version: 66.04
glider: 144
mission: 15
dive: 143
start: 7 29 109 11 26 58
data:
$ID,144
$MISSION,15
$DIVE,143
$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,-63711.422
$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,36
$R_STBD_OVSHOOT,31
$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
$GPS1,112000,5003.219,-14444.798,39,1.5,40,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-62.7
$GPS2,112602,5003.234,-14444.798,15,1.5,15,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.064,0.155
$KALMAN_X,-68834.1,130.1,15.6,87800.7,-1736.6
$KALMAN_Y,65567.9,174.2,181.6,-59379.6,-1149.0
$MHEAD_RNG_PITCHd_Wd,318.9,10725,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.68,-117.3,0.0,0.0,0,49,0.00,0.00,-32.33,0.000,2,0.000,0.000,99,2293,2564
$GC,51,-0.68,-117.3,3.2,-5.8,3,86,6.95,2.25,-20.17,0.000,4,0.238,0.067,1843,890,3412
$GC,338,-0.53,-117.3,41.9,-12.3,28,345,0.17,2.22,0.00,0.000,6,0.134,0.040,1885,2302,3414
$GC,667,-0.58,-117.3,68.3,-8.2,59,671,0.00,2.22,0.00,0.000,4,0.000,0.042,1885,893,3415
$GC,700,-0.64,-117.3,71.5,-7.8,61,706,0.00,2.22,0.00,0.000,6,0.000,0.038,1877,2314,3415
$GC,1018,-0.64,-117.3,96.0,-7.8,82,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,2314,3416
$GC,1328,-0.64,-117.3,124.0,-8.5,97,1332,0.00,2.22,0.00,0.000,4,0.000,0.048,1877,897,3416
$GC,1389,-0.75,-117.3,129.1,-8.0,99,1396,0.15,2.20,0.00,0.000,6,0.056,0.048,1794,2299,3416
$GC,1703,-0.52,-117.3,166.4,-11.9,113,1708,0.28,2.25,0.00,0.000,4,0.186,0.050,1873,3716,3416
$GC,1732,-0.52,-117.3,169.0,-8.0,114,1736,0.00,2.17,0.00,0.000,6,0.000,0.034,1873,2298,3416
$GC,2067,-0.66,-117.3,186.6,-4.8,125,2071,0.00,2.20,0.00,0.000,4,0.000,0.044,1873,892,3416
$GC,2107,-0.81,-117.3,188.5,-5.0,126,2111,0.15,2.22,0.00,0.000,6,0.052,0.040,1783,2317,3416
$GC,2436,-0.57,-117.3,223.4,-11.8,137,2441,0.28,2.25,0.00,0.000,4,0.133,0.044,1871,887,3415
$GC,2469,-0.66,-117.3,226.4,-7.8,138,2473,0.00,2.22,0.00,0.000,6,0.000,0.044,1864,2311,3415
$GC,2799,-0.76,-117.3,248.3,-6.5,149,2803,0.10,2.22,0.00,0.000,4,0.067,0.051,1796,889,3415
$GC,2831,-0.59,-117.3,251.4,-10.2,150,2836,0.30,2.22,0.00,0.000,6,0.127,0.048,1878,2313,3415
$GC,3161,-0.75,-117.3,269.4,-5.2,161,3163,0.15,0.00,0.00,0.000,6,0.052,0.000,1789,2313,3414
$GC,3467,-0.55,-117.3,301.2,-10.9,171,3472,0.28,2.22,0.00,0.000,4,0.150,0.044,1876,897,3414
$GC,3511,-0.73,-117.3,304.9,-6.8,171,3515,0.12,2.20,0.00,0.000,6,0.059,0.048,1796,2303,3414
$GC,3826,-0.57,-117.3,337.1,-10.5,177,3828,0.28,0.00,0.00,0.000,6,0.128,0.000,1881,2304,3413
$GC,4129,-0.76,-117.3,353.9,-5.3,182,4131,0.15,0.00,0.00,0.000,6,0.055,0.000,1787,2304,3413
$GC,4432,-0.57,-117.3,381.6,-9.3,187,4434,0.30,0.00,0.00,0.000,6,0.128,0.000,1879,2304,3412
$GC,4735,-0.77,-117.3,394.1,-3.9,192,4740,0.15,2.22,0.00,0.000,4,0.057,0.050,1793,894,3411
$GC,4763,-0.69,-117.3,396.0,-7.2,192,4768,0.22,2.22,0.00,0.000,6,0.126,0.041,1851,2314,3411
$GC,5095,-0.78,-117.3,413.1,-5.1,198,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2314,3411
$GC,5398,-0.87,-117.3,430.5,-5.8,203,5402,0.15,2.25,0.00,0.000,4,0.058,0.049,1772,893,3411
$GC,5476,-0.65,-117.3,438.3,-11.0,204,5480,0.32,2.22,0.00,0.000,6,0.130,0.044,1863,2306,3411
$GC,5825,-0.80,-117.3,456.4,-5.0,210,5826,0.12,0.00,0.00,0.000,6,0.063,0.000,1791,2307,3410
$GC,6128,-0.64,-117.3,481.5,-8.5,215,6130,0.22,0.00,0.00,0.000,6,0.127,0.000,1858,2307,3410
$GC,6431,-0.76,-117.3,496.4,-4.8,220,6436,0.10,2.20,0.00,0.000,4,0.070,0.046,1795,898,3409
$GC,6469,-0.63,-117.3,499.3,-8.5,220,6474,0.25,2.20,0.00,0.000,6,0.125,0.048,1862,2303,3409
$GC,6790,-0.77,-117.3,514.6,-4.6,226,6795,0.12,2.22,0.00,0.000,4,0.062,0.046,1791,892,3409
$GC,6817,-0.69,-117.3,516.8,-8.9,226,6822,0.22,2.22,0.00,0.000,6,0.126,0.042,1849,2311,3409
$GC,7149,-0.79,-117.3,535.9,-5.7,232,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2311,3409
$GC,7452,-0.89,-117.3,553.9,-6.0,237,7454,0.15,0.00,0.00,0.000,6,0.058,0.000,1769,2311,3409
$GC,7755,-0.66,-117.3,585.0,-10.5,242,7760,0.25,2.25,0.00,0.000,4,0.135,0.051,1850,892,3408
$GC,7833,-0.79,-117.3,590.7,-7.0,243,7838,0.08,2.22,0.00,0.000,6,0.087,0.048,1794,2305,3408
$GC,8182,-0.68,-117.3,619.2,-8.2,249,8184,0.20,0.00,0.00,0.000,6,0.127,0.000,1854,2306,3408
$GC,8486,-0.81,-117.3,634.3,-4.8,254,8488,0.12,0.00,0.00,0.000,6,0.062,0.000,1781,2305,3408
$GC,8788,-0.64,-117.3,658.4,-8.1,259,8793,0.22,2.25,0.00,0.000,4,0.128,0.050,1855,891,3407
$GC,8829,-0.80,-117.3,660.8,-5.3,259,8833,0.08,2.22,0.00,0.000,6,0.085,0.042,1794,2304,3407
$GC,9150,-0.70,-117.3,684.6,-7.6,265,9154,0.17,2.25,0.00,0.000,4,0.127,0.057,1848,3716,3407
$GC,9193,-0.86,-117.3,687.5,-6.3,265,9198,0.12,2.17,0.00,0.000,6,0.066,0.034,1781,2298,3407
$GC,9509,-0.70,-117.3,715.5,-9.2,271,9513,0.20,2.20,0.00,0.000,4,0.130,0.051,1847,897,3407
$GC,9571,-0.81,-117.3,719.9,-6.3,272,9575,0.00,2.20,0.00,0.000,6,0.000,0.046,1840,2306,3407
$GC,9936,-0.90,-117.3,742.9,-6.3,278,9941,0.12,2.22,0.00,0.000,4,0.071,0.057,1768,3708,3406
$GC,9969,-0.72,-117.3,745.8,-10.3,278,9974,0.25,2.15,0.00,0.000,6,0.131,0.037,1843,2305,3406
$GC,10296,-0.82,-117.3,765.0,-5.7,284,10300,0.00,2.22,0.00,0.000,4,0.000,0.050,1842,890,3406
$GC,10323,-0.94,-117.3,766.9,-6.3,284,10328,0.15,2.22,0.00,0.000,6,0.062,0.046,1768,2312,3406
$GC,10661,-0.74,-117.3,798.5,-9.6,290,10666,0.22,2.22,0.00,0.000,4,0.136,0.056,1833,3710,3406
$GC,10716,-0.85,-117.3,802.6,-6.2,290,10723,0.00,2.20,0.00,0.000,6,0.000,0.040,1833,2302,3406
$GC,11026,-0.93,-117.3,821.1,-5.9,296,11030,0.12,2.22,0.00,0.000,4,0.074,0.051,1775,891,3406
$GC,11070,-0.74,-117.3,824.9,-8.9,296,11075,0.25,2.22,0.00,0.000,6,0.133,0.044,1839,2307,3406
$GC,11385,-0.84,-117.3,842.5,-5.4,302,11387,0.10,0.00,0.00,0.000,6,0.081,0.000,1796,2307,3406
$GC,11688,-0.76,-117.3,864.9,-7.5,307,11693,0.15,2.25,0.00,0.000,4,0.130,0.050,1839,897,3406
$GC,11726,-0.87,-117.3,867.5,-5.7,307,11731,0.10,2.22,0.00,0.000,6,0.081,0.048,1791,2308,3406
$GC,12047,-0.78,-117.3,891.7,-7.6,313,12048,0.15,0.00,0.00,0.000,6,0.137,0.000,1833,2309,3405
$GC,12350,-0.86,-117.3,909.0,-5.6,318,12351,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2309,3405
$GC,12653,-0.95,-117.3,925.3,-5.3,323,12658,0.15,2.25,0.00,0.000,4,0.072,0.055,1764,3710,3405
$GC,12681,-0.81,-117.3,927.4,-7.5,323,12685,0.20,2.17,0.00,0.000,6,0.143,0.036,1821,2304,3405
$GC,13018,-0.81,-117.3,946.1,-5.3,329,13022,0.00,2.25,0.00,0.000,4,0.000,0.053,1821,890,3405
$GC,13068,-0.85,-117.3,948.9,-5.8,329,13072,0.00,2.25,0.00,0.000,6,0.000,0.050,1815,2315,3405
$GC,13384,-0.85,-117.3,964.8,-5.0,335,13388,0.00,2.28,0.00,0.000,4,0.000,0.056,1815,887,3404
$GC,13411,-0.85,-117.3,966.3,-6.0,335,13415,0.00,2.25,0.00,0.000,6,0.000,0.047,1808,2310,3405
$GC,13749,-0.85,-117.3,982.9,-4.9,341,13754,0.00,2.28,0.00,0.000,4,0.000,0.054,1808,887,3405
$GC,13799,-0.85,-117.3,985.9,-5.9,341,13803,0.00,2.25,0.00,0.000,6,0.000,0.044,1799,2308,3405
$STATE,13930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13930,begin apogee
$GC,13936,-0.22,0.0,993.3,5.6,344,14032,0.50,0.00,93.00,1.335,6,0.131,0.000,1956,2308,2931
$STATE,14032,end apogee,CONTROL_FINISHED_OK
$STATE,14032,begin climb
$GC,14035,0.68,117.3,993.8,0.0,345,14138,0.57,0.00,98.40,1.309,6,0.077,0.000,2151,2308,2451
$GC,14485,0.38,117.3,960.1,8.8,353,14487,0.28,0.00,0.00,0.000,6,0.158,0.000,2078,2308,2441
$GC,14786,0.38,119.8,943.2,5.4,358,14790,0.00,2.30,0.00,0.000,4,0.000,0.055,2077,3709,2438
$GC,14830,0.30,119.8,940.4,6.0,358,14834,0.00,2.25,0.00,0.000,6,0.000,0.038,2086,2300,2438
$GC,15145,0.25,119.8,922.6,5.6,364,15150,0.12,2.30,0.00,0.000,4,0.164,0.060,2054,3709,2437
$GC,15183,0.26,129.8,920.5,5.2,364,15197,0.00,2.22,9.50,1.118,6,0.000,0.040,2062,2300,2401
$GC,15509,0.36,157.9,905.6,4.6,370,15536,0.00,0.00,24.75,1.233,6,0.000,0.000,2063,2300,2287
$GC,15813,0.61,159.2,889.3,5.5,375,15817,0.17,2.33,0.00,0.000,4,0.067,0.060,2144,3710,2282
$GC,15986,0.28,159.2,873.6,9.8,377,15991,0.35,2.25,0.00,0.000,6,0.173,0.040,2059,2296,2280
$GC,16307,0.54,177.5,858.0,4.9,383,16332,0.17,2.35,17.25,1.177,4,0.067,0.055,2147,896,2206
$GC,16405,0.37,177.5,851.2,7.2,384,16409,0.25,2.28,0.00,0.000,6,0.146,0.046,2077,2304,2203
$GC,16737,0.49,210.8,836.2,4.4,390,16771,0.10,2.35,29.10,1.197,4,0.070,0.061,2124,3712,2070
$GC,16801,0.34,210.8,831.9,7.5,391,16806,0.22,2.28,0.00,0.000,6,0.159,0.040,2075,2305,2068
$GC,17167,0.52,249.5,815.8,4.2,397,17207,0.12,2.40,33.67,1.187,4,0.066,0.056,2143,895,1912
$GC,17241,0.48,249.5,810.5,7.4,398,17246,0.15,2.33,0.00,0.000,6,0.134,0.044,2103,2312,1908
$GC,17595,0.54,249.5,790.1,5.7,404,17599,0.00,2.28,0.00,0.000,4,0.000,0.055,2103,3710,1905
$GC,17636,0.54,249.5,787.4,7.3,404,17640,0.00,2.22,0.00,0.000,6,0.000,0.036,2110,2299,1904
$GC,17956,0.54,249.5,766.3,6.6,410,17960,0.00,2.30,0.00,0.000,4,0.000,0.059,2111,3714,1903
$GC,17978,0.54,249.5,764.6,7.0,410,17982,0.00,2.22,0.00,0.000,6,0.000,0.039,2120,2299,1903
$GC,18322,0.54,249.5,740.4,7.1,416,18323,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2299,1902
$GC,18625,0.54,249.5,718.1,7.4,421,18629,0.00,2.28,0.00,0.000,4,0.000,0.058,2120,3712,1902
$GC,18658,0.48,249.5,715.1,9.4,421,18662,0.12,2.20,0.00,0.000,6,0.152,0.042,2098,2296,1902
$GC,18990,0.57,249.5,694.7,6.1,427,18994,0.10,2.25,0.00,0.000,4,0.070,0.057,2165,885,1902
$GC,19017,0.51,249.5,692.4,9.4,427,19022,0.20,2.25,0.00,0.000,6,0.139,0.042,2108,2310,1901
$GC,19348,0.56,249.5,671.2,6.2,433,19352,0.00,2.25,0.00,0.000,4,0.000,0.056,2108,3718,1901
$GC,19398,0.56,249.5,667.4,6.9,433,19402,0.00,2.20,0.00,0.000,6,0.000,0.041,2116,2301,1901
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$STATE,28487,end climb,SURFACE_DEPTH_REACHED
$STATE,28488,begin surface coast
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$STATE,28520,end surface coast,CONTROL_FINISHED_OK
$STATE,28521,begin surface
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$10V_AH,10.7,18.334
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$DATA_FILE_SIZE,44382,717
$CAP_FILE_SIZE,204449,0
$CFSIZE,260165632,247586816
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