version: 66.04
glider: 144
mission: 15
dive: 111
start: 7 18 109 22 0 56
data:
$ID,144
$MISSION,15
$DIVE,111
$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,-63066.383
$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
$GPS1,215324,5012.289,-14507.336,40,1.1,40,18.5
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-63.1
$GPS2,220002,5012.296,-14507.349,14,1.5,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.025,-0.166
$KALMAN_X,-57019.5,-194.2,219.8,49245.6,86.7
$KALMAN_Y,57273.0,-51.2,113.5,-34009.3,927.7
$MHEAD_RNG_PITCHd_Wd,170.1,34304,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,49,0.00,0.00,-31.77,0.000,2,0.000,0.000,99,2305,2587
$GC,52,-0.68,-117.3,3.4,-6.9,3,86,7.00,2.28,-20.12,0.000,4,0.244,0.069,1838,3713,3411
$GC,114,-0.39,-117.3,12.3,-15.5,8,121,0.25,2.22,0.00,0.000,6,0.133,0.039,1912,2293,3412
$GC,441,-0.50,-117.3,38.7,-7.1,39,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,2292,3414
$GC,757,-0.66,-117.3,58.0,-5.5,69,762,0.17,2.20,0.00,0.000,4,0.047,0.045,1810,893,3415
$GC,820,-0.44,-117.3,64.6,-12.1,74,824,0.35,2.22,0.00,0.000,6,0.129,0.041,1908,2310,3415
$GC,1144,-0.58,-117.3,85.7,-6.6,100,1148,0.12,2.25,0.00,0.000,4,0.057,0.044,1834,890,3415
$GC,1193,-0.45,-117.3,91.2,-11.6,102,1198,0.25,2.22,0.00,0.000,6,0.123,0.041,1900,2305,3416
$GC,1515,-0.58,-117.3,116.3,-7.7,118,1519,0.10,2.22,0.00,0.000,4,0.066,0.045,1835,893,3416
$GC,1547,-0.48,-117.3,119.8,-10.9,119,1554,0.22,2.20,0.00,0.000,6,0.123,0.044,1894,2305,3416
$GC,1864,-0.61,-117.3,140.3,-5.2,135,1869,0.10,2.22,0.00,0.000,4,0.067,0.053,1829,883,3416
$GC,1942,-0.51,-117.3,146.7,-8.0,138,1949,0.22,2.22,0.00,0.000,6,0.125,0.046,1890,2306,3416
$GC,2256,-0.68,-117.3,160.4,-4.3,150,2257,0.12,0.00,0.00,0.000,6,0.058,0.000,1808,2306,3415
$GC,2562,-0.54,-117.3,188.2,-9.5,160,2566,0.20,2.22,0.00,0.000,4,0.125,0.058,1868,3709,3415
$GC,2611,-0.70,-117.3,192.1,-7.0,161,2615,0.00,2.17,0.00,0.000,6,0.000,0.035,1867,2293,3415
$GC,2930,-0.82,-117.3,213.0,-6.5,172,2931,0.15,0.00,0.00,0.000,6,0.053,0.000,1781,2293,3414
$GC,3236,-0.60,-117.3,247.5,-11.7,182,3241,0.28,2.20,0.00,0.000,4,0.129,0.048,1871,893,3414
$GC,3268,-0.69,-117.3,250.5,-7.7,183,3272,0.00,2.20,0.00,0.000,6,0.000,0.049,1864,2304,3414
$GC,3604,-0.79,-117.3,272.9,-6.4,194,3609,0.12,2.22,0.00,0.000,4,0.058,0.050,1786,890,3414
$GC,3633,-0.65,-117.3,275.4,-9.3,195,3638,0.28,2.22,0.00,0.000,6,0.132,0.048,1865,2310,3413
$GC,3968,-0.76,-117.3,295.1,-5.6,206,3973,0.12,2.22,0.00,0.000,4,0.063,0.054,1794,897,3413
$GC,4018,-0.59,-117.3,299.8,-10.4,207,4023,0.30,2.20,0.00,0.000,6,0.122,0.045,1876,2307,3413
$GC,4328,-0.75,-117.3,317.6,-5.6,212,4333,0.15,2.22,0.00,0.000,4,0.054,0.048,1794,891,3412
$GC,4355,-0.65,-117.3,320.0,-9.0,212,4360,0.25,2.22,0.00,0.000,6,0.127,0.046,1859,2315,3412
$GC,4687,-0.75,-117.3,342.4,-6.6,218,4691,0.00,2.25,0.00,0.000,4,0.000,0.048,1859,888,3412
$GC,4725,-0.87,-117.3,345.2,-6.9,218,4730,0.15,2.22,0.00,0.000,6,0.054,0.043,1771,2307,3412
$GC,5046,-0.63,-117.3,381.3,-11.6,224,5048,0.30,0.00,0.00,0.000,6,0.137,0.000,1861,2307,3411
$GC,5349,-0.75,-117.3,402.2,-6.7,229,5354,0.10,2.22,0.00,0.000,4,0.069,0.054,1802,894,3411
$GC,5405,-0.63,-117.3,407.6,-10.0,229,5412,0.20,2.22,0.00,0.000,6,0.120,0.043,1877,2300,3411
$GC,5714,-0.83,-117.3,425.6,-5.7,235,5716,0.17,0.00,0.00,0.000,6,0.051,0.000,1781,2300,3410
$GC,6018,-0.64,-117.3,456.6,-10.5,240,6022,0.22,2.22,0.00,0.000,4,0.130,0.051,1856,891,3410
$GC,6095,-0.76,-117.3,462.4,-7.0,241,6099,0.00,2.22,0.00,0.000,6,0.000,0.049,1850,2310,3410
$GC,6444,-0.84,-117.3,482.3,-5.6,247,6449,0.12,2.22,0.00,0.000,4,0.060,0.048,1780,897,3409
$GC,6472,-0.71,-117.3,484.7,-9.2,247,6477,0.25,2.20,0.00,0.000,6,0.130,0.050,1845,2306,3409
$GC,6803,-0.78,-117.3,503.3,-5.5,253,6807,0.00,2.22,0.00,0.000,4,0.000,0.055,1844,891,3409
$GC,6842,-0.86,-117.3,505.6,-6.2,253,6847,0.10,2.22,0.00,0.000,6,0.069,0.044,1778,2315,3409
$GC,7169,-0.67,-117.3,535.0,-9.2,259,7171,0.25,0.00,0.00,0.000,6,0.132,0.000,1854,2315,3409
$GC,7472,-0.79,-117.3,551.8,-5.3,264,7477,0.10,2.25,0.00,0.000,4,0.071,0.055,1796,891,3408
$GC,7516,-0.67,-117.3,555.5,-8.9,264,7521,0.22,2.22,0.00,0.000,6,0.127,0.044,1855,2308,3408
$GC,7831,-0.80,-117.3,573.3,-5.6,270,7833,0.12,0.00,0.00,0.000,6,0.062,0.000,1786,2309,3408
$GC,8134,-0.65,-117.3,601.2,-9.3,275,8136,0.25,0.00,0.00,0.000,6,0.126,0.000,1863,2309,3408
$GC,8438,-0.82,-117.3,618.0,-5.4,280,8440,0.15,0.00,0.00,0.000,6,0.056,0.000,1781,2308,3408
$GC,8740,-0.66,-117.3,645.2,-9.2,285,8745,0.22,2.25,0.00,0.000,4,0.127,0.052,1855,892,3407
$GC,8773,-0.78,-117.3,647.5,-5.8,285,8777,0.00,2.22,0.00,0.000,6,0.000,0.044,1850,2309,3407
$GC,9101,-0.90,-117.3,664.5,-5.1,291,9102,0.15,0.00,0.00,0.000,6,0.057,0.000,1769,2309,3407
$GC,9403,-0.70,-117.3,691.1,-9.0,296,9408,0.22,2.25,0.00,0.000,4,0.135,0.051,1843,896,3407
$GC,9441,-0.81,-117.3,693.7,-5.8,296,9446,0.00,2.22,0.00,0.000,6,0.000,0.046,1836,2313,3407
$GC,9763,-0.87,-117.3,709.6,-4.9,302,9765,0.10,0.00,0.00,0.000,6,0.073,0.000,1782,2313,3407
$GC,10066,-0.73,-117.3,731.6,-7.4,307,10068,0.20,0.00,0.00,0.000,6,0.128,0.000,1842,2313,3407
$GC,10369,-0.83,-117.3,745.4,-4.4,312,10374,0.10,2.25,0.00,0.000,4,0.077,0.051,1797,891,3407
$GC,10413,-0.73,-117.3,748.4,-7.7,312,10418,0.20,2.22,0.00,0.000,6,0.130,0.045,1846,2304,3407
$GC,10728,-0.84,-117.3,762.9,-4.6,318,10730,0.12,0.00,0.00,0.000,6,0.071,0.000,1792,2305,3406
$GC,11031,-0.74,-117.3,784.8,-7.4,323,11033,0.17,0.00,0.00,0.000,6,0.128,0.000,1844,2305,3406
$GC,11335,-0.86,-117.3,800.5,-5.1,328,11339,0.12,2.25,0.00,0.000,4,0.074,0.057,1790,890,3406
$GC,11390,-0.74,-117.3,804.7,-7.8,328,11397,0.20,2.22,0.00,0.000,6,0.133,0.047,1839,2303,3406
$GC,11701,-0.84,-117.3,821.7,-5.4,334,11702,0.10,0.00,0.00,0.000,6,0.086,0.000,1798,2303,3405
$GC,12003,-0.77,-117.3,844.7,-7.8,339,12005,0.12,0.00,0.00,0.000,6,0.133,0.000,1832,2303,3406
$GC,12306,-0.85,-117.3,863.2,-6.0,344,12310,0.00,2.25,0.00,0.000,4,0.000,0.052,1833,890,3406
$GC,12345,-0.92,-117.3,865.7,-6.3,344,12350,0.10,2.25,0.00,0.000,6,0.081,0.046,1780,2315,3405
$GC,12665,-0.78,-117.3,892.3,-8.4,350,12667,0.17,0.00,0.00,0.000,6,0.143,0.000,1830,2315,3405
$GC,12968,-0.85,-117.3,909.9,-5.7,355,12972,0.00,2.25,0.00,0.000,4,0.000,0.058,1830,900,3406
$GC,12990,-0.91,-117.3,911.3,-6.3,355,12994,0.00,2.22,0.00,0.000,6,0.000,0.051,1823,2314,3405
$GC,13328,-0.91,-117.3,931.1,-5.9,361,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2314,3405
$GC,13631,-0.91,-117.3,948.4,-5.7,366,13635,0.00,2.25,0.00,0.000,4,0.000,0.054,1823,897,3405
$GC,13686,-0.91,-117.3,951.8,-6.7,366,13693,0.00,2.25,0.00,0.000,6,0.000,0.051,1815,2303,3405
$GC,13996,-0.91,-117.3,969.9,-5.8,372,13997,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2302,3404
$GC,14299,-0.91,-117.3,987.1,-5.6,377,14303,0.00,2.22,0.00,0.000,4,0.000,0.056,1815,900,3405
$GC,14332,-0.91,-117.3,989.1,-5.2,377,14336,0.00,2.22,0.00,0.000,6,0.000,0.051,1807,2311,3404
$STATE,14346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14346,begin apogee
$GC,14351,-0.22,0.0,990.1,6.6,377,14447,0.43,0.00,92.45,1.339,6,0.127,0.000,1949,2312,2931
$STATE,14448,end apogee,CONTROL_FINISHED_OK
$STATE,14448,begin climb
$GC,14450,0.68,117.3,991.4,0.0,379,14555,0.62,2.45,97.85,1.313,4,0.084,0.057,2156,3715,2453
$GC,14578,0.27,117.3,986.4,7.4,381,14584,0.43,2.35,0.00,0.000,6,0.182,0.039,2061,2310,2449
$GC,14911,0.36,147.4,970.9,4.5,387,14938,0.00,0.00,25.52,1.253,6,0.000,0.000,2061,2309,2328
$GC,15215,0.61,160.8,955.9,5.0,392,15234,0.20,2.42,11.88,1.165,4,0.069,0.060,2152,884,2274
$GC,15349,0.39,160.8,946.0,8.2,394,15354,0.25,2.33,0.00,0.000,6,0.154,0.051,2082,2307,2272
$GC,15715,0.42,182.7,928.1,4.8,400,15739,0.00,2.35,19.27,1.223,4,0.000,0.062,2082,3720,2186
$GC,15773,0.42,182.7,924.7,6.4,400,15780,0.00,2.30,0.00,0.000,6,0.000,0.041,2090,2307,2184
$GC,16084,0.42,185.5,908.1,5.4,406,16088,0.00,2.30,0.00,0.000,4,0.000,0.056,2089,3712,2182
$GC,16110,0.42,185.5,906.3,6.6,406,16115,0.00,2.25,0.00,0.000,6,0.000,0.040,2100,2298,2181
$GC,16448,0.42,185.5,884.6,6.6,412,16452,0.00,2.30,0.00,0.000,4,0.000,0.056,2100,3713,2181
$GC,16470,0.37,185.5,882.6,8.3,412,16475,0.12,2.22,0.00,0.000,6,0.169,0.038,2080,2301,2180
$GC,16808,0.44,185.5,862.1,6.1,418,16812,0.00,2.28,0.00,0.000,4,0.000,0.055,2089,887,2180
$GC,16841,0.53,185.5,859.8,5.8,418,16846,0.10,2.28,0.00,0.000,6,0.079,0.048,2135,2317,2179
$GC,17167,0.36,185.5,831.7,8.7,424,17172,0.20,2.25,0.00,0.000,4,0.154,0.060,2072,3724,2179
$GC,17206,0.41,185.5,828.9,6.2,424,17210,0.00,2.22,0.00,0.000,6,0.000,0.043,2080,2300,2179
$GC,17526,0.48,185.5,811.0,5.6,430,17531,0.08,2.25,0.00,0.000,4,0.088,0.054,2133,886,2179
$GC,17559,0.40,185.5,808.6,7.7,430,17564,0.17,2.25,0.00,0.000,6,0.144,0.045,2084,2307,2178
$GC,17885,0.45,185.5,790.4,5.5,436,17889,0.00,2.25,0.00,0.000,4,0.000,0.057,2084,3717,2179
$GC,17918,0.45,185.5,788.1,6.2,436,17922,0.00,2.20,0.00,0.000,6,0.000,0.041,2092,2300,2178
$GC,18250,0.45,185.5,769.4,5.7,442,18251,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2300,2178
$GC,18553,0.45,185.5,751.8,5.8,447,18557,0.00,2.28,0.00,0.000,4,0.000,0.061,2092,3721,2178
$GC,18592,0.40,185.5,749.2,7.2,447,18596,0.00,2.20,0.00,0.000,6,0.000,0.044,2102,2302,2178
$GC,18912,0.40,185.5,729.4,6.2,453,18913,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2301,2178
$GC,19215,0.40,185.5,710.2,6.3,458,19219,0.00,2.25,0.00,0.000,4,0.000,0.057,2103,3712,2178
$GC,19242,0.33,185.5,708.3,6.6,458,19247,0.15,2.20,0.00,0.000,6,0.153,0.044,2072,2298,2178
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$GC,22606,0.54,223.4,512.7,4.4,514,22641,0.12,2.30,29.20,0.999,4,0.058,0.053,2166,887,2019
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$GC,23036,0.76,223.4,486.3,6.1,521,23041,0.22,2.25,0.00,0.000,4,0.060,0.047,2174,892,2012
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$GC,23468,0.57,223.4,455.9,6.8,528,23471,0.00,2.25,0.00,0.000,4,0.000,0.053,2119,3714,2012
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$GC,23833,0.42,223.4,428.4,7.4,534,23838,0.15,2.25,0.00,0.000,4,0.144,0.051,2094,888,2011
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$STATE,29725,end climb,SURFACE_DEPTH_REACHED
$STATE,29725,begin surface coast
$FINISH,1.1,1.024679
$STATE,29749,end surface coast,CONTROL_FINISHED_OK
$STATE,29749,begin surface
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$10V_AH,10.7,14.432
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$DEVICE_SECS,30.175,255.725,385.250,0.000,0.000,28.979,30.632,212.460,19.750,0.000,0.000,15.607,1823.666,24755.717,548.962,2407.927,676.914,33.379,1774.473,0.000,2403.965,0.000,0.530,0.000
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$DATA_FILE_SIZE,47585,790
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$CFSIZE,260165632,250126336
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