version: 66.04
glider: 144
mission: 15
dive: 394
start: 10 20 109 22 40 8
data:
$ID,144
$MISSION,15
$DIVE,394
$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,-69023.625
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,223136,5008.346,-14429.149,31,1.2,31,18.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-52.7
$GPS2,223913,5008.427,-14429.249,15,1.2,32,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.002,-0.168
$KALMAN_X,-75414.9,-47.1,171.6,124128.1,-82.2
$KALMAN_Y,23652.6,-153.0,410.9,-47169.3,676.5
$MHEAD_RNG_PITCHd_Wd,161.9,26706,-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,15,-0.68,-116.9,0.0,0.0,0,69,0.00,0.00,-51.62,0.000,2,0.000,0.000,98,2303,2775
$GC,72,-0.68,-117.3,3.7,-5.0,5,96,6.97,0.00,-13.65,0.000,6,0.225,0.000,1841,2303,3412
$GC,418,-0.61,-117.3,54.3,-11.1,37,422,0.10,2.30,0.00,0.000,4,0.140,0.041,1870,886,3414
$GC,485,-0.65,-117.3,60.4,-7.8,42,491,0.00,2.28,0.00,0.000,6,0.000,0.037,1863,2301,3414
$GC,808,-0.65,-117.3,87.0,-8.3,69,812,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,887,3415
$GC,836,-0.67,-117.3,89.4,-8.1,70,840,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2312,3416
$GC,1152,-0.67,-117.3,114.4,-7.8,85,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2312,3416
$GC,1462,-0.69,-117.3,134.5,-5.8,100,1466,0.00,2.28,0.00,0.000,4,0.000,0.041,1863,883,3416
$GC,1535,-0.74,-117.3,139.6,-7.0,103,1539,0.10,2.25,0.00,0.000,6,0.067,0.038,1789,2308,3416
$GC,1865,-0.66,-117.3,172.0,-9.9,116,1869,0.20,2.25,0.00,0.000,4,0.122,0.050,1847,3707,3415
$GC,1909,-0.72,-117.3,175.7,-7.1,117,1913,0.00,2.17,0.00,0.000,6,0.000,0.029,1847,2293,3415
$GC,2234,-0.77,-117.3,197.2,-6.5,128,2238,0.00,2.20,0.00,0.000,4,0.000,0.041,1846,900,3415
$GC,2269,-0.82,-117.3,199.8,-7.4,129,2273,0.00,2.20,0.00,0.000,6,0.000,0.044,1839,2298,3415
$GC,2604,-0.84,-117.3,223.0,-6.9,140,2608,0.00,2.22,0.00,0.000,4,0.000,0.041,1838,894,3414
$GC,2639,-0.87,-117.3,225.6,-7.7,141,2644,0.10,2.25,0.00,0.000,6,0.067,0.043,1767,2315,3414
$GC,2975,-0.77,-117.3,260.9,-10.4,152,2980,0.20,2.28,0.00,0.000,4,0.126,0.041,1833,890,3413
$GC,3007,-0.77,-117.3,263.8,-7.0,153,3011,0.00,2.25,0.00,0.000,6,0.000,0.039,1826,2307,3413
$GC,3343,-0.77,-117.3,285.9,-6.7,164,3347,0.00,2.25,0.00,0.000,4,0.000,0.042,1826,890,3413
$GC,3388,-0.77,-117.3,289.2,-7.8,165,3392,0.00,2.22,0.00,0.000,6,0.000,0.038,1818,2306,3413
$GC,3741,-0.77,-117.3,314.8,-7.4,174,3745,0.00,2.25,0.00,0.000,4,0.000,0.045,1818,899,3412
$GC,3768,-0.77,-117.3,317.0,-7.8,174,3773,0.10,2.22,0.00,0.000,6,0.130,0.038,1837,2304,3412
$GC,4101,-0.81,-117.3,338.7,-6.6,180,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2305,3412
$GC,4403,-0.85,-117.3,357.6,-6.2,185,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2305,3411
$GC,4707,-0.89,-117.3,376.4,-6.2,190,4709,0.12,0.00,0.00,0.000,6,0.059,0.000,1763,2305,3410
$GC,5010,-0.79,-117.3,407.2,-10.3,195,5014,0.17,2.25,0.00,0.000,4,0.127,0.044,1822,891,3410
$GC,5077,-0.82,-117.3,412.7,-7.6,196,5081,0.00,2.25,0.00,0.000,6,0.000,0.045,1820,2303,3410
$GC,5443,-0.82,-117.3,438.6,-7.1,202,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2303,3409
$GC,5746,-0.82,-117.3,459.2,-6.8,207,5749,0.00,2.22,0.00,0.000,4,0.000,0.044,1819,902,3409
$GC,5779,-0.82,-117.3,461.6,-7.4,207,5783,0.00,2.25,0.00,0.000,6,0.000,0.044,1810,2308,3408
$GC,6111,-0.82,-117.3,484.2,-6.7,213,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2309,3408
$GC,6415,-0.82,-117.3,504.6,-6.7,218,6419,0.00,2.28,0.00,0.000,4,0.000,0.045,1811,894,3408
$GC,6455,-0.82,-117.3,507.4,-7.7,218,6459,0.00,2.28,0.00,0.000,6,0.000,0.044,1807,2313,3408
$GC,6777,-0.82,-117.3,529.1,-6.7,224,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2313,3408
$GC,7079,-0.82,-117.3,549.7,-6.9,229,7083,0.00,2.28,0.00,0.000,4,0.000,0.046,1807,890,3408
$GC,7112,-0.82,-117.3,552.5,-8.3,229,7116,0.10,2.25,0.00,0.000,6,0.130,0.040,1826,2305,3407
$GC,7439,-0.86,-117.3,573.1,-6.3,235,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2305,3407
$GC,7742,-0.90,-117.3,592.1,-6.3,240,7744,0.10,0.00,0.00,0.000,6,0.067,0.000,1764,2304,3407
$GC,8044,-0.82,-117.3,620.4,-9.4,245,8049,0.20,2.30,0.00,0.000,4,0.121,0.051,1828,893,3406
$GC,8077,-0.87,-117.3,623.2,-7.5,245,8082,0.00,2.25,0.00,0.000,6,0.000,0.044,1823,2301,3406
$GC,8405,-0.90,-117.3,645.5,-6.9,251,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2301,3406
$GC,8707,-0.94,-117.3,667.2,-7.1,256,8709,0.10,0.00,0.00,0.000,6,0.067,0.000,1752,2301,3406
$GC,9011,-0.84,-117.3,698.3,-10.4,261,9013,0.22,0.00,0.00,0.000,6,0.125,0.000,1819,2301,3405
$GC,9314,-0.88,-117.3,716.8,-5.8,266,9318,0.00,2.28,0.00,0.000,4,0.000,0.051,1820,891,3406
$GC,9348,-0.92,-117.3,719.0,-6.0,266,9352,0.00,2.28,0.00,0.000,6,0.000,0.044,1819,2309,3406
$GC,9675,-0.95,-117.3,736.9,-5.4,272,9679,0.10,2.28,0.00,0.000,4,0.067,0.051,1755,3712,3405
$GC,9708,-0.87,-117.3,739.6,-8.8,272,9712,0.20,2.20,0.00,0.000,6,0.125,0.033,1813,2299,3405
$GC,10036,-0.89,-117.3,757.7,-5.4,278,10040,0.00,2.25,0.00,0.000,4,0.000,0.046,1813,891,3405
$GC,10069,-0.92,-117.3,759.7,-6.4,278,10073,0.00,2.25,0.00,0.000,6,0.000,0.039,1809,2305,3405
$GC,10403,-0.92,-117.3,777.9,-5.5,284,10407,0.00,2.28,0.00,0.000,4,0.000,0.051,1799,3711,3405
$GC,10430,-0.92,-117.3,779.6,-6.1,284,10434,0.00,2.20,0.00,0.000,6,0.000,0.037,1799,2306,3404
$GC,10762,-0.92,-117.3,799.9,-6.1,290,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2306,3404
$GC,11066,-0.92,-117.3,819.0,-6.4,295,11070,0.00,2.30,0.00,0.000,4,0.000,0.052,1800,890,3404
$GC,11106,-0.92,-117.3,822.0,-7.8,295,11110,0.00,2.28,0.00,0.000,6,0.000,0.040,1794,2305,3404
$GC,11428,-0.92,-117.3,844.4,-7.0,301,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2306,3404
$GC,11730,-0.92,-117.3,866.7,-7.4,306,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3404
$GC,12033,-0.92,-117.3,889.7,-7.6,311,12037,0.00,2.28,0.00,0.000,4,0.000,0.054,1786,3709,3404
$GC,12060,-0.92,-117.3,892.1,-9.3,311,12063,0.00,2.22,0.00,0.000,6,0.000,0.035,1785,2293,3403
$GC,12399,-0.90,-117.3,919.7,-8.2,317,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,2293,3404
$GC,12701,-0.88,-117.3,944.8,-8.3,322,12706,0.10,2.35,0.00,0.000,4,0.133,0.051,1804,3712,3403
$GC,12723,-0.88,-117.3,946.6,-7.5,322,12727,0.00,2.25,0.00,0.000,6,0.000,0.034,1804,2294,3403
$GC,13067,-0.90,-117.3,972.1,-7.5,328,13071,0.00,2.33,0.00,0.000,4,0.000,0.051,1794,3709,3403
$GC,13100,-0.90,-117.3,974.8,-8.4,328,13104,0.00,2.22,0.00,0.000,6,0.000,0.034,1794,2296,3403
$STATE,13309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13309,begin apogee
$GC,13316,-0.22,0.0,990.4,7.4,332,13415,0.50,0.00,96.93,1.296,6,0.116,0.000,1954,2296,2931
$STATE,13416,end apogee,CONTROL_FINISHED_OK
$STATE,13416,begin climb
$GC,13419,0.68,117.3,992.2,0.0,333,13531,0.60,2.58,103.15,1.266,4,0.077,0.051,2156,3709,2451
$GC,13558,0.51,117.3,990.8,6.5,336,13563,0.25,2.42,0.00,0.000,6,0.173,0.039,2108,2307,2447
$GC,13925,0.47,120.1,971.1,5.4,342,13929,0.00,2.35,0.00,0.000,4,0.000,0.049,2117,887,2440
$GC,13964,0.44,120.1,968.6,6.2,342,13968,0.00,2.30,0.00,0.000,6,0.000,0.044,2117,2302,2439
$GC,14286,0.39,120.1,949.7,5.9,348,14291,0.12,2.30,0.00,0.000,4,0.146,0.051,2085,3713,2438
$GC,14330,0.36,120.1,946.9,6.1,348,14334,0.00,2.25,0.00,0.000,6,0.000,0.035,2094,2295,2438
$GC,14646,0.38,134.6,931.1,5.0,354,14662,0.00,0.00,13.88,1.147,6,0.000,0.000,2094,2295,2382
$GC,14949,0.39,141.6,915.3,5.3,359,14963,0.00,2.38,7.57,1.016,4,0.000,0.055,2094,3713,2352
$GC,14997,0.35,141.6,912.4,6.7,359,15002,0.12,2.25,0.00,0.000,6,0.160,0.041,2073,2300,2351
$GC,15313,0.48,169.0,898.0,4.6,365,15341,0.10,0.00,24.95,1.188,6,0.076,0.000,2117,2299,2241
$GC,15616,0.54,169.0,881.1,5.6,370,15620,0.00,2.30,0.00,0.000,4,0.000,0.048,2122,897,2236
$GC,15767,0.54,169.0,872.9,6.0,372,15771,0.00,2.28,0.00,0.000,6,0.000,0.043,2121,2310,2235
$GC,16111,0.51,172.9,854.5,5.4,378,16120,0.00,2.30,4.07,0.744,4,0.000,0.055,2121,3700,2226
$GC,16138,0.46,172.9,852.7,5.9,378,16143,0.12,2.22,0.00,0.000,6,0.157,0.035,2100,2301,2225
$GC,16476,0.52,203.1,837.3,4.5,384,16506,0.00,0.00,28.10,1.160,6,0.000,0.000,2100,2300,2102
$GC,16779,0.59,224.6,822.9,4.8,389,16801,0.10,0.00,19.80,1.119,6,0.071,0.000,2152,2300,2015
$GC,17082,0.52,224.6,799.1,8.1,394,17087,0.15,2.33,0.00,0.000,4,0.140,0.049,2113,3716,2010
$GC,17121,0.52,224.6,796.4,6.6,394,17125,0.00,2.25,0.00,0.000,6,0.000,0.034,2121,2305,2009
$GC,17443,0.52,224.6,778.5,5.5,400,17444,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2304,2008
$GC,17745,0.52,228.0,762.2,5.4,405,17747,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2304,2007
$GC,18049,0.53,231.6,746.1,5.4,410,18062,0.00,2.28,6.82,0.912,4,0.000,0.054,2121,3713,1985
$GC,18102,0.53,231.6,742.6,6.6,410,18106,0.00,2.22,0.00,0.000,6,0.000,0.033,2131,2301,1984
$GC,18412,0.53,231.6,724.2,5.9,415,18416,0.00,2.28,0.00,0.000,4,0.000,0.053,2131,3710,1983
$GC,18435,0.51,231.6,722.6,7.1,415,18439,0.12,2.22,0.00,0.000,6,0.142,0.034,2109,2295,1983
$GC,18774,0.56,239.8,705.2,5.2,421,18784,0.00,0.00,8.38,0.940,6,0.000,0.000,2109,2295,1953
$GC,19076,0.61,239.8,688.6,5.6,426,19080,0.10,2.28,0.00,0.000,4,0.066,0.045,2182,894,1950
$GC,19097,0.61,239.8,686.8,7.4,426,19102,0.20,2.25,0.00,0.000,6,0.135,0.039,2127,2305,1950
$GC,19435,0.61,239.8,664.4,6.7,432,19439,0.00,2.28,0.00,0.000,4,0.000,0.056,2126,3708,1950
$GC,19497,0.61,239.8,659.4,9.5,433,19501,0.00,2.25,0.00,0.000,6,0.000,0.037,2135,2293,1950
$GC,19863,0.61,239.8,632.1,7.3,439,19867,0.00,2.28,0.00,0.000,4,0.000,0.048,2135,3709,1949
$GC,19909,0.57,239.8,628.4,8.2,439,19913,0.00,2.20,0.00,0.000,6,0.000,0.033,2145,2302,1949
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$STATE,29335,end climb,SURFACE_DEPTH_REACHED
$STATE,29335,begin surface coast
$FINISH,0.9,1.024704
$STATE,29408,end surface coast,CONTROL_FINISHED_OK
$STATE,29408,begin surface
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$10V_AH,10.6,49.345
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$DATA_FILE_SIZE,44325,767
$CAP_FILE_SIZE,199046,0
$CFSIZE,260165632,228020224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
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