version: 66.04
glider: 144
mission: 15
dive: 427
start: 11 1 109 4 53 14
data:
$ID,144
$MISSION,15
$DIVE,427
$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,-69803.984
$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,35
$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
$GPS1,044637,5007.114,-14449.919,36,1.4,37,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-63.4
$GPS2,045220,5007.159,-14449.892,13,1.2,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.146,0.082
$KALMAN_X,-88953.7,227.2,101.7,113058.7,-2085.1
$KALMAN_Y,20544.5,-176.9,9.0,-45967.4,499.4
$MHEAD_RNG_PITCHd_Wd,42.3,34926,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.68,-117.3,0.0,0.0,0,52,0.00,0.00,-31.77,0.000,2,0.000,0.000,99,2299,2560
$GC,55,-0.68,-117.3,3.2,-4.9,3,90,7.22,2.33,-21.45,0.000,4,0.237,0.067,1836,3702,3413
$GC,294,-0.63,-117.3,33.4,-12.3,24,299,0.10,2.15,0.00,0.000,6,0.128,0.030,1862,2296,3414
$GC,628,-0.63,-117.3,68.1,-8.7,55,633,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2296,3415
$GC,948,-0.63,-117.3,94.0,-8.6,78,952,0.00,2.25,0.00,0.000,4,0.000,0.047,1853,3716,3416
$GC,995,-0.66,-117.3,98.0,-8.5,80,998,0.00,2.17,0.00,0.000,6,0.000,0.029,1854,2293,3416
$GC,1328,-0.66,-117.3,125.7,-8.6,96,1332,0.00,2.17,0.00,0.000,4,0.000,0.041,1854,896,3416
$GC,1441,-0.70,-117.3,134.9,-7.4,101,1445,0.00,2.17,0.00,0.000,6,0.000,0.037,1850,2301,3416
$GC,1758,-0.73,-117.3,157.2,-6.8,115,1762,0.00,2.20,0.00,0.000,4,0.000,0.041,1849,896,3416
$GC,1815,-0.78,-117.3,161.2,-6.6,116,1819,0.00,2.20,0.00,0.000,6,0.000,0.038,1849,2309,3417
$GC,2128,-0.82,-117.3,182.7,-7.4,126,2132,0.10,2.22,0.00,0.000,4,0.067,0.053,1767,3709,3416
$GC,2157,-0.75,-117.3,185.6,-10.8,127,2162,0.25,2.15,0.00,0.000,6,0.123,0.031,1841,2293,3416
$GC,2493,-0.78,-117.3,212.8,-7.8,138,2496,0.00,2.17,0.00,0.000,4,0.000,0.043,1841,897,3416
$GC,2537,-0.83,-117.3,216.6,-8.1,139,2541,0.00,2.17,0.00,0.000,6,0.000,0.037,1836,2303,3416
$GC,2862,-0.86,-117.3,240.9,-7.4,150,2864,0.08,0.00,0.00,0.000,6,0.080,0.000,1765,2304,3416
$GC,3169,-0.75,-117.3,275.2,-11.3,160,3173,0.20,2.22,0.00,0.000,4,0.126,0.043,1832,891,3415
$GC,3247,-0.78,-117.3,282.2,-8.2,162,3251,0.00,2.22,0.00,0.000,6,0.000,0.044,1824,2311,3415
$GC,3565,-0.78,-117.3,307.1,-8.0,172,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2312,3415
$GC,3869,-0.78,-117.3,330.8,-7.9,177,3873,0.00,2.25,0.00,0.000,4,0.000,0.043,1824,889,3414
$GC,3924,-0.78,-117.3,335.5,-8.0,177,3931,0.00,2.22,0.00,0.000,6,0.000,0.041,1816,2303,3414
$GC,4234,-0.78,-117.3,360.3,-8.0,183,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2303,3414
$GC,4537,-0.78,-117.3,383.1,-7.5,188,4541,0.00,2.22,0.00,0.000,4,0.000,0.044,1815,890,3413
$GC,4622,-0.78,-117.3,389.9,-8.3,189,4626,0.08,2.22,0.00,0.000,6,0.143,0.044,1828,2302,3413
$GC,4971,-0.81,-117.3,413.0,-6.6,195,4974,0.00,2.22,0.00,0.000,4,0.000,0.044,1828,897,3413
$GC,5004,-0.85,-117.3,415.5,-7.1,195,5008,0.00,2.22,0.00,0.000,6,0.000,0.044,1823,2306,3413
$GC,5336,-0.85,-117.3,438.1,-6.8,201,5340,0.00,2.22,0.00,0.000,4,0.000,0.044,1822,897,3412
$GC,5387,-0.88,-117.3,441.8,-7.1,201,5391,0.00,2.22,0.00,0.000,6,0.000,0.039,1819,2306,3412
$GC,5702,-0.88,-117.3,462.9,-6.7,207,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2306,3412
$GC,6006,-0.88,-117.3,483.8,-6.9,212,6010,0.00,2.25,0.00,0.000,4,0.000,0.045,1819,896,3411
$GC,6070,-0.91,-117.3,488.0,-6.9,213,6074,0.00,2.22,0.00,0.000,6,0.000,0.039,1810,2305,3411
$GC,6436,-0.91,-117.3,514.2,-7.2,219,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2305,3411
$GC,6739,-0.91,-117.3,536.0,-7.2,224,6743,0.00,2.25,0.00,0.000,4,0.000,0.044,1811,894,3411
$GC,6784,-0.91,-117.3,539.7,-8.3,224,6788,0.00,2.25,0.00,0.000,6,0.000,0.046,1803,2308,3411
$GC,7099,-0.91,-117.3,563.7,-7.7,230,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2309,3410
$GC,7402,-0.91,-117.3,586.2,-7.4,235,7406,0.00,2.28,0.00,0.000,4,0.000,0.047,1803,895,3410
$GC,7468,-0.91,-117.3,591.3,-7.4,236,7472,0.00,2.25,0.00,0.000,6,0.000,0.041,1794,2310,3410
$GC,7830,-0.88,-117.3,619.6,-8.0,242,7834,0.00,2.25,0.00,0.000,4,0.000,0.049,1795,900,3410
$GC,7893,-0.88,-117.3,625.1,-8.6,243,7898,0.08,2.22,0.00,0.000,6,0.143,0.044,1806,2305,3410
$GC,8258,-0.88,-117.3,651.6,-7.1,249,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3410
$GC,8562,-0.88,-117.3,672.2,-6.7,254,8566,0.00,2.25,0.00,0.000,4,0.000,0.046,1807,901,3409
$GC,8618,-0.88,-117.3,676.3,-7.5,254,8624,0.00,2.22,0.00,0.000,6,0.000,0.044,1807,2303,3409
$GC,8928,-0.88,-117.3,696.2,-6.4,260,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2304,3409
$GC,9231,-0.88,-117.3,715.0,-6.2,265,9235,0.00,2.25,0.00,0.000,4,0.000,0.045,1806,900,3409
$GC,9298,-0.88,-117.3,719.3,-6.5,266,9302,0.00,2.22,0.00,0.000,6,0.000,0.043,1798,2304,3408
$GC,9664,-0.88,-117.3,742.1,-6.2,272,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2303,3409
$GC,9967,-0.88,-117.3,761.2,-6.3,277,9971,0.00,2.25,0.00,0.000,4,0.000,0.051,1798,897,3409
$GC,10034,-0.88,-117.3,765.9,-6.8,278,10038,0.00,2.25,0.00,0.000,6,0.000,0.046,1794,2311,3409
$GC,10395,-0.88,-117.3,790.1,-6.8,284,10399,0.00,2.28,0.00,0.000,4,0.000,0.051,1794,900,3408
$GC,10433,-0.88,-117.3,793.2,-7.3,284,10438,0.10,2.25,0.00,0.000,6,0.131,0.043,1812,2312,3408
$GC,10754,-0.91,-117.3,812.2,-5.9,290,10758,0.00,2.28,0.00,0.000,4,0.000,0.049,1812,896,3409
$GC,10794,-0.94,-117.3,814.9,-6.5,290,10798,0.00,2.25,0.00,0.000,6,0.000,0.047,1809,2308,3408
$GC,11115,-0.97,-117.3,834.3,-6.1,296,11119,0.00,2.28,0.00,0.000,4,0.000,0.052,1809,892,3408
$GC,11154,-1.00,-117.3,837.0,-6.4,296,11158,0.10,2.25,0.00,0.000,6,0.074,0.041,1759,2307,3408
$GC,11475,-0.93,-117.3,864.2,-8.6,302,11477,0.15,0.00,0.00,0.000,6,0.133,0.000,1802,2308,3408
$GC,11779,-0.93,-117.3,885.0,-6.7,307,11783,0.00,2.28,0.00,0.000,4,0.000,0.048,1803,896,3407
$GC,11829,-0.95,-117.3,888.9,-7.1,307,11833,0.00,2.25,0.00,0.000,6,0.000,0.047,1795,2306,3407
$GC,12139,-0.95,-117.3,911.7,-7.5,312,12143,0.00,2.28,0.00,0.000,4,0.000,0.048,1795,896,3407
$GC,12178,-0.95,-117.3,915.0,-8.3,312,12182,0.00,2.25,0.00,0.000,6,0.000,0.042,1793,2306,3407
$GC,12499,-0.95,-117.3,938.9,-7.5,318,12503,0.00,2.28,0.00,0.000,4,0.000,0.053,1793,893,3407
$GC,12543,-0.95,-117.3,942.7,-8.5,318,12547,0.00,2.25,0.00,0.000,6,0.000,0.041,1787,2305,3407
$GC,12859,-0.95,-117.3,966.1,-7.5,324,12863,0.00,2.28,0.00,0.000,4,0.000,0.051,1788,897,3407
$GC,12922,-0.95,-117.3,970.9,-7.6,325,12926,0.00,2.25,0.00,0.000,6,0.000,0.048,1781,2303,3407
$STATE,13224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13224,begin apogee
$GC,13230,-0.22,0.0,992.6,7.0,330,13331,0.55,0.00,97.78,1.297,6,0.118,0.000,1956,2303,2931
$STATE,13332,end apogee,CONTROL_FINISHED_OK
$STATE,13332,begin climb
$GC,13335,0.68,117.3,993.7,0.0,331,13447,0.55,2.55,103.18,1.265,4,0.072,0.054,2150,3699,2451
$GC,13498,0.50,117.3,988.0,7.5,333,13503,0.22,2.35,0.00,0.000,6,0.165,0.035,2107,2306,2446
$GC,13826,0.47,117.3,969.3,5.7,339,13828,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2306,2441
$GC,14129,0.44,123.1,953.1,5.3,344,14135,0.00,0.00,4.40,0.810,6,0.000,0.000,2107,2307,2429
$GC,14432,0.42,126.3,936.8,5.4,349,14439,0.00,0.00,4.62,0.833,6,0.000,0.000,2107,2306,2415
$GC,14736,0.40,132.3,920.8,5.3,354,14749,0.00,2.35,6.95,0.993,4,0.000,0.059,2107,3713,2390
$GC,14768,0.35,132.3,918.6,5.7,354,14773,0.15,2.25,0.00,0.000,6,0.156,0.041,2077,2292,2390
$GC,15100,0.44,156.1,902.9,4.7,360,15129,0.00,2.40,21.73,1.181,4,0.000,0.053,2077,3710,2292
$GC,15170,0.51,160.8,898.9,5.3,361,15181,0.10,2.28,5.57,0.892,6,0.069,0.033,2133,2294,2275
$GC,15531,0.51,160.8,875.2,6.6,367,15535,0.00,2.30,0.00,0.000,4,0.000,0.054,2136,887,2272
$GC,15598,0.46,160.8,870.6,6.3,368,15603,0.15,2.28,0.00,0.000,6,0.134,0.041,2096,2310,2271
$GC,15965,0.49,168.1,851.3,5.3,374,15979,0.00,2.33,7.60,0.986,4,0.000,0.052,2096,3712,2244
$GC,16013,0.49,168.1,848.0,6.7,374,16017,0.00,2.22,0.00,0.000,6,0.000,0.034,2104,2303,2244
$GC,16329,0.49,168.1,829.4,5.9,380,16333,0.00,2.28,0.00,0.000,4,0.000,0.055,2104,3710,2243
$GC,16356,0.49,168.1,827.5,7.2,380,16360,0.00,2.22,0.00,0.000,6,0.000,0.039,2115,2294,2242
$GC,16689,0.49,168.1,806.9,6.2,386,16693,0.00,2.30,0.00,0.000,4,0.000,0.051,2115,3718,2242
$GC,16722,0.44,168.1,804.6,6.9,386,16727,0.12,2.20,0.00,0.000,6,0.153,0.033,2094,2297,2242
$GC,17056,0.48,176.8,787.0,5.2,392,17066,0.00,0.00,8.90,0.996,6,0.000,0.000,2094,2297,2210
$GC,17358,0.53,186.5,771.2,5.2,397,17373,0.00,2.30,9.98,1.009,4,0.000,0.050,2094,3710,2170
$GC,17396,0.56,190.7,768.8,5.4,397,17406,0.00,2.22,5.47,0.836,6,0.000,0.035,2102,2304,2153
$GC,17718,0.60,197.0,751.7,5.3,403,17727,0.10,0.00,7.07,0.920,6,0.066,0.000,2158,2305,2127
$GC,18020,0.50,197.0,727.9,8.0,408,18025,0.20,2.30,0.00,0.000,4,0.140,0.054,2098,3713,2125
$GC,18064,0.50,197.0,725.0,6.0,408,18068,0.00,2.22,0.00,0.000,6,0.000,0.033,2106,2297,2124
$GC,18381,0.56,224.3,710.4,4.6,414,18408,0.00,0.00,25.25,1.071,6,0.000,0.000,2107,2296,2016
$GC,18684,0.65,260.4,697.4,4.3,419,18719,0.12,0.00,32.80,1.066,6,0.056,0.000,2174,2296,1869
$GC,18987,0.56,260.4,671.4,8.9,424,18991,0.20,2.30,0.00,0.000,4,0.135,0.048,2114,3710,1862
$GC,19050,0.60,260.4,667.1,6.4,425,19054,0.00,2.22,0.00,0.000,6,0.000,0.033,2122,2300,1861
$GC,19416,0.63,260.4,646.8,5.5,431,19420,0.00,2.28,0.00,0.000,4,0.000,0.048,2122,3710,1860
$GC,19449,0.63,260.4,644.5,7.2,431,19453,0.00,2.20,0.00,0.000,6,0.000,0.033,2132,2299,1860
$GC,19776,0.63,260.4,623.2,6.6,437,19780,0.00,2.28,0.00,0.000,4,0.000,0.048,2132,3715,1859
$GC,19804,0.63,260.4,620.9,8.3,437,19808,0.00,2.20,0.00,0.000,6,0.000,0.032,2142,2295,1859
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$STATE,28727,end climb,SURFACE_DEPTH_REACHED
$STATE,28728,begin surface coast
$FINISH,1.1,1.024839
$STATE,28772,end surface coast,CONTROL_FINISHED_OK
$STATE,28772,begin surface
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$HUMID,1709
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$XPDR_PINGS,60
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$10V_AH,10.5,53.587
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44425,744
$CAP_FILE_SIZE,187753,0
$CFSIZE,260165632,225423360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,011109,125538,5009.113,-14445.850,49,1.4,56,18.6