version: 66.04
glider: 144
mission: 15
dive: 493
start: 11 23 109 14 32 52
data:
$ID,144
$MISSION,15
$DIVE,493
$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,-71406.062
$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,35
$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
$GPS1,142536,5011.867,-14458.014,39,1.5,39,18.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-44.5
$GPS2,143156,5011.856,-14457.938,12,1.4,12,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.114,0.123
$KALMAN_X,-97328.7,155.4,-54.6,112162.8,-568.6
$KALMAN_Y,19444.4,-172.9,-352.7,-35814.5,346.5
$MHEAD_RNG_PITCHd_Wd,298.7,23692,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,79,0.00,0.00,-60.62,0.000,2,0.000,0.000,99,2308,2531
$GC,83,-0.68,-117.3,3.2,-2.8,6,121,7.30,2.33,-25.75,0.000,4,0.243,0.061,1845,898,3410
$GC,227,-0.65,-117.3,14.9,-8.4,18,231,0.10,2.25,0.00,0.000,6,0.134,0.044,1863,2316,3411
$GC,560,-0.65,-117.3,48.8,-11.0,49,564,0.00,2.28,0.00,0.000,4,0.000,0.042,1863,893,3411
$GC,612,-0.68,-117.3,55.8,-12.6,53,616,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2306,3412
$GC,935,-0.68,-117.3,87.0,-8.5,79,939,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,895,3411
$GC,1009,-0.72,-117.3,93.0,-7.6,82,1013,0.00,2.25,0.00,0.000,6,0.000,0.038,1862,2310,3411
$GC,1331,-0.75,-117.3,117.5,-8.0,98,1333,0.10,0.00,0.00,0.000,6,0.064,0.000,1783,2311,3412
$GC,1640,-0.66,-117.3,152.3,-11.6,113,1642,0.25,0.00,0.00,0.000,6,0.114,0.000,1861,2311,3411
$GC,1947,-0.73,-117.3,171.7,-5.6,123,1951,0.00,2.25,0.00,0.000,4,0.000,0.041,1861,894,3412
$GC,1992,-0.82,-117.3,174.5,-6.4,124,1997,0.15,2.20,0.00,0.000,6,0.049,0.038,1764,2304,3411
$GC,2323,-0.71,-117.3,211.2,-11.6,135,2325,0.28,0.00,0.00,0.000,6,0.120,0.000,1847,2304,3411
$GC,2630,-0.75,-117.3,232.8,-6.9,145,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2304,3411
$GC,2935,-0.80,-117.3,254.0,-7.1,155,2940,0.10,2.28,0.00,0.000,4,0.065,0.041,1780,887,3411
$GC,2991,-0.74,-117.3,259.8,-11.2,156,2996,0.25,2.25,0.00,0.000,6,0.114,0.038,1846,2305,3411
$GC,3305,-0.79,-117.3,281.8,-6.9,166,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2306,3411
$GC,3641,-0.85,-117.3,304.2,-6.6,176,3645,0.12,2.28,0.00,0.000,4,0.056,0.043,1769,893,3410
$GC,3668,-0.79,-117.3,306.8,-10.1,176,3673,0.25,2.25,0.00,0.000,6,0.120,0.044,1831,2303,3410
$GC,4002,-0.82,-117.3,330.9,-7.0,182,4006,0.00,2.25,0.00,0.000,4,0.000,0.044,1832,891,3410
$GC,4036,-0.85,-117.3,333.5,-7.5,182,4040,0.00,2.25,0.00,0.000,6,0.000,0.041,1824,2308,3410
$GC,4363,-0.85,-117.3,358.3,-7.6,188,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2308,3409
$GC,4666,-0.85,-117.3,380.5,-7.2,193,4670,0.00,2.25,0.00,0.000,4,0.000,0.051,1825,892,3409
$GC,4724,-0.87,-117.3,384.6,-7.3,193,4728,0.00,2.25,0.00,0.000,6,0.000,0.039,1821,2304,3410
$GC,5034,-0.87,-117.3,406.2,-7.0,198,5038,0.00,2.25,0.00,0.000,4,0.000,0.047,1821,896,3409
$GC,5078,-0.87,-117.3,409.7,-7.7,198,5082,0.00,2.22,0.00,0.000,6,0.000,0.041,1811,2303,3409
$GC,5395,-0.87,-117.3,432.2,-7.2,204,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2303,3409
$GC,5698,-0.87,-117.3,454.0,-7.2,209,5702,0.00,2.25,0.00,0.000,4,0.000,0.051,1811,892,3408
$GC,5726,-0.87,-117.3,456.3,-7.8,209,5730,0.00,2.28,0.00,0.000,6,0.000,0.041,1804,2314,3408
$GC,6064,-0.87,-117.3,480.8,-7.2,215,6068,0.00,2.28,0.00,0.000,4,0.000,0.044,1804,889,3407
$GC,6115,-0.87,-117.3,484.8,-8.3,215,6119,0.00,2.25,0.00,0.000,6,0.000,0.040,1794,2301,3407
$GC,6426,-0.84,-117.3,508.2,-7.6,220,6430,0.10,2.25,0.00,0.000,4,0.140,0.049,1822,892,3407
$GC,6476,-0.88,-117.3,511.9,-7.1,220,6480,0.00,2.25,0.00,0.000,6,0.000,0.041,1822,2303,3407
$GC,6787,-0.90,-117.3,531.7,-6.4,225,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2304,3407
$GC,7090,-0.93,-117.3,551.3,-6.5,230,7094,0.10,2.25,0.00,0.000,4,0.066,0.046,1758,897,3407
$GC,7153,-0.84,-117.3,557.5,-10.5,231,7158,0.22,2.28,0.00,0.000,6,0.127,0.041,1819,2312,3407
$GC,7520,-0.87,-117.3,582.2,-6.5,237,7524,0.00,2.30,0.00,0.000,4,0.000,0.047,1821,894,3407
$GC,7548,-0.89,-117.3,584.3,-6.9,237,7552,0.00,2.28,0.00,0.000,6,0.000,0.044,1820,2307,3407
$GC,7881,-0.92,-117.3,605.2,-6.2,243,7885,0.00,2.30,0.00,0.000,4,0.000,0.044,1820,892,3406
$GC,7915,-0.95,-117.3,607.4,-6.5,243,7919,0.00,2.25,0.00,0.000,6,0.000,0.040,1811,2303,3406
$GC,8249,-0.95,-117.3,628.2,-6.2,249,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2304,3406
$GC,8550,-0.95,-117.3,647.3,-6.2,254,8554,0.00,2.30,0.00,0.000,4,0.000,0.045,1811,892,3406
$GC,8601,-0.95,-117.3,650.7,-6.4,254,8605,0.00,2.28,0.00,0.000,6,0.000,0.044,1809,2303,3406
$GC,8913,-0.95,-117.3,669.2,-6.0,259,8917,0.00,2.28,0.00,0.000,4,0.000,0.048,1808,892,3406
$GC,8946,-0.95,-117.3,671.4,-6.5,259,8950,0.00,2.25,0.00,0.000,6,0.000,0.041,1806,2306,3406
$GC,9280,-0.95,-117.3,691.0,-6.0,265,9284,0.00,2.28,0.00,0.000,4,0.000,0.049,1807,896,3405
$GC,9319,-0.95,-117.3,693.8,-6.7,265,9323,0.00,2.25,0.00,0.000,6,0.000,0.043,1797,2312,3405
$GC,9646,-0.95,-117.3,715.4,-6.6,271,9650,0.00,2.25,0.00,0.000,4,0.000,0.050,1797,901,3405
$GC,9685,-0.95,-117.3,718.4,-7.7,271,9689,0.00,2.25,0.00,0.000,6,0.000,0.047,1794,2303,3405
$GC,10011,-0.95,-117.3,742.1,-7.3,277,10015,0.00,2.28,0.00,0.000,4,0.000,0.049,1794,895,3406
$GC,10045,-0.95,-117.3,745.1,-8.1,277,10049,0.00,2.28,0.00,0.000,6,0.000,0.044,1785,2308,3405
$GC,10372,-0.92,-117.3,770.9,-7.9,283,10376,0.00,2.28,0.00,0.000,4,0.000,0.052,1785,898,3405
$GC,10422,-0.89,-117.3,775.3,-8.8,283,10427,0.10,2.28,0.00,0.000,6,0.139,0.041,1808,2309,3405
$GC,10733,-0.91,-117.3,795.9,-6.6,288,10737,0.00,2.28,0.00,0.000,4,0.000,0.050,1808,897,3405
$GC,10785,-0.94,-117.3,799.7,-8.0,288,10789,0.00,2.28,0.00,0.000,6,0.000,0.047,1808,2311,3405
$GC,11095,-0.96,-117.3,820.7,-6.8,293,11096,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2311,3405
$GC,11398,-0.96,-117.3,840.4,-6.5,298,11402,0.00,2.33,0.00,0.000,4,0.000,0.045,1808,889,3405
$GC,11455,-0.98,-117.3,844.3,-7.1,298,11461,0.00,2.30,0.00,0.000,6,0.000,0.042,1808,2313,3404
$GC,11765,-1.00,-117.3,863.3,-6.0,304,11770,0.10,2.30,0.00,0.000,4,0.073,0.051,1760,898,3405
$GC,11805,-0.92,-117.3,866.6,-9.3,304,11809,0.17,2.28,0.00,0.000,6,0.130,0.041,1805,2311,3404
$GC,12126,-0.92,-117.3,885.3,-5.7,310,12130,0.00,2.30,0.00,0.000,4,0.000,0.048,1805,898,3404
$GC,12171,-0.92,-117.3,888.1,-5.8,310,12175,0.00,2.28,0.00,0.000,6,0.000,0.044,1803,2307,3404
$GC,12488,-0.92,-117.3,905.1,-5.4,316,12492,0.00,2.30,0.00,0.000,4,0.000,0.048,1803,898,3404
$GC,12532,-0.92,-117.3,907.8,-5.8,316,12536,0.00,2.28,0.00,0.000,6,0.000,0.042,1795,2302,3404
$GC,12848,-0.92,-117.3,925.9,-5.8,322,12852,0.00,2.30,0.00,0.000,4,0.000,0.049,1795,890,3404
$GC,12875,-0.92,-117.3,927.9,-7.2,322,12879,0.00,2.30,0.00,0.000,6,0.000,0.043,1794,2308,3404
$GC,13214,-0.92,-117.3,947.8,-5.9,328,13218,0.00,2.30,0.00,0.000,4,0.000,0.054,1794,892,3404
$GC,13276,-0.92,-117.3,952.0,-6.9,329,13281,0.00,2.28,0.00,0.000,6,0.000,0.044,1794,2301,3404
$GC,13643,-0.92,-117.3,974.9,-6.4,335,13648,0.00,2.30,0.00,0.000,4,0.000,0.051,1793,893,3404
$GC,13718,-0.92,-117.3,980.3,-7.2,336,13722,0.00,2.30,0.00,0.000,6,0.000,0.044,1783,2311,3404
$STATE,13887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13887,begin apogee
$GC,13895,-0.22,0.0,992.2,6.8,339,13996,0.52,0.00,97.97,1.294,6,0.116,0.000,1952,2312,2931
$STATE,13997,end apogee,CONTROL_FINISHED_OK
$STATE,13997,begin climb
$GC,14000,0.68,117.3,993.5,0.0,340,14112,0.55,2.55,104.30,1.266,4,0.071,0.054,2148,3703,2451
$GC,14128,0.57,117.3,991.6,5.9,342,14133,0.15,2.40,0.00,0.000,6,0.166,0.034,2125,2310,2448
$GC,14495,0.50,117.3,971.2,5.6,348,14499,0.00,2.33,0.00,0.000,4,0.000,0.051,2134,894,2441
$GC,14528,0.44,117.3,969.2,5.6,348,14533,0.15,2.28,0.00,0.000,6,0.143,0.042,2095,2306,2441
$GC,14862,0.47,142.0,953.6,4.7,354,14887,0.00,2.30,20.52,1.191,4,0.000,0.055,2095,3714,2351
$GC,14944,0.45,142.0,948.9,5.7,355,14949,0.00,2.25,0.00,0.000,6,0.000,0.034,2102,2299,2349
$GC,15288,0.45,147.6,930.5,5.3,361,15299,0.00,2.33,5.82,0.927,4,0.000,0.056,2103,3717,2329
$GC,15334,0.41,147.6,927.7,6.1,361,15339,0.10,2.25,0.00,0.000,6,0.158,0.037,2090,2298,2327
$GC,15650,0.46,172.5,912.9,4.7,367,15675,0.00,0.00,23.27,1.185,6,0.000,0.000,2090,2297,2227
$GC,15953,0.53,197.1,898.6,4.7,372,15983,0.10,2.40,22.33,1.170,4,0.074,0.055,2142,3711,2126
$GC,16006,0.45,197.1,894.9,7.0,372,16011,0.20,2.25,0.00,0.000,6,0.145,0.037,2099,2305,2124
$GC,16317,0.52,215.9,879.3,4.9,377,16336,0.00,0.00,17.50,1.138,6,0.000,0.000,2099,2305,2050
$GC,16621,0.60,238.8,864.9,4.7,382,16644,0.10,0.00,21.27,1.145,6,0.070,0.000,2152,2303,1957
$GC,16924,0.54,238.8,841.8,7.8,387,16929,0.15,2.30,0.00,0.000,4,0.134,0.055,2111,3711,1951
$GC,16951,0.54,238.8,839.7,6.4,387,16956,0.00,2.20,0.00,0.000,6,0.000,0.035,2119,2300,1950
$GC,17291,0.56,239.2,821.2,5.5,393,17292,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2301,1949
$GC,17594,0.58,239.2,804.4,5.5,398,17595,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2301,1949
$GC,17896,0.61,239.2,786.7,5.9,403,17897,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2301,1949
$GC,18200,0.64,239.2,768.2,6.1,408,18201,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2301,1949
$GC,18502,0.67,239.2,749.0,6.3,413,18504,0.10,0.00,0.00,0.000,6,0.064,0.000,2176,2300,1948
$GC,18806,0.57,239.2,718.4,10.3,418,18811,0.20,2.33,0.00,0.000,4,0.135,0.048,2114,3714,1948
$GC,18856,0.59,239.2,714.1,8.8,418,18860,0.00,2.22,0.00,0.000,6,0.000,0.033,2122,2297,1948
$GC,19167,0.62,239.2,694.4,6.3,423,19168,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2297,1947
$GC,19471,0.64,239.2,676.6,5.8,428,19472,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2297,1947
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$STATE,29770,end climb,SURFACE_DEPTH_REACHED
$STATE,29770,begin surface coast
$FINISH,1.3,1.013706
$STATE,29796,end surface coast,CONTROL_FINISHED_OK
$STATE,29796,begin surface
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$10V_AH,10.5,61.979
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$CAP_FILE_SIZE,194603,0
$CFSIZE,260165632,220282880
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