version: 66.04
glider: 144
mission: 15
dive: 817
start: 3 13 110 0 13 38
data:
$ID,144
$MISSION,15
$DIVE,817
$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,-78223.047
$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,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
$GPS1,000539,4859.888,-13120.573,39,1.9,41,19.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-61.0
$GPS2,001244,4859.847,-13120.506,14,1.8,14,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,-0.045
$KALMAN_X,-41347.7,-181.7,-209.8,1022690.6,719.5
$KALMAN_Y,73016.5,-266.3,-186.8,-222811.4,1215.5
$MHEAD_RNG_PITCHd_Wd,86.2,49339,-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,-117.0,0.0,0.0,0,63,0.00,0.00,-40.42,0.000,2,0.000,0.000,99,2298,2638
$GC,68,-0.68,-117.0,3.8,-6.7,2,99,7.07,2.35,-18.62,0.000,4,0.229,0.061,1845,888,3410
$GC,291,-0.68,-117.0,30.1,-11.3,12,295,0.00,2.33,0.00,0.000,6,0.000,0.043,1836,2306,3411
$GC,614,-0.61,-117.0,65.9,-11.2,28,619,0.12,2.30,0.00,0.000,4,0.131,0.038,1872,894,3411
$GC,684,-0.65,-117.0,72.4,-8.8,31,688,0.00,2.28,0.00,0.000,6,0.000,0.040,1864,2307,3411
$GC,1014,-0.65,-117.0,102.8,-8.0,58,1018,0.00,2.28,0.00,0.000,4,0.000,0.047,1864,897,3411
$GC,1039,-0.67,-117.0,104.9,-8.2,60,1043,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2310,3412
$GC,1376,-0.71,-117.0,128.3,-7.3,91,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2310,3412
$GC,1713,-0.75,-117.0,152.5,-7.0,121,1718,0.10,2.30,0.00,0.000,4,0.064,0.038,1783,893,3412
$GC,1906,-0.66,-117.0,174.6,-11.7,126,1913,0.22,2.35,0.00,0.000,6,0.106,0.041,1858,2305,3412
$GC,2221,-0.72,-117.0,195.4,-6.2,137,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2305,3412
$GC,2528,-0.78,-117.3,212.8,-5.4,147,2533,0.10,2.30,0.00,0.000,4,0.063,0.039,1783,890,3412
$GC,2559,-0.73,-117.3,215.3,-8.8,148,2564,0.25,2.30,0.00,0.000,6,0.111,0.041,1845,2309,3412
$GC,2897,-0.77,-117.3,236.7,-6.0,159,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2309,3412
$GC,3203,-0.81,-117.3,255.4,-6.6,169,3207,0.10,2.33,0.00,0.000,4,0.064,0.040,1777,887,3412
$GC,3239,-0.74,-117.3,258.9,-10.5,170,3244,0.25,2.33,0.00,0.000,6,0.110,0.037,1842,2306,3411
$GC,3576,-0.78,-117.3,282.9,-6.7,181,3580,0.00,2.28,0.00,0.000,4,0.000,0.041,1842,888,3411
$GC,3613,-0.82,-117.3,285.5,-7.0,182,3617,0.00,2.30,0.00,0.000,6,0.000,0.041,1837,2310,3411
$GC,3955,-0.85,-117.3,311.8,-7.8,191,3960,0.08,2.33,0.00,0.000,4,0.080,0.054,1755,3710,3411
$GC,4007,-0.74,-117.3,318.1,-13.0,191,4012,0.30,2.22,0.00,0.000,6,0.113,0.031,1841,2298,3411
$GC,4320,-0.78,-117.3,342.9,-7.7,196,4324,0.00,2.30,0.00,0.000,4,0.000,0.045,1841,890,3411
$GC,4361,-0.83,-117.3,346.3,-7.9,196,4365,0.00,2.30,0.00,0.000,6,0.000,0.039,1836,2305,3411
$GC,4683,-0.87,-117.3,370.5,-7.5,202,4685,0.10,0.00,0.00,0.000,6,0.064,0.000,1757,2306,3411
$GC,4987,-0.75,-117.3,405.8,-11.8,207,4992,0.22,2.35,0.00,0.000,4,0.118,0.048,1832,887,3410
$GC,5039,-0.80,-117.3,410.3,-7.0,207,5043,0.00,2.33,0.00,0.000,6,0.000,0.044,1826,2312,3410
$GC,5362,-0.80,-117.3,432.1,-6.6,213,5365,0.00,2.30,0.00,0.000,4,0.000,0.042,1825,893,3409
$GC,5398,-0.82,-117.3,434.6,-7.2,213,5402,0.00,2.30,0.00,0.000,6,0.000,0.041,1822,2303,3409
$GC,5731,-0.82,-117.3,459.0,-7.4,219,5735,0.00,2.33,0.00,0.000,4,0.000,0.043,1821,893,3409
$GC,5765,-0.82,-117.3,461.7,-8.0,219,5769,0.00,2.33,0.00,0.000,6,0.000,0.044,1819,2304,3409
$GC,6098,-0.82,-117.3,487.3,-7.8,225,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2304,3409
$GC,6402,-0.82,-117.3,510.1,-7.5,230,6406,0.00,2.35,0.00,0.000,4,0.000,0.046,1819,886,3409
$GC,6468,-0.84,-117.3,515.2,-8.6,231,6472,0.00,2.35,0.00,0.000,6,0.000,0.038,1810,2305,3409
$GC,6834,-0.84,-117.3,545.2,-8.3,237,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2305,3408
$GC,7137,-0.84,-117.3,571.3,-8.6,242,7141,0.00,2.33,0.00,0.000,4,0.000,0.046,1809,891,3407
$GC,7190,-0.84,-117.3,576.1,-8.9,242,7194,0.00,2.33,0.00,0.000,6,0.000,0.038,1801,2302,3407
$GC,7501,-0.84,-117.3,604.2,-9.0,247,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2302,3407
$GC,7804,-0.84,-117.3,629.3,-8.2,252,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2302,3407
$GC,8107,-0.84,-117.3,650.6,-6.9,257,8111,0.00,2.35,0.00,0.000,4,0.000,0.048,1800,886,3407
$GC,8167,-0.84,-117.3,654.6,-6.8,257,8172,0.10,2.35,0.00,0.000,6,0.127,0.044,1821,2303,3407
$GC,8479,-0.87,-117.3,668.9,-4.5,262,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2303,3406
$GC,8782,-0.91,-117.3,684.3,-5.2,267,8786,0.00,2.30,0.00,0.000,4,0.000,0.046,1821,894,3406
$GC,8812,-0.94,-117.3,686.1,-5.8,267,8817,0.10,2.33,0.00,0.000,6,0.067,0.039,1758,2304,3406
$GC,9151,-0.85,-117.3,718.1,-9.8,273,9153,0.20,0.00,0.00,0.000,6,0.120,0.000,1820,2305,3406
$GC,9454,-0.89,-117.3,738.6,-6.6,278,9458,0.00,2.38,0.00,0.000,4,0.000,0.044,1820,884,3406
$GC,9495,-0.93,-117.3,741.4,-7.2,278,9500,0.10,2.38,0.00,0.000,6,0.067,0.038,1757,2307,3406
$GC,9818,-0.84,-117.3,771.4,-9.4,284,9823,0.20,2.38,0.00,0.000,4,0.117,0.051,1817,3711,3406
$GC,9853,-0.88,-117.3,774.2,-7.1,284,9857,0.00,2.28,0.00,0.000,6,0.000,0.032,1816,2297,3405
$GC,10182,-0.92,-117.3,793.9,-6.2,290,10186,0.00,2.30,0.00,0.000,4,0.000,0.051,1816,900,3405
$GC,10222,-0.95,-117.3,796.7,-7.2,290,10226,0.00,2.33,0.00,0.000,6,0.000,0.038,1810,2310,3405
$GC,10544,-0.95,-117.3,818.5,-6.9,296,10548,0.00,2.33,0.00,0.000,4,0.000,0.051,1809,894,3405
$GC,10578,-0.95,-117.3,821.2,-8.0,296,10582,0.00,2.33,0.00,0.000,6,0.000,0.046,1808,2307,3405
$GC,10913,-0.95,-117.3,844.7,-7.0,302,10914,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3405
$GC,11214,-0.95,-117.3,865.7,-6.9,307,11219,0.00,2.35,0.00,0.000,4,0.000,0.044,1808,898,3404
$GC,11244,-0.97,-117.3,867.8,-7.7,307,11248,0.00,2.33,0.00,0.000,6,0.000,0.044,1806,2301,3404
$GC,11578,-0.97,-117.3,889.9,-6.6,313,11582,0.00,2.38,0.00,0.000,4,0.000,0.056,1796,3710,3404
$GC,11603,-0.97,-117.3,891.6,-6.9,313,11607,0.00,2.28,0.00,0.000,6,0.000,0.031,1795,2298,3404
$GC,11941,-0.97,-117.3,914.2,-6.7,319,11945,0.00,2.33,0.00,0.000,4,0.000,0.050,1796,889,3404
$GC,12005,-0.97,-117.3,919.1,-8.3,320,12009,0.00,2.38,0.00,0.000,6,0.000,0.040,1793,2306,3404
$GC,12379,-0.97,-117.3,945.6,-7.1,326,12380,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2306,3404
$GC,12681,-0.97,-117.3,968.7,-7.7,331,12682,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2306,3404
$STATE,12980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12980,begin apogee
$GC,12990,-0.22,0.0,992.1,7.8,336,13090,0.50,0.00,97.07,1.275,6,0.109,0.000,1952,2306,2931
$STATE,13090,end apogee,CONTROL_FINISHED_OK
$STATE,13090,begin climb
$GC,13095,0.68,117.3,994.1,0.0,337,13206,0.55,2.65,103.32,1.249,4,0.070,0.050,2146,3708,2450
$GC,13271,0.52,117.3,991.6,6.4,339,13276,0.17,2.40,0.00,0.000,6,0.152,0.037,2115,2309,2446
$GC,13588,0.49,135.3,976.2,4.9,345,13605,0.00,0.00,15.25,1.145,6,0.000,0.000,2115,2309,2378
$GC,13892,0.47,143.6,960.4,5.2,350,13906,0.00,2.38,8.38,1.029,4,0.000,0.052,2115,3710,2344
$GC,13931,0.41,143.6,957.9,5.8,350,13936,0.15,2.28,0.00,0.000,6,0.156,0.039,2086,2289,2343
$GC,14260,0.51,193.2,945.1,3.8,356,14306,0.10,0.00,44.30,1.212,6,0.076,0.000,2135,2289,2143
$GC,14563,0.47,193.2,925.9,6.5,361,14568,0.12,2.38,0.00,0.000,4,0.140,0.048,2098,3718,2137
$GC,14620,0.47,193.2,922.4,5.6,361,14626,0.00,2.25,0.00,0.000,6,0.000,0.032,2106,2302,2135
$GC,14932,0.52,213.6,907.1,4.8,367,14952,0.00,0.00,18.20,1.139,6,0.000,0.000,2106,2302,2060
$GC,15236,0.59,235.9,892.7,4.7,372,15262,0.00,2.38,20.75,1.141,4,0.000,0.056,2106,3715,1968
$GC,15286,0.65,249.8,890.0,5.0,372,15306,0.10,2.28,14.18,1.086,6,0.066,0.032,2168,2290,1912
$GC,15673,0.56,249.8,859.3,8.1,379,15675,0.17,0.00,0.00,0.000,6,0.137,0.000,2119,2289,1905
$GC,15972,0.65,287.5,845.7,4.2,384,16018,0.00,2.38,35.83,1.093,4,0.000,0.054,2120,3711,1758
$GC,16054,0.71,299.8,841.8,5.1,385,16079,0.10,2.25,14.65,0.923,6,0.064,0.034,2178,2303,1708
$GC,16398,0.63,299.8,811.3,9.4,391,16403,0.15,2.25,0.00,0.000,4,0.137,0.045,2145,894,1703
$GC,16444,0.68,299.8,807.6,7.2,391,16448,0.00,2.25,0.00,0.000,6,0.000,0.041,2146,2312,1701
$GC,16771,0.68,299.8,785.4,6.7,397,16775,0.00,2.28,0.00,0.000,4,0.000,0.048,2146,3708,1701
$GC,16812,0.68,299.8,782.4,6.7,397,16816,0.00,2.20,0.00,0.000,6,0.000,0.035,2155,2304,1701
$GC,17135,0.66,299.8,759.8,6.9,403,17136,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2304,1700
$GC,17437,0.66,299.8,738.4,7.1,408,17441,0.00,2.30,0.00,0.000,4,0.000,0.048,2155,3707,1700
$GC,17462,0.63,299.8,736.4,8.2,408,17467,0.12,2.25,0.00,0.000,6,0.130,0.034,2132,2294,1700
$GC,17807,0.68,299.8,713.0,6.8,414,17811,0.00,2.30,0.00,0.000,4,0.000,0.047,2141,898,1699
$GC,17842,0.75,299.8,710.4,7.0,414,17846,0.00,2.28,0.00,0.000,6,0.000,0.042,2141,2302,1698
$GC,18171,0.78,299.8,684.4,8.0,420,18175,0.10,2.33,0.00,0.000,4,0.070,0.054,2207,3712,1698
$GC,18235,0.62,299.8,675.8,16.1,421,18240,0.30,2.22,0.00,0.000,6,0.142,0.033,2134,2303,1698
$GC,18603,0.67,299.8,646.4,7.6,427,18607,0.00,2.28,0.00,0.000,4,0.000,0.045,2142,892,1698
$GC,18633,0.72,299.8,644.1,7.8,427,18637,0.00,2.30,0.00,0.000,6,0.000,0.038,2143,2314,1697
$GC,18973,0.75,299.8,619.0,7.3,433,18977,0.00,2.28,0.00,0.000,4,0.000,0.048,2143,3711,1697
$GC,19019,0.75,299.8,615.1,8.6,433,19023,0.00,2.20,0.00,0.000,6,0.000,0.031,2152,2294,1697
$GC,19348,0.75,299.8,589.9,7.7,439,19349,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2294,1697
$GC,19650,0.75,299.8,567.0,7.6,444,19654,0.00,2.33,0.00,0.000,4,0.000,0.048,2153,3707,1697
$GC,19679,0.75,299.8,564.3,9.8,444,19682,0.00,2.20,0.00,0.000,6,0.000,0.035,2162,2309,1697
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$STATE,27806,end climb,SURFACE_DEPTH_REACHED
$STATE,27806,begin surface coast
$FINISH,1.5,1.023511
$STATE,27837,end surface coast,CONTROL_FINISHED_OK
$STATE,27837,begin surface
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$TCM_TEMP,16.30
$XPDR_PINGS,73
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$10V_AH,10.3,99.541
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$DATA_FILE_SIZE,44409,734
$CAP_FILE_SIZE,182161,0
$CFSIZE,260165632,195108864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,130310,080007,4859.174,-13114.865,24,1.5,24,19.5