version: 66.04
glider: 144
mission: 15
dive: 717
start: 2 7 110 4 26 16
data:
$ID,144
$MISSION,15
$DIVE,717
$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,-76254.766
$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
$GPS1,041736,4939.187,-13950.832,34,1.5,34,19.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-50.4
$GPS2,042519,4939.245,-13950.902,12,1.4,17,19.2
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.162,-0.042
$KALMAN_X,-72361.4,136.8,-132.2,450135.8,1439.2
$KALMAN_Y,40051.8,99.1,-2.9,-117439.1,662.3
$MHEAD_RNG_PITCHd_Wd,85.3,85715,-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,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.00,0.000,2,0.000,0.000,98,2298,2599
$GC,63,-0.68,-117.3,3.5,-5.7,2,99,7.25,2.40,-20.73,0.000,4,0.233,0.064,1837,3707,3412
$GC,129,-0.62,-117.3,11.8,-12.2,5,134,0.12,2.25,0.00,0.000,6,0.132,0.037,1869,2297,3412
$GC,451,-0.62,-117.3,39.8,-8.3,21,455,0.00,2.28,0.00,0.000,4,0.000,0.041,1869,897,3412
$GC,517,-0.65,-117.3,44.3,-8.2,24,521,0.00,2.25,0.00,0.000,6,0.000,0.036,1864,2306,3413
$GC,845,-0.65,-117.3,73.3,-7.7,40,846,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2306,3413
$GC,1161,-0.67,-117.3,99.9,-7.6,66,1165,0.00,2.28,0.00,0.000,4,0.000,0.041,1863,887,3413
$GC,1249,-0.74,-117.3,106.5,-7.4,73,1253,0.08,2.25,0.00,0.000,6,0.079,0.038,1794,2315,3414
$GC,1583,-0.66,-117.3,142.9,-10.8,104,1588,0.17,2.33,0.00,0.000,4,0.123,0.041,1853,889,3414
$GC,1641,-0.72,-117.3,148.5,-8.8,108,1647,0.00,2.25,0.00,0.000,6,0.000,0.037,1850,2306,3414
$GC,1966,-0.76,-117.3,172.3,-6.6,120,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2306,3414
$GC,2272,-0.80,-117.3,192.2,-6.8,130,2277,0.08,2.25,0.00,0.000,4,0.080,0.041,1776,899,3414
$GC,2324,-0.71,-117.3,197.5,-11.0,131,2329,0.28,2.25,0.00,0.000,6,0.112,0.042,1847,2310,3413
$GC,2639,-0.76,-117.3,219.2,-6.5,141,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2310,3414
$GC,2945,-0.81,-117.3,240.3,-7.0,151,2946,0.10,0.00,0.00,0.000,6,0.066,0.000,1777,2310,3413
$GC,3252,-0.72,-117.3,273.1,-10.5,161,3256,0.17,2.28,0.00,0.000,4,0.116,0.041,1839,899,3413
$GC,3325,-0.76,-117.3,279.0,-6.5,163,3330,0.00,2.25,0.00,0.000,6,0.000,0.040,1836,2298,3413
$GC,3651,-0.79,-117.3,299.7,-6.4,174,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2298,3413
$GC,3985,-0.82,-117.3,322.1,-6.8,180,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2299,3413
$GC,4287,-0.86,-117.3,341.8,-6.4,185,4292,0.08,2.30,0.00,0.000,4,0.080,0.042,1768,895,3413
$GC,4355,-0.77,-117.3,348.5,-10.5,186,4360,0.25,2.28,0.00,0.000,6,0.115,0.041,1831,2307,3413
$GC,4717,-0.80,-117.3,372.6,-6.6,192,4721,0.00,2.30,0.00,0.000,4,0.000,0.044,1832,891,3412
$GC,4775,-0.84,-117.3,376.8,-7.0,192,4781,0.00,2.30,0.00,0.000,6,0.000,0.038,1825,2315,3412
$GC,5085,-0.84,-117.3,398.5,-7.0,198,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2315,3412
$GC,5388,-0.84,-117.3,420.5,-7.3,203,5392,0.00,2.33,0.00,0.000,4,0.000,0.047,1826,902,3412
$GC,5463,-0.86,-117.3,426.3,-8.2,204,5467,0.00,2.28,0.00,0.000,6,0.000,0.040,1821,2307,3412
$GC,5819,-0.86,-117.3,451.5,-6.9,210,5823,0.00,2.28,0.00,0.000,4,0.000,0.048,1821,901,3411
$GC,5847,-0.86,-117.3,453.6,-7.6,210,5851,0.00,2.25,0.00,0.000,6,0.000,0.041,1811,2311,3412
$GC,6186,-0.86,-117.3,478.2,-7.3,216,6190,0.00,2.30,0.00,0.000,4,0.000,0.046,1811,898,3412
$GC,6267,-0.86,-117.3,484.8,-8.2,217,6271,0.00,2.28,0.00,0.000,6,0.000,0.039,1803,2305,3411
$GC,6617,-0.86,-117.3,514.2,-8.4,223,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2306,3412
$GC,6921,-0.86,-117.3,540.8,-8.8,228,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2306,3411
$GC,7223,-0.86,-117.3,566.7,-8.6,233,7227,0.00,2.28,0.00,0.000,4,0.000,0.044,1802,900,3410
$GC,7274,-0.86,-117.3,571.1,-7.9,233,7279,0.00,2.28,0.00,0.000,6,0.000,0.043,1794,2302,3411
$GC,7585,-0.83,-117.3,595.8,-7.9,238,7587,0.10,0.00,0.00,0.000,6,0.135,0.000,1822,2303,3410
$GC,7889,-0.86,-117.3,614.7,-6.1,243,7893,0.00,2.30,0.00,0.000,4,0.000,0.044,1822,894,3410
$GC,7953,-0.90,-117.3,619.0,-6.9,243,7959,0.00,2.30,0.00,0.000,6,0.000,0.043,1822,2308,3410
$GC,8264,-0.93,-117.3,638.9,-6.4,249,8265,0.10,0.00,0.00,0.000,6,0.066,0.000,1756,2307,3410
$GC,8567,-0.83,-117.3,668.4,-9.9,254,8571,0.17,2.33,0.00,0.000,4,0.123,0.048,1815,892,3409
$GC,8613,-0.86,-117.3,672.1,-6.7,254,8617,0.00,2.28,0.00,0.000,6,0.000,0.042,1809,2303,3410
$GC,8941,-0.86,-117.3,692.9,-6.3,260,8945,0.00,2.30,0.00,0.000,4,0.000,0.049,1809,897,3410
$GC,8976,-0.86,-117.3,695.4,-6.8,260,8980,0.00,2.28,0.00,0.000,6,0.000,0.043,1808,2308,3410
$GC,9310,-0.86,-117.3,715.9,-6.1,266,9314,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,892,3409
$GC,9349,-0.86,-117.3,718.7,-6.9,266,9354,0.00,2.30,0.00,0.000,6,0.000,0.038,1799,2313,3409
$GC,9671,-0.86,-117.3,741.6,-7.1,272,9675,0.00,2.30,0.00,0.000,4,0.000,0.046,1799,900,3409
$GC,9700,-0.86,-117.3,743.8,-8.4,272,9704,0.00,2.28,0.00,0.000,6,0.000,0.044,1794,2308,3410
$GC,10033,-0.86,-117.3,768.3,-7.3,278,10037,0.00,2.30,0.00,0.000,4,0.000,0.047,1794,900,3409
$GC,10084,-0.86,-117.3,772.6,-8.0,278,10089,0.00,2.30,0.00,0.000,6,0.000,0.044,1791,2312,3409
$GC,10395,-0.84,-117.3,795.9,-7.5,283,10397,0.10,0.00,0.00,0.000,6,0.133,0.000,1820,2313,3409
$GC,10698,-0.88,-117.3,814.7,-6.1,288,10703,0.00,2.33,0.00,0.000,4,0.000,0.047,1820,891,3409
$GC,10751,-0.94,-117.3,818.1,-6.6,288,10756,0.10,2.30,0.00,0.000,6,0.071,0.042,1766,2308,3408
$GC,11062,-0.87,-117.3,845.3,-8.9,293,11064,0.17,0.00,0.00,0.000,6,0.117,0.000,1818,2307,3408
$GC,11365,-0.91,-117.3,864.1,-6.1,298,11369,0.00,2.35,0.00,0.000,4,0.000,0.047,1819,891,3408
$GC,11407,-0.96,-117.3,866.9,-7.0,298,11411,0.08,2.30,0.00,0.000,6,0.084,0.046,1767,2309,3408
$GC,11734,-0.90,-117.3,896.0,-9.1,304,11736,0.15,0.00,0.00,0.000,6,0.120,0.000,1811,2309,3408
$GC,12037,-0.93,-117.3,917.1,-6.9,309,12041,0.00,2.38,0.00,0.000,4,0.000,0.048,1811,893,3408
$GC,12078,-0.96,-117.3,920.0,-7.5,309,12082,0.00,2.30,0.00,0.000,6,0.000,0.040,1809,2302,3408
$GC,12400,-0.98,-117.3,941.4,-6.5,315,12405,0.08,2.33,0.00,0.000,4,0.092,0.047,1765,897,3408
$GC,12429,-0.94,-117.3,943.7,-7.9,315,12434,0.15,2.30,0.00,0.000,6,0.129,0.046,1796,2312,3407
$GC,12763,-0.94,-117.3,965.7,-6.5,321,12767,0.00,2.35,0.00,0.000,4,0.000,0.051,1797,891,3408
$GC,12797,-0.94,-117.3,968.2,-6.9,321,12801,0.00,2.33,0.00,0.000,6,0.000,0.044,1795,2305,3407
$GC,13130,-0.94,-117.3,987.2,-5.6,327,13131,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2305,3407
$STATE,13186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13186,begin apogee
$GC,13195,-0.22,0.0,990.5,5.5,328,13296,0.50,0.00,98.68,1.281,6,0.110,0.000,1955,2305,2931
$STATE,13297,end apogee,CONTROL_FINISHED_OK
$STATE,13297,begin climb
$GC,13302,0.68,117.3,991.3,0.0,329,13413,0.55,2.55,104.05,1.253,4,0.067,0.055,2152,3707,2450
$GC,13465,0.49,117.3,985.5,7.9,331,13470,0.22,2.38,0.00,0.000,6,0.160,0.034,2108,2303,2446
$GC,13794,0.46,117.3,965.8,5.9,337,13795,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2303,2441
$GC,14096,0.43,117.3,948.2,5.9,342,14100,0.00,2.33,0.00,0.000,4,0.000,0.055,2108,3721,2439
$GC,14147,0.35,117.3,944.7,6.4,342,14152,0.15,2.28,0.00,0.000,6,0.154,0.035,2078,2294,2439
$GC,14459,0.42,122.3,928.4,5.3,347,14463,0.00,2.33,0.00,0.000,4,0.000,0.049,2078,3719,2438
$GC,14551,0.42,122.3,923.1,5.7,348,14556,0.00,2.22,0.00,0.000,6,0.000,0.032,2087,2298,2438
$GC,14891,0.47,122.3,904.7,5.5,354,14895,0.00,2.30,0.00,0.000,4,0.000,0.049,2087,3713,2437
$GC,15048,0.45,122.9,896.3,5.5,356,15052,0.00,2.22,0.00,0.000,6,0.000,0.033,2097,2304,2437
$GC,15393,0.48,147.0,879.8,4.7,362,15422,0.00,2.33,24.17,1.157,4,0.000,0.055,2097,3714,2330
$GC,15443,0.50,160.4,877.3,5.0,362,15463,0.00,2.25,13.32,1.078,6,0.000,0.033,2108,2300,2276
$GC,15830,0.51,172.0,857.2,5.1,369,15846,0.00,2.33,11.18,1.052,4,0.000,0.055,2108,3718,2228
$GC,15870,0.49,172.4,854.8,5.5,369,15875,0.00,2.25,0.00,0.000,6,0.000,0.033,2119,2294,2227
$GC,16193,0.49,172.4,835.8,5.9,375,16194,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2295,2226
$GC,16495,0.49,172.4,817.3,6.1,380,16499,0.00,2.33,0.00,0.000,4,0.000,0.051,2119,3714,2225
$GC,16553,0.44,172.4,813.1,7.6,380,16560,0.15,2.25,0.00,0.000,6,0.144,0.032,2089,2294,2225
$GC,16865,0.52,200.2,798.5,4.6,386,16893,0.08,0.00,25.67,1.111,6,0.083,0.000,2142,2294,2114
$GC,17167,0.48,200.2,779.4,6.4,391,17172,0.15,2.35,0.00,0.000,4,0.132,0.048,2100,3721,2109
$GC,17208,0.52,216.2,777.0,5.0,391,17229,0.00,2.25,15.05,1.047,6,0.000,0.032,2108,2302,2048
$GC,17535,0.59,237.8,761.4,4.8,397,17560,0.00,2.33,19.95,1.060,4,0.000,0.047,2119,889,1961
$GC,17578,0.68,265.3,759.2,4.6,397,17618,0.10,2.30,28.23,1.007,6,0.067,0.037,2175,2314,1848
$GC,17967,0.60,265.3,725.1,9.1,404,17972,0.17,2.28,0.00,0.000,4,0.132,0.048,2120,3713,1841
$GC,18013,0.62,265.3,721.2,6.5,404,18017,0.00,2.22,0.00,0.000,6,0.000,0.033,2129,2302,1841
$GC,18330,0.64,265.3,701.6,6.2,410,18334,0.00,2.30,0.00,0.000,4,0.000,0.049,2139,893,1839
$GC,18353,0.68,265.3,700.0,6.0,410,18357,0.00,2.25,0.00,0.000,6,0.000,0.038,2139,2304,1839
$GC,18692,0.68,265.3,676.6,7.0,416,18696,0.00,2.30,0.00,0.000,4,0.000,0.051,2139,3717,1838
$GC,18744,0.68,265.3,672.3,7.8,416,18748,0.00,2.22,0.00,0.000,6,0.000,0.032,2149,2302,1838
$GC,19066,0.66,265.3,647.6,7.6,422,19067,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2302,1838
$GC,19368,0.66,265.3,624.7,7.6,427,19370,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2302,1837
$GC,19673,0.66,265.3,601.5,7.7,432,19677,0.00,2.28,0.00,0.000,4,0.000,0.048,2149,3708,1837
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$STATE,27938,end climb,SURFACE_DEPTH_REACHED
$STATE,27939,begin surface coast
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$STATE,27981,end surface coast,CONTROL_FINISHED_OK
$STATE,27982,begin surface
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$10V_AH,10.3,88.188
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$DATA_FILE_SIZE,41249,708
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