,0.050,2084,2299,2201
$GC,17315,0.32,178.0,835.5,5.6,409,17316,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2299,2201
$GC,17618,0.33,186.3,819.5,5.3,414,17632,0.00,2.35,8.12,1.048,4,0.000,0.069,2084,3710,2171
$GC,17666,0.26,186.3,816.5,5.7,414,17671,0.15,2.25,0.00,0.000,6,0.170,0.045,2054,2297,2170
$GC,17981,0.58,189.4,800.1,5.4,420,17991,0.20,2.28,4.30,0.797,4,0.094,0.061,2131,892,2158
$GC,18087,0.44,189.4,793.2,6.8,421,18091,0.15,2.28,0.00,0.000,6,0.157,0.051,2091,2308,2157
$GC,18412,0.44,189.4,774.9,5.6,427,18416,0.00,2.28,0.00,0.000,4,0.000,0.067,2091,3713,2156
$GC,18462,0.35,189.4,771.5,7.0,427,18467,0.10,2.22,0.00,0.000,6,0.179,0.046,2076,2303,2156
$GC,18772,0.47,189.4,753.7,5.8,432,18777,0.10,2.30,0.00,0.000,4,0.100,0.064,2111,3714,2156
$GC,18816,0.35,189.4,750.3,7.2,432,18821,0.17,2.22,0.00,0.000,6,0.171,0.048,2074,2304,2155
$GC,19131,0.60,189.4,729.9,6.6,438,19136,0.17,2.30,0.00,0.000,4,0.087,0.063,2138,3720,2155
$GC,19216,0.27,189.4,722.6,9.9,439,19221,0.32,2.25,0.00,0.000,6,0.176,0.054,2057,2297,2155
$GC,19559,0.57,190.1,704.1,5.5,445,19564,0.17,2.25,0.00,0.000,4,0.088,0.058,2127,891,2155
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$STATE,30394,end climb,SURFACE_DEPTH_REACHED
$STATE,30394,begin surface coast
$FINISH,1.0,1.024624
$STATE,30417,end surface coast,CONTROL_FINISHED_OK
$STATE,30417,begin surface
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$10V_AH,10.7,4.275
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$DATA_FILE_SIZE,47436,785
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