version: 66.04
glider: 144
mission: 15
dive: 181
start: 8 11 109 2 33 58
data:
$ID,144
$MISSION,15
$DIVE,181
$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,-64530.285
$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,0.039999999
$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,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
$GPS1,022724,4954.461,-14430.427,40,1.8,57,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-60.4
$GPS2,023302,4954.433,-14430.489,15,1.7,15,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.116,0.121
$KALMAN_X,-81643.6,33.1,-104.8,117866.2,209.5
$KALMAN_Y,70228.0,168.8,45.8,-80188.1,-410.7
$MHEAD_RNG_PITCHd_Wd,297.8,34252,-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,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.33,0.000,2,0.000,0.000,98,2303,2789
$GC,61,-0.68,-117.3,3.9,-6.9,4,88,7.03,2.33,-12.95,0.000,4,0.239,0.058,1853,893,3413
$GC,174,-0.52,-117.3,23.9,-14.8,14,179,0.15,2.28,0.00,0.000,6,0.134,0.044,1892,2310,3414
$GC,499,-0.61,-117.3,51.2,-7.9,44,503,0.10,2.22,0.00,0.000,4,0.066,0.048,1816,3710,3416
$GC,537,-0.42,-117.3,55.2,-11.5,47,545,0.30,2.20,0.00,0.000,6,0.121,0.031,1908,2292,3416
$GC,865,-0.58,-117.3,75.8,-6.0,78,869,0.12,2.20,0.00,0.000,4,0.058,0.041,1830,897,3417
$GC,897,-0.47,-117.3,79.0,-10.8,80,905,0.25,2.20,0.00,0.000,6,0.124,0.037,1898,2305,3418
$GC,1224,-0.58,-117.3,101.1,-6.3,97,1228,0.10,2.22,0.00,0.000,4,0.065,0.048,1822,3711,3418
$GC,1251,-0.50,-117.3,103.6,-9.6,98,1256,0.22,2.17,0.00,0.000,6,0.121,0.030,1890,2297,3418
$GC,1567,-0.61,-117.3,124.2,-6.2,113,1572,0.10,2.20,0.00,0.000,4,0.069,0.042,1827,890,3418
$GC,1634,-0.48,-117.3,130.4,-9.7,116,1638,0.25,2.22,0.00,0.000,6,0.124,0.044,1897,2307,3418
$GC,1955,-0.67,-117.3,149.4,-6.0,132,1957,0.15,0.00,0.00,0.000,6,0.052,0.000,1802,2307,3418
$GC,2281,-0.49,-117.3,184.2,-10.3,143,2286,0.28,2.22,0.00,0.000,4,0.121,0.043,1893,897,3417
$GC,2310,-0.60,-117.3,186.4,-7.1,144,2314,0.00,2.20,0.00,0.000,6,0.000,0.045,1891,2302,3417
$GC,2646,-0.80,-117.3,205.5,-5.9,155,2648,0.20,0.00,0.00,0.000,6,0.047,0.000,1775,2304,3416
$GC,2951,-0.54,-117.3,243.0,-12.7,165,2956,0.32,2.25,0.00,0.000,4,0.133,0.052,1873,3710,3416
$GC,2984,-0.68,-117.3,246.1,-7.3,166,2988,0.00,2.17,0.00,0.000,6,0.000,0.037,1872,2303,3415
$GC,3314,-0.84,-117.3,264.6,-5.3,177,3316,0.17,0.00,0.00,0.000,6,0.051,0.000,1771,2302,3415
$GC,3620,-0.57,-117.3,297.3,-11.0,187,3625,0.32,2.25,0.00,0.000,4,0.130,0.044,1874,891,3415
$GC,3682,-0.76,-117.3,301.5,-5.8,189,3687,0.12,2.22,0.00,0.000,6,0.061,0.042,1792,2306,3414
$GC,4048,-0.60,-117.3,335.6,-9.6,195,4050,0.25,0.00,0.00,0.000,6,0.124,0.000,1869,2306,3413
$GC,4351,-0.74,-117.3,351.3,-5.0,200,4356,0.12,2.25,0.00,0.000,4,0.059,0.044,1791,894,3413
$GC,4401,-0.59,-117.3,355.8,-9.6,200,4406,0.30,2.22,0.00,0.000,6,0.123,0.040,1874,2305,3413
$GC,4711,-0.76,-117.3,372.2,-5.2,205,4713,0.15,0.00,0.00,0.000,6,0.054,0.000,1781,2306,3413
$GC,5014,-0.57,-117.3,403.0,-10.5,210,5018,0.28,2.25,0.00,0.000,4,0.126,0.045,1871,893,3412
$GC,5069,-0.76,-117.3,407.2,-6.4,210,5076,0.10,2.22,0.00,0.000,6,0.067,0.042,1801,2312,3412
$GC,5379,-0.65,-117.3,434.4,-8.9,216,5381,0.20,0.00,0.00,0.000,6,0.125,0.000,1861,2313,3412
$GC,5682,-0.79,-117.3,451.6,-5.5,221,5687,0.12,2.28,0.00,0.000,4,0.060,0.047,1787,891,3411
$GC,5732,-0.63,-117.3,456.2,-9.7,221,5737,0.28,2.25,0.00,0.000,6,0.123,0.041,1865,2312,3411
$GC,6042,-0.78,-117.3,474.0,-5.6,226,6044,0.12,0.00,0.00,0.000,6,0.064,0.000,1793,2313,3411
$GC,6345,-0.66,-117.3,499.9,-8.7,231,6350,0.17,2.28,0.00,0.000,4,0.125,0.047,1852,893,3410
$GC,6400,-0.80,-117.3,503.5,-6.1,231,6407,0.08,2.22,0.00,0.000,6,0.085,0.040,1795,2305,3410
$GC,6711,-0.68,-117.3,528.0,-8.1,237,6715,0.20,2.25,0.00,0.000,4,0.128,0.056,1852,3712,3410
$GC,6749,-0.84,-117.3,530.6,-5.5,237,6754,0.12,2.17,0.00,0.000,6,0.064,0.032,1779,2304,3410
$GC,7071,-0.66,-117.3,558.6,-9.0,243,7075,0.22,2.25,0.00,0.000,4,0.127,0.051,1851,891,3410
$GC,7126,-0.79,-117.3,562.6,-6.4,243,7133,0.08,2.22,0.00,0.000,6,0.086,0.046,1794,2306,3410
$GC,7436,-0.68,-117.3,588.8,-8.7,249,7441,0.17,2.25,0.00,0.000,4,0.127,0.047,1852,895,3409
$GC,7469,-0.79,-117.3,591.4,-6.5,249,7473,0.00,2.22,0.00,0.000,6,0.000,0.044,1850,2306,3409
$GC,7802,-0.91,-117.3,610.7,-5.8,255,7804,0.15,0.00,0.00,0.000,6,0.054,0.000,1766,2307,3409
$GC,8104,-0.70,-117.3,641.2,-10.4,260,8109,0.25,2.25,0.00,0.000,4,0.132,0.045,1847,897,3409
$GC,8148,-0.83,-117.3,644.8,-7.3,260,8153,0.12,2.22,0.00,0.000,6,0.060,0.044,1773,2308,3409
$GC,8463,-0.64,-117.3,674.8,-9.7,266,8465,0.30,0.00,0.00,0.000,6,0.127,0.000,1866,2308,3409
$GC,8766,-0.83,-117.3,689.6,-4.6,271,8771,0.15,2.25,0.00,0.000,4,0.061,0.046,1785,897,3408
$GC,8794,-0.77,-117.3,691.6,-7.7,271,8798,0.20,2.22,0.00,0.000,6,0.129,0.041,1838,2308,3408
$GC,9127,-0.86,-117.3,709.2,-5.2,277,9128,0.10,0.00,0.00,0.000,6,0.076,0.000,1783,2309,3408
$GC,9428,-0.72,-117.3,731.1,-7.3,282,9433,0.20,2.25,0.00,0.000,4,0.127,0.048,1847,897,3408
$GC,9473,-0.86,-117.3,733.5,-4.2,282,9478,0.12,2.22,0.00,0.000,6,0.067,0.042,1785,2307,3408
$GC,9788,-0.73,-117.3,754.7,-6.8,288,9790,0.20,0.00,0.00,0.000,6,0.130,0.000,1845,2307,3407
$GC,10091,-0.86,-117.3,768.1,-4.4,293,10093,0.12,0.00,0.00,0.000,6,0.071,0.000,1784,2307,3408
$GC,10395,-0.72,-117.3,791.8,-8.0,298,10399,0.17,2.28,0.00,0.000,4,0.130,0.048,1841,890,3407
$GC,10445,-0.84,-117.3,795.4,-6.8,298,10449,0.00,2.25,0.00,0.000,6,0.000,0.041,1837,2309,3407
$GC,10754,-0.94,-117.3,813.4,-5.9,303,10756,0.12,0.00,0.00,0.000,6,0.071,0.000,1779,2309,3407
$GC,11058,-0.79,-117.3,839.8,-8.8,308,11063,0.17,2.28,0.00,0.000,4,0.132,0.049,1836,892,3407
$GC,11114,-0.91,-117.3,843.8,-6.8,308,11120,0.12,2.25,0.00,0.000,6,0.072,0.043,1782,2312,3407
$GC,11424,-0.77,-117.3,869.4,-8.3,314,11429,0.17,2.25,0.00,0.000,4,0.137,0.054,1829,3712,3406
$GC,11451,-0.77,-117.3,871.4,-6.6,314,11455,0.00,2.22,0.00,0.000,6,0.000,0.035,1829,2304,3405
$GC,11790,-0.85,-117.3,889.9,-5.5,320,11791,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2304,3406
$GC,12092,-0.94,-117.3,906.2,-5.3,325,12097,0.12,2.28,0.00,0.000,4,0.079,0.049,1777,885,3406
$GC,12136,-0.78,-117.3,909.7,-9.0,325,12141,0.22,2.25,0.00,0.000,6,0.137,0.042,1831,2305,3406
$GC,12452,-0.87,-117.3,927.8,-5.7,331,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2305,3406
$GC,12754,-0.96,-117.3,945.9,-6.0,336,12759,0.15,2.28,0.00,0.000,4,0.074,0.051,1772,892,3405
$GC,12804,-0.79,-117.3,950.3,-9.8,336,12809,0.22,2.25,0.00,0.000,6,0.140,0.047,1829,2310,3405
$GC,13114,-0.87,-117.3,969.7,-6.2,341,13116,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2310,3405
$GC,13417,-0.95,-117.3,987.9,-6.0,346,13421,0.12,2.28,0.00,0.000,4,0.081,0.051,1781,893,3405
$STATE,13447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13447,begin apogee
$GC,13455,-0.22,0.0,990.4,8.7,346,13551,0.55,0.00,93.43,1.324,6,0.139,0.000,1946,2311,2930
$STATE,13552,end apogee,CONTROL_FINISHED_OK
$STATE,13552,begin climb
$GC,13555,0.68,117.3,992.9,0.0,348,13662,0.62,0.00,99.38,1.297,6,0.082,0.000,2155,2311,2450
$GC,13966,0.37,117.3,966.0,8.3,355,13968,0.28,0.00,0.00,0.000,6,0.163,0.000,2083,2311,2442
$GC,14268,0.37,117.3,948.8,5.6,360,14272,0.00,2.30,0.00,0.000,4,0.000,0.057,2083,3710,2439
$GC,14312,0.27,117.3,945.9,6.8,360,14317,0.12,2.25,0.00,0.000,6,0.173,0.040,2062,2303,2438
$GC,14627,0.42,125.6,929.7,5.2,366,14636,0.10,0.00,5.90,0.967,6,0.084,0.000,2104,2302,2419
$GC,14930,0.42,125.6,911.1,6.1,371,14931,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2302,2417
$GC,15233,0.42,125.6,892.9,5.9,376,15237,0.00,2.30,0.00,0.000,4,0.000,0.054,2105,3710,2417
$GC,15345,0.22,125.6,885.5,6.5,377,15350,0.25,2.25,0.00,0.000,6,0.163,0.036,2048,2294,2416
$GC,15660,0.50,162.2,872.4,4.3,383,15700,0.17,2.42,31.83,1.219,4,0.067,0.054,2127,3711,2268
$GC,15813,0.26,162.2,861.1,8.0,385,15818,0.30,2.28,0.00,0.000,6,0.161,0.042,2056,2306,2265
$GC,16156,0.59,181.2,845.1,4.9,391,16180,0.20,2.40,16.60,1.151,4,0.066,0.051,2150,887,2191
$GC,16309,0.43,181.2,834.3,7.5,393,16314,0.22,2.30,0.00,0.000,6,0.143,0.041,2089,2307,2188
$GC,16652,0.51,199.9,817.3,4.9,399,16676,0.10,2.38,16.83,1.137,4,0.072,0.058,2134,3717,2115
$GC,16718,0.30,199.9,812.1,9.8,400,16722,0.30,2.28,0.00,0.000,6,0.160,0.038,2062,2297,2113
$GC,17089,0.69,199.9,791.4,5.9,406,17094,0.22,2.28,0.00,0.000,4,0.065,0.048,2155,892,2111
$GC,17206,0.54,199.9,782.3,8.7,407,17211,0.15,2.25,0.00,0.000,6,0.141,0.046,2115,2302,2110
$GC,17521,0.54,199.9,760.5,6.9,413,17525,0.00,2.28,0.00,0.000,4,0.000,0.051,2115,3719,2111
$GC,17584,0.43,199.9,755.6,8.3,414,17589,0.12,2.25,0.00,0.000,6,0.158,0.041,2092,2295,2110
$GC,17950,0.50,199.9,733.5,6.0,420,17954,0.00,2.25,0.00,0.000,4,0.000,0.056,2101,892,2109
$GC,17977,0.58,199.9,731.7,5.7,420,17982,0.10,2.25,0.00,0.000,6,0.074,0.039,2154,2313,2109
$GC,18309,0.35,199.9,701.3,9.3,426,18314,0.25,2.25,0.00,0.000,4,0.148,0.051,2079,3720,2109
$GC,18372,0.41,199.9,697.1,5.5,427,18376,0.00,2.20,0.00,0.000,6,0.000,0.041,2088,2301,2109
$GC,18738,0.53,223.6,679.7,4.7,433,18761,0.10,0.00,20.65,1.077,6,0.072,0.000,2147,2300,2019
$GC,19041,0.37,223.6,655.7,8.1,438,19046,0.20,2.28,0.00,0.000,4,0.137,0.051,2084,3719,2014
$GC,19085,0.47,223.6,652.6,6.2,438,19089,0.00,2.22,0.00,0.000,6,0.000,0.035,2092,2294,2013
$GC,19401,0.60,247.7,637.6,4.7,444,19424,0.12,0.00,21.12,1.046,6,0.059,0.000,2163,2294,1921
$GC,19704,0.39,247.7,610.0,9.5,449,19706,0.28,0.00,0.00,0.000,6,0.139,0.000,2084,2294,1915
$GC,20006,0.74,247.7,592.7,5.8,454,20011,0.20,2.20,0.00,0.000,4,0.063,0.045,2168,895,1914
$GC,20039,0.82,247.7,590.4,5.9,454,20043,0.00,2.22,0.00,0.000,6,0.000,0.040,2168,2306,1913
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$STATE,28675,end climb,SURFACE_DEPTH_REACHED
$STATE,28676,begin surface coast
$FINISH,0.8,1.006134
$STATE,28692,end surface coast,CONTROL_FINISHED_OK
$STATE,28692,begin surface
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$XPDR_PINGS,73
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$10V_AH,10.7,23.019
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$DATA_FILE_SIZE,47572,768
$CAP_FILE_SIZE,209871,0
$CFSIZE,260165632,244539392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110809,103437,4956.462,-14434.081,33,1.1,33,18.5