version: 66.04
glider: 144
mission: 15
dive: 81
start: 7 8 109 20 34 8
data:
$ID,144
$MISSION,15
$DIVE,81
$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,-62497.277
$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,30
$R_STBD_OVSHOOT,29
$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
$GPS1,202801,5012.777,-14437.779,40,1.7,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-65.9
$GPS2,203314,5012.745,-14437.763,9,1.5,9,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.141,0.091
$KALMAN_X,-42193.0,428.5,65.4,69178.7,-2021.7
$KALMAN_Y,23867.1,-187.2,-181.8,679.6,1660.2
$MHEAD_RNG_PITCHd_Wd,38.5,17946,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-32.17,0.000,2,0.000,0.000,100,2312,2577
$GC,53,-0.68,-117.3,3.3,-5.8,3,88,6.85,2.30,-21.77,0.000,4,0.242,0.064,1846,890,3411
$GC,235,-0.52,-117.3,26.3,-13.7,19,240,0.17,2.25,0.00,0.000,6,0.134,0.048,1888,2306,3413
$GC,562,-0.52,-117.3,57.7,-8.8,49,566,0.00,2.25,0.00,0.000,4,0.000,0.048,1889,887,3414
$GC,617,-0.61,-117.3,62.8,-8.9,53,623,0.00,2.22,0.00,0.000,6,0.000,0.045,1888,2304,3414
$GC,950,-0.67,-117.3,88.2,-7.2,80,952,0.12,0.00,0.00,0.000,6,0.060,0.000,1820,2304,3415
$GC,1259,-0.48,-117.3,125.4,-12.2,95,1264,0.22,2.25,0.00,0.000,4,0.127,0.049,1894,889,3415
$GC,1309,-0.65,-117.3,129.9,-7.5,97,1314,0.12,2.22,0.00,0.000,6,0.060,0.044,1820,2305,3415
$GC,1645,-0.51,-117.3,161.8,-9.2,111,1647,0.22,0.00,0.00,0.000,6,0.124,0.000,1889,2305,3415
$GC,1951,-0.69,-117.3,179.2,-5.7,121,1955,0.15,2.25,0.00,0.000,4,0.054,0.049,1806,883,3415
$GC,1995,-0.53,-117.3,183.4,-10.7,122,1999,0.30,2.22,0.00,0.000,6,0.123,0.044,1889,2304,3415
$GC,2313,-0.72,-117.3,202.8,-5.8,133,2314,0.15,0.00,0.00,0.000,6,0.055,0.000,1804,2304,3415
$GC,2619,-0.57,-117.3,232.1,-9.7,143,2624,0.20,2.25,0.00,0.000,4,0.123,0.053,1871,886,3415
$GC,2663,-0.71,-117.3,235.4,-6.7,144,2666,0.00,2.22,0.00,0.000,6,0.000,0.051,1864,2304,3415
$GC,2987,-0.81,-117.3,254.7,-6.1,155,2989,0.12,0.00,0.00,0.000,6,0.064,0.000,1788,2305,3415
$GC,3293,-0.62,-117.3,287.5,-11.1,165,3295,0.25,0.00,0.00,0.000,6,0.129,0.000,1864,2305,3414
$GC,3599,-0.73,-117.3,307.7,-6.3,173,3604,0.10,2.25,0.00,0.000,4,0.071,0.051,1807,884,3414
$GC,3643,-0.60,-117.3,311.6,-9.3,173,3648,0.25,2.22,0.00,0.000,6,0.123,0.045,1874,2303,3414
$GC,3960,-0.76,-117.3,328.0,-5.0,179,3965,0.15,2.22,0.00,0.000,4,0.054,0.054,1794,890,3413
$GC,3993,-0.60,-117.3,330.8,-9.9,179,3997,0.28,2.20,0.00,0.000,6,0.127,0.051,1869,2308,3414
$GC,4325,-0.74,-117.3,350.2,-5.8,185,4329,0.12,2.25,0.00,0.000,4,0.061,0.050,1800,882,3413
$GC,4374,-0.60,-117.3,354.9,-10.4,185,4379,0.25,2.22,0.00,0.000,6,0.123,0.051,1872,2301,3413
$GC,4684,-0.77,-117.3,373.3,-5.8,190,4686,0.12,0.00,0.00,0.000,6,0.061,0.000,1798,2301,3412
$GC,4987,-0.63,-117.3,402.3,-9.8,195,4992,0.17,2.22,0.00,0.000,4,0.126,0.062,1850,3712,3412
$GC,5014,-0.63,-117.3,404.7,-7.8,195,5018,0.00,2.15,0.00,0.000,6,0.000,0.041,1850,2301,3412
$GC,5353,-0.72,-117.3,426.2,-6.3,201,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2301,3412
$GC,5655,-0.81,-117.3,444.5,-6.0,206,5660,0.10,2.22,0.00,0.000,4,0.071,0.051,1789,889,3411
$GC,5718,-0.66,-117.3,450.2,-9.9,207,5722,0.25,2.22,0.00,0.000,6,0.128,0.048,1858,2308,3411
$GC,6083,-0.78,-117.3,470.0,-5.2,213,6085,0.10,0.00,0.00,0.000,6,0.071,0.000,1801,2308,3411
$GC,6386,-0.67,-117.3,495.6,-8.7,218,6391,0.17,2.25,0.00,0.000,4,0.125,0.051,1853,892,3411
$GC,6464,-0.78,-117.3,501.4,-7.0,219,6468,0.00,2.22,0.00,0.000,6,0.000,0.046,1850,2308,3411
$GC,6813,-0.88,-117.3,523.4,-6.3,225,6815,0.12,0.00,0.00,0.000,6,0.061,0.000,1781,2307,3411
$GC,7116,-0.70,-117.3,551.7,-9.5,230,7118,0.22,0.00,0.00,0.000,6,0.129,0.000,1849,2308,3410
$GC,7420,-0.80,-117.3,567.9,-5.1,235,7424,0.10,2.25,0.00,0.000,4,0.072,0.053,1794,889,3410
$GC,7475,-0.68,-117.3,572.3,-8.3,235,7482,0.22,2.22,0.00,0.000,6,0.127,0.051,1854,2306,3410
$GC,7785,-0.81,-117.3,589.0,-5.3,241,7790,0.12,2.25,0.00,0.000,4,0.064,0.058,1781,3722,3410
$GC,7812,-0.73,-117.3,591.2,-8.4,241,7817,0.20,2.20,0.00,0.000,6,0.129,0.045,1841,2293,3410
$GC,8144,-0.80,-117.3,612.0,-6.3,247,8147,0.00,2.20,0.00,0.000,4,0.000,0.054,1841,893,3409
$GC,8194,-0.89,-117.3,615.7,-6.8,247,8198,0.12,2.22,0.00,0.000,6,0.064,0.050,1769,2311,3409
$GC,8509,-0.69,-117.3,648.3,-10.8,253,8511,0.28,0.00,0.00,0.000,6,0.133,0.000,1854,2311,3409
$GC,8812,-0.82,-117.3,666.9,-5.9,258,8816,0.12,2.25,0.00,0.000,4,0.071,0.058,1794,893,3409
$GC,8844,-0.70,-117.3,669.7,-9.7,258,8849,0.22,2.22,0.00,0.000,6,0.129,0.053,1852,2310,3409
$GC,9172,-0.84,-117.3,687.5,-5.2,264,9173,0.12,0.00,0.00,0.000,6,0.071,0.000,1795,2310,3409
$GC,9474,-0.74,-117.3,711.4,-8.0,269,9479,0.15,2.25,0.00,0.000,4,0.129,0.055,1840,894,3409
$GC,9518,-0.83,-117.3,714.4,-6.2,269,9522,0.00,2.22,0.00,0.000,6,0.000,0.050,1836,2311,3409
$GC,9839,-0.90,-117.3,733.5,-5.9,275,9841,0.12,0.00,0.00,0.000,6,0.072,0.000,1780,2311,3408
$GC,10142,-0.74,-117.3,759.1,-8.5,280,10147,0.17,2.25,0.00,0.000,4,0.134,0.054,1838,896,3408
$GC,10180,-0.83,-117.3,761.9,-6.7,280,10184,0.00,2.22,0.00,0.000,6,0.000,0.051,1836,2307,3408
$GC,10507,-0.90,-117.3,779.7,-5.4,286,10512,0.12,2.25,0.00,0.000,4,0.076,0.054,1781,893,3408
$GC,10562,-0.75,-117.3,784.1,-8.4,286,10570,0.20,2.25,0.00,0.000,6,0.127,0.054,1837,2304,3408
$GC,10873,-0.84,-117.3,800.4,-5.1,292,10877,0.00,2.25,0.00,0.000,4,0.000,0.061,1830,3716,3408
$GC,10900,-0.92,-117.3,801.9,-5.9,292,10905,0.10,2.17,0.00,0.000,6,0.082,0.044,1789,2305,3408
$GC,11232,-0.80,-117.3,826.7,-7.6,298,11234,0.15,0.00,0.00,0.000,6,0.137,0.000,1832,2305,3408
$GC,11535,-0.87,-117.3,843.1,-5.3,303,11539,0.00,2.25,0.00,0.000,4,0.000,0.059,1832,896,3408
$GC,11585,-0.94,-117.3,846.1,-6.0,303,11590,0.10,2.22,0.00,0.000,6,0.086,0.048,1779,2307,3407
$GC,11895,-0.79,-117.3,868.8,-7.4,308,11900,0.17,2.25,0.00,0.000,4,0.143,0.064,1826,3716,3407
$GC,11934,-0.87,-117.3,871.3,-5.0,308,11938,0.00,2.20,0.00,0.000,6,0.000,0.041,1827,2294,3407
$GC,12256,-0.92,-117.3,887.9,-5.2,314,12258,0.10,0.00,0.00,0.000,6,0.092,0.000,1784,2293,3407
$GC,12558,-0.79,-117.3,909.8,-7.3,319,12563,0.17,2.22,0.00,0.000,4,0.136,0.060,1841,895,3407
$GC,12603,-0.90,-117.3,912.5,-5.3,319,12607,0.12,2.22,0.00,0.000,6,0.081,0.054,1785,2305,3407
$GC,12918,-0.78,-117.3,934.9,-7.3,325,12922,0.17,2.25,0.00,0.000,4,0.140,0.065,1832,3711,3407
$GC,12950,-0.87,-117.3,937.2,-6.6,325,12954,0.00,2.20,0.00,0.000,6,0.000,0.045,1832,2294,3407
$GC,13283,-0.95,-117.3,955.1,-5.3,331,13287,0.12,2.22,0.00,0.000,4,0.090,0.058,1784,892,3407
$GC,13316,-0.82,-117.3,957.7,-7.6,331,13320,0.17,2.22,0.00,0.000,6,0.153,0.052,1822,2304,3406
$GC,13642,-0.86,-117.3,976.9,-5.9,337,13643,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2304,3407
$STATE,13881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13881,begin apogee
$GC,13887,-0.22,0.0,990.1,5.4,341,13982,0.40,0.00,92.85,1.347,6,0.130,0.000,1951,2304,2931
$STATE,13983,end apogee,CONTROL_FINISHED_OK
$STATE,13983,begin climb
$GC,13986,0.68,117.3,991.1,0.0,342,14092,0.57,2.53,97.80,1.318,4,0.087,0.062,2147,3709,2450
$GC,14138,0.26,117.3,984.5,9.3,344,14144,0.40,2.33,0.00,0.000,6,0.183,0.041,2056,2307,2446
$GC,14477,0.38,137.0,967.7,4.8,350,14495,0.10,0.00,16.20,1.218,6,0.084,0.000,2095,2307,2372
$GC,14780,0.46,137.0,948.5,6.3,355,14784,0.00,2.33,0.00,0.000,4,0.000,0.064,2104,892,2367
$GC,14875,0.40,137.0,942.4,6.8,356,14879,0.00,2.30,0.00,0.000,6,0.000,0.048,2104,2309,2366
$GC,15207,0.29,137.0,921.2,6.4,362,15212,0.15,2.30,0.00,0.000,4,0.163,0.058,2065,3721,2366
$GC,15240,0.30,145.1,919.1,5.2,362,15254,0.00,2.25,7.38,1.064,6,0.000,0.046,2073,2294,2339
$GC,15570,0.33,168.7,903.4,4.7,368,15593,0.00,0.00,21.30,1.230,6,0.000,0.000,2074,2295,2243
$GC,15874,0.43,193.5,889.2,4.7,373,15903,0.00,2.42,21.98,1.217,4,0.000,0.059,2074,3711,2141
$GC,15915,0.53,205.0,887.2,5.1,373,15937,0.12,2.30,11.55,1.120,6,0.066,0.045,2131,2299,2095
$GC,16239,0.39,205.0,862.5,7.8,379,16244,0.17,2.33,0.00,0.000,4,0.152,0.057,2087,886,2089
$GC,16266,0.43,205.0,860.7,5.6,379,16270,0.00,2.30,0.00,0.000,6,0.000,0.047,2087,2315,2088
$GC,16605,0.53,224.6,844.3,4.8,385,16630,0.10,2.38,17.17,1.175,4,0.084,0.064,2131,3714,2014
$GC,16646,0.38,224.6,841.1,6.7,385,16651,0.22,2.28,0.00,0.000,6,0.158,0.048,2082,2302,2013
$GC,16967,0.53,243.2,825.0,4.9,391,16991,0.12,2.40,16.88,1.156,4,0.067,0.059,2146,888,1938
$GC,17014,0.46,243.2,821.4,8.4,391,17019,0.17,2.33,0.00,0.000,6,0.143,0.053,2098,2311,1936
$GC,17329,0.52,243.2,802.5,5.9,397,17333,0.00,2.28,0.00,0.000,4,0.000,0.058,2098,3711,1933
$GC,17378,0.52,243.2,798.8,7.4,397,17382,0.00,2.25,0.00,0.000,6,0.000,0.041,2105,2298,1933
$GC,17693,0.52,243.2,777.0,7.0,403,17698,0.00,2.30,0.00,0.000,4,0.000,0.057,2105,3713,1932
$GC,17715,0.52,243.2,775.1,7.3,403,17719,0.00,2.22,0.00,0.000,6,0.000,0.041,2115,2303,1931
$GC,18058,0.52,243.2,750.1,7.2,409,18060,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2303,1932
$GC,18362,0.52,243.2,728.8,7.1,414,18366,0.00,2.28,0.00,0.000,4,0.000,0.057,2116,3713,1931
$GC,18395,0.47,243.2,725.9,8.0,414,18399,0.10,2.22,0.00,0.000,6,0.165,0.045,2102,2294,1931
$GC,18727,0.53,243.2,706.0,5.9,420,18730,0.00,2.25,0.00,0.000,4,0.000,0.056,2110,891,1931
$GC,18749,0.62,243.2,704.6,5.8,420,18754,0.08,2.25,0.00,0.000,6,0.087,0.047,2154,2315,1930
$GC,19092,0.43,243.2,672.0,9.8,426,19096,0.20,2.22,0.00,0.000,4,0.155,0.055,2093,3711,1930
$GC,19118,0.43,243.2,669.5,7.7,426,19122,0.00,2.20,0.00,0.000,6,0.000,0.044,2101,2301,1930
$GC,19457,0.48,243.2,647.5,6.6,432,19458,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2301,1930
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$STATE,28997,end climb,SURFACE_DEPTH_REACHED
$STATE,28997,begin surface coast
$FINISH,1.1,1.004902
$STATE,29020,end surface coast,CONTROL_FINISHED_OK
$STATE,29020,begin surface
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$HUMID,1606
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$TCM_TEMP,14.90
$XPDR_PINGS,80
$24V_AH,23.5,14.773
$10V_AH,10.7,10.646
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$DEVICE_SECS,27.500,256.100,392.350,0.000,0.000,30.616,27.926,139.269,20.000,0.000,0.000,11.144,1769.209,24171.922,553.339,2345.766,559.879,33.368,1755.682,0.000,2330.275,0.000,0.528,0.000
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$DATA_FILE_SIZE,44274,759
$CAP_FILE_SIZE,204633,0
$CFSIZE,260165632,252596224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090709,044006,5014.800,-14434.284,24,1.3,24,18.6