version: 66.04
glider: 144
mission: 15
dive: 821
start: 3 14 110 7 57 32
data:
$ID,144
$MISSION,15
$DIVE,821
$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,-78386.289
$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,32
$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
$GPS1,074827,4857.780,-13100.818,28,3.0,47,19.5
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-52.1
$GPS2,075636,4857.827,-13100.729,32,1.3,49,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.168,-0.005
$KALMAN_X,-41994.2,73.0,-135.1,1046377.0,-220.6
$KALMAN_Y,73533.4,-29.5,-241.0,-227249.7,333.3
$MHEAD_RNG_PITCHd_Wd,72.1,25211,-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,18,-0.68,-117.2,0.0,0.0,0,60,0.00,0.00,-40.53,0.000,2,0.000,0.000,99,2306,2682
$GC,65,-0.68,-117.3,3.8,-4.1,2,95,7.22,2.40,-16.95,0.000,4,0.236,0.067,1837,3706,3412
$GC,238,-0.63,-117.3,29.2,-8.6,9,245,0.10,2.20,0.00,0.000,6,0.125,0.028,1864,2294,3412
$GC,555,-0.63,-117.3,60.8,-9.9,25,559,0.00,2.25,0.00,0.000,4,0.000,0.040,1864,897,3412
$GC,625,-0.63,-117.3,67.5,-9.5,28,629,0.00,2.25,0.00,0.000,6,0.000,0.036,1863,2302,3413
$GC,953,-0.63,-117.3,97.5,-8.8,53,958,0.00,2.33,0.00,0.000,4,0.000,0.047,1853,3707,3413
$GC,989,-0.67,-117.3,100.8,-8.9,55,995,0.00,2.20,0.00,0.000,6,0.000,0.028,1853,2297,3413
$GC,1320,-0.69,-117.3,127.1,-7.4,86,1324,0.00,2.25,0.00,0.000,4,0.000,0.039,1853,891,3413
$GC,1440,-0.73,-117.3,136.9,-7.6,96,1446,0.00,2.30,0.00,0.000,6,0.000,0.041,1850,2305,3413
$GC,1773,-0.75,-117.3,161.2,-7.4,118,1777,0.00,2.28,0.00,0.000,4,0.000,0.043,1851,899,3413
$GC,1892,-0.80,-117.3,170.4,-7.5,121,1897,0.10,2.30,0.00,0.000,6,0.064,0.041,1779,2313,3413
$GC,2208,-0.70,-117.3,205.3,-11.2,131,2210,0.22,0.00,0.00,0.000,6,0.117,0.000,1849,2313,3413
$GC,2513,-0.75,-117.3,226.1,-6.3,141,2517,0.00,2.30,0.00,0.000,4,0.000,0.040,1849,899,3413
$GC,2565,-0.81,-117.3,229.6,-6.7,142,2570,0.10,2.30,0.00,0.000,6,0.064,0.036,1779,2314,3413
$GC,2886,-0.72,-117.3,259.9,-9.4,153,2888,0.22,0.00,0.00,0.000,6,0.117,0.000,1848,2315,3413
$GC,3192,-0.77,-117.3,280.6,-7.1,163,3196,0.00,2.30,0.00,0.000,4,0.000,0.040,1848,899,3413
$GC,3228,-0.83,-117.3,283.4,-7.7,164,3233,0.12,2.30,0.00,0.000,6,0.056,0.038,1768,2311,3413
$GC,3570,-0.73,-117.3,323.3,-12.0,172,3575,0.20,2.35,0.00,0.000,4,0.123,0.044,1837,899,3413
$GC,3621,-0.77,-117.3,328.3,-8.0,172,3625,0.00,2.33,0.00,0.000,6,0.000,0.038,1836,2305,3413
$GC,3933,-0.80,-117.3,350.8,-7.2,177,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2305,3413
$GC,4237,-0.83,-117.3,371.4,-6.7,182,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2305,3413
$GC,4539,-0.86,-117.3,391.1,-6.5,187,4543,0.10,2.30,0.00,0.000,4,0.065,0.041,1768,899,3412
$GC,4608,-0.78,-117.3,398.2,-10.9,188,4613,0.28,2.33,0.00,0.000,6,0.113,0.040,1836,2313,3412
$GC,4977,-0.82,-117.3,423.7,-6.9,194,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2313,3412
$GC,5279,-0.86,-117.3,446.0,-7.4,199,5283,0.10,2.33,0.00,0.000,4,0.067,0.042,1771,900,3412
$GC,5381,-0.78,-117.3,456.9,-10.9,200,5386,0.22,2.33,0.00,0.000,6,0.116,0.038,1829,2306,3412
$GC,5717,-0.81,-117.3,482.8,-7.6,206,5721,0.00,2.33,0.00,0.000,4,0.000,0.049,1829,892,3412
$GC,5758,-0.86,-117.3,486.3,-8.3,206,5762,0.00,2.33,0.00,0.000,6,0.000,0.039,1823,2313,3412
$GC,6080,-0.86,-117.3,511.5,-7.9,212,6084,0.00,2.35,0.00,0.000,4,0.000,0.054,1814,3716,3411
$GC,6108,-0.86,-117.3,513.9,-8.7,212,6113,0.00,2.25,0.00,0.000,6,0.000,0.037,1814,2301,3411
$GC,6443,-0.86,-117.3,540.7,-7.9,218,6447,0.00,2.30,0.00,0.000,4,0.000,0.043,1814,897,3411
$GC,6488,-0.86,-117.3,544.6,-8.6,218,6492,0.00,2.30,0.00,0.000,6,0.000,0.038,1808,2304,3410
$GC,6805,-0.86,-117.3,571.4,-8.6,224,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3410
$GC,7108,-0.86,-117.3,597.3,-8.5,229,7112,0.00,2.35,0.00,0.000,4,0.000,0.043,1808,888,3410
$GC,7194,-0.86,-117.3,604.9,-8.6,230,7198,0.00,2.35,0.00,0.000,6,0.000,0.044,1805,2305,3410
$GC,7538,-0.86,-117.3,632.9,-8.0,236,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3410
$GC,7841,-0.86,-117.3,655.6,-7.5,241,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3410
$GC,8146,-0.86,-117.3,677.7,-7.4,246,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3409
$GC,8447,-0.86,-117.3,701.5,-7.9,251,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3410
$GC,8750,-0.86,-117.3,724.5,-7.5,256,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3409
$GC,9054,-0.86,-117.3,747.1,-7.4,261,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2305,3409
$GC,9357,-0.86,-117.3,769.3,-7.4,266,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3408
$GC,9661,-0.86,-117.3,789.8,-6.7,271,9665,0.00,2.33,0.00,0.000,4,0.000,0.051,1806,899,3408
$GC,9712,-0.86,-117.3,793.2,-6.3,271,9716,0.00,2.33,0.00,0.000,6,0.000,0.044,1796,2311,3408
$GC,10023,-0.86,-117.3,812.3,-6.1,276,10027,0.00,2.35,0.00,0.000,4,0.000,0.052,1786,3713,3407
$GC,10052,-0.86,-117.3,814.2,-7.4,276,10057,0.10,2.28,0.00,0.000,6,0.117,0.035,1814,2293,3407
$GC,10387,-0.89,-117.3,832.0,-5.2,282,10391,0.00,2.30,0.00,0.000,4,0.000,0.046,1814,899,3407
$GC,10445,-0.93,-117.3,835.4,-5.2,282,10452,0.00,2.33,0.00,0.000,6,0.000,0.038,1810,2308,3407
$GC,10757,-0.95,-117.3,853.0,-5.7,288,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2309,3406
$GC,11061,-0.97,-117.3,870.2,-5.7,293,11065,0.00,2.38,0.00,0.000,4,0.000,0.044,1810,900,3407
$GC,11091,-0.99,-117.3,872.2,-7.4,293,11096,0.08,2.38,0.00,0.000,6,0.084,0.038,1765,2313,3407
$GC,11426,-0.92,-117.3,896.9,-7.3,299,11431,0.12,2.38,0.00,0.000,4,0.131,0.044,1801,901,3406
$GC,11479,-0.95,-117.3,900.5,-6.4,299,11483,0.00,2.33,0.00,0.000,6,0.000,0.042,1795,2304,3406
$GC,11790,-0.95,-117.3,920.4,-6.3,304,11794,0.00,2.35,0.00,0.000,4,0.000,0.046,1795,897,3406
$GC,11830,-0.95,-117.3,923.1,-7.6,304,11834,0.00,2.35,0.00,0.000,6,0.000,0.041,1791,2304,3406
$GC,12152,-0.95,-117.3,944.6,-6.7,310,12153,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2304,3405
$GC,12456,-0.95,-117.3,965.7,-7.0,315,12457,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2304,3405
$GC,12758,-0.95,-117.3,988.3,-7.5,320,12762,0.00,2.40,0.00,0.000,4,0.000,0.045,1792,893,3405
$STATE,12777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12777,begin apogee
$GC,12789,-0.22,0.0,990.2,8.5,320,12889,0.50,0.00,97.22,1.272,6,0.109,0.000,1947,2304,2931
$STATE,12890,end apogee,CONTROL_FINISHED_OK
$STATE,12890,begin climb
$GC,12895,0.68,117.3,993.6,0.0,322,13007,0.57,2.62,103.05,1.246,4,0.072,0.051,2149,3710,2451
$GC,13035,0.55,140.7,991.7,4.7,324,13065,0.17,2.45,22.40,1.166,6,0.159,0.036,2119,2307,2357
$GC,13395,0.53,160.8,974.5,4.8,330,13419,0.00,2.42,17.60,1.157,4,0.000,0.051,2129,889,2274
$GC,13449,0.54,164.8,971.4,5.4,330,13461,0.00,2.33,4.82,0.825,6,0.000,0.040,2129,2305,2258
$GC,13766,0.50,164.8,953.0,5.9,336,13770,0.00,2.30,0.00,0.000,4,0.000,0.050,2129,3713,2255
$GC,13831,0.41,164.8,948.7,6.8,337,13836,0.20,2.25,0.00,0.000,6,0.151,0.033,2086,2288,2254
$GC,14204,0.52,218.6,934.5,3.7,343,14255,0.10,0.00,48.40,1.211,6,0.075,0.000,2136,2288,2039
$GC,14507,0.50,218.6,915.7,6.4,348,14508,0.12,0.00,0.00,0.000,6,0.134,0.000,2103,2288,2031
$GC,14811,0.56,228.8,899.8,5.2,353,14822,0.00,0.00,8.90,1.024,6,0.000,0.000,2104,2288,1998
$GC,15113,0.64,247.1,884.7,4.9,358,15138,0.12,2.40,17.73,1.122,4,0.063,0.050,2160,3706,1922
$GC,15157,0.56,247.1,881.3,8.3,358,15162,0.20,2.25,0.00,0.000,6,0.146,0.037,2118,2301,1922
$GC,15480,0.60,247.1,862.8,5.6,364,15481,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2301,1918
$GC,15782,0.63,247.1,845.0,5.9,369,15786,0.00,2.33,0.00,0.000,4,0.000,0.054,2117,3708,1918
$GC,15810,0.63,247.1,842.8,7.7,369,15814,0.00,2.22,0.00,0.000,6,0.000,0.032,2125,2291,1917
$GC,16150,0.63,247.1,817.7,7.5,375,16152,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2291,1917
$GC,16453,0.66,247.1,795.7,7.3,380,16454,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2291,1916
$GC,16756,0.68,247.1,775.8,6.5,385,16761,0.08,2.38,0.00,0.000,4,0.081,0.048,2176,3714,1916
$GC,16796,0.56,247.1,772.0,10.9,385,16801,0.25,2.25,0.00,0.000,6,0.145,0.033,2118,2297,1915
$GC,17120,0.60,247.1,752.7,5.7,391,17121,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2297,1915
$GC,17422,0.64,247.1,735.3,5.7,396,17426,0.00,2.38,0.00,0.000,4,0.000,0.048,2118,3710,1915
$GC,17446,0.66,247.1,733.8,6.1,396,17450,0.00,2.25,0.00,0.000,6,0.000,0.035,2127,2299,1915
$GC,17786,0.66,247.1,712.5,6.2,402,17790,0.00,2.35,0.00,0.000,4,0.000,0.048,2126,3714,1915
$GC,17814,0.66,247.1,710.3,6.7,402,17818,0.00,2.22,0.00,0.000,6,0.000,0.032,2136,2300,1915
$GC,18148,0.66,247.1,688.5,6.5,408,18152,0.00,2.38,0.00,0.000,4,0.000,0.048,2136,3718,1915
$GC,18182,0.63,247.1,686.0,6.7,408,18186,0.00,2.22,0.00,0.000,6,0.000,0.031,2146,2302,1915
$GC,18512,0.60,247.1,662.9,7.1,414,18516,0.00,2.33,0.00,0.000,4,0.000,0.053,2146,3709,1915
$GC,18552,0.54,247.1,659.3,9.2,414,18557,0.15,2.22,0.00,0.000,6,0.130,0.031,2115,2292,1915
$GC,18875,0.61,260.0,642.4,5.1,420,18893,0.00,2.33,11.55,0.937,4,0.000,0.048,2124,896,1870
$GC,18914,0.71,291.2,640.3,4.4,420,18956,0.10,2.28,31.55,0.951,6,0.066,0.039,2193,2313,1743
$GC,19311,0.61,291.2,597.3,11.6,427,19316,0.20,2.28,0.00,0.000,4,0.133,0.047,2130,3708,1738
$GC,19393,0.63,291.2,589.5,7.9,428,19397,0.00,2.22,0.00,0.000,6,0.000,0.038,2138,2295,1737
$GC,19743,0.65,291.2,564.6,7.0,434,19747,0.00,2.33,0.00,0.000,4,0.000,0.051,2138,3716,1736
$GC,19766,0.68,291.2,562.9,6.3,434,19771,0.00,2.22,0.00,0.000,6,0.000,0.031,2146,2294,1736
$GC,20106,0.68,291.2,538.7,7.0,440,20108,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2294,1735
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$STATE,27711,end climb,SURFACE_DEPTH_REACHED
$STATE,27711,begin surface coast
$FINISH,1.6,1.013369
$STATE,27733,end surface coast,CONTROL_FINISHED_OK
$STATE,27733,begin surface
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$HUMID,1761
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$TCM_TEMP,16.30
$XPDR_PINGS,66
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$10V_AH,10.3,99.987
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$DEVICE_SECS,19.725,226.075,438.100,0.000,0.000,30.792,30.181,206.169,16.500,0.000,0.000,54.370,1623.707,22937.848,562.352,2154.886,1011.506,33.386,1707.260,0.000,2091.174,0.000,0.529,0.000
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$DATA_FILE_SIZE,41124,719
$CAP_FILE_SIZE,181034,0
$CFSIZE,260165632,194801664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140310,154254,4857.955,-13056.102,61,1.5,61,19.5