version: 66.04
glider: 144
mission: 15
dive: 89
start: 7 11 109 14 1 32
data:
$ID,144
$MISSION,15
$DIVE,89
$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,-62676.438
$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,30
$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
$GPS1,135207,5015.008,-14426.712,34,1.4,34,18.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-61.1
$GPS2,140038,5014.968,-14426.748,9,1.4,9,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.121,-0.116
$KALMAN_X,-49494.8,503.1,448.1,89132.3,-3129.3
$KALMAN_Y,62862.2,-2207.1,-3072.6,-29207.2,17365.5
$MHEAD_RNG_PITCHd_Wd,115.0,38985,-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,-117.3,0.0,0.0,0,61,0.00,0.00,-42.08,0.000,2,0.000,0.000,101,2304,2811
$GC,63,-0.68,-117.3,3.8,-6.0,4,93,6.93,2.33,-13.48,0.000,4,0.245,0.074,1832,3707,3412
$GC,128,-0.42,-117.3,14.5,-15.2,10,133,0.25,2.22,0.00,0.000,6,0.131,0.037,1907,2292,3413
$GC,454,-0.52,-117.3,40.2,-7.0,40,458,0.00,2.22,0.00,0.000,4,0.000,0.054,1907,889,3414
$GC,534,-0.67,-117.3,46.0,-7.4,47,539,0.15,2.22,0.00,0.000,6,0.053,0.042,1824,2302,3415
$GC,871,-0.48,-117.3,85.3,-12.1,76,875,0.20,2.25,0.00,0.000,4,0.130,0.048,1891,886,3415
$GC,971,-0.57,-117.3,94.0,-8.1,80,977,0.00,2.22,0.00,0.000,6,0.000,0.044,1890,2304,3415
$GC,1287,-0.66,-117.3,117.9,-7.7,96,1288,0.12,0.00,0.00,0.000,6,0.061,0.000,1820,2305,3416
$GC,1596,-0.54,-117.3,149.8,-9.9,111,1601,0.20,2.22,0.00,0.000,4,0.124,0.050,1886,895,3415
$GC,1651,-0.71,-117.3,153.9,-6.6,113,1658,0.12,2.22,0.00,0.000,6,0.061,0.042,1806,2317,3415
$GC,1964,-0.55,-117.3,184.2,-9.8,124,1966,0.25,0.00,0.00,0.000,6,0.127,0.000,1882,2317,3415
$GC,2271,-0.71,-117.3,201.1,-5.1,134,2275,0.12,2.22,0.00,0.000,4,0.060,0.047,1811,892,3416
$GC,2342,-0.59,-117.3,207.6,-9.8,136,2347,0.22,2.22,0.00,0.000,6,0.128,0.044,1871,2311,3415
$GC,2672,-0.72,-117.3,225.7,-5.2,147,2677,0.10,2.22,0.00,0.000,4,0.069,0.048,1811,894,3415
$GC,2711,-0.59,-117.3,228.9,-8.5,148,2715,0.22,2.22,0.00,0.000,6,0.127,0.048,1870,2317,3415
$GC,3034,-0.72,-117.3,247.9,-6.0,159,3039,0.10,2.25,0.00,0.000,4,0.069,0.048,1811,887,3414
$GC,3078,-0.60,-117.3,251.8,-9.6,160,3083,0.22,2.22,0.00,0.000,6,0.125,0.045,1871,2308,3415
$GC,3396,-0.74,-117.3,272.3,-6.3,171,3401,0.12,2.22,0.00,0.000,4,0.061,0.048,1802,890,3414
$GC,3459,-0.61,-117.3,278.3,-10.4,173,3464,0.25,2.20,0.00,0.000,6,0.127,0.045,1871,2302,3414
$GC,3794,-0.75,-117.3,299.1,-5.9,184,3796,0.12,0.00,0.00,0.000,6,0.059,0.000,1799,2301,3413
$GC,4128,-0.61,-117.3,329.0,-9.0,190,4132,0.20,2.22,0.00,0.000,4,0.127,0.049,1863,890,3413
$GC,4177,-0.74,-117.3,332.6,-6.7,190,4182,0.10,2.22,0.00,0.000,6,0.073,0.051,1801,2311,3413
$GC,4487,-0.61,-117.3,358.9,-8.7,195,4492,0.17,2.22,0.00,0.000,4,0.130,0.051,1861,886,3412
$GC,4532,-0.74,-117.3,362.0,-6.3,195,4536,0.00,2.22,0.00,0.000,6,0.000,0.046,1861,2305,3412
$GC,4847,-0.86,-117.3,379.4,-5.5,201,4849,0.15,0.00,0.00,0.000,6,0.056,0.000,1780,2306,3411
$GC,5150,-0.67,-117.3,410.0,-10.3,206,5155,0.22,2.22,0.00,0.000,4,0.133,0.048,1852,892,3411
$GC,5212,-0.75,-117.3,415.0,-7.0,207,5216,0.00,2.22,0.00,0.000,6,0.000,0.045,1850,2313,3411
$GC,5578,-0.83,-117.3,439.4,-6.6,213,5583,0.10,2.25,0.00,0.000,4,0.072,0.052,1793,887,3410
$GC,5628,-0.69,-117.3,444.1,-9.9,213,5633,0.22,2.22,0.00,0.000,6,0.127,0.046,1851,2305,3410
$GC,5938,-0.78,-117.3,463.6,-6.1,218,5942,0.00,2.22,0.00,0.000,4,0.000,0.051,1851,893,3409
$GC,5982,-0.89,-117.3,466.4,-6.0,218,5987,0.15,2.22,0.00,0.000,6,0.061,0.051,1774,2311,3410
$GC,6297,-0.69,-117.3,496.7,-9.9,224,6302,0.22,2.25,0.00,0.000,4,0.133,0.050,1846,889,3410
$GC,6335,-0.78,-117.3,499.7,-7.4,224,6339,0.00,2.22,0.00,0.000,6,0.000,0.048,1839,2309,3409
$GC,6656,-0.83,-117.3,519.6,-6.3,230,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2309,3409
$GC,6958,-0.88,-117.3,538.9,-6.3,235,6963,0.10,2.22,0.00,0.000,4,0.074,0.058,1780,891,3409
$GC,7047,-0.71,-117.3,547.3,-9.8,236,7052,0.25,2.22,0.00,0.000,6,0.130,0.044,1845,2313,3409
$GC,7385,-0.79,-117.3,569.1,-6.3,242,7388,0.00,2.22,0.00,0.000,4,0.000,0.054,1845,896,3408
$GC,7429,-0.88,-117.3,572.5,-7.7,242,7434,0.10,2.20,0.00,0.000,6,0.073,0.046,1779,2305,3408
$GC,7750,-0.71,-117.3,604.7,-10.3,248,7752,0.22,0.00,0.00,0.000,6,0.130,0.000,1847,2305,3408
$GC,8053,-0.82,-117.3,625.7,-6.9,253,8058,0.10,2.22,0.00,0.000,4,0.072,0.056,1792,894,3408
$GC,8091,-0.69,-117.3,629.2,-9.8,253,8096,0.22,2.22,0.00,0.000,6,0.126,0.044,1850,2312,3408
$GC,8412,-0.81,-117.3,650.7,-6.6,259,8413,0.10,0.00,0.00,0.000,6,0.076,0.000,1799,2313,3408
$GC,8715,-0.73,-117.3,675.8,-8.3,264,8717,0.15,0.00,0.00,0.000,6,0.125,0.000,1844,2314,3407
$GC,9018,-0.83,-117.3,692.6,-5.4,269,9023,0.10,2.25,0.00,0.000,4,0.078,0.052,1797,886,3407
$GC,9062,-0.73,-117.3,696.0,-8.2,269,9067,0.20,2.22,0.00,0.000,6,0.128,0.050,1847,2304,3407
$GC,9377,-0.85,-117.3,710.9,-4.6,275,9379,0.12,0.00,0.00,0.000,6,0.071,0.000,1791,2304,3407
$GC,9680,-0.74,-117.3,734.4,-8.0,280,9685,0.17,2.25,0.00,0.000,4,0.128,0.058,1849,887,3407
$GC,9742,-0.87,-117.3,738.3,-6.1,281,9747,0.12,2.22,0.00,0.000,6,0.074,0.050,1793,2303,3407
$GC,10108,-0.77,-117.3,768.5,-8.4,287,10110,0.15,0.00,0.00,0.000,6,0.137,0.000,1836,2303,3407
$GC,10411,-0.85,-117.3,787.9,-6.3,292,10415,0.00,2.22,0.00,0.000,4,0.000,0.054,1836,897,3406
$GC,10444,-0.94,-117.3,790.5,-7.2,292,10449,0.12,2.20,0.00,0.000,6,0.077,0.047,1781,2303,3406
$GC,10783,-0.79,-117.3,821.7,-9.4,298,10784,0.17,0.00,0.00,0.000,6,0.139,0.000,1831,2302,3406
$GC,11085,-0.86,-117.3,842.2,-6.6,303,11086,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2303,3406
$GC,11388,-0.93,-117.3,861.5,-6.3,308,11393,0.12,2.25,0.00,0.000,4,0.080,0.059,1781,894,3406
$GC,11460,-0.78,-117.3,867.7,-8.6,309,11465,0.20,2.22,0.00,0.000,6,0.143,0.051,1829,2307,3406
$GC,11814,-0.84,-117.3,888.7,-5.8,315,11818,0.00,2.25,0.00,0.000,4,0.000,0.055,1829,897,3406
$GC,11859,-0.90,-117.3,891.4,-6.2,315,11863,0.00,2.22,0.00,0.000,6,0.000,0.052,1822,2310,3406
$GC,12174,-0.90,-117.3,909.2,-5.6,321,12175,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2310,3406
$GC,12476,-0.90,-117.3,926.0,-5.5,326,12480,0.00,2.25,0.00,0.000,4,0.000,0.058,1822,897,3406
$GC,12520,-0.90,-117.3,928.9,-6.1,326,12524,0.00,2.22,0.00,0.000,6,0.000,0.052,1813,2313,3406
$GC,12841,-0.90,-117.3,948.5,-6.1,332,12845,0.00,2.25,0.00,0.000,4,0.000,0.061,1814,897,3406
$GC,12880,-0.90,-117.3,951.3,-6.9,332,12884,0.00,2.22,0.00,0.000,6,0.000,0.051,1806,2309,3405
$GC,13206,-0.90,-117.3,973.3,-6.8,338,13210,0.00,2.28,0.00,0.000,4,0.000,0.063,1807,891,3405
$GC,13239,-0.86,-117.3,975.8,-7.5,338,13243,0.00,2.25,0.00,0.000,6,0.000,0.053,1797,2314,3405
$STATE,13441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13441,begin apogee
$GC,13447,-0.22,0.0,990.9,7.4,342,13543,0.50,0.00,92.62,1.341,6,0.131,0.000,1956,2314,2931
$STATE,13543,end apogee,CONTROL_FINISHED_OK
$STATE,13543,begin climb
$GC,13546,0.68,117.3,992.5,0.0,343,13650,0.60,2.45,97.75,1.316,4,0.081,0.058,2152,3709,2451
$GC,13669,0.32,117.3,989.7,6.1,345,13674,0.38,2.35,0.00,0.000,6,0.185,0.040,2068,2307,2448
$GC,13984,0.37,162.9,976.7,4.0,351,14024,0.00,0.00,38.12,1.280,6,0.000,0.000,2068,2307,2266
$GC,14288,0.51,201.4,964.0,4.2,356,14323,0.15,0.00,33.15,1.267,6,0.071,0.000,2125,2307,2110
$GC,14591,0.39,201.4,941.9,7.5,361,14595,0.15,2.35,0.00,0.000,4,0.153,0.060,2085,3716,2103
$GC,14612,0.34,201.4,940.1,8.0,361,14616,0.00,2.30,0.00,0.000,6,0.000,0.048,2092,2294,2102
$GC,14950,0.34,202.8,921.5,5.5,367,14954,0.00,2.33,0.00,0.000,4,0.000,0.059,2092,3711,2100
$GC,14976,0.34,202.8,919.7,5.9,367,14981,0.12,2.25,0.00,0.000,6,0.159,0.042,2070,2299,2100
$GC,15315,0.51,228.3,903.9,4.6,373,15340,0.15,0.00,22.88,1.233,6,0.071,0.000,2133,2298,2000
$GC,15618,0.40,228.3,878.2,8.8,378,15619,0.17,0.00,0.00,0.000,6,0.148,0.000,2086,2298,1995
$GC,15920,0.51,228.3,858.6,6.3,383,15925,0.10,2.33,0.00,0.000,4,0.079,0.059,2129,3718,1993
$GC,15943,0.51,228.3,856.7,8.6,383,15948,0.12,2.25,0.00,0.000,6,0.166,0.047,2108,2302,1993
$GC,16280,0.51,228.3,831.4,7.4,389,16281,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2302,1993
$GC,16583,0.51,228.3,811.0,6.6,394,16587,0.00,2.28,0.00,0.000,4,0.000,0.056,2108,3712,1993
$GC,16610,0.51,228.3,809.1,7.5,394,16614,0.00,2.22,0.00,0.000,6,0.000,0.045,2116,2298,1993
$GC,16948,0.51,228.3,785.5,6.9,400,16952,0.00,2.30,0.00,0.000,4,0.000,0.058,2115,3725,1992
$GC,16981,0.44,228.3,782.9,8.4,400,16985,0.12,2.22,0.00,0.000,6,0.160,0.042,2094,2302,1992
$GC,17307,0.53,230.6,764.7,5.4,406,17309,0.08,0.00,0.00,0.000,6,0.087,0.000,2138,2302,1992
$GC,17610,0.41,230.6,741.7,7.7,411,17612,0.17,0.00,0.00,0.000,6,0.148,0.000,2090,2302,1991
$GC,17914,0.57,264.2,728.0,4.4,416,17947,0.12,0.00,30.67,1.146,6,0.064,0.000,2147,2302,1853
$GC,18217,0.45,264.2,704.5,8.0,421,18219,0.17,0.00,0.00,0.000,6,0.141,0.000,2099,2302,1846
$GC,18520,0.59,284.9,689.4,4.8,426,18545,0.10,2.35,17.73,1.081,4,0.069,0.057,2149,3705,1768
$GC,18561,0.46,284.9,686.0,8.5,426,18566,0.22,2.25,0.00,0.000,6,0.143,0.040,2097,2300,1767
$GC,18883,0.62,288.1,668.4,5.4,432,18887,0.12,2.28,0.00,0.000,4,0.063,0.056,2162,892,1764
$GC,18909,0.62,288.1,666.2,8.7,432,18914,0.12,2.28,0.00,0.000,6,0.140,0.049,2130,2316,1763
$GC,19247,0.62,288.1,640.1,7.8,438,19251,0.00,2.25,0.00,0.000,4,0.000,0.054,2130,3719,1763
$GC,19287,0.62,288.1,636.6,8.7,438,19291,0.00,2.22,0.00,0.000,6,0.000,0.043,2137,2302,1762
$GC,19608,0.57,288.1,609.4,8.4,444,19609,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2301,1762
$GC,19911,0.52,288.1,584.0,8.4,449,19913,0.10,0.00,0.00,0.000,6,0.157,0.000,2113,2301,1762
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$STATE,28020,end climb,SURFACE_DEPTH_REACHED
$STATE,28020,begin surface coast
$FINISH,1.3,1.023498
$STATE,28053,end surface coast,CONTROL_FINISHED_OK
$STATE,28053,begin surface
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$HUMID,1609
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$TCM_TEMP,15.00
$XPDR_PINGS,78
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$10V_AH,10.7,11.698
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$DATA_FILE_SIZE,44355,736
$CAP_FILE_SIZE,200936,0
$CFSIZE,260165632,251908096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110709,215137,5013.001,-14422.745,39,1.0,39,18.6