version: 66.04
glider: 144
mission: 15
dive: 190
start: 8 14 109 3 31 50
data:
$ID,144
$MISSION,15
$DIVE,190
$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,-64679.297
$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,36
$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
$GPS1,032526,5015.604,-14501.472,41,2.1,60,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-65.0
$GPS2,033056,5015.567,-14501.424,13,1.2,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.105,0.131
$KALMAN_X,-88657.1,207.3,-68.6,87824.7,-1263.8
$KALMAN_Y,66603.5,0.7,-162.9,-37043.1,-663.1
$MHEAD_RNG_PITCHd_Wd,302.8,16004,-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,-31.80,0.000,2,0.000,0.000,99,2309,2496
$GC,54,-0.68,-117.3,3.2,-6.1,3,89,7.18,2.35,-22.42,0.000,4,0.245,0.062,1841,890,3411
$GC,259,-0.54,-117.3,30.7,-11.0,21,263,0.17,2.25,0.00,0.000,6,0.133,0.038,1883,2307,3414
$GC,586,-0.59,-117.3,57.7,-8.3,51,587,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,2307,3415
$GC,901,-0.63,-117.3,82.0,-6.9,80,905,0.00,2.25,0.00,0.000,4,0.000,0.041,1884,892,3416
$GC,943,-0.71,-117.3,85.1,-7.6,82,948,0.12,2.22,0.00,0.000,6,0.055,0.038,1805,2304,3416
$GC,1270,-0.46,-117.3,126.5,-13.1,98,1272,0.32,0.00,0.00,0.000,6,0.135,0.000,1902,2304,3416
$GC,1579,-0.65,-117.3,145.4,-5.5,113,1581,0.15,0.00,0.00,0.000,6,0.054,0.000,1816,2304,3417
$GC,1886,-0.52,-117.3,173.9,-10.2,124,1890,0.20,2.25,0.00,0.000,4,0.127,0.054,1875,3715,3416
$GC,1913,-0.60,-117.3,176.2,-7.6,124,1919,0.00,2.20,0.00,0.000,6,0.000,0.035,1875,2288,3416
$GC,2226,-0.76,-117.3,197.1,-6.4,135,2230,0.12,2.17,0.00,0.000,4,0.063,0.041,1791,896,3415
$GC,2252,-0.66,-117.3,199.6,-9.9,135,2260,0.25,2.20,0.00,0.000,6,0.129,0.038,1856,2306,3415
$GC,2566,-0.73,-117.3,218.9,-5.6,146,2570,0.00,2.22,0.00,0.000,4,0.000,0.051,1850,3707,3415
$GC,2593,-0.82,-117.3,220.5,-6.0,146,2600,0.10,2.17,0.00,0.000,6,0.063,0.031,1783,2299,3415
$GC,2906,-0.59,-117.3,252.3,-10.4,157,2911,0.28,2.20,0.00,0.000,4,0.127,0.047,1871,903,3414
$GC,2962,-0.76,-117.3,256.4,-6.3,158,2967,0.10,2.20,0.00,0.000,6,0.067,0.038,1797,2305,3415
$GC,3275,-0.61,-117.3,285.4,-9.5,168,3280,0.20,2.25,0.00,0.000,4,0.128,0.056,1857,3709,3414
$GC,3325,-0.76,-117.3,289.3,-6.9,169,3329,0.00,2.17,0.00,0.000,6,0.000,0.038,1857,2304,3414
$GC,3636,-0.86,-117.3,308.6,-6.2,177,3641,0.15,2.22,0.00,0.000,4,0.055,0.049,1772,900,3413
$GC,3669,-0.65,-117.3,311.9,-11.2,177,3674,0.32,2.22,0.00,0.000,6,0.129,0.048,1862,2311,3413
$GC,3996,-0.77,-117.3,332.3,-6.1,183,3998,0.12,0.00,0.00,0.000,6,0.061,0.000,1788,2312,3412
$GC,4299,-0.59,-117.3,361.6,-9.8,188,4303,0.25,2.25,0.00,0.000,4,0.127,0.050,1867,900,3412
$GC,4348,-0.76,-117.3,365.2,-6.0,188,4353,0.10,2.22,0.00,0.000,6,0.067,0.045,1797,2311,3412
$GC,4658,-0.63,-117.3,392.6,-9.0,193,4660,0.22,0.00,0.00,0.000,6,0.124,0.000,1865,2311,3411
$GC,4961,-0.78,-117.3,409.7,-5.6,198,4966,0.12,2.25,0.00,0.000,4,0.062,0.050,1790,900,3411
$GC,4994,-0.65,-117.3,412.6,-9.8,198,4999,0.25,2.20,0.00,0.000,6,0.124,0.043,1857,2302,3411
$GC,5326,-0.78,-117.3,432.0,-5.7,204,5328,0.10,0.00,0.00,0.000,6,0.071,0.000,1794,2302,3411
$GC,5629,-0.64,-117.3,458.7,-9.0,209,5631,0.22,0.00,0.00,0.000,6,0.123,0.000,1862,2302,3410
$GC,5932,-0.79,-117.3,475.1,-5.2,214,5934,0.12,0.00,0.00,0.000,6,0.061,0.000,1791,2302,3410
$GC,6235,-0.65,-117.3,501.7,-9.1,219,6237,0.22,0.00,0.00,0.000,6,0.121,0.000,1859,2302,3409
$GC,6538,-0.80,-117.3,518.8,-5.5,224,6543,0.12,2.25,0.00,0.000,4,0.058,0.048,1785,894,3409
$GC,6561,-0.80,-117.3,520.7,-8.3,224,6566,0.17,2.22,0.00,0.000,6,0.132,0.047,1831,2301,3409
$GC,6898,-0.80,-117.3,543.5,-6.7,230,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2301,3409
$GC,7201,-0.85,-117.3,564.7,-7.0,235,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2301,3409
$GC,7505,-0.90,-117.3,585.9,-7.0,240,7509,0.10,2.25,0.00,0.000,4,0.073,0.045,1775,892,3408
$GC,7560,-0.71,-117.3,591.6,-10.7,240,7567,0.28,2.22,0.00,0.000,6,0.125,0.044,1850,2305,3408
$GC,7870,-0.83,-117.3,611.5,-6.2,246,7875,0.12,2.25,0.00,0.000,4,0.061,0.046,1781,895,3408
$GC,7910,-0.66,-117.3,615.0,-10.0,246,7915,0.28,2.22,0.00,0.000,6,0.123,0.040,1855,2306,3407
$GC,8231,-0.82,-117.3,633.4,-5.5,252,8233,0.12,0.00,0.00,0.000,6,0.061,0.000,1781,2306,3407
$GC,8534,-0.67,-117.3,659.9,-9.0,257,8538,0.22,2.28,0.00,0.000,4,0.125,0.052,1855,894,3407
$GC,8578,-0.83,-117.3,662.9,-6.0,257,8582,0.12,2.25,0.00,0.000,6,0.061,0.044,1774,2313,3407
$GC,8893,-0.65,-117.3,690.4,-9.0,263,8895,0.28,0.00,0.00,0.000,6,0.128,0.000,1858,2313,3406
$GC,9196,-0.82,-117.3,704.7,-4.6,268,9198,0.12,0.00,0.00,0.000,6,0.063,0.000,1786,2314,3407
$GC,9499,-0.69,-117.3,729.2,-8.3,273,9504,0.20,2.28,0.00,0.000,4,0.123,0.051,1849,3717,3406
$GC,9543,-0.88,-117.3,731.9,-5.2,273,9548,0.15,2.20,0.00,0.000,6,0.063,0.033,1776,2307,3406
$GC,9858,-0.72,-117.3,758.4,-8.6,279,9863,0.20,2.25,0.00,0.000,4,0.129,0.048,1841,889,3406
$GC,9908,-0.83,-117.3,761.8,-6.1,279,9912,0.00,2.25,0.00,0.000,6,0.000,0.042,1837,2311,3406
$GC,10218,-0.92,-117.3,778.9,-5.5,284,10220,0.12,0.00,0.00,0.000,6,0.069,0.000,1777,2311,3406
$GC,10521,-0.77,-117.3,804.5,-8.6,289,10523,0.20,0.00,0.00,0.000,6,0.130,0.000,1835,2311,3406
$GC,10824,-0.87,-117.3,822.4,-5.8,294,10829,0.10,2.28,0.00,0.000,4,0.077,0.048,1790,893,3405
$GC,10857,-0.77,-117.3,825.3,-8.9,294,10861,0.17,2.25,0.00,0.000,6,0.133,0.041,1831,2312,3406
$GC,11183,-0.86,-117.3,845.3,-6.1,300,11184,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2312,3405
$GC,11486,-0.94,-117.3,863.3,-6.0,305,11491,0.12,2.28,0.00,0.000,4,0.076,0.050,1779,895,3405
$GC,11536,-0.80,-117.3,867.5,-9.3,305,11541,0.20,2.22,0.00,0.000,6,0.133,0.045,1826,2302,3405
$GC,11846,-0.86,-117.3,887.6,-6.4,310,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2302,3405
$GC,12149,-0.93,-117.3,907.8,-6.7,315,12153,0.12,2.25,0.00,0.000,4,0.079,0.048,1776,900,3405
$GC,12193,-0.78,-117.3,911.8,-9.0,315,12198,0.22,2.22,0.00,0.000,6,0.136,0.048,1833,2302,3405
$GC,12508,-0.88,-117.3,931.8,-6.2,321,12510,0.10,0.00,0.00,0.000,6,0.087,0.000,1793,2301,3405
$GC,12811,-0.80,-117.3,955.1,-7.8,326,12816,0.12,2.28,0.00,0.000,4,0.139,0.048,1827,891,3404
$GC,12844,-0.85,-117.3,957.5,-7.0,326,12848,0.00,2.25,0.00,0.000,6,0.000,0.043,1822,2305,3404
$GC,13170,-0.89,-117.3,978.3,-6.4,332,13171,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2305,3405
$STATE,13410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13410,begin apogee
$GC,13415,-0.22,0.0,993.3,6.2,336,13512,0.43,0.00,93.72,1.328,6,0.124,0.000,1956,2305,2931
$STATE,13512,end apogee,CONTROL_FINISHED_OK
$STATE,13513,begin climb
$GC,13515,0.68,117.3,994.6,0.0,337,13622,0.55,2.55,98.97,1.301,4,0.077,0.060,2147,3699,2451
$GC,13655,0.27,117.3,991.4,7.0,339,13661,0.40,2.38,0.00,0.000,6,0.176,0.041,2058,2309,2447
$GC,14005,0.47,148.1,976.5,4.5,345,14037,0.15,2.40,25.80,1.245,4,0.071,0.052,2117,3710,2326
$GC,14137,0.24,148.1,967.6,7.8,347,14142,0.28,2.33,0.00,0.000,6,0.163,0.037,2055,2295,2322
$GC,14503,0.53,159.4,949.6,5.1,353,14519,0.20,2.33,10.27,1.124,4,0.067,0.057,2147,895,2280
$GC,14635,0.34,159.4,940.1,7.6,355,14640,0.28,2.30,0.00,0.000,6,0.150,0.049,2072,2309,2278
$GC,15001,0.44,171.2,921.1,5.1,361,15018,0.10,2.35,11.35,1.138,4,0.074,0.058,2115,3711,2232
$GC,15046,0.27,171.2,917.8,7.6,361,15051,0.25,2.28,0.00,0.000,6,0.163,0.036,2058,2296,2230
$GC,15361,0.57,171.2,900.2,5.8,367,15366,0.20,2.30,0.00,0.000,4,0.071,0.049,2139,889,2228
$GC,15444,0.42,171.2,894.1,7.2,368,15449,0.17,2.28,0.00,0.000,6,0.144,0.042,2093,2305,2228
$GC,15787,0.42,171.2,874.3,5.6,374,15791,0.00,2.28,0.00,0.000,4,0.000,0.052,2093,3714,2228
$GC,15831,0.37,171.2,871.4,7.1,374,15835,0.00,2.25,0.00,0.000,6,0.000,0.035,2101,2293,2227
$GC,16145,0.37,171.2,853.1,5.8,380,16147,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2294,2227
$GC,16449,0.37,171.2,835.6,5.8,385,16453,0.00,2.30,0.00,0.000,4,0.000,0.054,2101,3711,2226
$GC,16470,0.32,171.2,834.1,6.4,385,16475,0.17,2.22,0.00,0.000,6,0.156,0.038,2064,2303,2227
$GC,16808,0.61,171.5,816.2,5.5,391,16813,0.17,2.28,0.00,0.000,4,0.067,0.050,2144,887,2226
$GC,16920,0.46,171.5,808.5,7.8,392,16924,0.17,2.25,0.00,0.000,6,0.146,0.043,2096,2306,2226
$GC,17240,0.47,180.3,791.4,5.2,398,17254,0.00,2.30,8.43,1.028,4,0.000,0.055,2096,3715,2194
$GC,17300,0.42,180.3,787.7,6.5,398,17307,0.00,2.25,0.00,0.000,6,0.000,0.040,2104,2304,2193
$GC,17610,0.42,180.3,770.5,5.6,404,17611,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2303,2193
$GC,17913,0.42,180.3,753.4,5.6,409,17917,0.00,2.28,0.00,0.000,4,0.000,0.055,2104,3710,2193
$GC,17946,0.33,180.3,751.3,6.8,409,17951,0.17,2.22,0.00,0.000,6,0.147,0.035,2066,2302,2192
$GC,18272,0.64,189.8,735.0,5.2,415,18287,0.20,2.28,9.18,1.014,4,0.060,0.051,2167,894,2156
$GC,18412,0.43,189.8,724.2,7.6,417,18417,0.28,2.25,0.00,0.000,6,0.145,0.044,2089,2305,2155
$GC,18773,0.53,216.7,706.9,4.6,423,18803,0.10,2.33,24.33,1.101,4,0.069,0.052,2143,3720,2046
$GC,18842,0.32,216.7,701.4,8.5,424,18847,0.30,2.28,0.00,0.000,6,0.147,0.035,2069,2295,2044
$GC,19208,0.74,222.3,682.7,5.3,430,19219,0.25,2.28,5.78,0.854,4,0.060,0.051,2175,891,2023
$GC,19317,0.54,222.3,675.0,8.4,431,19321,0.22,2.28,0.00,0.000,6,0.140,0.047,2112,2307,2022
$GC,19637,0.56,239.9,658.7,4.9,437,19660,0.00,2.35,16.45,1.037,4,0.000,0.051,2112,3716,1950
$GC,19694,0.56,239.9,655.2,7.1,437,19700,0.00,2.28,0.00,0.000,6,0.000,0.033,2120,2302,1949
$GC,20004,0.56,239.9,637.5,5.6,443,20005,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2302,1947
$GC,20307,0.56,239.9,619.6,6.0,448,20308,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2302,1946
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$STATE,29302,end climb,SURFACE_DEPTH_REACHED
$STATE,29303,begin surface coast
$FINISH,0.9,1.014949
$STATE,29347,end surface coast,CONTROL_FINISHED_OK
$STATE,29347,begin surface
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$TCM_TEMP,15.50
$XPDR_PINGS,79
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$10V_AH,10.7,24.136
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$DEVICE_SECS,28.500,238.850,385.200,0.000,0.000,31.054,24.870,147.387,19.750,0.000,0.000,14.683,1783.466,24432.023,526.555,2397.052,602.787,33.375,1744.498,0.000,2385.965,0.000,0.528,0.000
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$DATA_FILE_SIZE,44326,763
$CAP_FILE_SIZE,203595,0
$CFSIZE,260165632,243826688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140809,114331,5018.294,-14504.966,41,1.2,41,18.5