version: 66.04
glider: 144
mission: 15
dive: 401
start: 10 23 109 8 36 49
data:
$ID,144
$MISSION,15
$DIVE,401
$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,-69193.477
$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,33
$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
$GPS1,082337,4957.578,-14439.465,29,1.7,29,18.5
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-52.1
$GPS2,083555,4957.501,-14439.336,12,1.8,12,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.106,0.130
$KALMAN_X,-74400.2,-164.5,-473.5,111970.8,382.8
$KALMAN_Y,24398.5,-157.3,27.6,-67735.7,-59.1
$MHEAD_RNG_PITCHd_Wd,302.5,23060,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.68,-117.3,0.0,0.0,0,62,0.00,0.00,-41.67,0.000,2,0.000,0.000,99,2306,2527
$GC,65,-0.68,-117.3,3.2,-3.7,4,100,7.07,2.40,-22.30,0.000,4,0.230,0.058,1845,896,3413
$GC,209,-0.63,-117.3,20.5,-9.9,16,216,0.10,2.25,0.00,0.000,6,0.137,0.041,1863,2309,3415
$GC,537,-0.63,-117.3,57.0,-9.8,47,538,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2309,3415
$GC,863,-0.63,-117.3,81.9,-8.1,77,864,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2309,3416
$GC,1172,-0.63,-117.3,106.2,-8.3,92,1176,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,893,3416
$GC,1213,-0.67,-117.3,109.6,-8.6,94,1217,0.00,2.22,0.00,0.000,6,0.000,0.040,1863,2301,3416
$GC,1547,-0.70,-117.3,134.5,-6.9,110,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2301,3416
$GC,1855,-0.75,-117.3,155.1,-6.3,124,1859,0.10,2.25,0.00,0.000,4,0.064,0.040,1791,884,3415
$GC,1893,-0.67,-117.3,159.0,-11.1,125,1898,0.25,2.28,0.00,0.000,6,0.117,0.038,1858,2314,3416
$GC,2218,-0.73,-117.3,179.1,-5.7,136,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2314,3415
$GC,2523,-0.79,-117.3,197.6,-6.2,146,2528,0.12,2.28,0.00,0.000,4,0.054,0.041,1777,883,3414
$GC,2596,-0.71,-117.3,205.2,-11.3,148,2601,0.28,2.28,0.00,0.000,6,0.117,0.044,1850,2309,3414
$GC,2920,-0.77,-117.3,227.0,-6.4,159,2924,0.00,2.25,0.00,0.000,4,0.000,0.043,1851,890,3413
$GC,2954,-0.82,-117.3,229.2,-6.6,160,2959,0.10,2.25,0.00,0.000,6,0.066,0.040,1778,2307,3413
$GC,3283,-0.74,-117.3,262.8,-10.7,171,3285,0.20,0.00,0.00,0.000,6,0.122,0.000,1837,2308,3413
$GC,3590,-0.77,-117.3,285.7,-7.2,181,3594,0.00,2.28,0.00,0.000,4,0.000,0.043,1838,885,3412
$GC,3653,-0.82,-117.3,290.4,-7.5,183,3657,0.00,2.28,0.00,0.000,6,0.000,0.042,1837,2311,3412
$GC,3986,-0.85,-117.3,312.6,-6.5,191,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2312,3411
$GC,4290,-0.88,-117.3,331.1,-6.1,196,4292,0.10,0.00,0.00,0.000,6,0.064,0.000,1766,2312,3410
$GC,4593,-0.78,-117.3,361.2,-10.2,201,4598,0.17,2.28,0.00,0.000,4,0.126,0.043,1825,894,3410
$GC,4665,-0.78,-117.3,367.1,-7.5,202,4669,0.00,2.25,0.00,0.000,6,0.000,0.038,1819,2311,3410
$GC,5026,-0.78,-117.3,391.7,-6.8,208,5030,0.00,2.25,0.00,0.000,4,0.000,0.043,1818,896,3409
$GC,5059,-0.78,-117.3,394.2,-6.8,208,5063,0.00,2.22,0.00,0.000,6,0.000,0.042,1809,2303,3410
$GC,5398,-0.78,-117.3,417.4,-6.9,214,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3409
$GC,5700,-0.78,-117.3,439.5,-7.3,219,5704,0.00,2.28,0.00,0.000,4,0.000,0.047,1810,883,3408
$GC,5734,-0.78,-117.3,442.3,-7.8,219,5739,0.12,2.28,0.00,0.000,6,0.124,0.040,1836,2308,3408
$GC,6060,-0.83,-117.3,462.8,-6.3,225,6064,0.00,2.28,0.00,0.000,4,0.000,0.052,1829,3716,3408
$GC,6090,-0.89,-117.3,464.6,-7.2,225,6094,0.00,2.20,0.00,0.000,6,0.000,0.031,1828,2293,3408
$GC,6423,-0.92,-117.3,486.5,-6.6,231,6427,0.10,2.22,0.00,0.000,4,0.067,0.044,1754,898,3407
$GC,6478,-0.82,-117.3,492.3,-11.1,231,6485,0.28,2.22,0.00,0.000,6,0.124,0.044,1828,2305,3407
$GC,6788,-0.86,-117.3,513.9,-6.9,237,6792,0.00,2.25,0.00,0.000,4,0.000,0.045,1827,903,3407
$GC,6822,-0.89,-117.3,516.5,-7.4,237,6826,0.00,2.22,0.00,0.000,6,0.000,0.039,1822,2306,3407
$GC,7161,-0.92,-117.3,540.3,-7.1,243,7163,0.08,0.00,0.00,0.000,6,0.081,0.000,1756,2306,3407
$GC,7463,-0.82,-117.3,571.4,-10.5,248,7468,0.17,2.28,0.00,0.000,4,0.127,0.046,1815,898,3406
$GC,7529,-0.82,-117.3,576.9,-7.6,249,7533,0.00,2.22,0.00,0.000,6,0.000,0.041,1808,2304,3406
$GC,7896,-0.82,-117.3,602.8,-7.1,255,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2304,3406
$GC,8198,-0.82,-117.3,624.1,-7.0,260,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3406
$GC,8502,-0.82,-117.3,644.9,-6.8,265,8506,0.00,2.28,0.00,0.000,4,0.000,0.050,1809,896,3405
$GC,8535,-0.82,-117.3,647.3,-7.5,265,8539,0.00,2.28,0.00,0.000,6,0.000,0.044,1806,2312,3405
$GC,8862,-0.82,-117.3,667.9,-6.2,271,8863,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2312,3405
$GC,9164,-0.82,-117.3,685.6,-5.8,276,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2312,3404
$GC,9467,-0.82,-117.3,703.1,-5.8,281,9471,0.00,2.30,0.00,0.000,4,0.000,0.051,1806,895,3404
$GC,9505,-0.82,-117.3,705.5,-6.3,281,9510,0.10,2.28,0.00,0.000,6,0.127,0.042,1824,2312,3404
$GC,9828,-0.87,-117.3,720.8,-4.8,287,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2312,3404
$GC,10130,-0.91,-117.3,736.6,-5.3,292,10135,0.10,2.28,0.00,0.000,4,0.066,0.044,1764,892,3403
$GC,10169,-0.83,-117.3,739.7,-9.1,292,10174,0.22,2.28,0.00,0.000,6,0.122,0.045,1822,2311,3403
$GC,10490,-0.87,-117.3,759.3,-6.0,298,10491,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2311,3404
$GC,10793,-0.92,-117.3,778.6,-6.4,303,10797,0.00,2.28,0.00,0.000,4,0.000,0.051,1822,899,3403
$GC,10820,-0.96,-117.3,780.5,-7.0,303,10825,0.12,2.25,0.00,0.000,6,0.063,0.044,1756,2304,3403
$GC,11153,-0.88,-117.3,811.3,-9.4,309,11155,0.20,0.00,0.00,0.000,6,0.123,0.000,1816,2303,3403
$GC,11457,-0.91,-117.3,829.9,-5.9,314,11461,0.00,2.28,0.00,0.000,4,0.000,0.053,1816,899,3403
$GC,11491,-0.94,-117.3,832.2,-6.8,314,11495,0.00,2.25,0.00,0.000,6,0.000,0.047,1810,2306,3403
$GC,11823,-0.97,-117.3,853.0,-6.2,320,11824,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2306,3402
$GC,12127,-0.99,-117.3,871.7,-6.2,325,12129,0.10,0.00,0.00,0.000,6,0.076,0.000,1756,2306,3402
$GC,12430,-0.91,-117.3,897.4,-8.5,330,12435,0.17,2.30,0.00,0.000,4,0.126,0.048,1814,899,3402
$GC,12470,-0.95,-117.3,900.2,-7.3,330,12474,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2308,3402
$GC,12792,-0.97,-117.3,919.4,-6.0,336,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2308,3402
$GC,13094,-1.00,-117.3,936.8,-5.7,341,13099,0.10,2.30,0.00,0.000,4,0.078,0.051,1764,902,3402
$GC,13138,-0.93,-117.3,940.2,-7.3,341,13143,0.15,2.28,0.00,0.000,6,0.137,0.044,1796,2312,3402
$GC,13453,-0.93,-117.3,959.1,-5.9,347,13457,0.00,2.33,0.00,0.000,4,0.000,0.048,1797,893,3402
$GC,13482,-0.93,-117.3,960.8,-6.1,347,13486,0.00,2.30,0.00,0.000,6,0.000,0.041,1795,2313,3402
$GC,13815,-0.93,-117.3,980.4,-5.9,353,13819,0.00,2.30,0.00,0.000,4,0.000,0.054,1795,896,3402
$GC,13855,-0.93,-117.3,983.0,-6.8,353,13859,0.00,2.28,0.00,0.000,6,0.000,0.049,1792,2305,3402
$STATE,13991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13991,begin apogee
$GC,13998,-0.22,0.0,991.7,6.2,356,14097,0.50,0.00,96.60,1.299,6,0.118,0.000,1952,2305,2931
$STATE,14098,end apogee,CONTROL_FINISHED_OK
$STATE,14098,begin climb
$GC,14101,0.68,117.3,992.7,0.0,357,14211,0.60,2.55,103.00,1.269,4,0.077,0.057,2153,3714,2451
$GC,14237,0.52,117.3,989.6,6.7,360,14243,0.22,2.40,0.00,0.000,6,0.167,0.035,2111,2314,2447
$GC,14604,0.48,121.5,969.5,5.4,366,14608,0.00,2.35,0.00,0.000,4,0.000,0.055,2120,886,2441
$GC,14638,0.46,129.6,967.6,5.2,366,14652,0.00,2.30,10.07,1.093,6,0.000,0.047,2120,2308,2402
$GC,14963,0.40,129.6,949.0,5.7,372,14968,0.12,2.28,0.00,0.000,4,0.146,0.054,2088,3711,2399
$GC,15008,0.40,144.6,946.5,5.0,372,15028,0.00,2.25,14.20,1.148,6,0.000,0.034,2096,2290,2341
$GC,15396,0.41,151.7,926.4,5.3,379,15405,0.00,0.00,7.35,1.009,6,0.000,0.000,2096,2290,2312
$GC,15699,0.41,151.7,909.2,5.7,384,15703,0.00,2.33,0.00,0.000,4,0.000,0.051,2096,3716,2310
$GC,15749,0.38,151.7,905.7,6.3,384,15754,0.10,2.25,0.00,0.000,6,0.166,0.041,2084,2295,2309
$GC,16059,0.44,163.0,889.7,5.1,389,16072,0.00,0.00,11.10,1.093,6,0.000,0.000,2083,2295,2265
$GC,16363,0.49,166.4,873.3,5.4,394,16373,0.10,2.33,4.40,0.792,4,0.072,0.056,2134,3720,2252
$GC,16401,0.38,166.4,870.3,8.6,394,16406,0.22,2.25,0.00,0.000,6,0.156,0.038,2085,2298,2251
$GC,16729,0.44,179.4,853.3,5.1,400,16754,0.00,2.30,15.02,0.977,4,0.000,0.048,2094,897,2198
$GC,16771,0.52,190.4,851.0,5.1,400,16788,0.00,2.28,11.15,1.062,6,0.000,0.044,2093,2313,2154
$GC,17092,0.58,199.7,834.5,5.2,406,17106,0.10,2.30,9.43,1.028,4,0.074,0.055,2146,3719,2116
$GC,17130,0.48,199.7,831.5,8.0,406,17134,0.20,2.28,0.00,0.000,6,0.148,0.034,2103,2299,2114
$GC,17456,0.53,210.0,814.0,5.2,412,17469,0.00,0.00,10.55,1.039,6,0.000,0.000,2103,2299,2074
$GC,17760,0.59,229.9,799.2,4.8,417,17785,0.10,2.40,18.83,1.106,4,0.069,0.056,2157,3703,1992
$GC,17808,0.50,229.9,795.3,7.7,417,17813,0.22,2.28,0.00,0.000,6,0.143,0.033,2108,2304,1991
$GC,18124,0.55,233.1,777.7,5.4,423,18128,0.00,2.33,0.00,0.000,4,0.000,0.054,2117,894,1988
$GC,18148,0.64,263.8,776.5,4.5,423,18185,0.08,2.28,30.62,1.118,6,0.085,0.041,2162,2305,1854
$GC,18489,0.57,263.8,745.1,9.4,429,18493,0.15,2.30,0.00,0.000,4,0.137,0.051,2123,3716,1848
$GC,18544,0.57,263.8,740.2,7.6,429,18550,0.00,2.28,0.00,0.000,6,0.000,0.038,2131,2294,1847
$GC,18854,0.57,263.8,718.5,7.0,435,18855,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2293,1846
$GC,19157,0.57,263.8,698.2,6.7,440,19161,0.00,2.30,0.00,0.000,4,0.000,0.049,2131,3710,1845
$GC,19206,0.57,263.8,694.1,8.0,440,19210,0.00,2.22,0.00,0.000,6,0.000,0.034,2141,2300,1845
$GC,19522,0.57,263.8,672.1,7.0,446,19523,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2300,1845
$GC,19825,0.57,263.8,651.8,6.7,451,19829,0.00,2.28,0.00,0.000,4,0.000,0.049,2142,3710,1844
$GC,19859,0.54,263.8,649.2,7.3,451,19864,0.12,2.22,0.00,0.000,6,0.137,0.033,2118,2291,1844
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$STATE,29011,end climb,SURFACE_DEPTH_REACHED
$STATE,29012,begin surface coast
$FINISH,1.1,1.003426
$STATE,29023,end surface coast,CONTROL_FINISHED_OK
$STATE,29023,begin surface
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$10V_AH,10.5,50.258
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$DATA_FILE_SIZE,44325,755
$CAP_FILE_SIZE,202665,0
$CFSIZE,260165632,227459072
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