version: 66.04
glider: 144
mission: 15
dive: 676
start: 1 24 110 4 59 11
data:
$ID,144
$MISSION,15
$DIVE,676
$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,-75331.789
$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,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
$GPS1,045037,5002.724,-14330.784,38,1.3,38,18.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-55.5
$GPS2,045814,5002.745,-14330.799,12,1.6,12,18.7
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.165,-0.032
$KALMAN_X,-90797.6,124.5,-70.9,208649.6,63.6
$KALMAN_Y,32501.4,341.4,-165.2,-66442.1,242.1
$MHEAD_RNG_PITCHd_Wd,82.5,353323,-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,13,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.35,0.000,2,0.000,0.000,98,2317,2431
$GC,64,-0.68,-117.3,3.0,-4.0,2,107,7.25,2.40,-29.83,0.000,4,0.229,0.061,1845,896,3412
$GC,149,-0.66,-117.3,9.6,-9.1,6,153,0.00,2.28,0.00,0.000,6,0.000,0.044,1836,2303,3414
$GC,472,-0.60,-117.3,44.9,-10.5,22,476,0.12,2.28,0.00,0.000,4,0.133,0.041,1872,894,3414
$GC,505,-0.60,-117.3,48.2,-9.3,23,509,0.00,2.22,0.00,0.000,6,0.000,0.037,1864,2305,3414
$GC,829,-0.60,-117.3,76.3,-8.8,39,833,0.00,2.28,0.00,0.000,4,0.000,0.041,1864,892,3414
$GC,876,-0.63,-117.3,80.5,-9.0,41,880,0.00,2.25,0.00,0.000,6,0.000,0.038,1862,2305,3414
$GC,1208,-0.66,-117.3,105.8,-7.4,71,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2305,3414
$GC,1535,-0.69,-117.3,129.3,-6.5,102,1539,0.00,2.25,0.00,0.000,4,0.000,0.048,1852,3708,3414
$GC,1575,-0.73,-117.3,132.3,-7.2,105,1581,0.00,2.22,0.00,0.000,6,0.000,0.033,1852,2298,3414
$GC,1923,-0.76,-117.3,156.3,-6.7,132,1927,0.00,2.22,0.00,0.000,4,0.000,0.042,1852,895,3414
$GC,2002,-0.81,-117.3,162.3,-7.1,134,2007,0.10,2.22,0.00,0.000,6,0.066,0.036,1777,2309,3414
$GC,2334,-0.72,-117.3,196.0,-10.7,145,2339,0.20,2.28,0.00,0.000,4,0.121,0.041,1843,896,3414
$GC,2374,-0.77,-117.3,199.7,-7.9,146,2378,0.00,2.25,0.00,0.000,6,0.000,0.041,1837,2307,3414
$GC,2699,-0.79,-117.3,221.7,-6.7,157,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2307,3414
$GC,3006,-0.81,-117.3,244.6,-7.8,167,3010,0.00,2.25,0.00,0.000,4,0.000,0.043,1837,899,3414
$GC,3040,-0.84,-117.3,247.5,-8.5,168,3044,0.00,2.25,0.00,0.000,6,0.000,0.039,1836,2308,3414
$GC,3371,-0.87,-117.3,271.8,-7.2,179,3375,0.10,2.28,0.00,0.000,4,0.065,0.049,1768,898,3414
$GC,3417,-0.77,-117.3,276.6,-11.1,180,3422,0.28,2.20,0.00,0.000,6,0.114,0.038,1837,2299,3414
$GC,3742,-0.80,-117.3,298.6,-6.3,191,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2299,3414
$GC,4075,-0.84,-117.3,317.8,-5.6,197,4079,0.00,2.28,0.00,0.000,4,0.000,0.050,1838,903,3414
$GC,4110,-0.88,-117.3,319.8,-6.0,197,4115,0.10,2.25,0.00,0.000,6,0.065,0.041,1767,2306,3414
$GC,4443,-0.78,-117.3,350.7,-9.5,203,4445,0.22,0.00,0.00,0.000,6,0.116,0.000,1836,2306,3413
$GC,4746,-0.82,-117.3,369.0,-5.9,208,4750,0.00,2.30,0.00,0.000,4,0.000,0.048,1836,895,3413
$GC,4775,-0.86,-117.3,371.0,-7.3,208,4780,0.08,2.28,0.00,0.000,6,0.079,0.046,1777,2311,3413
$GC,5108,-0.78,-117.3,403.6,-10.0,214,5110,0.17,0.00,0.00,0.000,6,0.117,0.000,1829,2311,3412
$GC,5411,-0.81,-117.3,424.5,-6.7,219,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2311,3413
$GC,5714,-0.84,-117.3,444.1,-6.4,224,5718,0.00,2.30,0.00,0.000,4,0.000,0.044,1830,903,3412
$GC,5783,-0.89,-117.3,449.0,-6.9,225,5787,0.00,2.25,0.00,0.000,6,0.000,0.042,1824,2303,3412
$GC,6144,-0.89,-117.3,474.3,-7.0,231,6148,0.00,2.28,0.00,0.000,4,0.000,0.051,1824,901,3412
$GC,6184,-0.91,-117.3,477.5,-7.9,231,6188,0.00,2.25,0.00,0.000,6,0.000,0.046,1818,2303,3412
$GC,6507,-0.91,-117.3,501.3,-7.4,237,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2303,3412
$GC,6809,-0.91,-117.3,521.3,-6.5,242,6813,0.00,2.30,0.00,0.000,4,0.000,0.049,1817,901,3412
$GC,6854,-0.91,-117.3,524.5,-7.2,242,6858,0.00,2.28,0.00,0.000,6,0.000,0.040,1809,2311,3412
$GC,7169,-0.91,-117.3,545.0,-6.6,248,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3411
$GC,7473,-0.91,-117.3,564.6,-6.5,253,7477,0.00,2.28,0.00,0.000,4,0.000,0.044,1809,902,3411
$GC,7513,-0.91,-117.3,567.6,-7.6,253,7517,0.00,2.28,0.00,0.000,6,0.000,0.044,1800,2309,3411
$GC,7840,-0.91,-117.3,591.2,-7.3,259,7844,0.00,2.30,0.00,0.000,4,0.000,0.045,1800,901,3411
$GC,7868,-0.91,-117.3,593.6,-8.7,259,7872,0.00,2.25,0.00,0.000,6,0.000,0.040,1794,2301,3411
$GC,8202,-0.88,-117.3,619.0,-7.6,265,8206,0.00,2.28,0.00,0.000,4,0.000,0.044,1794,902,3411
$GC,8266,-0.88,-117.3,623.9,-7.6,266,8271,0.10,2.25,0.00,0.000,6,0.127,0.041,1812,2305,3411
$GC,8633,-0.88,-117.3,646.8,-6.1,272,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2306,3410
$GC,8936,-0.88,-117.3,665.6,-6.2,277,8940,0.00,2.28,0.00,0.000,4,0.000,0.049,1813,901,3410
$GC,8971,-0.90,-117.3,667.9,-6.6,277,8975,0.00,2.28,0.00,0.000,6,0.000,0.039,1808,2311,3410
$GC,9298,-0.90,-117.3,688.7,-6.3,283,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3410
$GC,9601,-0.90,-117.3,707.3,-6.1,288,9605,0.00,2.33,0.00,0.000,4,0.000,0.051,1808,903,3410
$GC,9658,-0.90,-117.3,710.9,-6.3,288,9664,0.00,2.28,0.00,0.000,6,0.000,0.039,1800,2306,3410
$GC,9968,-0.90,-117.3,729.2,-5.9,294,9970,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2306,3410
$GC,10272,-0.90,-117.3,746.4,-5.7,299,10276,0.00,2.35,0.00,0.000,4,0.000,0.045,1800,895,3410
$GC,10300,-0.90,-117.3,748.1,-6.3,299,10304,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2310,3410
$GC,10639,-0.90,-117.3,769.0,-6.3,305,10640,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2310,3409
$GC,10941,-0.90,-117.3,788.5,-6.4,310,10945,0.00,2.33,0.00,0.000,4,0.000,0.049,1794,890,3409
$GC,10980,-0.90,-117.3,791.3,-7.1,310,10985,0.00,2.30,0.00,0.000,6,0.000,0.044,1785,2306,3409
$GC,11310,-0.87,-117.3,814.7,-7.2,316,11312,0.10,0.00,0.00,0.000,6,0.137,0.000,1814,2307,3409
$GC,11612,-0.90,-117.3,832.3,-5.7,321,11616,0.00,2.30,0.00,0.000,4,0.000,0.053,1813,905,3409
$GC,11647,-0.93,-117.3,834.7,-6.8,321,11651,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2309,3409
$GC,11980,-0.96,-117.3,855.9,-6.4,327,11981,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3409
$GC,12284,-0.98,-117.3,875.4,-6.5,332,12285,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3409
$GC,12586,-1.00,-117.3,895.9,-6.7,337,12591,0.10,2.35,0.00,0.000,4,0.074,0.053,1755,897,3409
$GC,12626,-0.91,-117.3,899.7,-10.2,337,12630,0.17,2.30,0.00,0.000,6,0.128,0.048,1803,2307,3409
$GC,12947,-0.91,-117.3,922.3,-6.9,343,12951,0.00,2.33,0.00,0.000,4,0.000,0.049,1803,898,3409
$GC,12976,-0.91,-117.3,924.5,-8.1,343,12980,0.00,2.28,0.00,0.000,6,0.000,0.039,1796,2305,3409
$GC,13308,-0.91,-117.3,948.7,-7.4,349,13309,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2305,3409
$GC,13611,-0.91,-117.3,970.4,-7.2,354,13612,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2305,3408
$STATE,13911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13911,begin apogee
$GC,13920,-0.22,0.0,992.4,7.3,359,14022,0.50,0.00,99.18,1.282,6,0.109,0.000,1956,2305,2931
$STATE,14023,end apogee,CONTROL_FINISHED_OK
$STATE,14023,begin climb
$GC,14027,0.68,117.3,994.3,0.0,360,14138,0.55,2.60,104.32,1.253,4,0.067,0.052,2155,3698,2451
$GC,14201,0.49,117.3,991.0,6.9,362,14206,0.22,2.35,0.00,0.000,6,0.156,0.041,2110,2314,2446
$GC,14518,0.48,139.3,975.8,4.8,368,14541,0.00,0.00,18.83,1.170,6,0.000,0.000,2110,2314,2362
$GC,14888,0.46,139.3,954.7,5.8,374,14892,0.00,2.30,0.00,0.000,4,0.000,0.051,2110,3711,2357
$GC,14924,0.40,139.3,952.2,6.6,374,14929,0.12,2.25,0.00,0.000,6,0.159,0.040,2088,2299,2356
$GC,15251,0.42,139.3,933.7,5.6,380,15253,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2299,2355
$GC,15555,0.48,139.3,915.8,6.0,385,15559,0.00,2.33,0.00,0.000,4,0.000,0.051,2088,3714,2354
$GC,15578,0.54,139.3,914.3,6.3,385,15583,0.08,2.22,0.00,0.000,6,0.074,0.041,2138,2302,2354
$GC,15923,0.46,139.3,888.7,7.6,391,15928,0.15,2.33,0.00,0.000,4,0.142,0.048,2105,889,2354
$GC,15968,0.49,139.3,885.6,6.2,391,15973,0.00,2.28,0.00,0.000,6,0.000,0.041,2105,2308,2354
$GC,16284,0.49,139.3,867.4,5.7,397,16288,0.00,2.28,0.00,0.000,4,0.000,0.051,2105,3711,2353
$GC,16331,0.43,139.3,864.3,6.4,397,16336,0.10,2.22,0.00,0.000,6,0.158,0.033,2093,2294,2353
$GC,16647,0.46,162.0,849.1,4.7,403,16669,0.00,0.00,19.83,1.128,6,0.000,0.000,2093,2294,2270
$GC,16951,0.53,189.2,835.1,4.6,408,16981,0.08,2.35,24.98,1.131,4,0.081,0.050,2142,3708,2158
$GC,17017,0.43,189.2,830.5,7.0,409,17022,0.22,2.25,0.00,0.000,6,0.146,0.034,2093,2301,2156
$GC,17378,0.53,201.8,812.1,5.1,415,17397,0.10,2.38,12.05,1.042,4,0.071,0.051,2154,886,2107
$GC,17446,0.50,201.8,807.7,6.5,416,17451,0.17,2.28,0.00,0.000,6,0.134,0.044,2107,2306,2105
$GC,17819,0.54,211.7,788.2,5.2,422,17833,0.00,2.30,9.77,0.998,4,0.000,0.054,2108,3716,2067
$GC,17879,0.54,211.7,784.5,6.1,422,17885,0.00,2.22,0.00,0.000,6,0.000,0.033,2115,2303,2067
$GC,18191,0.57,211.7,766.6,5.8,428,18195,0.00,2.28,0.00,0.000,4,0.000,0.054,2125,896,2065
$GC,18214,0.60,211.7,765.0,6.2,428,18218,0.00,2.25,0.00,0.000,6,0.000,0.042,2125,2305,2064
$GC,18552,0.60,211.7,742.5,6.8,434,18556,0.00,2.30,0.00,0.000,4,0.000,0.050,2125,3714,2065
$GC,18593,0.56,211.7,739.3,7.9,434,18597,0.00,2.25,0.00,0.000,6,0.000,0.033,2135,2294,2064
$GC,18914,0.56,211.7,714.4,7.7,440,18918,0.00,2.30,0.00,0.000,4,0.000,0.053,2146,888,2064
$GC,18937,0.56,211.7,712.3,8.9,440,18942,0.10,2.25,0.00,0.000,6,0.126,0.043,2121,2299,2064
$GC,19277,0.56,211.7,689.4,6.7,446,19280,0.00,2.30,0.00,0.000,4,0.000,0.050,2122,3719,2064
$GC,19322,0.56,211.7,685.6,9.2,446,19326,0.00,2.22,0.00,0.000,6,0.000,0.031,2130,2298,2063
$GC,19649,0.56,211.7,663.2,6.8,452,19650,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2298,2063
$GC,19952,0.56,211.7,643.0,6.6,457,19953,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2298,2063
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$STATE,29691,end climb,SURFACE_DEPTH_REACHED
$STATE,29691,begin surface coast
$FINISH,1.4,1.014176
$STATE,29717,end surface coast,CONTROL_FINISHED_OK
$STATE,29717,begin surface
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$10V_AH,10.3,83.562
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$DATA_FILE_SIZE,44317,775
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