version: 66.04
glider: 144
mission: 15
dive: 850
start: 3 24 110 2 17 38
data:
$ID,144
$MISSION,15
$DIVE,850
$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,-78934.547
$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,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
$GPS1,020937,4849.039,-12831.102,37,1.0,37,19.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-58.8
$GPS2,021644,4849.094,-12831.188,14,1.5,14,19.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P4
$TGT_LATLONG,4839.000,-12640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.127,-0.110
$KALMAN_X,-25585.2,550.6,-71.9,1206124.5,-1285.3
$KALMAN_Y,89919.2,-64.1,-318.8,-259715.7,3495.8
$MHEAD_RNG_PITCHd_Wd,111.5,137322,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.68,-117.3,0.0,0.0,0,63,0.00,0.00,-39.85,0.000,2,0.000,0.000,98,2296,2523
$GC,68,-0.68,-117.3,3.7,-5.0,2,104,6.95,2.40,-21.90,0.000,4,0.221,0.061,1838,3707,3412
$GC,152,-0.62,-117.3,14.6,-13.5,5,159,0.10,2.25,0.00,0.000,6,0.120,0.029,1864,2289,3413
$GC,469,-0.62,-117.3,46.5,-9.3,21,473,0.00,2.25,0.00,0.000,4,0.000,0.040,1864,889,3413
$GC,549,-0.62,-117.3,54.1,-9.1,24,556,0.00,2.25,0.00,0.000,6,0.000,0.035,1862,2302,3413
$GC,869,-0.62,-117.3,83.6,-7.7,42,873,0.00,2.25,0.00,0.000,4,0.000,0.038,1862,895,3413
$GC,939,-0.65,-117.3,89.5,-7.7,48,943,0.00,2.28,0.00,0.000,6,0.000,0.034,1852,2307,3413
$GC,1272,-0.65,-117.3,112.6,-6.9,78,1276,0.00,2.30,0.00,0.000,4,0.000,0.038,1851,889,3413
$GC,1319,-0.68,-117.3,116.6,-8.0,81,1326,0.00,2.30,0.00,0.000,6,0.000,0.035,1850,2310,3413
$GC,1652,-0.70,-117.3,139.6,-7.0,112,1656,0.00,2.28,0.00,0.000,4,0.000,0.038,1850,897,3413
$GC,1706,-0.74,-117.3,144.2,-8.1,116,1711,0.00,2.28,0.00,0.000,6,0.000,0.036,1850,2310,3413
$GC,2035,-0.76,-117.3,168.4,-7.3,131,2039,0.00,2.28,0.00,0.000,4,0.000,0.038,1850,898,3413
$GC,2066,-0.80,-117.3,170.8,-8.1,132,2071,0.10,2.28,0.00,0.000,6,0.065,0.038,1778,2307,3413
$GC,2404,-0.70,-117.3,209.4,-11.3,143,2409,0.20,2.30,0.00,0.000,4,0.120,0.038,1845,888,3413
$GC,2427,-0.67,-117.3,211.8,-9.1,143,2434,0.00,2.25,0.00,0.000,6,0.000,0.035,1838,2307,3413
$GC,2742,-0.67,-117.3,234.4,-7.3,154,2746,0.00,2.28,0.00,0.000,4,0.000,0.039,1838,889,3413
$GC,2817,-0.69,-117.3,240.4,-8.1,156,2821,0.00,2.28,0.00,0.000,6,0.000,0.035,1837,2312,3413
$GC,3154,-0.69,-117.3,264.3,-6.8,167,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2312,3413
$GC,3460,-0.72,-117.3,285.5,-7.0,177,3464,0.00,2.33,0.00,0.000,4,0.000,0.040,1836,891,3413
$GC,3532,-0.75,-117.3,290.7,-8.1,179,3536,0.00,2.35,0.00,0.000,6,0.000,0.036,1836,2308,3413
$GC,3896,-0.77,-117.3,320.1,-8.3,187,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2308,3413
$GC,4200,-0.79,-117.3,345.0,-8.2,192,4204,0.00,2.30,0.00,0.000,4,0.000,0.041,1837,898,3412
$GC,4236,-0.82,-117.3,348.1,-8.8,192,4240,0.00,2.30,0.00,0.000,6,0.000,0.037,1835,2300,3412
$GC,4564,-0.85,-117.3,374.4,-8.0,198,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2301,3413
$GC,4867,-0.88,-117.3,396.9,-7.3,203,4869,0.10,0.00,0.00,0.000,6,0.066,0.000,1764,2302,3412
$GC,5170,-0.77,-117.3,429.4,-10.9,208,5172,0.22,0.00,0.00,0.000,6,0.117,0.000,1833,2302,3412
$GC,5474,-0.81,-117.3,449.9,-6.6,213,5478,0.00,2.35,0.00,0.000,4,0.000,0.045,1832,900,3411
$GC,5510,-0.85,-117.3,452.5,-7.0,213,5514,0.00,2.35,0.00,0.000,6,0.000,0.043,1826,2313,3411
$GC,5843,-0.85,-117.3,475.1,-6.7,219,5847,0.00,2.33,0.00,0.000,4,0.000,0.046,1826,892,3410
$GC,5880,-0.87,-117.3,477.5,-6.8,219,5884,0.00,2.35,0.00,0.000,6,0.000,0.039,1822,2309,3410
$GC,6213,-0.87,-117.3,498.0,-6.1,225,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2309,3410
$GC,6516,-0.87,-117.3,516.1,-6.0,230,6520,0.00,2.30,0.00,0.000,4,0.000,0.046,1822,902,3410
$GC,6563,-0.90,-117.3,519.2,-7.2,230,6567,0.00,2.30,0.00,0.000,6,0.000,0.038,1821,2304,3410
$GC,6881,-0.90,-117.3,540.3,-6.7,236,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3410
$GC,7182,-0.90,-117.3,560.7,-6.7,241,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3409
$GC,7486,-0.90,-117.3,581.2,-6.9,246,7490,0.00,2.35,0.00,0.000,4,0.000,0.042,1821,899,3408
$GC,7550,-0.93,-117.3,585.8,-6.9,247,7554,0.00,2.30,0.00,0.000,6,0.000,0.038,1812,2305,3409
$GC,7918,-0.93,-117.3,610.5,-6.6,253,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2305,3408
$GC,8220,-0.93,-117.3,630.0,-6.5,258,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2305,3408
$GC,8523,-0.93,-117.3,649.5,-6.5,263,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2305,3408
$GC,8826,-0.93,-117.3,669.6,-6.7,268,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2305,3408
$GC,9130,-0.93,-117.3,690.7,-7.0,273,9134,0.00,2.38,0.00,0.000,4,0.000,0.048,1813,892,3407
$GC,9187,-0.93,-117.3,694.9,-7.5,273,9193,0.00,2.33,0.00,0.000,6,0.000,0.044,1809,2304,3407
$GC,9498,-0.93,-117.3,716.6,-7.0,279,9499,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2304,3407
$GC,9801,-0.93,-117.3,737.6,-6.9,284,9805,0.00,2.35,0.00,0.000,4,0.000,0.045,1809,896,3406
$GC,9866,-0.93,-117.3,742.2,-7.7,285,9870,0.00,2.33,0.00,0.000,6,0.000,0.043,1808,2308,3406
$GC,10233,-0.93,-117.3,767.9,-6.9,291,10234,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3406
$GC,10536,-0.93,-117.3,788.4,-6.8,296,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3406
$GC,10840,-0.93,-117.3,811.2,-7.5,301,10844,0.00,2.35,0.00,0.000,4,0.000,0.049,1808,895,3405
$GC,10921,-0.95,-117.3,817.6,-8.0,302,10925,0.00,2.35,0.00,0.000,6,0.000,0.045,1808,2312,3406
$GC,11277,-0.95,-117.3,842.4,-6.8,308,11281,0.00,2.35,0.00,0.000,4,0.000,0.044,1808,902,3405
$GC,11312,-0.95,-117.3,844.9,-7.2,308,11316,0.00,2.33,0.00,0.000,6,0.000,0.046,1807,2310,3404
$GC,11641,-0.95,-117.3,865.9,-6.3,314,11642,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2310,3405
$GC,11943,-0.95,-117.3,884.8,-6.2,319,11947,0.00,2.35,0.00,0.000,4,0.000,0.046,1807,893,3404
$GC,12012,-0.97,-117.3,889.2,-6.3,320,12016,0.00,2.35,0.00,0.000,6,0.000,0.040,1805,2305,3404
$GC,12381,-0.97,-117.3,909.6,-5.5,326,12382,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3404
$GC,12682,-0.97,-117.3,927.0,-5.8,331,12687,0.00,2.35,0.00,0.000,4,0.000,0.048,1805,903,3404
$GC,12735,-1.00,-117.3,930.1,-6.3,331,12739,0.00,2.35,0.00,0.000,6,0.000,0.044,1795,2308,3404
$GC,13046,-1.00,-117.3,948.6,-6.0,336,13050,0.00,2.35,0.00,0.000,4,0.000,0.047,1795,903,3404
$GC,13088,-1.00,-117.3,951.3,-7.3,336,13092,0.00,2.35,0.00,0.000,6,0.000,0.047,1793,2312,3404
$GC,13410,-1.00,-117.3,971.5,-6.3,342,13414,0.00,2.35,0.00,0.000,4,0.000,0.047,1794,902,3403
$GC,13445,-1.00,-117.3,973.9,-7.1,342,13449,0.00,2.33,0.00,0.000,6,0.000,0.039,1784,2302,3403
$STATE,13707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13707,begin apogee
$GC,13718,-0.22,0.0,992.0,6.9,347,13817,0.55,0.00,96.88,1.269,6,0.110,0.000,1956,2303,2931
$STATE,13818,end apogee,CONTROL_FINISHED_OK
$STATE,13818,begin climb
$GC,13824,0.68,117.3,993.3,0.0,348,13935,0.55,2.60,102.85,1.246,4,0.067,0.051,2150,3701,2451
$GC,13963,0.52,117.3,991.6,6.3,351,13969,0.20,2.42,0.00,0.000,6,0.154,0.038,2115,2313,2447
$GC,14327,0.49,136.7,973.3,4.8,357,14348,0.00,2.33,16.27,1.145,4,0.000,0.049,2115,3718,2372
$GC,14384,0.42,136.7,970.1,6.0,357,14391,0.15,2.28,0.00,0.000,6,0.154,0.036,2086,2293,2370
$GC,14696,0.51,190.3,958.4,3.7,363,14745,0.10,0.00,46.75,1.216,6,0.074,0.000,2133,2293,2154
$GC,14998,0.48,190.3,940.2,6.2,368,15003,0.12,2.35,0.00,0.000,4,0.137,0.048,2098,3713,2149
$GC,15055,0.48,190.3,936.6,5.8,368,15061,0.00,2.25,0.00,0.000,6,0.000,0.036,2106,2298,2148
$GC,15368,0.51,197.4,920.3,5.3,374,15376,0.00,0.00,6.50,0.941,6,0.000,0.000,2106,2297,2126
$GC,15670,0.55,203.0,904.0,5.3,379,15683,0.00,2.38,6.53,0.937,4,0.000,0.055,2106,3710,2103
$GC,15703,0.57,215.1,902.0,5.1,379,15722,0.00,2.22,12.38,1.077,6,0.000,0.035,2116,2303,2054
$GC,16040,0.59,215.1,881.7,6.0,385,16041,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2303,2050
$GC,16344,0.61,215.1,863.5,5.9,390,16348,0.00,2.33,0.00,0.000,4,0.000,0.054,2116,3711,2049
$GC,16373,0.61,215.1,861.4,6.5,390,16378,0.00,2.25,0.00,0.000,6,0.000,0.035,2126,2295,2048
$GC,16708,0.61,215.1,840.5,6.2,396,16712,0.00,2.35,0.00,0.000,4,0.000,0.048,2126,3711,2048
$GC,16738,0.59,215.1,838.4,7.1,396,16743,0.00,2.22,0.00,0.000,6,0.000,0.038,2136,2305,2048
$GC,17078,0.59,215.1,817.4,6.0,402,17082,0.00,2.30,0.00,0.000,4,0.000,0.048,2146,888,2048
$GC,17107,0.59,215.1,815.6,5.7,402,17111,0.00,2.33,0.00,0.000,6,0.000,0.038,2146,2312,2047
$GC,17446,0.55,215.1,793.5,6.6,408,17450,0.12,2.33,0.00,0.000,4,0.136,0.047,2112,3708,2047
$GC,17470,0.55,215.1,791.7,7.2,408,17474,0.00,2.22,0.00,0.000,6,0.000,0.032,2121,2301,2047
$GC,17816,0.55,215.1,771.3,6.0,414,17817,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2300,2047
$GC,18117,0.55,215.1,753.6,5.8,419,18118,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2301,2047
$GC,18421,0.58,215.3,736.9,5.5,424,18425,0.00,2.40,0.00,0.000,4,0.000,0.048,2120,3711,2047
$GC,18473,0.58,215.3,733.5,6.5,424,18478,0.00,2.25,0.00,0.000,6,0.000,0.031,2130,2302,2047
$GC,18785,0.58,216.4,716.2,5.5,429,18786,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2302,2047
$GC,19088,0.58,217.1,699.5,5.5,434,19089,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2302,2047
$GC,19391,0.58,217.1,681.5,5.9,439,19395,0.00,2.33,0.00,0.000,4,0.000,0.049,2130,3707,2046
$GC,19422,0.55,217.1,679.3,6.7,439,19426,0.00,2.22,0.00,0.000,6,0.000,0.038,2140,2301,2046
$GC,19761,0.53,217.1,656.4,6.7,445,19766,0.10,2.30,0.00,0.000,4,0.143,0.049,2122,893,2046
$GC,19785,0.55,217.1,654.7,7.3,445,19789,0.00,2.30,0.00,0.000,6,0.000,0.042,2122,2312,2046
$GC,20132,0.57,217.1,631.5,6.9,451,20136,0.00,2.30,0.00,0.000,4,0.000,0.053,2122,3707,2046
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$STATE,29379,end climb,SURFACE_DEPTH_REACHED
$STATE,29379,begin surface coast
$FINISH,1.8,1.024586
$STATE,29422,end surface coast,CONTROL_FINISHED_OK
$STATE,29422,begin surface
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$10V_AH,10.3,103.271
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$DATA_FILE_SIZE,44195,762
$CAP_FILE_SIZE,182865,0
$CFSIZE,260165632,192573440
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