version: 66.04
glider: 144
mission: 15
dive: 393
start: 10 20 109 14 21 43
data:
$ID,144
$MISSION,15
$DIVE,393
$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,-68989.43
$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,0.02
$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,33
$R_STBD_OVSHOOT,34
$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
$GPS1,141337,5011.047,-14429.042,40,2.0,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-63.1
$GPS2,142049,5011.055,-14428.907,10,1.8,15,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.014,-0.167
$KALMAN_X,-75348.8,-146.8,113.3,124623.0,277.9
$KALMAN_Y,22563.5,407.1,-286.3,-41059.3,-505.6
$MHEAD_RNG_PITCHd_Wd,166.2,31584,-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,-41.42,0.000,2,0.000,0.000,98,2313,2714
$GC,64,-0.68,-117.3,3.4,-5.6,4,92,7.15,2.35,-16.08,0.000,4,0.233,0.058,1848,887,3410
$GC,162,-0.63,-117.3,17.2,-12.3,12,166,0.00,2.30,0.00,0.000,6,0.000,0.044,1846,2308,3412
$GC,491,-0.58,-117.3,55.8,-11.2,42,496,0.10,2.28,0.00,0.000,4,0.139,0.047,1865,3717,3413
$GC,565,-0.63,-117.3,62.8,-8.2,48,569,0.00,2.20,0.00,0.000,6,0.000,0.028,1865,2296,3412
$GC,888,-0.63,-117.3,87.8,-8.6,74,891,0.00,2.22,0.00,0.000,4,0.000,0.041,1864,895,3414
$GC,957,-0.66,-117.3,93.6,-8.6,77,961,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2305,3414
$GC,1284,-0.66,-117.3,120.8,-7.9,93,1288,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,891,3414
$GC,1312,-0.70,-117.3,123.0,-7.5,94,1316,0.00,2.25,0.00,0.000,6,0.000,0.043,1862,2302,3414
$GC,1628,-0.75,-117.3,144.6,-6.6,109,1633,0.10,2.22,0.00,0.000,4,0.064,0.040,1781,894,3414
$GC,1670,-0.66,-117.3,148.6,-11.1,111,1675,0.30,2.25,0.00,0.000,6,0.128,0.039,1859,2310,3414
$GC,1995,-0.72,-117.3,170.7,-6.3,122,1999,0.00,2.22,0.00,0.000,4,0.000,0.048,1859,898,3414
$GC,2022,-0.78,-117.3,172.7,-6.9,122,2029,0.10,2.22,0.00,0.000,6,0.065,0.037,1787,2313,3414
$GC,2336,-0.71,-117.3,203.1,-10.0,133,2340,0.20,2.22,0.00,0.000,4,0.124,0.041,1851,899,3413
$GC,2397,-0.77,-117.3,207.6,-5.9,134,2404,0.00,2.22,0.00,0.000,6,0.000,0.042,1850,2301,3413
$GC,2710,-0.82,-117.3,225.9,-6.0,145,2715,0.10,2.28,0.00,0.000,4,0.064,0.055,1760,3719,3413
$GC,2738,-0.75,-117.3,228.4,-10.0,145,2745,0.25,2.17,0.00,0.000,6,0.123,0.031,1837,2303,3413
$GC,3051,-0.77,-117.3,250.6,-7.1,156,3055,0.00,2.22,0.00,0.000,4,0.000,0.043,1836,890,3412
$GC,3085,-0.81,-117.3,253.3,-7.3,157,3089,0.00,2.25,0.00,0.000,6,0.000,0.044,1836,2305,3412
$GC,3427,-0.83,-117.3,278.8,-7.7,168,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2305,3412
$GC,3763,-0.86,-117.3,304.9,-7.8,178,3767,0.10,2.22,0.00,0.000,4,0.064,0.048,1768,899,3412
$GC,3832,-0.77,-117.3,312.6,-12.3,179,3837,0.25,2.22,0.00,0.000,6,0.122,0.044,1831,2299,3412
$GC,4198,-0.80,-117.3,341.9,-7.8,185,4201,0.00,2.25,0.00,0.000,4,0.000,0.044,1830,891,3410
$GC,4254,-0.83,-117.3,346.5,-8.0,185,4258,0.00,2.25,0.00,0.000,6,0.000,0.039,1825,2307,3410
$GC,4564,-0.83,-117.3,370.2,-7.6,190,4567,0.00,2.22,0.00,0.000,4,0.000,0.043,1824,898,3410
$GC,4614,-0.86,-117.3,374.1,-7.5,190,4618,0.00,2.25,0.00,0.000,6,0.000,0.040,1821,2309,3409
$GC,4929,-0.86,-117.3,396.1,-6.9,196,4933,0.00,2.22,0.00,0.000,4,0.000,0.047,1821,905,3409
$GC,4975,-0.88,-117.3,399.3,-7.4,196,4979,0.00,2.22,0.00,0.000,6,0.000,0.039,1815,2307,3410
$GC,5295,-0.88,-117.3,422.0,-7.0,202,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2307,3409
$GC,5599,-0.88,-117.3,442.9,-6.9,207,5603,0.00,2.25,0.00,0.000,4,0.000,0.044,1815,901,3408
$GC,5637,-0.88,-117.3,445.8,-7.5,207,5641,0.00,2.25,0.00,0.000,6,0.000,0.045,1808,2313,3408
$GC,5964,-0.88,-117.3,468.9,-7.1,213,5968,0.00,2.28,0.00,0.000,4,0.000,0.044,1808,894,3408
$GC,5997,-0.88,-117.3,471.4,-7.3,213,6001,0.00,2.25,0.00,0.000,6,0.000,0.042,1805,2306,3408
$GC,6330,-0.88,-117.3,495.6,-7.3,219,6333,0.00,2.25,0.00,0.000,4,0.000,0.044,1805,903,3407
$GC,6363,-0.88,-117.3,498.4,-8.3,219,6366,0.00,2.25,0.00,0.000,6,0.000,0.040,1797,2312,3407
$GC,6702,-0.85,-117.3,524.7,-7.8,225,6706,0.00,2.28,0.00,0.000,4,0.000,0.044,1797,893,3407
$GC,6741,-0.82,-117.3,527.9,-8.5,225,6745,0.10,2.28,0.00,0.000,6,0.138,0.043,1821,2314,3407
$GC,7061,-0.85,-117.3,546.8,-5.8,231,7065,0.00,2.28,0.00,0.000,4,0.000,0.046,1821,891,3406
$GC,7101,-0.88,-117.3,549.4,-6.2,231,7105,0.00,2.28,0.00,0.000,6,0.000,0.044,1821,2314,3407
$GC,7422,-0.90,-117.3,568.1,-5.9,237,7426,0.00,2.28,0.00,0.000,4,0.000,0.044,1821,897,3407
$GC,7460,-0.94,-117.3,570.7,-6.3,237,7465,0.10,2.25,0.00,0.000,6,0.068,0.040,1755,2305,3406
$GC,7782,-0.84,-117.3,601.4,-9.8,243,7786,0.17,2.25,0.00,0.000,4,0.132,0.044,1813,897,3406
$GC,7837,-0.86,-117.3,606.2,-7.9,243,7844,0.00,2.25,0.00,0.000,6,0.000,0.040,1808,2306,3406
$GC,8147,-0.86,-117.3,629.7,-7.7,249,8151,0.00,2.25,0.00,0.000,4,0.000,0.044,1809,900,3406
$GC,8181,-0.86,-117.3,632.5,-8.0,249,8185,0.00,2.22,0.00,0.000,6,0.000,0.042,1807,2301,3406
$GC,8514,-0.86,-117.3,659.2,-8.0,255,8518,0.00,2.22,0.00,0.000,4,0.000,0.051,1807,902,3406
$GC,8564,-0.86,-117.3,663.7,-8.7,255,8568,0.00,2.25,0.00,0.000,6,0.000,0.041,1798,2314,3405
$GC,8885,-0.86,-117.3,690.2,-8.3,261,8889,0.00,2.28,0.00,0.000,4,0.000,0.048,1798,892,3405
$GC,8929,-0.86,-117.3,694.2,-9.1,261,8934,0.00,2.25,0.00,0.000,6,0.000,0.041,1794,2302,3405
$GC,9245,-0.86,-117.3,720.1,-8.2,267,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2302,3405
$GC,9548,-0.86,-117.3,742.7,-7.3,272,9552,0.00,2.28,0.00,0.000,4,0.000,0.045,1794,893,3405
$GC,9586,-0.86,-117.3,745.6,-8.4,272,9590,0.00,2.28,0.00,0.000,6,0.000,0.040,1794,2305,3405
$GC,9908,-0.86,-117.3,767.2,-6.7,278,9912,0.00,2.28,0.00,0.000,4,0.000,0.049,1794,896,3405
$GC,9963,-0.86,-117.3,771.5,-7.3,278,9970,0.10,2.28,0.00,0.000,6,0.133,0.041,1812,2316,3405
$GC,10274,-0.89,-117.3,789.3,-5.8,284,10278,0.00,2.30,0.00,0.000,4,0.000,0.051,1812,896,3404
$GC,10308,-0.91,-117.3,791.6,-6.6,284,10312,0.00,2.25,0.00,0.000,6,0.000,0.040,1809,2300,3404
$GC,10642,-0.91,-117.3,811.4,-5.9,290,10646,0.00,2.28,0.00,0.000,4,0.000,0.046,1809,898,3405
$GC,10669,-0.91,-117.3,813.4,-6.6,290,10673,0.00,2.28,0.00,0.000,6,0.000,0.042,1808,2311,3404
$GC,11001,-0.91,-117.3,833.0,-6.0,296,11002,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2311,3404
$GC,11305,-0.91,-117.3,851.2,-5.9,301,11309,0.00,2.30,0.00,0.000,4,0.000,0.050,1808,897,3404
$GC,11355,-0.94,-117.3,854.7,-7.2,301,11359,0.00,2.28,0.00,0.000,6,0.000,0.048,1808,2309,3404
$GC,11665,-0.94,-117.3,874.2,-6.4,306,11669,0.00,2.30,0.00,0.000,4,0.000,0.048,1809,893,3403
$GC,11697,-0.94,-117.3,876.6,-6.4,306,11701,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2304,3404
$GC,12025,-0.94,-117.3,897.9,-6.5,312,12029,0.00,2.30,0.00,0.000,4,0.000,0.054,1808,893,3403
$GC,12063,-0.94,-117.3,900.9,-8.1,312,12067,0.00,2.28,0.00,0.000,6,0.000,0.042,1808,2304,3403
$GC,12385,-0.96,-117.3,921.4,-6.5,318,12389,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,899,3403
$GC,12441,-0.98,-117.3,925.4,-6.7,318,12448,0.00,2.30,0.00,0.000,6,0.000,0.047,1807,2306,3403
$GC,12751,-0.98,-117.3,944.3,-6.1,324,12755,0.00,2.28,0.00,0.000,4,0.000,0.054,1808,899,3403
$GC,12783,-0.98,-117.3,946.5,-6.0,324,12787,0.00,2.28,0.00,0.000,6,0.000,0.044,1806,2310,3403
$GC,13110,-0.98,-117.3,966.8,-6.3,330,13114,0.00,2.28,0.00,0.000,4,0.000,0.049,1806,900,3403
$GC,13156,-0.98,-117.3,969.8,-7.1,330,13160,0.00,2.25,0.00,0.000,6,0.000,0.044,1797,2305,3402
$STATE,13470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13470,begin apogee
$GC,13476,-0.22,0.0,990.3,6.4,336,13576,0.50,0.00,96.78,1.295,6,0.114,0.000,1957,2305,2931
$STATE,13577,end apogee,CONTROL_FINISHED_OK
$STATE,13577,begin climb
$GC,13579,0.68,117.3,991.5,0.0,337,13691,0.55,2.60,102.90,1.266,4,0.074,0.053,2149,3713,2451
$GC,13753,0.50,117.3,985.8,8.0,339,13758,0.22,2.38,0.00,0.000,6,0.167,0.037,2107,2306,2446
$GC,14069,0.47,127.3,969.2,5.2,345,14079,0.00,0.00,8.35,1.049,6,0.000,0.000,2107,2306,2411
$GC,14372,0.44,127.3,952.5,5.5,350,14374,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2306,2408
$GC,14675,0.41,127.3,935.5,5.6,355,14679,0.00,2.30,0.00,0.000,4,0.000,0.054,2107,3708,2408
$GC,14714,0.34,127.3,932.9,6.8,355,14719,0.15,2.25,0.00,0.000,6,0.160,0.037,2077,2300,2407
$GC,15036,0.42,139.2,916.9,5.1,361,15052,0.00,2.35,11.43,1.114,4,0.000,0.048,2087,893,2362
$GC,15092,0.49,142.7,913.6,5.4,361,15102,0.00,2.28,4.68,0.828,6,0.000,0.039,2086,2303,2348
$GC,15470,0.58,143.1,892.9,5.5,368,15475,0.12,2.30,0.00,0.000,4,0.071,0.048,2147,890,2346
$GC,15570,0.50,143.1,886.2,7.7,369,15575,0.15,2.28,0.00,0.000,6,0.140,0.041,2107,2302,2346
$GC,15896,0.51,149.7,868.8,5.3,375,15911,0.00,2.35,7.43,0.997,4,0.000,0.051,2107,3718,2319
$GC,15980,0.46,149.7,863.7,6.3,376,15984,0.00,2.25,0.00,0.000,6,0.000,0.037,2116,2293,2318
$GC,16329,0.43,152.8,844.8,5.4,382,16336,0.10,0.00,4.32,0.780,6,0.156,0.000,2092,2293,2307
$GC,16633,0.50,192.0,831.9,4.2,387,16673,0.00,2.38,34.90,1.167,4,0.000,0.054,2092,3718,2147
$GC,16707,0.50,192.0,828.3,6.1,388,16711,0.00,2.30,0.00,0.000,6,0.000,0.033,2100,2293,2145
$GC,17057,0.58,227.6,813.1,4.3,394,17096,0.10,2.42,31.75,1.144,4,0.068,0.057,2152,3709,2002
$GC,17121,0.49,227.6,808.8,7.8,395,17126,0.22,2.28,0.00,0.000,6,0.145,0.039,2103,2304,2000
$GC,17487,0.58,262.3,792.5,4.3,401,17521,0.10,0.00,31.30,1.125,6,0.069,0.000,2156,2303,1861
$GC,17791,0.53,262.3,768.7,8.1,406,17795,0.17,2.30,0.00,0.000,4,0.132,0.049,2101,3709,1855
$GC,17812,0.53,262.3,766.9,7.8,406,17816,0.00,2.25,0.00,0.000,6,0.000,0.035,2109,2293,1854
$GC,18156,0.59,262.3,747.7,5.6,412,18157,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2292,1852
$GC,18459,0.65,262.3,730.1,5.8,417,18464,0.10,2.30,0.00,0.000,4,0.068,0.055,2171,3710,1852
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$STATE,29224,end climb,SURFACE_DEPTH_REACHED
$STATE,29224,begin surface coast
$FINISH,0.6,1.006338
$STATE,29246,end surface coast,CONTROL_FINISHED_OK
$STATE,29246,begin surface
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$XPDR_PINGS,81
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$10V_AH,10.6,49.215
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$DATA_FILE_SIZE,44334,761
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