version: 66.04
glider: 144
mission: 15
dive: 191
start: 8 14 109 11 49 49
data:
$ID,144
$MISSION,15
$DIVE,191
$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,-64691.883
$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,35
$R_STBD_OVSHOOT,33
$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
$GPS1,114331,5018.294,-14504.966,41,1.2,41,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-60.2
$GPS2,114855,5018.366,-14504.970,10,1.1,10,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.129,0.107
$KALMAN_X,-89230.3,132.8,184.0,84001.7,-1518.4
$KALMAN_Y,66778.5,63.2,122.2,-32395.2,-214.2
$MHEAD_RNG_PITCHd_Wd,291.2,9586,-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,17,-0.68,-117.3,0.0,0.0,0,61,0.00,0.00,-41.95,0.000,2,0.000,0.000,100,2290,2757
$GC,63,-0.68,-117.3,4.0,-6.5,4,90,7.10,2.30,-13.80,0.000,4,0.243,0.065,1854,905,3413
$GC,344,-0.58,-117.3,43.5,-11.7,29,349,0.10,2.22,0.00,0.000,6,0.150,0.039,1874,2304,3415
$GC,669,-0.58,-117.3,73.5,-8.9,59,673,0.00,2.25,0.00,0.000,4,0.000,0.041,1874,889,3416
$GC,763,-0.58,-117.3,82.6,-9.9,66,767,0.00,2.25,0.00,0.000,6,0.000,0.037,1866,2316,3417
$GC,1085,-0.58,-117.3,112.2,-8.6,82,1089,0.00,2.25,0.00,0.000,4,0.000,0.041,1866,895,3417
$GC,1125,-0.58,-117.3,115.7,-8.9,84,1129,0.00,2.22,0.00,0.000,6,0.000,0.040,1863,2311,3417
$GC,1457,-0.58,-117.3,144.8,-8.8,100,1460,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,885,3417
$GC,1507,-0.62,-117.3,149.3,-8.5,102,1511,0.00,2.25,0.00,0.000,6,0.000,0.039,1862,2310,3417
$GC,1825,-0.67,-117.3,173.9,-7.1,113,1829,0.00,2.25,0.00,0.000,4,0.000,0.044,1862,884,3417
$GC,1860,-0.74,-117.3,176.5,-7.6,114,1864,0.00,2.22,0.00,0.000,6,0.000,0.041,1855,2305,3416
$GC,2200,-0.79,-117.3,198.1,-6.2,125,2202,0.10,0.00,0.00,0.000,6,0.067,0.000,1782,2306,3416
$GC,2507,-0.58,-117.3,230.5,-10.8,135,2511,0.28,2.22,0.00,0.000,4,0.130,0.042,1870,895,3416
$GC,2567,-0.72,-117.3,235.0,-6.5,136,2574,0.00,2.22,0.00,0.000,6,0.000,0.039,1863,2313,3415
$GC,2880,-0.83,-117.3,253.7,-5.9,147,2882,0.15,0.00,0.00,0.000,6,0.054,0.000,1769,2314,3415
$GC,3187,-0.56,-117.3,288.3,-11.5,157,3192,0.32,2.28,0.00,0.000,4,0.133,0.044,1874,891,3415
$GC,3249,-0.74,-117.3,293.0,-6.2,159,3254,0.10,2.25,0.00,0.000,6,0.068,0.044,1800,2313,3414
$GC,3582,-0.60,-117.3,323.2,-9.3,166,3584,0.22,0.00,0.00,0.000,6,0.128,0.000,1867,2314,3414
$GC,3885,-0.75,-117.3,340.8,-5.7,171,3887,0.12,0.00,0.00,0.000,6,0.060,0.000,1791,2313,3413
$GC,4188,-0.59,-117.3,369.9,-9.7,176,4192,0.22,2.25,0.00,0.000,4,0.127,0.049,1866,892,3413
$GC,4237,-0.76,-117.3,373.4,-6.4,176,4242,0.10,2.22,0.00,0.000,6,0.068,0.040,1797,2302,3413
$GC,4547,-0.62,-117.3,401.6,-9.4,181,4549,0.22,0.00,0.00,0.000,6,0.124,0.000,1865,2302,3412
$GC,4850,-0.78,-117.3,419.4,-5.7,186,4852,0.12,0.00,0.00,0.000,6,0.062,0.000,1787,2302,3412
$GC,5153,-0.61,-117.3,448.1,-9.6,191,5158,0.22,2.25,0.00,0.000,4,0.126,0.044,1861,889,3411
$GC,5203,-0.77,-117.3,451.6,-5.8,191,5208,0.10,2.25,0.00,0.000,6,0.067,0.042,1796,2310,3411
$GC,5513,-0.65,-117.3,475.9,-7.9,196,5515,0.20,0.00,0.00,0.000,6,0.127,0.000,1856,2311,3410
$GC,5816,-0.78,-117.3,489.2,-4.2,201,5821,0.10,2.28,0.00,0.000,4,0.070,0.049,1793,887,3410
$GC,5871,-0.65,-117.3,493.3,-7.8,201,5878,0.25,2.25,0.00,0.000,6,0.121,0.045,1858,2309,3410
$GC,6182,-0.79,-117.3,507.9,-4.6,207,6184,0.12,0.00,0.00,0.000,6,0.060,0.000,1782,2309,3410
$GC,6484,-0.62,-117.3,535.6,-9.5,212,6489,0.25,2.25,0.00,0.000,4,0.123,0.048,1863,896,3409
$GC,6540,-0.80,-117.3,539.6,-6.2,212,6547,0.12,2.22,0.00,0.000,6,0.061,0.042,1787,2304,3410
$GC,6850,-0.66,-117.3,567.5,-9.3,218,6854,0.20,2.25,0.00,0.000,4,0.127,0.052,1849,3707,3409
$GC,6899,-0.84,-117.3,571.0,-6.4,218,6904,0.12,2.17,0.00,0.000,6,0.061,0.034,1776,2296,3408
$GC,7209,-0.65,-117.3,600.2,-9.6,223,7214,0.22,2.22,0.00,0.000,4,0.129,0.051,1851,893,3408
$GC,7248,-0.78,-117.3,603.1,-6.2,223,7251,0.00,2.22,0.00,0.000,6,0.000,0.041,1850,2301,3408
$GC,7575,-0.90,-117.3,621.1,-5.5,229,7576,0.15,0.00,0.00,0.000,6,0.055,0.000,1767,2302,3408
$GC,7878,-0.69,-117.3,649.5,-9.6,234,7880,0.28,0.00,0.00,0.000,6,0.130,0.000,1850,2302,3408
$GC,8181,-0.82,-117.3,665.0,-4.9,239,8186,0.10,2.25,0.00,0.000,4,0.070,0.048,1788,894,3407
$GC,8214,-0.70,-117.3,667.4,-7.9,239,8218,0.22,2.25,0.00,0.000,6,0.128,0.047,1848,2315,3407
$GC,8546,-0.83,-117.3,683.7,-4.8,245,8548,0.10,0.00,0.00,0.000,6,0.071,0.000,1790,2316,3407
$GC,8848,-0.72,-117.3,705.2,-7.2,250,8853,0.17,2.28,0.00,0.000,4,0.124,0.049,1848,894,3407
$GC,8903,-0.87,-117.3,708.3,-5.7,250,8911,0.12,2.25,0.00,0.000,6,0.065,0.044,1782,2313,3407
$GC,9214,-0.72,-117.3,730.7,-7.5,256,9219,0.17,2.25,0.00,0.000,4,0.130,0.052,1831,3716,3407
$GC,9253,-0.83,-117.3,733.0,-5.3,256,9257,0.00,2.20,0.00,0.000,6,0.000,0.035,1831,2299,3406
$GC,9574,-0.91,-117.3,749.9,-5.3,262,9578,0.10,2.22,0.00,0.000,4,0.079,0.051,1777,897,3406
$GC,9618,-0.73,-117.3,753.4,-9.0,262,9623,0.25,2.22,0.00,0.000,6,0.128,0.047,1843,2306,3406
$GC,9933,-0.85,-117.3,770.8,-5.4,268,9935,0.10,0.00,0.00,0.000,6,0.077,0.000,1795,2306,3406
$GC,10236,-0.77,-117.3,794.5,-7.9,273,10241,0.15,2.25,0.00,0.000,4,0.126,0.046,1839,897,3406
$GC,10280,-0.88,-117.3,797.6,-6.8,273,10285,0.10,2.22,0.00,0.000,6,0.077,0.043,1789,2305,3406
$GC,10595,-0.78,-117.3,823.1,-8.2,279,10600,0.15,2.25,0.00,0.000,4,0.133,0.053,1823,3707,3406
$GC,10622,-0.78,-117.3,825.1,-7.3,279,10626,0.00,2.17,0.00,0.000,6,0.000,0.038,1823,2306,3405
$GC,10960,-0.83,-117.3,845.7,-6.0,285,10964,0.00,2.25,0.00,0.000,4,0.000,0.053,1823,895,3406
$GC,10998,-0.83,-117.3,848.2,-6.8,285,11002,0.00,2.22,0.00,0.000,6,0.000,0.042,1813,2302,3406
$GC,11325,-0.83,-117.3,869.0,-6.3,291,11326,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2302,3406
$GC,11628,-0.83,-117.3,888.0,-6.2,296,11632,0.00,2.25,0.00,0.000,4,0.000,0.055,1813,895,3405
$GC,11695,-0.83,-117.3,892.5,-6.8,297,11698,0.00,2.22,0.00,0.000,6,0.000,0.046,1806,2302,3405
$GC,12060,-0.83,-117.3,915.4,-6.2,303,12064,0.00,2.28,0.00,0.000,4,0.000,0.054,1806,893,3405
$GC,12098,-0.83,-117.3,918.2,-6.7,303,12102,0.10,2.25,0.00,0.000,6,0.144,0.048,1822,2305,3405
$GC,12426,-0.88,-117.3,936.1,-5.5,309,12427,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2305,3405
$GC,12729,-0.93,-117.3,952.5,-5.4,314,12733,0.10,2.30,0.00,0.000,4,0.087,0.053,1783,891,3405
$GC,12773,-0.81,-117.3,955.8,-8.4,314,12778,0.17,2.25,0.00,0.000,6,0.143,0.049,1822,2301,3405
$GC,13089,-0.86,-117.3,973.1,-5.4,320,13090,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2301,3404
$STATE,13388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13388,begin apogee
$GC,13394,-0.22,0.0,990.1,5.6,325,13490,0.43,0.00,93.32,1.327,6,0.126,0.000,1957,2301,2931
$STATE,13491,end apogee,CONTROL_FINISHED_OK
$STATE,13491,begin climb
$GC,13493,0.68,117.3,991.5,0.0,326,13600,0.55,2.58,99.07,1.298,4,0.078,0.054,2148,3709,2450
$GC,13651,0.26,117.3,986.4,7.8,328,13656,0.40,2.38,0.00,0.000,6,0.176,0.041,2058,2310,2446
$GC,13983,0.46,169.4,973.6,3.7,334,14033,0.15,2.50,43.83,1.266,4,0.071,0.058,2122,892,2239
$GC,14078,0.37,169.4,968.1,5.7,335,14084,0.17,2.38,0.00,0.000,6,0.143,0.048,2077,2308,2235
$GC,14411,0.49,205.7,953.8,4.3,341,14448,0.12,2.38,31.25,1.242,4,0.067,0.052,2129,3710,2091
$GC,14476,0.31,205.7,949.1,9.7,342,14482,0.28,2.33,0.00,0.000,6,0.161,0.038,2067,2298,2090
$GC,14837,0.69,205.7,929.0,5.9,348,14842,0.22,2.33,0.00,0.000,4,0.070,0.053,2155,884,2085
$GC,14954,0.54,205.7,919.9,8.1,349,14959,0.15,2.30,0.00,0.000,6,0.142,0.044,2117,2308,2084
$GC,15264,0.54,205.7,899.6,6.4,354,15268,0.00,2.28,0.00,0.000,4,0.000,0.059,2117,3710,2084
$GC,15304,0.44,205.7,896.6,7.7,354,15309,0.12,2.25,0.00,0.000,6,0.161,0.038,2093,2293,2082
$GC,15632,0.53,227.7,880.6,4.8,360,15657,0.08,2.33,18.95,1.186,4,0.084,0.058,2140,898,2001
$GC,15679,0.47,227.7,877.5,6.4,360,15684,0.15,2.28,0.00,0.000,6,0.137,0.043,2100,2305,1999
$GC,15994,0.57,257.3,862.9,4.5,366,16026,0.10,2.35,26.33,1.196,4,0.072,0.058,2146,3719,1881
$GC,16049,0.41,257.3,858.9,8.3,366,16056,0.25,2.30,0.00,0.000,6,0.153,0.041,2089,2297,1880
$GC,16359,0.72,285.7,844.7,4.5,372,16399,0.20,2.38,27.45,1.108,4,0.071,0.057,2173,896,1765
$GC,16451,0.60,285.7,838.4,8.1,373,16456,0.17,2.30,0.00,0.000,6,0.142,0.041,2127,2303,1763
$GC,16788,0.60,285.7,816.5,6.5,379,16792,0.00,2.30,0.00,0.000,4,0.000,0.058,2127,3719,1759
$GC,16838,0.60,285.7,812.4,8.6,379,16842,0.00,2.25,0.00,0.000,6,0.000,0.037,2134,2304,1759
$GC,17154,0.60,285.7,787.2,8.1,385,17155,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2303,1758
$GC,17457,0.60,285.7,760.9,8.8,390,17461,0.00,2.28,0.00,0.000,4,0.000,0.054,2134,3710,1758
$GC,17480,0.54,285.7,758.7,10.1,390,17485,0.12,2.22,0.00,0.000,6,0.151,0.035,2112,2302,1757
$GC,17818,0.63,285.7,736.7,6.2,396,17822,0.10,2.28,0.00,0.000,4,0.070,0.054,2173,883,1757
$GC,17839,0.63,285.7,734.9,8.1,396,17843,0.15,2.25,0.00,0.000,6,0.139,0.042,2133,2308,1756
$GC,18182,0.63,285.7,710.2,7.1,402,18185,0.00,2.25,0.00,0.000,4,0.000,0.051,2133,3712,1756
$GC,18227,0.58,285.7,706.8,8.7,402,18231,0.00,2.22,0.00,0.000,6,0.000,0.034,2141,2290,1756
$GC,18548,0.52,285.7,683.9,7.1,408,18553,0.12,2.25,0.00,0.000,4,0.150,0.050,2117,898,1756
$GC,18575,0.60,285.7,682.1,5.9,408,18579,0.00,2.22,0.00,0.000,6,0.000,0.039,2116,2308,1755
$GC,18914,0.69,290.6,664.2,5.3,414,18923,0.12,2.28,4.03,0.703,4,0.064,0.050,2186,3709,1746
$GC,18957,0.40,290.6,659.6,13.1,414,18962,0.40,2.22,0.00,0.000,6,0.153,0.042,2082,2298,1746
$GC,19278,0.93,290.6,636.8,7.6,420,19280,0.35,0.00,0.00,0.000,6,0.067,0.000,2210,2297,1745
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$STATE,27839,end climb,SURFACE_DEPTH_REACHED
$STATE,27839,begin surface coast
$FINISH,1.4,1.024428
$STATE,27892,end surface coast,CONTROL_FINISHED_OK
$STATE,27892,begin surface
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$10V_AH,10.7,24.260
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$CFSIZE,260165632,243748864
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