version: 66.04
glider: 144
mission: 15
dive: 872
start: 3 31 110 13 33 0
data:
$ID,144
$MISSION,15
$DIVE,872
$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,-79345.469
$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,36
$R_STBD_OVSHOOT,34
$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
$GPS1,132420,4824.979,-12805.221,40,1.3,48,19.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-62.3
$GPS2,133202,4824.952,-12805.300,9,1.7,9,19.2
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P4
$TGT_LATLONG,4839.000,-12640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.168,-0.005
$KALMAN_X,-77219.5,149.1,379.7,1288284.8,-3721.1
$KALMAN_Y,134487.3,-90.4,-423.6,-348836.3,768.0
$MHEAD_RNG_PITCHd_Wd,72.4,107562,-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,17,-0.68,-117.1,0.0,0.0,0,59,0.00,0.00,-39.78,0.000,2,0.000,0.000,98,2306,2500
$GC,64,-0.68,-117.3,3.6,-4.8,2,100,6.97,2.33,-23.42,0.000,4,0.224,0.058,1847,885,3412
$GC,248,-0.65,-117.3,23.7,-11.8,9,253,0.00,2.28,0.00,0.000,6,0.000,0.035,1838,2301,3413
$GC,572,-0.58,-117.3,63.1,-11.8,25,577,0.12,2.30,0.00,0.000,4,0.131,0.038,1873,890,3413
$GC,666,-0.60,-117.3,72.0,-9.2,29,670,0.00,2.28,0.00,0.000,6,0.000,0.034,1865,2305,3413
$GC,991,-0.64,-117.3,100.4,-8.0,55,995,0.00,2.28,0.00,0.000,4,0.000,0.038,1865,891,3413
$GC,1029,-0.69,-117.3,103.4,-8.2,58,1033,0.00,2.28,0.00,0.000,6,0.000,0.035,1863,2302,3413
$GC,1361,-0.74,-117.3,126.6,-6.8,88,1368,0.10,0.00,0.00,0.000,6,0.062,0.000,1780,2302,3413
$GC,1696,-0.64,-117.3,165.1,-11.5,112,1700,0.22,2.30,0.00,0.000,4,0.119,0.039,1855,894,3413
$GC,1766,-0.70,-117.3,171.2,-7.7,114,1770,0.00,2.28,0.00,0.000,6,0.000,0.041,1850,2297,3413
$GC,2103,-0.74,-117.3,195.3,-7.1,125,2107,0.00,2.35,0.00,0.000,4,0.000,0.041,1851,891,3413
$GC,2139,-0.79,-117.3,198.0,-7.6,126,2143,0.00,2.33,0.00,0.000,6,0.000,0.036,1850,2312,3413
$GC,2470,-0.84,-117.3,221.6,-7.2,137,2475,0.12,2.30,0.00,0.000,4,0.054,0.038,1766,894,3413
$GC,2511,-0.72,-117.3,226.1,-11.7,138,2516,0.30,2.30,0.00,0.000,6,0.112,0.036,1842,2311,3413
$GC,2838,-0.75,-117.3,250.8,-7.1,149,2842,0.00,2.30,0.00,0.000,4,0.000,0.039,1842,886,3413
$GC,2890,-0.80,-117.3,254.8,-7.4,150,2894,0.00,2.30,0.00,0.000,6,0.000,0.035,1836,2310,3413
$GC,3210,-0.82,-117.3,276.5,-6.7,161,3214,0.00,2.33,0.00,0.000,4,0.000,0.039,1836,887,3412
$GC,3259,-0.86,-117.3,279.8,-7.0,162,3264,0.10,2.38,0.00,0.000,6,0.064,0.042,1767,2305,3412
$GC,3584,-0.76,-117.3,314.4,-10.9,171,3586,0.22,0.00,0.00,0.000,6,0.120,0.000,1835,2305,3412
$GC,3887,-0.79,-117.3,336.4,-7.1,176,3890,0.00,2.30,0.00,0.000,4,0.000,0.041,1836,896,3412
$GC,3945,-0.83,-117.3,341.1,-8.4,176,3950,0.00,2.35,0.00,0.000,6,0.000,0.043,1835,2304,3412
$GC,4263,-0.86,-117.3,365.1,-7.5,182,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2305,3412
$GC,4566,-0.89,-117.3,386.8,-7.1,187,4570,0.10,2.30,0.00,0.000,4,0.064,0.039,1766,891,3412
$GC,4648,-0.80,-117.3,395.5,-11.2,188,4653,0.25,2.33,0.00,0.000,6,0.112,0.037,1828,2303,3412
$GC,4999,-0.82,-117.3,422.0,-7.2,194,5003,0.00,2.38,0.00,0.000,4,0.000,0.047,1828,891,3411
$GC,5034,-0.85,-117.3,424.7,-7.4,194,5038,0.00,2.35,0.00,0.000,6,0.000,0.039,1823,2303,3411
$GC,5363,-0.85,-117.3,448.0,-7.1,200,5367,0.00,2.35,0.00,0.000,4,0.000,0.041,1823,893,3411
$GC,5426,-0.87,-117.3,452.9,-7.8,200,5433,0.00,2.33,0.00,0.000,6,0.000,0.043,1821,2310,3411
$GC,5738,-0.87,-117.3,476.0,-7.4,206,5742,0.00,2.38,0.00,0.000,4,0.000,0.042,1821,890,3410
$GC,5772,-0.87,-117.3,478.8,-8.3,206,5776,0.00,2.33,0.00,0.000,6,0.000,0.042,1811,2305,3410
$GC,6101,-0.87,-117.3,504.7,-7.9,212,6105,0.00,2.35,0.00,0.000,4,0.000,0.042,1811,894,3410
$GC,6158,-0.87,-117.3,509.5,-8.3,212,6164,0.00,2.33,0.00,0.000,6,0.000,0.043,1807,2306,3410
$GC,6469,-0.87,-117.3,534.8,-8.2,218,6473,0.00,2.35,0.00,0.000,4,0.000,0.045,1807,897,3409
$GC,6509,-0.87,-117.3,538.2,-8.0,218,6513,0.00,2.33,0.00,0.000,6,0.000,0.041,1797,2306,3410
$GC,6833,-0.85,-117.3,564.6,-8.2,224,6837,0.00,2.38,0.00,0.000,4,0.000,0.044,1797,892,3409
$GC,6897,-0.83,-117.3,570.1,-8.2,224,6904,0.10,2.35,0.00,0.000,6,0.127,0.042,1821,2312,3409
$GC,7209,-0.85,-117.3,590.0,-6.3,230,7213,0.00,2.38,0.00,0.000,4,0.000,0.044,1821,893,3408
$GC,7245,-0.88,-117.3,592.6,-7.3,230,7250,0.00,2.38,0.00,0.000,6,0.000,0.043,1821,2311,3408
$GC,7574,-0.90,-117.3,614.4,-6.6,236,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2311,3408
$GC,7877,-0.93,-117.3,635.0,-6.9,241,7882,0.08,2.40,0.00,0.000,4,0.080,0.044,1762,897,3407
$GC,7975,-0.85,-117.3,645.0,-11.1,242,7980,0.22,2.35,0.00,0.000,6,0.114,0.040,1820,2308,3407
$GC,8309,-0.88,-117.3,667.6,-6.5,248,8313,0.00,2.35,0.00,0.000,4,0.000,0.049,1820,898,3407
$GC,8349,-0.91,-117.3,670.4,-6.9,248,8353,0.00,2.35,0.00,0.000,6,0.000,0.038,1819,2303,3407
$GC,8673,-0.94,-117.3,690.2,-6.1,254,8678,0.10,2.35,0.00,0.000,4,0.064,0.041,1755,899,3406
$GC,8720,-0.84,-117.3,694.3,-9.8,254,8725,0.22,2.33,0.00,0.000,6,0.118,0.043,1818,2303,3406
$GC,9042,-0.87,-117.3,714.0,-5.9,260,9046,0.00,2.35,0.00,0.000,4,0.000,0.043,1818,891,3406
$GC,9101,-0.90,-117.3,717.8,-6.4,260,9105,0.00,2.35,0.00,0.000,6,0.000,0.040,1811,2307,3406
$GC,9419,-0.90,-117.3,737.8,-6.2,266,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2307,3406
$GC,9722,-0.90,-117.3,757.7,-6.5,271,9726,0.00,2.38,0.00,0.000,4,0.000,0.044,1811,892,3406
$GC,9774,-0.90,-117.3,761.7,-8.2,271,9778,0.00,2.35,0.00,0.000,6,0.000,0.038,1808,2310,3405
$GC,10097,-0.90,-117.3,783.9,-7.0,277,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2310,3405
$GC,10399,-0.90,-117.3,806.4,-7.5,282,10403,0.00,2.38,0.00,0.000,4,0.000,0.048,1808,898,3405
$GC,10485,-0.90,-117.3,813.5,-8.3,283,10489,0.00,2.38,0.00,0.000,6,0.000,0.042,1808,2311,3405
$GC,10829,-0.90,-117.3,838.8,-7.3,289,10833,0.00,2.38,0.00,0.000,4,0.000,0.044,1808,895,3405
$GC,10887,-0.90,-117.3,843.1,-7.8,289,10893,0.00,2.35,0.00,0.000,6,0.000,0.039,1797,2313,3405
$GC,11198,-0.90,-117.3,865.6,-7.2,295,11202,0.00,2.38,0.00,0.000,4,0.000,0.051,1798,900,3404
$GC,11262,-0.90,-117.3,870.4,-7.6,295,11268,0.00,2.33,0.00,0.000,6,0.000,0.044,1795,2303,3404
$GC,11575,-0.90,-117.3,892.2,-6.9,301,11579,0.00,2.35,0.00,0.000,4,0.000,0.046,1794,900,3404
$GC,11604,-0.90,-117.3,894.5,-8.1,301,11608,0.00,2.38,0.00,0.000,6,0.000,0.040,1792,2311,3404
$GC,11937,-0.90,-117.3,917.1,-6.8,307,11941,0.00,2.40,0.00,0.000,4,0.000,0.050,1792,899,3404
$GC,11994,-0.90,-117.3,921.2,-7.3,307,12002,0.10,2.38,0.00,0.000,6,0.128,0.043,1807,2305,3404
$GC,12307,-0.92,-117.3,939.8,-5.9,313,12311,0.00,2.40,0.00,0.000,4,0.000,0.046,1807,896,3404
$GC,12341,-0.92,-117.3,942.3,-7.4,313,12345,0.00,2.38,0.00,0.000,6,0.000,0.044,1807,2303,3403
$GC,12669,-0.92,-117.3,963.6,-6.5,319,12670,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2303,3403
$GC,12972,-0.94,-117.3,982.9,-6.4,324,12976,0.00,2.42,0.00,0.000,4,0.000,0.048,1807,894,3403
$GC,13025,-0.97,-117.3,986.7,-7.4,324,13029,0.00,2.40,0.00,0.000,6,0.000,0.040,1807,2309,3403
$STATE,13089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13089,begin apogee
$GC,13099,-0.22,0.0,991.3,6.7,325,13199,0.45,0.00,97.22,1.266,6,0.108,0.000,1951,2309,2931
$STATE,13200,end apogee,CONTROL_FINISHED_OK
$STATE,13200,begin climb
$GC,13205,0.68,117.3,993.0,0.0,326,13316,0.60,2.65,104.18,1.240,4,0.071,0.051,2162,907,2451
$GC,13344,0.62,154.6,993.0,4.2,329,13409,0.12,2.58,41.78,1.044,6,0.136,0.038,2136,2299,2300
$GC,13773,0.56,154.6,967.8,6.0,336,13777,0.00,2.35,0.00,0.000,4,0.000,0.052,2136,3716,2292
$GC,13875,0.46,154.6,960.2,7.7,337,13880,0.17,2.25,0.00,0.000,6,0.152,0.034,2098,2301,2291
$GC,14209,0.51,184.6,944.8,4.5,343,14237,0.00,0.00,25.58,1.183,6,0.000,0.000,2098,2301,2177
$GC,14513,0.58,212.0,931.1,4.6,348,14541,0.10,0.00,24.88,1.173,6,0.074,0.000,2147,2300,2066
$GC,14815,0.53,212.0,910.1,7.1,353,14820,0.12,2.35,0.00,0.000,4,0.137,0.048,2111,3716,2061
$GC,14850,0.53,212.0,907.6,6.6,353,14854,0.00,2.28,0.00,0.000,6,0.000,0.036,2119,2293,2060
$GC,15179,0.53,216.6,889.9,5.3,359,15185,0.00,0.00,4.50,0.788,6,0.000,0.000,2119,2293,2048
$GC,15481,0.54,224.2,874.0,5.2,364,15495,0.00,2.38,8.35,0.993,4,0.000,0.051,2119,3709,2017
$GC,15531,0.54,224.2,870.9,6.4,364,15535,0.00,2.25,0.00,0.000,6,0.000,0.034,2129,2302,2016
$GC,15847,0.54,224.2,852.2,5.9,370,15851,0.00,2.30,0.00,0.000,4,0.000,0.048,2138,895,2015
$GC,15872,0.54,224.2,850.8,5.5,370,15876,0.00,2.30,0.00,0.000,6,0.000,0.039,2139,2310,2014
$GC,16212,0.52,224.2,828.9,6.4,376,16217,0.10,2.33,0.00,0.000,4,0.139,0.049,2112,3710,2014
$GC,16258,0.52,224.2,825.7,6.1,376,16262,0.00,2.28,0.00,0.000,6,0.000,0.038,2120,2300,2013
$GC,16587,0.54,227.0,808.0,5.4,382,16596,0.00,2.33,3.62,0.640,4,0.000,0.046,2130,901,2005
$GC,16617,0.57,227.0,806.1,6.1,382,16621,0.00,2.30,0.00,0.000,6,0.000,0.039,2130,2312,2005
$GC,16956,0.57,227.0,785.0,6.3,388,16960,0.00,2.35,0.00,0.000,4,0.000,0.054,2130,3716,2004
$GC,16992,0.55,227.0,782.3,7.3,388,16996,0.00,2.25,0.00,0.000,6,0.000,0.031,2140,2301,2004
$GC,17319,0.55,227.0,759.0,7.2,394,17320,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2301,2004
$GC,17623,0.52,227.0,737.9,7.0,399,17625,0.12,0.00,0.00,0.000,6,0.137,0.000,2106,2301,2004
$GC,17926,0.60,243.8,722.7,4.9,404,17951,0.10,2.38,16.67,1.020,4,0.066,0.051,2170,3720,1935
$GC,17988,0.49,243.8,717.5,9.3,404,17994,0.28,2.28,0.00,0.000,6,0.137,0.031,2105,2292,1934
$GC,18299,0.57,255.5,700.8,5.1,410,18320,0.00,2.30,11.05,0.948,4,0.000,0.048,2114,886,1889
$GC,18357,0.67,255.5,697.3,6.3,410,18366,0.05,2.33,0.00,0.000,6,0.028,0.043,2187,2306,1887
$GC,18669,0.56,255.5,666.2,10.3,416,18674,0.20,2.33,0.00,0.000,4,0.132,0.049,2125,3713,1887
$GC,18754,0.56,255.5,659.0,7.4,417,18759,0.00,2.25,0.00,0.000,6,0.000,0.036,2132,2296,1886
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$STATE,27921,end climb,SURFACE_DEPTH_REACHED
$STATE,27921,begin surface coast
$FINISH,1.7,1.025068
$STATE,27943,end surface coast,CONTROL_FINISHED_OK
$STATE,27943,begin surface
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$10V_AH,9.0,105.802
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$DATA_FILE_SIZE,41242,699
$CAP_FILE_SIZE,197508,0
$CFSIZE,260165632,190816256
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