version: 66.04
glider: 144
mission: 15
dive: 461
start: 11 12 109 20 0 7
data:
$ID,144
$MISSION,15
$DIVE,461
$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,-70605.539
$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,37
$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
$GPS1,195323,4956.994,-14512.461,58,1.5,58,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-53.0
$GPS2,195913,4957.014,-14512.484,13,1.6,13,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.016,-0.146
$KALMAN_X,-89728.5,-91.9,-231.0,87799.3,1224.1
$KALMAN_Y,14149.8,-75.1,-22.4,-58438.1,-313.1
$MHEAD_RNG_PITCHd_Wd,168.0,5599,-15.3,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.77,-83.6,0.0,0.0,0,62,0.00,0.00,-41.47,0.000,2,0.000,0.000,103,2293,2662
$GC,65,-0.80,-107.1,3.5,-4.4,4,100,7.10,2.33,-17.83,0.000,4,0.236,0.064,1814,3698,3370
$GC,293,-0.77,-107.1,34.1,-12.7,24,297,0.00,2.20,0.00,0.000,6,0.000,0.031,1814,2306,3371
$GC,621,-0.72,-107.1,77.1,-12.8,54,626,0.12,2.28,0.00,0.000,4,0.137,0.041,1850,893,3371
$GC,751,-0.76,-107.1,88.8,-7.8,61,756,0.00,2.22,0.00,0.000,6,0.000,0.039,1849,2297,3372
$GC,1079,-0.81,-107.1,116.4,-8.3,77,1081,0.10,0.00,0.00,0.000,6,0.067,0.000,1772,2297,3372
$GC,1399,-0.75,-107.1,155.8,-12.7,92,1403,0.20,2.28,0.00,0.000,4,0.125,0.054,1830,3718,3373
$GC,1489,-0.82,-107.1,164.3,-9.3,94,1493,0.00,2.20,0.00,0.000,6,0.000,0.030,1830,2299,3372
$GC,1803,-0.88,-107.1,187.7,-6.6,104,1807,0.00,2.22,0.00,0.000,4,0.000,0.042,1829,894,3372
$GC,1854,-0.94,-107.1,191.2,-6.9,105,1858,0.10,2.22,0.00,0.000,6,0.062,0.038,1753,2310,3373
$GC,2172,-0.86,-107.1,226.3,-11.6,116,2177,0.17,2.25,0.00,0.000,4,0.141,0.041,1809,895,3372
$GC,2228,-0.90,-107.1,231.4,-8.4,117,2235,0.00,2.22,0.00,0.000,6,0.000,0.044,1801,2305,3372
$GC,2541,-0.90,-107.1,257.0,-8.2,128,2545,0.00,2.25,0.00,0.000,4,0.000,0.043,1801,888,3372
$GC,2575,-0.90,-107.1,260.1,-9.4,129,2579,0.00,2.28,0.00,0.000,6,0.000,0.039,1792,2315,3372
$GC,2905,-0.90,-107.1,290.6,-9.3,140,2909,0.00,2.28,0.00,0.000,4,0.000,0.043,1792,887,3371
$GC,2968,-0.90,-107.1,296.8,-9.6,142,2973,0.10,2.25,0.00,0.000,6,0.134,0.042,1808,2306,3371
$GC,3331,-0.94,-107.1,327.7,-8.5,149,3335,0.00,2.25,0.00,0.000,4,0.000,0.045,1808,892,3371
$GC,3370,-0.98,-107.1,331.5,-9.5,149,3374,0.00,2.25,0.00,0.000,6,0.000,0.044,1801,2307,3371
$GC,3697,-0.98,-107.1,360.3,-8.8,155,3701,0.00,2.28,0.00,0.000,4,0.000,0.044,1801,896,3371
$GC,3731,-1.01,-107.1,363.4,-8.8,155,3735,0.00,2.25,0.00,0.000,6,0.000,0.045,1792,2310,3371
$GC,4057,-1.01,-107.1,391.7,-8.6,161,4061,0.00,2.28,0.00,0.000,4,0.000,0.051,1792,890,3370
$GC,4125,-1.01,-107.1,397.9,-9.7,162,4129,0.00,2.25,0.00,0.000,6,0.000,0.042,1782,2304,3370
$GC,4485,-1.01,-107.1,429.3,-8.8,168,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,2304,3370
$GC,4789,-1.01,-107.1,456.4,-9.0,173,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,2304,3369
$GC,5092,-1.01,-107.1,483.5,-9.0,178,5096,0.00,2.30,0.00,0.000,4,0.000,0.049,1782,889,3369
$GC,5176,-1.01,-107.1,491.6,-9.5,179,5180,0.00,2.28,0.00,0.000,6,0.000,0.046,1780,2302,3369
$GC,5519,-1.01,-107.1,521.9,-8.8,185,5523,0.00,2.28,0.00,0.000,4,0.000,0.044,1780,897,3369
$GC,5552,-1.01,-107.1,525.1,-9.2,185,5556,0.00,2.25,0.00,0.000,6,0.000,0.046,1769,2306,3369
$GC,5879,-0.98,-107.1,554.6,-9.1,191,5883,0.00,2.28,0.00,0.000,4,0.000,0.045,1769,898,3368
$GC,5953,-0.96,-107.1,561.8,-9.7,192,5958,0.10,2.25,0.00,0.000,6,0.147,0.044,1792,2306,3368
$GC,6308,-0.99,-107.1,589.7,-7.9,198,6312,0.00,2.28,0.00,0.000,4,0.000,0.045,1792,893,3368
$GC,6364,-1.02,-107.1,594.6,-8.8,198,6371,0.00,2.28,0.00,0.000,6,0.000,0.041,1784,2304,3368
$GC,6674,-1.02,-107.1,621.4,-8.7,204,6678,0.00,2.28,0.00,0.000,4,0.000,0.046,1784,892,3368
$GC,6730,-1.02,-107.1,626.6,-9.6,204,6737,0.00,2.28,0.00,0.000,6,0.000,0.044,1781,2311,3368
$GC,7041,-1.02,-107.1,652.6,-8.4,210,7045,0.00,2.30,0.00,0.000,4,0.000,0.048,1781,895,3367
$GC,7085,-1.02,-107.1,656.6,-8.9,210,7089,0.00,2.28,0.00,0.000,6,0.000,0.041,1781,2307,3367
$GC,7400,-1.02,-107.1,683.2,-8.5,216,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2307,3367
$GC,7703,-1.02,-107.1,708.4,-8.3,221,7707,0.00,2.30,0.00,0.000,4,0.000,0.048,1781,897,3367
$GC,7748,-1.02,-107.1,712.3,-8.7,221,7752,0.00,2.28,0.00,0.000,6,0.000,0.041,1772,2308,3367
$GC,8063,-1.02,-107.1,738.4,-8.2,227,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,2309,3367
$GC,8366,-1.02,-107.1,764.4,-8.6,232,8370,0.00,2.30,0.00,0.000,4,0.000,0.051,1772,889,3367
$GC,8411,-1.02,-107.1,768.6,-10.0,232,8415,0.00,2.28,0.00,0.000,6,0.000,0.041,1768,2303,3367
$GC,8727,-1.02,-107.1,796.4,-8.8,238,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,2304,3366
$GC,9029,-1.02,-107.1,822.2,-8.6,243,9033,0.00,2.28,0.00,0.000,4,0.000,0.052,1768,894,3366
$GC,9113,-1.02,-107.1,830.0,-9.7,244,9117,0.00,2.28,0.00,0.000,6,0.000,0.047,1767,2306,3366
$GC,9457,-1.02,-107.1,857.7,-8.0,250,9461,0.00,2.28,0.00,0.000,4,0.000,0.051,1768,897,3366
$GC,9507,-1.02,-107.1,862.0,-8.3,250,9511,0.00,2.28,0.00,0.000,6,0.000,0.043,1764,2315,3366
$GC,9817,-1.02,-107.1,886.9,-8.0,255,9821,0.00,2.30,0.00,0.000,4,0.000,0.053,1764,899,3365
$GC,9858,-1.02,-107.1,890.4,-8.6,255,9863,0.10,2.25,0.00,0.000,6,0.147,0.041,1780,2302,3365
$GC,10180,-1.04,-107.1,914.4,-7.5,261,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,2302,3365
$GC,10482,-1.07,-107.1,936.9,-7.4,266,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,2302,3365
$GC,10785,-1.09,-107.1,958.9,-7.3,271,10789,0.00,2.28,0.00,0.000,4,0.000,0.050,1780,901,3365
$GC,10829,-1.11,-107.1,962.5,-8.1,271,10834,0.10,2.28,0.00,0.000,6,0.078,0.044,1741,2310,3365
$STATE,11142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11142,begin apogee
$GC,11149,-0.22,0.0,991.9,9.4,277,11242,0.68,0.00,89.75,1.295,6,0.127,0.000,1951,2310,2931
$STATE,11243,end apogee,CONTROL_FINISHED_OK
$STATE,11243,begin climb
$GC,11246,0.80,107.1,993.5,0.0,278,11344,0.68,0.00,95.12,1.264,6,0.071,0.000,2181,2310,2493
$GC,11629,0.68,107.1,971.4,7.7,285,11633,0.15,2.33,0.00,0.000,4,0.166,0.055,2145,3713,2484
$GC,11707,0.57,107.1,964.8,7.8,286,11712,0.12,2.25,0.00,0.000,6,0.173,0.036,2124,2308,2483
$GC,12062,0.57,107.1,943.6,5.8,292,12063,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2308,2481
$GC,12365,0.57,107.1,926.7,5.6,297,12369,0.00,2.30,0.00,0.000,4,0.000,0.054,2124,3718,2481
$GC,12429,0.52,107.1,922.6,6.6,298,12433,0.00,2.25,0.00,0.000,6,0.000,0.039,2133,2293,2480
$GC,12795,0.49,107.1,902.1,5.5,304,12800,0.12,2.33,0.00,0.000,4,0.159,0.056,2099,3717,2479
$GC,12828,0.50,114.6,900.2,5.2,304,12838,0.00,2.25,5.32,0.887,6,0.000,0.035,2108,2296,2463
$GC,13155,0.54,134.1,885.1,4.6,310,13180,0.00,2.35,18.38,1.153,4,0.000,0.058,2108,3703,2383
$GC,13215,0.54,134.1,881.8,6.3,310,13221,0.00,2.25,0.00,0.000,6,0.000,0.035,2118,2302,2382
$GC,13525,0.55,144.0,866.1,5.0,316,13539,0.00,2.33,9.82,1.050,4,0.000,0.050,2118,3715,2344
$GC,13568,0.55,144.0,863.5,6.0,316,13572,0.00,2.28,0.00,0.000,6,0.000,0.037,2129,2293,2342
$GC,13884,0.55,144.0,845.5,5.8,322,13885,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2293,2340
$GC,14187,0.55,144.0,826.7,6.2,327,14191,0.00,2.35,0.00,0.000,4,0.000,0.053,2129,3718,2340
$GC,14221,0.51,144.0,824.2,7.9,327,14225,0.12,2.28,0.00,0.000,6,0.160,0.033,2109,2296,2339
$GC,14547,0.56,144.0,805.4,5.7,333,14551,0.00,2.30,0.00,0.000,4,0.000,0.052,2109,3710,2339
$GC,14581,0.56,144.0,802.9,7.1,333,14585,0.00,2.22,0.00,0.000,6,0.000,0.033,2117,2302,2339
$GC,14908,0.59,144.0,782.6,6.2,339,14912,0.00,2.30,0.00,0.000,4,0.000,0.054,2117,3718,2339
$GC,14958,0.59,144.0,778.9,7.4,339,14962,0.00,2.22,0.00,0.000,6,0.000,0.033,2128,2302,2338
$GC,15268,0.59,144.0,758.9,6.4,344,15272,0.00,2.30,0.00,0.000,4,0.000,0.052,2128,3715,2338
$GC,15302,0.56,144.0,756.5,6.9,344,15306,0.00,2.25,0.00,0.000,6,0.000,0.034,2139,2293,2338
$GC,15629,0.56,144.0,735.2,6.5,350,15633,0.00,2.30,0.00,0.000,4,0.000,0.048,2138,3712,2338
$GC,15662,0.51,144.0,732.7,7.2,350,15667,0.15,2.25,0.00,0.000,6,0.151,0.033,2110,2293,2338
$GC,15989,0.57,157.9,716.4,4.9,356,16008,0.00,2.35,12.80,1.019,4,0.000,0.053,2110,3709,2286
$GC,16032,0.60,157.9,713.9,5.6,356,16036,0.00,2.25,0.00,0.000,6,0.000,0.039,2118,2299,2285
$GC,16354,0.66,168.6,697.6,5.0,362,16370,0.08,2.30,10.77,0.981,4,0.075,0.053,2170,3711,2242
$GC,16399,0.55,168.6,694.4,9.0,362,16404,0.22,2.28,0.00,0.000,6,0.155,0.033,2121,2295,2241
$GC,16716,0.60,178.0,677.9,5.1,368,16727,0.00,0.00,9.45,0.944,6,0.000,0.000,2120,2294,2205
$GC,17018,0.66,179.4,661.5,5.4,373,17020,0.08,0.00,0.00,0.000,6,0.075,0.000,2176,2293,2203
$GC,17321,0.59,179.4,635.1,8.9,378,17326,0.17,2.30,0.00,0.000,4,0.146,0.048,2123,3712,2203
$GC,17354,0.59,179.4,632.2,7.6,378,17359,0.00,2.22,0.00,0.000,6,0.000,0.032,2131,2299,2202
$GC,17682,0.62,179.4,609.2,7.1,384,17683,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2299,2202
$GC,17985,0.65,179.4,587.9,7.0,389,17989,0.00,2.28,0.00,0.000,4,0.000,0.048,2131,3710,2202
$GC,18024,0.65,179.4,584.7,8.3,389,18028,0.00,2.22,0.00,0.000,6,0.000,0.033,2142,2301,2202
$GC,18345,0.65,179.4,562.7,6.8,395,18347,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2301,2201
$GC,18648,0.65,179.4,542.7,6.6,400,18649,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2301,2201
$GC,18951,0.65,179.4,522.7,6.6,405,18952,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2300,2201
$GC,19254,0.65,179.4,503.8,6.1,410,19258,0.00,2.28,0.00,0.000,4,0.000,0.048,2142,3717,2202
$GC,19288,0.63,179.4,501.4,6.3,410,19292,0.00,2.22,0.00,0.000,6,0.000,0.033,2152,2301,2201
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$GC,24966,0.89,224.2,125.5,5.2,555,24974,0.12,0.00,6.12,0.580,6,0.054,0.000,2241,2295,2017
$GC,25274,0.80,224.2,101.6,7.7,570,25279,0.20,2.30,0.00,0.000,4,0.137,0.046,2176,3708,2015
$GC,25324,0.80,224.2,98.1,5.9,572,25328,0.00,2.22,0.00,0.000,6,0.000,0.031,2185,2299,2015
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$STATE,26703,end climb,SURFACE_DEPTH_REACHED
$STATE,26703,begin surface coast
$FINISH,1.3,1.025223
$STATE,26726,end surface coast,CONTROL_FINISHED_OK
$STATE,26726,begin surface
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$10V_AH,10.5,57.905
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$DEVICE_SECS,18.200,231.250,394.325,0.000,0.000,31.566,25.594,148.453,15.500,0.000,0.000,15.048,1579.512,22119.629,556.787,2207.404,676.713,33.375,1671.869,0.000,2186.176,0.000,0.528,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
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$CFSIZE,260165632,222793728
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