version: 66.04
glider: 144
mission: 15
dive: 271
start: 9 9 109 1 20 19
data:
$ID,144
$MISSION,15
$DIVE,271
$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,-66216.117
$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,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
$GPS1,011407,4957.190,-14428.545,37,1.0,37,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-62.5
$GPS2,011925,4957.208,-14428.585,11,1.4,11,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.036,-0.164
$KALMAN_X,-22884.1,130.6,-166.5,72542.5,131.2
$KALMAN_Y,16703.3,-494.6,-18.2,-60214.2,1257.0
$MHEAD_RNG_PITCHd_Wd,173.8,6105,-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,-32.10,0.000,2,0.000,0.000,100,2291,2565
$GC,53,-0.68,-117.3,3.1,-6.4,3,86,7.28,2.30,-20.20,0.000,4,0.245,0.068,1835,3706,3412
$GC,161,-0.46,-117.3,19.6,-15.7,13,165,0.22,2.20,0.00,0.000,6,0.123,0.031,1901,2302,3414
$GC,488,-0.58,-117.3,47.0,-7.0,43,492,0.10,2.22,0.00,0.000,4,0.064,0.040,1833,889,3414
$GC,696,-0.48,-117.3,69.5,-11.1,61,701,0.25,2.22,0.00,0.000,6,0.129,0.044,1896,2300,3416
$GC,1018,-0.62,-117.3,91.6,-6.7,83,1022,0.12,2.22,0.00,0.000,4,0.058,0.043,1816,897,3416
$GC,1062,-0.44,-117.3,96.6,-11.6,85,1067,0.32,2.22,0.00,0.000,6,0.133,0.037,1905,2309,3417
$GC,1384,-0.63,-117.3,118.1,-6.3,101,1388,0.15,2.25,0.00,0.000,4,0.049,0.041,1809,886,3417
$GC,1424,-0.47,-117.3,121.8,-10.9,103,1429,0.32,2.25,0.00,0.000,6,0.133,0.038,1897,2314,3417
$GC,1751,-0.65,-117.3,140.3,-5.4,119,1753,0.12,0.00,0.00,0.000,6,0.057,0.000,1819,2315,3417
$GC,2058,-0.57,-117.3,167.3,-8.8,131,2063,0.17,2.25,0.00,0.000,4,0.127,0.048,1877,895,3416
$GC,2102,-0.75,-117.3,170.2,-5.7,132,2107,0.12,2.25,0.00,0.000,6,0.058,0.042,1794,2315,3416
$GC,2420,-0.59,-117.3,199.2,-9.3,143,2422,0.25,0.00,0.00,0.000,6,0.130,0.000,1869,2314,3416
$GC,2727,-0.74,-117.3,217.1,-5.7,153,2729,0.12,0.00,0.00,0.000,6,0.058,0.000,1783,2314,3415
$GC,3033,-0.55,-117.3,248.9,-10.7,163,3037,0.30,2.25,0.00,0.000,4,0.130,0.046,1879,900,3415
$GC,3089,-0.78,-117.3,252.7,-5.8,164,3096,0.15,2.22,0.00,0.000,6,0.052,0.045,1801,2304,3415
$GC,3403,-0.66,-117.3,280.9,-9.3,175,3405,0.20,0.00,0.00,0.000,6,0.128,0.000,1859,2304,3414
$GC,3708,-0.80,-117.3,299.0,-5.7,185,3713,0.12,2.22,0.00,0.000,4,0.058,0.043,1778,892,3414
$GC,3730,-0.74,-117.3,300.9,-8.1,185,3735,0.25,2.22,0.00,0.000,6,0.137,0.039,1840,2301,3414
$GC,4040,-0.80,-117.3,321.8,-6.7,190,4044,0.00,2.25,0.00,0.000,4,0.000,0.048,1840,887,3414
$GC,4068,-0.87,-117.3,324.0,-7.7,190,4073,0.10,2.25,0.00,0.000,6,0.069,0.046,1775,2307,3413
$GC,4405,-0.67,-117.3,358.2,-10.3,196,4410,0.22,2.22,0.00,0.000,4,0.131,0.049,1848,897,3413
$GC,4438,-0.75,-117.3,361.0,-7.3,196,4442,0.00,2.25,0.00,0.000,6,0.000,0.046,1848,2312,3413
$GC,4765,-0.85,-117.3,380.6,-6.0,202,4767,0.12,0.00,0.00,0.000,6,0.060,0.000,1770,2313,3412
$GC,5068,-0.64,-117.3,412.0,-10.6,207,5073,0.28,2.28,0.00,0.000,4,0.128,0.050,1857,898,3412
$GC,5101,-0.76,-117.3,414.8,-7.3,207,5105,0.00,2.25,0.00,0.000,6,0.000,0.039,1850,2306,3411
$GC,5428,-0.87,-117.3,434.6,-6.0,213,5432,0.12,2.28,0.00,0.000,4,0.061,0.048,1769,888,3411
$GC,5455,-0.74,-117.3,437.2,-9.9,213,5460,0.28,2.25,0.00,0.000,6,0.137,0.043,1839,2304,3411
$GC,5787,-0.82,-117.3,458.7,-6.3,219,5791,0.00,2.25,0.00,0.000,4,0.000,0.047,1839,896,3411
$GC,5831,-0.91,-117.3,461.7,-6.9,219,5836,0.12,2.25,0.00,0.000,6,0.061,0.043,1766,2309,3411
$GC,6146,-0.71,-117.3,492.8,-10.1,225,6148,0.28,0.00,0.00,0.000,6,0.130,0.000,1848,2309,3411
$GC,6450,-0.84,-117.3,508.9,-5.2,230,6454,0.12,2.25,0.00,0.000,4,0.058,0.046,1770,896,3410
$GC,6512,-0.66,-117.3,514.3,-9.6,231,6517,0.30,2.25,0.00,0.000,6,0.135,0.046,1855,2311,3410
$GC,6878,-0.82,-117.3,532.1,-4.7,237,6880,0.12,0.00,0.00,0.000,6,0.061,0.000,1779,2311,3410
$GC,7181,-0.67,-117.3,558.4,-8.9,242,7186,0.22,2.28,0.00,0.000,4,0.127,0.051,1851,893,3410
$GC,7226,-0.84,-117.3,561.6,-6.5,242,7230,0.12,2.25,0.00,0.000,6,0.061,0.043,1778,2305,3409
$GC,7541,-0.68,-117.3,591.3,-9.8,248,7543,0.25,0.00,0.00,0.000,6,0.125,0.000,1853,2307,3409
$GC,7844,-0.85,-117.3,610.5,-6.3,253,7846,0.12,0.00,0.00,0.000,6,0.063,0.000,1777,2307,3409
$GC,8148,-0.70,-117.3,640.7,-10.2,258,8152,0.20,2.25,0.00,0.000,4,0.124,0.046,1843,892,3408
$GC,8214,-0.84,-117.3,646.2,-7.8,259,8218,0.00,2.25,0.00,0.000,6,0.000,0.039,1837,2304,3408
$GC,8574,-0.94,-117.3,670.1,-6.5,265,8576,0.15,0.00,0.00,0.000,6,0.056,0.000,1752,2304,3408
$GC,8877,-0.71,-117.3,701.3,-10.6,270,8882,0.28,2.28,0.00,0.000,4,0.133,0.047,1840,891,3408
$GC,8940,-0.83,-117.3,705.8,-6.6,271,8944,0.00,2.25,0.00,0.000,6,0.000,0.046,1837,2304,3408
$GC,9306,-0.94,-117.3,725.8,-5.4,277,9308,0.15,0.00,0.00,0.000,6,0.055,0.000,1753,2304,3407
$GC,9609,-0.71,-117.3,754.1,-9.6,282,9611,0.30,0.00,0.00,0.000,6,0.129,0.000,1843,2304,3407
$GC,9913,-0.86,-117.3,769.2,-4.8,287,9917,0.12,2.28,0.00,0.000,4,0.062,0.044,1773,892,3407
$GC,9945,-0.73,-117.3,771.7,-8.5,287,9950,0.25,2.25,0.00,0.000,6,0.135,0.041,1840,2302,3407
$GC,10278,-0.87,-117.3,789.0,-5.2,293,10280,0.12,0.00,0.00,0.000,6,0.067,0.000,1778,2302,3407
$GC,10580,-0.74,-117.3,813.2,-8.1,298,10585,0.17,2.28,0.00,0.000,4,0.127,0.046,1836,892,3407
$GC,10624,-0.88,-117.3,816.2,-6.3,298,10629,0.10,2.25,0.00,0.000,6,0.075,0.044,1786,2304,3407
$GC,10939,-0.80,-117.3,840.5,-7.9,304,10941,0.15,0.00,0.00,0.000,6,0.130,0.000,1829,2304,3406
$GC,11242,-0.90,-117.3,858.2,-5.7,309,11244,0.10,0.00,0.00,0.000,6,0.078,0.000,1781,2304,3406
$GC,11545,-0.80,-117.3,882.3,-8.1,314,11547,0.15,0.00,0.00,0.000,6,0.129,0.000,1824,2304,3406
$GC,11849,-0.89,-117.3,900.1,-5.8,319,11853,0.00,2.28,0.00,0.000,4,0.000,0.051,1824,899,3406
$GC,11889,-0.97,-117.3,902.5,-6.4,319,11894,0.12,2.28,0.00,0.000,6,0.072,0.042,1768,2313,3406
$GC,12210,-0.81,-117.3,929.2,-8.4,325,12212,0.20,0.00,0.00,0.000,6,0.135,0.000,1826,2313,3406
$GC,12513,-0.91,-117.3,947.2,-5.9,330,12518,0.10,2.30,0.00,0.000,4,0.084,0.050,1783,895,3406
$GC,12546,-0.81,-117.3,950.0,-8.6,330,12550,0.17,2.28,0.00,0.000,6,0.144,0.047,1826,2309,3406
$GC,12872,-0.91,-117.3,968.3,-5.5,336,12874,0.10,0.00,0.00,0.000,6,0.086,0.000,1785,2309,3406
$GC,13175,-0.83,-117.3,989.4,-7.0,341,13180,0.12,2.30,0.00,0.000,4,0.137,0.048,1819,898,3406
$STATE,13183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13183,begin apogee
$GC,13191,-0.22,0.0,990.1,6.9,341,13290,0.43,0.00,95.28,1.308,6,0.122,0.000,1952,2309,2931
$STATE,13290,end apogee,CONTROL_FINISHED_OK
$STATE,13290,begin climb
$GC,13293,0.68,117.3,991.2,0.0,342,13401,0.57,2.53,101.20,1.279,4,0.078,0.057,2152,3707,2451
$GC,13447,0.27,117.3,986.0,8.1,344,13453,0.40,2.35,0.00,0.000,6,0.174,0.037,2064,2313,2446
$GC,13780,0.44,147.8,970.6,4.5,350,13808,0.12,0.00,26.05,1.222,6,0.074,0.000,2115,2312,2328
$GC,14083,0.50,147.8,952.2,6.0,355,14087,0.00,2.35,0.00,0.000,4,0.000,0.050,2120,885,2322
$GC,14155,0.42,147.8,948.0,5.8,356,14160,0.12,2.33,0.00,0.000,6,0.140,0.041,2088,2309,2321
$GC,14510,0.46,180.9,932.4,4.4,362,14544,0.00,2.38,28.55,1.222,4,0.000,0.055,2088,3708,2193
$GC,14590,0.46,180.9,928.5,5.8,363,14594,0.00,2.28,0.00,0.000,6,0.000,0.040,2096,2292,2190
$GC,14945,0.50,214.5,912.9,4.4,369,14977,0.00,0.00,30.35,1.212,6,0.000,0.000,2096,2293,2056
$GC,15249,0.62,248.1,899.6,4.4,374,15285,0.12,2.42,30.25,1.199,4,0.067,0.052,2151,3719,1918
$GC,15302,0.45,248.1,895.7,8.0,374,15309,0.25,2.33,0.00,0.000,6,0.154,0.035,2095,2302,1916
$GC,15612,0.61,271.6,880.6,4.7,380,15647,0.12,2.38,23.20,1.081,4,0.064,0.051,2162,897,1822
$GC,15670,0.53,271.6,876.0,7.8,380,15677,0.17,2.30,0.00,0.000,6,0.134,0.045,2116,2304,1820
$GC,15980,0.58,271.6,856.3,6.3,386,15984,0.00,2.30,0.00,0.000,4,0.000,0.056,2116,3716,1817
$GC,16024,0.58,271.6,852.7,7.8,386,16028,0.00,2.25,0.00,0.000,6,0.000,0.036,2123,2299,1816
$GC,16339,0.58,271.6,830.1,7.2,392,16343,0.00,2.30,0.00,0.000,4,0.000,0.057,2123,3714,1815
$GC,16360,0.58,271.6,828.4,7.3,392,16364,0.00,2.22,0.00,0.000,6,0.000,0.040,2133,2303,1816
$GC,16703,0.58,271.6,801.7,7.8,398,16704,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2302,1815
$GC,17006,0.58,271.6,778.6,7.7,403,17010,0.00,2.30,0.00,0.000,4,0.000,0.051,2133,3719,1814
$GC,17029,0.53,271.6,776.7,8.6,403,17033,0.12,2.22,0.00,0.000,6,0.149,0.038,2111,2302,1814
$GC,17366,0.63,271.6,756.4,5.9,409,17371,0.10,2.25,0.00,0.000,4,0.071,0.048,2172,894,1814
$GC,17399,0.56,271.6,753.8,7.9,409,17404,0.20,2.25,0.00,0.000,6,0.135,0.039,2116,2313,1813
$GC,17725,0.62,271.6,733.1,6.2,415,17729,0.00,2.28,0.00,0.000,4,0.000,0.056,2116,3720,1813
$GC,17775,0.67,271.6,729.4,7.8,415,17780,0.08,2.22,0.00,0.000,6,0.078,0.038,2171,2300,1813
$GC,18085,0.47,271.6,698.8,10.1,420,18090,0.22,2.25,0.00,0.000,4,0.143,0.048,2111,895,1813
$GC,18130,0.67,285.4,695.6,5.0,420,18148,0.12,2.25,11.80,1.012,6,0.065,0.038,2171,2316,1767
$GC,18450,0.49,285.4,664.9,10.0,426,18455,0.20,2.25,0.00,0.000,4,0.139,0.053,2110,3712,1764
$GC,18500,0.59,285.4,660.8,7.2,426,18504,0.00,2.22,0.00,0.000,6,0.000,0.035,2118,2294,1763
$GC,18810,0.67,285.4,641.4,6.3,431,18811,0.10,0.00,0.00,0.000,6,0.071,0.000,2184,2293,1763
$GC,19113,0.44,285.4,607.9,11.4,436,19118,0.28,2.28,0.00,0.000,4,0.143,0.049,2101,3707,1762
$GC,19140,0.44,285.4,605.3,8.2,436,19144,0.00,2.22,0.00,0.000,6,0.000,0.038,2109,2308,1762
$GC,19479,0.59,290.3,587.3,5.3,442,19489,0.00,2.25,5.53,0.788,4,0.000,0.048,2119,896,1746
$GC,19512,0.76,290.3,585.1,6.8,442,19516,0.15,2.22,0.00,0.000,6,0.055,0.038,2196,2308,1746
$GC,19838,0.49,290.3,547.2,12.1,448,19842,0.30,2.25,0.00,0.000,4,0.146,0.051,2105,3707,1745
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$STATE,26869,end climb,SURFACE_DEPTH_REACHED
$STATE,26870,begin surface coast
$FINISH,0.9,1.024693
$STATE,26892,end surface coast,CONTROL_FINISHED_OK
$STATE,26893,begin surface
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$HUMID,1702
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$TCM_TEMP,15.20
$XPDR_PINGS,82
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$10V_AH,10.6,33.784
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$DEVICE_SECS,30.625,239.450,385.550,0.000,0.000,25.163,25.528,144.924,20.500,0.000,0.000,13.031,1670.814,22289.318,525.045,2213.995,578.198,33.370,1661.008,0.000,2200.323,0.000,0.527,0.000
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$DATA_FILE_SIZE,41311,708
$CAP_FILE_SIZE,195145,0
$CFSIZE,260165632,237559808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
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