version: 66.04
glider: 144
mission: 15
dive: 548
start: 12 12 109 2 57 50
data:
$ID,144
$MISSION,15
$DIVE,548
$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,-72671.57
$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,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
$GPS1,024731,4958.871,-14514.840,38,1.4,38,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-61.0
$GPS2,025656,4958.888,-14514.854,14,1.0,14,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.040,-0.163
$KALMAN_X,-92103.8,-26.1,-166.6,87255.2,852.4
$KALMAN_Y,25385.4,-19.4,146.0,-66433.6,-187.1
$MHEAD_RNG_PITCHd_Wd,147.8,9676,-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,16,-0.68,-117.3,0.0,0.0,0,49,0.00,0.00,-30.62,0.000,2,0.000,0.000,99,2301,2431
$GC,53,-0.68,-117.3,3.3,-5.0,3,98,7.10,2.35,-29.58,0.000,4,0.229,0.062,1841,897,3411
$GC,171,-0.65,-117.3,14.1,-9.3,13,179,0.05,2.30,0.00,0.000,6,0.137,0.044,1862,2291,3412
$GC,500,-0.65,-117.3,43.7,-8.2,44,504,0.00,2.28,0.00,0.000,4,0.000,0.044,1863,891,3412
$GC,522,-0.65,-117.3,45.8,-8.2,45,529,0.00,2.25,0.00,0.000,6,0.000,0.038,1858,2307,3413
$GC,848,-0.65,-117.3,75.8,-8.4,76,852,0.00,2.28,0.00,0.000,4,0.000,0.042,1858,889,3412
$GC,893,-0.65,-117.3,80.1,-9.2,79,899,0.00,2.25,0.00,0.000,6,0.000,0.038,1850,2311,3413
$GC,1209,-0.65,-117.3,107.6,-8.0,95,1213,0.00,2.28,0.00,0.000,4,0.000,0.041,1849,886,3413
$GC,1249,-0.65,-117.3,110.8,-8.0,96,1255,0.00,2.25,0.00,0.000,6,0.000,0.038,1850,2307,3413
$GC,1567,-0.65,-117.3,133.6,-6.6,112,1572,0.00,2.28,0.00,0.000,4,0.000,0.044,1850,888,3413
$GC,1624,-0.69,-117.3,137.8,-7.5,114,1631,0.00,2.28,0.00,0.000,6,0.000,0.039,1849,2302,3413
$GC,1940,-0.71,-117.3,158.7,-6.7,128,1944,0.00,2.28,0.00,0.000,4,0.000,0.050,1839,3713,3413
$GC,2004,-0.75,-117.3,163.2,-7.4,130,2008,0.00,2.20,0.00,0.000,6,0.000,0.030,1839,2290,3413
$GC,2345,-0.77,-117.3,187.6,-7.0,141,2349,0.00,2.30,0.00,0.000,4,0.000,0.048,1828,3716,3413
$GC,2368,-0.80,-117.3,189.4,-8.0,141,2372,0.00,2.20,0.00,0.000,6,0.000,0.030,1828,2292,3413
$GC,2682,-0.80,-117.3,212.8,-7.6,151,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2292,3413
$GC,2988,-0.80,-117.3,235.1,-7.1,161,2991,0.00,2.25,0.00,0.000,4,0.000,0.043,1828,895,3412
$GC,3028,-0.80,-117.3,238.2,-7.6,162,3032,0.00,2.28,0.00,0.000,6,0.000,0.042,1819,2312,3413
$GC,3359,-0.80,-117.3,265.6,-8.7,173,3363,0.00,2.28,0.00,0.000,4,0.000,0.046,1819,896,3412
$GC,3410,-0.80,-117.3,270.3,-8.7,174,3414,0.00,2.25,0.00,0.000,6,0.000,0.039,1809,2305,3412
$GC,3729,-0.77,-117.3,299.6,-9.3,185,3731,0.10,0.00,0.00,0.000,6,0.133,0.000,1838,2305,3412
$GC,4063,-0.81,-117.3,323.6,-7.0,191,4067,0.00,2.30,0.00,0.000,4,0.000,0.043,1838,888,3412
$GC,4103,-0.86,-117.3,326.5,-7.4,191,4108,0.10,2.30,0.00,0.000,6,0.066,0.044,1768,2312,3411
$GC,4424,-0.76,-117.3,358.4,-10.1,197,4426,0.22,0.00,0.00,0.000,6,0.120,0.000,1835,2312,3412
$GC,4728,-0.80,-117.3,377.6,-6.2,202,4732,0.00,2.30,0.00,0.000,4,0.000,0.044,1836,889,3411
$GC,4774,-0.85,-117.3,380.7,-6.8,202,4778,0.00,2.28,0.00,0.000,6,0.000,0.039,1836,2312,3411
$GC,5090,-0.89,-117.3,401.3,-6.5,208,5092,0.10,0.00,0.00,0.000,6,0.065,0.000,1766,2312,3411
$GC,5395,-0.80,-117.3,432.7,-10.5,213,5397,0.20,0.00,0.00,0.000,6,0.120,0.000,1827,2312,3411
$GC,5696,-0.82,-117.3,455.4,-7.3,218,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2312,3411
$GC,6000,-0.86,-117.3,477.7,-7.3,223,6004,0.00,2.30,0.00,0.000,4,0.000,0.044,1827,899,3410
$GC,6028,-0.89,-117.3,480.0,-8.1,223,6032,0.00,2.28,0.00,0.000,6,0.000,0.044,1822,2308,3410
$GC,6362,-0.91,-117.3,504.4,-7.3,229,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2308,3410
$GC,6665,-0.91,-117.3,525.6,-7.0,234,6669,0.00,2.28,0.00,0.000,4,0.000,0.044,1822,903,3410
$GC,6705,-0.93,-117.3,528.6,-7.1,234,6709,0.00,2.25,0.00,0.000,6,0.000,0.039,1814,2305,3410
$GC,7032,-0.93,-117.3,551.1,-6.8,240,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2305,3410
$GC,7335,-0.93,-117.3,571.3,-6.7,245,7339,0.00,2.30,0.00,0.000,4,0.000,0.044,1814,891,3409
$GC,7363,-0.93,-117.3,573.5,-7.4,245,7367,0.00,2.28,0.00,0.000,6,0.000,0.044,1809,2306,3409
$GC,7702,-0.93,-117.3,598.6,-7.5,251,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3409
$GC,8005,-0.93,-117.3,620.9,-7.4,256,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3409
$GC,8308,-0.93,-117.3,643.1,-7.4,261,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3409
$GC,8611,-0.93,-117.3,664.4,-7.0,266,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3409
$GC,8915,-0.93,-117.3,684.3,-6.6,271,8919,0.00,2.30,0.00,0.000,4,0.000,0.047,1809,901,3408
$GC,8965,-0.93,-117.3,687.9,-6.4,271,8969,0.00,2.28,0.00,0.000,6,0.000,0.044,1807,2304,3408
$GC,9277,-0.93,-117.3,707.6,-6.4,276,9278,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2304,3408
$GC,9578,-0.93,-117.3,726.5,-6.2,281,9582,0.00,2.30,0.00,0.000,4,0.000,0.046,1807,901,3408
$GC,9619,-0.93,-117.3,729.3,-7.5,281,9623,0.00,2.28,0.00,0.000,6,0.000,0.042,1799,2307,3408
$GC,9940,-0.93,-117.3,752.2,-7.3,287,9944,0.00,2.30,0.00,0.000,4,0.000,0.051,1799,900,3408
$GC,9984,-0.93,-117.3,755.8,-7.8,287,9989,0.00,2.28,0.00,0.000,6,0.000,0.041,1795,2305,3408
$GC,10301,-0.93,-117.3,780.3,-7.8,293,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2305,3408
$GC,10604,-0.93,-117.3,803.3,-7.6,298,10608,0.00,2.30,0.00,0.000,4,0.000,0.047,1795,895,3408
$GC,10654,-0.93,-117.3,807.3,-8.1,298,10658,0.00,2.28,0.00,0.000,6,0.000,0.044,1785,2305,3407
$GC,10967,-0.90,-117.3,831.0,-7.6,303,10971,0.00,2.28,0.00,0.000,4,0.000,0.048,1785,897,3407
$GC,10995,-0.87,-117.3,833.4,-7.9,303,10999,0.12,2.28,0.00,0.000,6,0.130,0.044,1816,2312,3407
$GC,11334,-0.91,-117.3,852.8,-5.6,309,11335,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2312,3407
$GC,11636,-0.96,-117.3,869.8,-5.6,314,11641,0.10,2.33,0.00,0.000,4,0.072,0.045,1766,901,3406
$GC,11675,-0.90,-117.3,872.9,-8.6,314,11680,0.17,2.28,0.00,0.000,6,0.120,0.044,1806,2305,3407
$GC,11997,-0.92,-117.3,891.9,-5.9,320,11999,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3407
$GC,12300,-0.95,-117.3,909.6,-5.9,325,12301,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3407
$GC,12603,-0.97,-117.3,928.0,-6.0,330,12604,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3407
$GC,12907,-1.00,-117.3,945.1,-5.6,335,12911,0.10,2.30,0.00,0.000,4,0.078,0.049,1763,902,3407
$GC,12935,-0.96,-117.3,947.3,-7.6,335,12939,0.15,2.28,0.00,0.000,6,0.131,0.046,1796,2304,3406
$GC,13267,-0.96,-117.3,967.6,-6.2,341,13271,0.00,2.30,0.00,0.000,4,0.000,0.048,1797,899,3406
$GC,13306,-0.96,-117.3,970.4,-7.7,341,13310,0.00,2.28,0.00,0.000,6,0.000,0.047,1795,2302,3406
$STATE,13624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13625,begin apogee
$GC,13633,-0.22,0.0,992.2,6.9,347,13735,0.50,0.00,98.78,1.287,6,0.113,0.000,1956,2303,2931
$STATE,13735,end apogee,CONTROL_FINISHED_OK
$STATE,13735,begin climb
$GC,13739,0.68,117.3,993.9,0.0,348,13851,0.57,2.60,104.07,1.262,4,0.073,0.053,2151,3706,2450
$GC,13874,0.54,117.3,993.1,5.7,351,13879,0.17,2.40,0.00,0.000,6,0.165,0.041,2121,2313,2448
$GC,14241,0.52,145.3,975.8,4.6,357,14274,0.00,0.00,26.05,1.128,6,0.000,0.000,2121,2313,2338
$GC,14545,0.50,165.8,961.3,4.8,362,14575,0.00,2.38,20.62,1.082,4,0.000,0.049,2130,893,2254
$GC,14607,0.52,180.7,958.0,5.0,363,14626,0.00,2.33,14.50,1.138,6,0.000,0.045,2130,2309,2194
$GC,14977,0.48,180.7,935.7,6.1,369,14979,0.10,0.00,0.00,0.000,6,0.142,0.000,2105,2309,2188
$GC,15280,0.48,180.7,918.7,5.6,374,15284,0.00,2.28,0.00,0.000,4,0.000,0.051,2105,3711,2187
$GC,15303,0.48,180.7,917.2,6.3,374,15307,0.00,2.25,0.00,0.000,6,0.000,0.040,2114,2300,2186
$GC,15641,0.48,180.7,896.5,6.1,380,15642,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2301,2187
$GC,15944,0.48,180.7,878.2,6.0,385,15945,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2300,2186
$GC,16248,0.48,180.7,861.0,5.7,390,16252,0.00,2.30,0.00,0.000,4,0.000,0.056,2114,3711,2186
$GC,16276,0.45,180.8,859.2,5.5,390,16281,0.12,2.20,0.00,0.000,6,0.151,0.034,2092,2301,2185
$GC,16615,0.57,196.2,842.4,5.0,396,16635,0.12,2.35,13.82,1.096,4,0.066,0.055,2149,3707,2130
$GC,16746,0.46,196.2,832.2,8.5,397,16753,0.22,2.22,0.00,0.000,6,0.145,0.041,2099,2305,2129
$GC,17057,0.55,203.7,815.2,5.2,403,17071,0.00,2.35,8.02,0.978,4,0.000,0.048,2109,885,2099
$GC,17095,0.66,206.9,812.7,5.4,403,17105,0.12,2.28,4.60,0.775,6,0.065,0.041,2168,2305,2087
$GC,17428,0.66,206.9,786.3,8.2,409,17432,0.10,2.28,0.00,0.000,4,0.136,0.051,2142,3715,2085
$GC,17449,0.66,206.9,784.2,9.7,409,17454,0.00,2.22,0.00,0.000,6,0.000,0.033,2151,2297,2084
$GC,17788,0.58,206.9,753.4,9.3,415,17793,0.10,2.30,0.00,0.000,4,0.160,0.051,2127,3713,2084
$GC,17817,0.53,206.9,750.7,10.1,415,17821,0.00,2.22,0.00,0.000,6,0.000,0.034,2135,2294,2084
$GC,18150,0.51,206.9,722.6,8.4,421,18155,0.10,2.25,0.00,0.000,4,0.149,0.047,2118,891,2084
$GC,18184,0.56,206.9,719.8,7.6,421,18188,0.00,2.25,0.00,0.000,6,0.000,0.043,2118,2307,2083
$GC,18511,0.56,206.9,696.4,7.1,427,18515,0.00,2.28,0.00,0.000,4,0.000,0.053,2118,3715,2083
$GC,18545,0.56,206.9,693.4,8.5,427,18549,0.00,2.22,0.00,0.000,6,0.000,0.032,2128,2297,2083
$GC,18872,0.56,206.9,670.4,6.9,433,18875,0.00,2.25,0.00,0.000,4,0.000,0.048,2138,893,2083
$GC,18906,0.56,206.9,668.1,6.2,433,18910,0.00,2.22,0.00,0.000,6,0.000,0.038,2138,2302,2083
$GC,19239,0.53,206.9,646.0,6.6,439,19243,0.10,2.25,0.00,0.000,4,0.140,0.049,2112,3709,2083
$GC,19272,0.53,206.9,643.7,6.6,439,19276,0.00,2.20,0.00,0.000,6,0.000,0.033,2120,2296,2083
$GC,19605,0.54,214.3,626.1,5.3,445,19619,0.00,2.33,7.57,0.872,4,0.000,0.048,2131,886,2057
$GC,19638,0.57,222.5,624.3,5.2,445,19652,0.00,2.25,9.12,0.895,6,0.000,0.038,2131,2307,2023
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$STATE,28469,end climb,SURFACE_DEPTH_REACHED
$STATE,28469,begin surface coast
$FINISH,1.4,1.012712
$STATE,28491,end surface coast,CONTROL_FINISHED_OK
$STATE,28491,begin surface
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$DATA_FILE_SIZE,44382,740
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$CFSIZE,260165632,216006656
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