version: 66.04
glider: 144
mission: 15
dive: 403
start: 10 24 109 1 29 27
data:
$ID,144
$MISSION,15
$DIVE,403
$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,-69244.43
$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,35
$R_STBD_OVSHOOT,35
$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
$GPS1,012056,5002.684,-14446.570,32,3.0,51,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-57.5
$GPS2,012834,5002.632,-14446.641,12,2.4,31,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.042,0.163
$KALMAN_X,-76965.4,-59.2,226.3,105088.4,-1540.7
$KALMAN_Y,23760.0,113.9,41.9,-57895.6,-382.4
$MHEAD_RNG_PITCHd_Wd,327.1,10346,-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,-117.3,0.0,0.0,0,71,0.00,0.00,-51.70,0.000,2,0.000,0.000,99,2301,2553
$GC,74,-0.68,-117.3,3.4,-3.1,5,109,7.10,2.30,-21.05,0.000,4,0.232,0.065,1834,3702,3411
$GC,358,-0.62,-117.3,37.8,-12.7,30,363,0.12,2.20,0.00,0.000,6,0.126,0.029,1868,2293,3413
$GC,683,-0.62,-117.3,68.8,-8.6,60,684,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2293,3413
$GC,1008,-0.64,-117.3,92.8,-7.0,83,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2293,3414
$GC,1318,-0.68,-117.3,115.9,-7.6,98,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2293,3414
$GC,1627,-0.73,-117.3,134.2,-5.3,113,1632,0.10,2.25,0.00,0.000,4,0.065,0.041,1789,889,3414
$GC,1661,-0.65,-117.3,137.4,-9.8,114,1668,0.28,2.22,0.00,0.000,6,0.124,0.038,1863,2299,3414
$GC,1976,-0.71,-117.3,158.0,-6.4,128,1980,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,891,3414
$GC,2032,-0.79,-117.3,162.0,-6.8,129,2039,0.12,2.25,0.00,0.000,6,0.056,0.038,1780,2311,3414
$GC,2346,-0.70,-117.3,195.9,-11.0,140,2348,0.22,0.00,0.00,0.000,6,0.123,0.000,1848,2311,3413
$GC,2652,-0.74,-117.3,216.8,-6.5,150,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2310,3413
$GC,2958,-0.79,-117.3,235.8,-6.3,160,2962,0.00,2.25,0.00,0.000,4,0.000,0.043,1848,896,3413
$GC,3002,-0.84,-117.3,239.1,-7.3,161,3007,0.12,2.22,0.00,0.000,6,0.056,0.044,1768,2299,3412
$GC,3327,-0.74,-117.3,274.0,-10.9,172,3332,0.20,2.30,0.00,0.000,4,0.125,0.053,1823,3717,3411
$GC,3354,-0.74,-117.3,276.7,-8.6,172,3360,0.00,2.20,0.00,0.000,6,0.000,0.030,1823,2303,3411
$GC,3667,-0.74,-117.3,298.9,-7.0,183,3671,0.00,2.25,0.00,0.000,4,0.000,0.044,1823,891,3411
$GC,3717,-0.74,-117.3,302.7,-7.6,184,3722,0.10,2.25,0.00,0.000,6,0.131,0.038,1841,2318,3410
$GC,4033,-0.79,-117.3,321.6,-5.9,190,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2318,3410
$GC,4336,-0.84,-117.3,338.9,-5.6,195,4340,0.10,2.30,0.00,0.000,4,0.065,0.042,1777,890,3409
$GC,4392,-0.76,-117.3,343.8,-9.7,195,4399,0.22,2.28,0.00,0.000,6,0.123,0.039,1834,2312,3409
$GC,4702,-0.80,-117.3,362.0,-5.7,201,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2312,3408
$GC,5005,-0.83,-117.3,381.1,-6.4,206,5009,0.00,2.30,0.00,0.000,4,0.000,0.051,1834,891,3408
$GC,5049,-0.88,-117.3,384.1,-7.0,206,5054,0.10,2.25,0.00,0.000,6,0.067,0.045,1767,2297,3408
$GC,5365,-0.79,-117.3,416.0,-10.3,212,5367,0.20,0.00,0.00,0.000,6,0.123,0.000,1828,2297,3407
$GC,5668,-0.82,-117.3,436.0,-6.4,217,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2296,3408
$GC,5971,-0.85,-117.3,453.4,-5.7,222,5975,0.00,2.28,0.00,0.000,4,0.000,0.044,1828,890,3407
$GC,5999,-0.88,-117.3,455.1,-5.7,222,6003,0.00,2.28,0.00,0.000,6,0.000,0.039,1823,2318,3407
$GC,6336,-0.88,-117.3,474.0,-5.6,228,6340,0.00,2.30,0.00,0.000,4,0.000,0.048,1822,895,3406
$GC,6381,-0.90,-117.3,476.8,-6.4,228,6386,0.00,2.25,0.00,0.000,6,0.000,0.044,1821,2305,3406
$GC,6697,-0.90,-117.3,495.7,-6.0,234,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3406
$GC,7001,-0.90,-117.3,515.7,-6.6,239,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3406
$GC,7303,-0.90,-117.3,536.6,-6.8,244,7307,0.00,2.28,0.00,0.000,4,0.000,0.045,1819,889,3406
$GC,7336,-0.92,-117.3,539.0,-7.4,244,7340,0.00,2.28,0.00,0.000,6,0.000,0.047,1811,2309,3406
$GC,7662,-0.92,-117.3,562.7,-7.3,250,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2310,3405
$GC,7966,-0.92,-117.3,585.4,-7.5,255,7970,0.00,2.30,0.00,0.000,4,0.000,0.049,1811,890,3405
$GC,8032,-0.92,-117.3,590.9,-8.0,256,8036,0.00,2.28,0.00,0.000,6,0.000,0.045,1808,2311,3405
$GC,8398,-0.92,-117.3,617.9,-7.3,262,8402,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,890,3404
$GC,8449,-0.92,-117.3,622.0,-7.6,262,8453,0.00,2.28,0.00,0.000,6,0.000,0.039,1800,2305,3405
$GC,8759,-0.92,-117.3,647.2,-8.3,267,8763,0.00,2.28,0.00,0.000,4,0.000,0.050,1800,890,3404
$GC,8803,-0.92,-117.3,651.1,-9.0,267,8807,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2309,3404
$GC,9118,-0.90,-117.3,677.2,-8.3,273,9122,0.00,2.28,0.00,0.000,4,0.000,0.050,1794,889,3404
$GC,9146,-0.90,-117.3,679.7,-8.8,273,9150,0.00,2.28,0.00,0.000,6,0.000,0.045,1785,2311,3404
$GC,9478,-0.86,-117.3,706.8,-8.2,279,9480,0.10,0.00,0.00,0.000,6,0.141,0.000,1812,2310,3404
$GC,9781,-0.88,-117.3,726.5,-6.4,284,9785,0.00,2.28,0.00,0.000,4,0.000,0.045,1812,891,3404
$GC,9821,-0.91,-117.3,729.2,-7.1,284,9825,0.00,2.28,0.00,0.000,6,0.000,0.043,1809,2313,3403
$GC,10141,-0.91,-117.3,749.9,-6.4,290,10143,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2313,3403
$GC,10444,-0.91,-117.3,769.1,-6.4,295,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2314,3403
$GC,10748,-0.91,-117.3,788.8,-6.5,300,10752,0.00,2.30,0.00,0.000,4,0.000,0.046,1809,889,3403
$GC,10780,-0.91,-117.3,791.3,-7.6,300,10784,0.00,2.28,0.00,0.000,6,0.000,0.042,1808,2304,3403
$GC,11115,-0.91,-117.3,813.5,-6.7,306,11116,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3403
$GC,11416,-0.91,-117.3,834.1,-6.9,311,11420,0.00,2.28,0.00,0.000,4,0.000,0.048,1808,891,3402
$GC,11454,-0.91,-117.3,837.0,-7.1,311,11458,0.00,2.28,0.00,0.000,6,0.000,0.041,1805,2305,3402
$GC,11776,-0.91,-117.3,858.8,-6.7,317,11777,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3402
$GC,12078,-0.91,-117.3,877.2,-6.1,322,12082,0.00,2.30,0.00,0.000,4,0.000,0.047,1805,900,3402
$GC,12112,-0.91,-117.3,879.6,-6.7,322,12116,0.00,2.28,0.00,0.000,6,0.000,0.041,1796,2306,3402
$GC,12438,-0.91,-117.3,901.2,-6.6,328,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2306,3401
$GC,12741,-0.91,-117.3,921.2,-6.6,333,12745,0.00,2.30,0.00,0.000,4,0.000,0.051,1796,894,3401
$GC,12791,-0.91,-117.3,924.8,-7.6,333,12795,0.00,2.28,0.00,0.000,6,0.000,0.044,1793,2301,3401
$GC,13101,-0.91,-117.3,945.8,-6.8,338,13102,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2301,3401
$GC,13404,-0.91,-117.3,966.3,-6.8,343,13405,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2302,3401
$GC,13707,-0.91,-117.3,986.9,-6.8,348,13708,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2301,3401
$STATE,13765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13765,begin apogee
$GC,13772,-0.22,0.0,990.8,6.7,349,13871,0.50,0.00,96.40,1.299,6,0.120,0.000,1952,2302,2931
$STATE,13872,end apogee,CONTROL_FINISHED_OK
$STATE,13872,begin climb
$GC,13875,0.68,117.3,992.4,0.0,350,13986,0.57,2.60,103.03,1.269,4,0.076,0.057,2150,3708,2450
$GC,14015,0.50,117.3,990.0,6.6,352,14020,0.22,2.40,0.00,0.000,6,0.166,0.038,2107,2312,2447
$GC,14365,0.50,139.7,973.1,4.7,358,14386,0.00,0.00,18.92,1.189,6,0.000,0.000,2107,2313,2361
$GC,14668,0.49,156.8,958.3,4.9,363,14689,0.00,2.35,15.80,1.168,4,0.000,0.058,2107,3711,2290
$GC,14713,0.46,158.9,955.7,5.4,363,14717,0.00,2.30,0.00,0.000,6,0.000,0.038,2116,2297,2288
$GC,15029,0.43,160.6,938.4,5.4,369,15038,0.00,2.35,4.28,0.791,4,0.000,0.057,2116,3715,2275
$GC,15067,0.37,160.6,935.7,6.3,369,15072,0.17,2.28,0.00,0.000,6,0.154,0.038,2080,2300,2274
$GC,15395,0.49,181.7,920.4,4.8,375,15419,0.10,2.33,19.58,1.182,4,0.075,0.051,2133,893,2190
$GC,15517,0.46,181.7,912.8,5.9,376,15522,0.12,2.30,0.00,0.000,6,0.133,0.046,2100,2309,2186
$GC,15829,0.50,187.5,896.1,5.3,381,15840,0.00,2.28,6.20,0.945,4,0.000,0.055,2101,3712,2166
$GC,15879,0.50,187.5,892.8,7.3,381,15882,0.00,2.25,0.00,0.000,6,0.000,0.041,2108,2300,2165
$GC,16194,0.50,187.5,874.7,5.8,387,16195,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2300,2164
$GC,16497,0.50,187.5,857.5,5.7,392,16501,0.00,2.30,0.00,0.000,4,0.000,0.049,2109,3714,2163
$GC,16536,0.47,187.5,854.8,6.9,392,16540,0.00,2.25,0.00,0.000,6,0.000,0.041,2119,2297,2162
$GC,16857,0.47,187.5,835.2,6.2,398,16858,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2297,2162
$GC,17160,0.47,187.5,817.3,5.9,403,17164,0.00,2.33,0.00,0.000,4,0.000,0.054,2119,3716,2162
$GC,17205,0.43,187.5,814.1,6.8,403,17210,0.15,2.25,0.00,0.000,6,0.150,0.034,2090,2295,2162
$GC,17521,0.50,206.3,798.6,4.9,409,17541,0.00,0.00,17.60,1.108,6,0.000,0.000,2090,2295,2089
$GC,17824,0.64,206.3,781.6,5.8,414,17829,0.17,2.30,0.00,0.000,4,0.061,0.046,2169,893,2085
$GC,17887,0.57,206.3,777.4,7.1,415,17892,0.17,2.28,0.00,0.000,6,0.140,0.040,2121,2306,2085
$GC,18253,0.57,206.3,755.8,5.9,421,18257,0.00,2.28,0.00,0.000,4,0.000,0.051,2122,3708,2084
$GC,18298,0.53,206.3,752.8,7.4,421,18302,0.00,2.22,0.00,0.000,6,0.000,0.033,2130,2300,2084
$GC,18614,0.53,206.3,732.5,6.4,427,18615,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2300,2084
$GC,18916,0.53,206.3,712.3,6.7,432,18920,0.00,2.28,0.00,0.000,4,0.000,0.048,2130,3710,2083
$GC,18949,0.48,206.3,709.7,7.4,432,18954,0.15,2.22,0.00,0.000,6,0.141,0.034,2100,2302,2083
$GC,19276,0.53,206.3,691.0,5.7,438,19280,0.00,2.28,0.00,0.000,4,0.000,0.049,2109,890,2083
$GC,19298,0.59,206.3,689.5,6.0,438,19302,0.00,2.25,0.00,0.000,6,0.000,0.044,2109,2305,2083
$GC,19636,0.62,206.3,668.3,6.3,444,19640,0.10,2.28,0.00,0.000,4,0.068,0.054,2180,3711,2083
$GC,19674,0.46,206.3,664.4,10.6,444,19679,0.32,2.22,0.00,0.000,6,0.150,0.034,2100,2293,2083
$GC,19996,0.51,206.3,645.4,5.6,450,19997,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2293,2083
$GC,20299,0.59,225.5,630.3,4.9,455,20323,0.10,2.38,17.35,1.002,4,0.067,0.056,2172,3707,2010
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$GC,20663,0.57,250.9,611.5,4.6,461,20693,0.10,2.35,22.83,1.002,4,0.065,0.048,2182,900,1907
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$STATE,29667,end climb,SURFACE_DEPTH_REACHED
$STATE,29667,begin surface coast
$FINISH,0.9,1.024793
$STATE,29696,end surface coast,CONTROL_FINISHED_OK
$STATE,29696,begin surface
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$10V_AH,10.6,50.518
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$DEVICE_SECS,19.675,218.375,425.450,0.000,0.000,30.136,26.067,243.221,14.000,0.000,0.000,33.713,1685.385,24934.869,558.249,2253.983,786.447,33.376,1702.438,0.000,2233.870,0.000,0.528,0.000
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$DATA_FILE_SIZE,44434,758
$CAP_FILE_SIZE,186102,0
$CFSIZE,260165632,227315712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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