version: 66.04
glider: 144
mission: 15
dive: 587
start: 12 25 109 4 1 31
data:
$ID,144
$MISSION,15
$DIVE,587
$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,-73572.367
$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,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
$GPS1,035407,5009.032,-14510.740,25,1.3,26,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-60.5
$GPS2,040037,5009.038,-14510.750,13,1.4,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.020,-0.167
$KALMAN_X,-92342.6,363.1,-312.1,92092.7,444.3
$KALMAN_Y,33500.7,-27.4,12.2,-55605.3,922.3
$MHEAD_RNG_PITCHd_Wd,168.2,27866,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.68,-117.3,0.0,0.0,0,62,0.00,0.00,-41.25,0.000,2,0.000,0.000,97,2298,2778
$GC,66,-0.68,-117.3,4.0,-7.3,2,93,7.07,2.33,-14.35,0.000,4,0.229,0.064,1846,897,3410
$GC,151,-0.68,-117.3,16.5,-11.3,6,155,0.00,2.28,0.00,0.000,6,0.000,0.043,1838,2308,3412
$GC,479,-0.63,-117.3,53.7,-11.4,22,483,0.10,2.28,0.00,0.000,4,0.138,0.041,1866,896,3412
$GC,524,-0.67,-117.3,58.4,-8.6,24,528,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2305,3412
$GC,849,-0.67,-117.3,88.0,-9.3,44,853,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,894,3412
$GC,902,-0.69,-117.3,92.7,-8.7,48,906,0.00,2.25,0.00,0.000,6,0.000,0.037,1854,2311,3412
$GC,1231,-0.69,-117.3,120.0,-7.2,78,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2311,3412
$GC,1558,-0.71,-117.3,141.8,-6.6,109,1562,0.00,2.30,0.00,0.000,4,0.000,0.041,1854,888,3413
$GC,1614,-0.75,-117.3,145.9,-7.3,113,1621,0.00,2.30,0.00,0.000,6,0.000,0.038,1850,2305,3412
$GC,1932,-0.79,-117.3,168.3,-7.2,128,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2305,3412
$GC,2237,-0.83,-117.3,188.8,-6.3,138,2239,0.10,0.00,0.00,0.000,6,0.064,0.000,1767,2306,3413
$GC,2543,-0.72,-117.3,222.0,-11.1,148,2545,0.25,0.00,0.00,0.000,6,0.122,0.000,1842,2306,3412
$GC,2850,-0.76,-117.3,241.7,-6.2,158,2854,0.00,2.25,0.00,0.000,4,0.000,0.043,1842,891,3413
$GC,2886,-0.81,-117.3,243.9,-6.8,159,2890,0.00,2.25,0.00,0.000,6,0.000,0.037,1837,2312,3413
$GC,3228,-0.84,-117.3,267.7,-7.1,170,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2312,3412
$GC,3535,-0.87,-117.3,290.1,-7.3,180,3540,0.10,2.28,0.00,0.000,4,0.066,0.041,1759,896,3413
$GC,3571,-0.76,-117.3,293.8,-11.0,181,3576,0.30,2.25,0.00,0.000,6,0.121,0.045,1838,2302,3412
$GC,3904,-0.80,-117.3,316.9,-6.5,188,3908,0.00,2.28,0.00,0.000,4,0.000,0.043,1838,890,3412
$GC,3928,-0.84,-117.3,318.4,-6.8,188,3932,0.00,2.30,0.00,0.000,6,0.000,0.043,1837,2309,3412
$GC,4272,-0.87,-117.3,339.6,-6.1,194,4276,0.10,2.28,0.00,0.000,4,0.065,0.048,1766,895,3412
$GC,4305,-0.78,-117.3,342.7,-9.7,194,4310,0.25,2.28,0.00,0.000,6,0.121,0.038,1830,2308,3412
$GC,4639,-0.80,-117.3,362.6,-5.8,200,4643,0.00,2.25,0.00,0.000,4,0.000,0.050,1830,897,3412
$GC,4690,-0.84,-117.3,365.7,-5.9,200,4694,0.00,2.22,0.00,0.000,6,0.000,0.042,1823,2304,3411
$GC,5012,-0.84,-117.3,385.1,-6.1,206,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2304,3411
$GC,5315,-0.84,-117.3,406.2,-7.1,211,5319,0.00,2.25,0.00,0.000,4,0.000,0.049,1824,890,3411
$GC,5344,-0.86,-117.3,408.4,-7.9,211,5348,0.00,2.28,0.00,0.000,6,0.000,0.042,1815,2311,3411
$GC,5682,-0.86,-117.3,433.8,-7.5,217,5685,0.00,2.25,0.00,0.000,4,0.000,0.044,1815,897,3410
$GC,5727,-0.86,-117.3,437.5,-8.6,217,5731,0.00,2.25,0.00,0.000,6,0.000,0.045,1808,2302,3411
$GC,6049,-0.86,-117.3,464.6,-8.6,223,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3411
$GC,6351,-0.86,-117.3,490.8,-8.6,228,6355,0.00,2.28,0.00,0.000,4,0.000,0.044,1808,894,3410
$GC,6390,-0.86,-117.3,494.3,-9.4,228,6394,0.00,2.25,0.00,0.000,6,0.000,0.040,1798,2304,3410
$GC,6712,-0.83,-117.3,521.4,-8.4,234,6716,0.00,2.28,0.00,0.000,4,0.000,0.044,1799,897,3410
$GC,6752,-0.83,-117.3,524.8,-8.0,234,6756,0.12,2.28,0.00,0.000,6,0.123,0.039,1825,2308,3411
$GC,7073,-0.87,-117.3,544.5,-6.0,240,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2308,3410
$GC,7376,-0.90,-117.3,562.5,-6.0,245,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2308,3410
$GC,7679,-0.94,-117.3,580.4,-5.9,250,7681,0.12,0.00,0.00,0.000,6,0.058,0.000,1752,2308,3410
$GC,7983,-0.83,-117.3,609.5,-9.8,255,7988,0.20,2.33,0.00,0.000,4,0.125,0.045,1818,890,3409
$GC,8022,-0.86,-117.3,612.9,-7.1,255,8026,0.00,2.28,0.00,0.000,6,0.000,0.039,1810,2304,3410
$GC,8344,-0.86,-117.3,633.4,-6.4,261,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3410
$GC,8648,-0.86,-117.3,653.4,-6.7,266,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3409
$GC,8950,-0.86,-117.3,674.1,-6.7,271,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3409
$GC,9253,-0.86,-117.3,695.3,-7.1,276,9254,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3409
$GC,9556,-0.86,-117.3,716.4,-7.0,281,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3409
$GC,9860,-0.86,-117.3,738.1,-7.2,286,9864,0.00,2.35,0.00,0.000,4,0.000,0.051,1810,889,3409
$GC,9895,-0.89,-117.3,740.6,-7.5,286,9899,0.00,2.30,0.00,0.000,6,0.000,0.046,1808,2304,3408
$GC,10227,-0.89,-117.3,762.4,-6.4,292,10231,0.00,2.33,0.00,0.000,4,0.000,0.058,1798,3711,3408
$GC,10249,-0.89,-117.3,763.9,-6.4,292,10253,0.00,2.25,0.00,0.000,6,0.000,0.033,1798,2299,3408
$GC,10592,-0.89,-117.3,785.5,-6.3,298,10596,0.00,2.30,0.00,0.000,4,0.000,0.048,1798,898,3408
$GC,10615,-0.89,-117.3,786.9,-6.3,298,10619,0.00,2.30,0.00,0.000,6,0.000,0.040,1794,2311,3408
$GC,10953,-0.89,-117.3,810.5,-7.0,304,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2311,3408
$GC,11256,-0.89,-117.3,832.5,-7.3,309,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2311,3408
$GC,11559,-0.89,-117.3,854.5,-7.2,314,11561,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2311,3408
$GC,11863,-0.89,-117.3,876.1,-7.1,319,11867,0.00,2.33,0.00,0.000,4,0.000,0.047,1794,895,3407
$GC,11891,-0.89,-117.3,878.2,-6.8,319,11896,0.10,2.30,0.00,0.000,6,0.129,0.044,1812,2312,3407
$GC,12223,-0.92,-117.3,898.2,-6.0,325,12224,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2312,3407
$GC,12526,-0.96,-117.3,915.5,-5.6,330,12527,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2312,3407
$GC,12830,-0.99,-117.3,932.0,-5.5,335,12835,0.10,2.33,0.00,0.000,4,0.078,0.051,1757,3712,3407
$GC,12860,-0.95,-117.3,934.2,-7.7,335,12865,0.15,2.28,0.00,0.000,6,0.129,0.038,1799,2296,3407
$GC,13193,-0.95,-117.3,955.1,-6.1,341,13197,0.00,2.30,0.00,0.000,4,0.000,0.048,1799,894,3407
$GC,13221,-0.95,-117.3,956.9,-6.8,341,13225,0.00,2.30,0.00,0.000,6,0.000,0.046,1795,2307,3407
$GC,13553,-0.95,-117.3,978.4,-6.5,347,13554,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2307,3407
$STATE,13731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13731,begin apogee
$GC,13739,-0.22,0.0,990.4,6.6,350,13841,0.50,0.00,98.90,1.285,6,0.113,0.000,1955,2307,2931
$STATE,13842,end apogee,CONTROL_FINISHED_OK
$STATE,13842,begin climb
$GC,13846,0.68,117.3,992.0,0.0,351,13954,0.57,0.00,105.07,1.258,6,0.069,0.000,2152,2307,2452
$GC,14219,0.57,117.3,977.4,5.9,358,14223,0.12,2.33,0.00,0.000,4,0.152,0.052,2122,3713,2442
$GC,14258,0.47,117.3,974.8,6.5,358,14263,0.12,2.28,0.00,0.000,6,0.163,0.036,2100,2301,2442
$GC,14580,0.50,146.9,960.3,4.5,364,14609,0.00,0.00,25.08,1.199,6,0.000,0.000,2100,2301,2331
$GC,14949,0.53,164.4,942.2,4.9,370,14970,0.00,2.35,16.30,1.152,4,0.000,0.053,2101,3712,2259
$GC,15016,0.53,164.4,938.3,7.0,371,15020,0.00,2.28,0.00,0.000,6,0.000,0.037,2108,2300,2257
$GC,15383,0.53,164.4,917.7,5.7,377,15387,0.00,2.33,0.00,0.000,4,0.000,0.050,2108,3715,2255
$GC,15422,0.49,164.4,914.9,6.4,377,15427,0.00,2.25,0.00,0.000,6,0.000,0.034,2119,2302,2254
$GC,15744,0.47,164.4,894.9,6.3,383,15748,0.00,2.33,0.00,0.000,4,0.000,0.054,2119,3717,2254
$GC,15785,0.40,164.4,891.9,7.3,383,15790,0.17,2.25,0.00,0.000,6,0.153,0.039,2083,2303,2254
$GC,16106,0.48,188.3,876.4,4.7,389,16130,0.08,0.00,21.58,1.154,6,0.082,0.000,2129,2302,2163
$GC,16409,0.45,188.3,857.2,6.4,394,16414,0.12,2.33,0.00,0.000,4,0.133,0.049,2096,3716,2159
$GC,16438,0.45,188.3,855.3,6.3,394,16442,0.00,2.25,0.00,0.000,6,0.000,0.038,2104,2302,2158
$GC,16771,0.48,193.8,837.7,5.3,400,16779,0.00,0.00,5.95,0.896,6,0.000,0.000,2104,2302,2140
$GC,17074,0.52,193.8,821.0,5.6,405,17075,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2302,2138
$GC,17377,0.55,193.8,804.4,5.5,410,17381,0.00,2.33,0.00,0.000,4,0.000,0.051,2104,3709,2137
$GC,17413,0.55,193.8,802.2,6.9,410,17417,0.00,2.25,0.00,0.000,6,0.000,0.032,2114,2293,2138
$GC,17739,0.55,193.8,782.4,6.0,416,17744,0.00,2.33,0.00,0.000,4,0.000,0.051,2114,3710,2138
$GC,17774,0.52,193.8,779.9,7.3,416,17778,0.00,2.22,0.00,0.000,6,0.000,0.032,2124,2301,2137
$GC,18101,0.52,193.8,758.5,6.5,422,18105,0.00,2.30,0.00,0.000,4,0.000,0.053,2124,3712,2137
$GC,18130,0.48,193.8,756.1,6.8,422,18135,0.12,2.22,0.00,0.000,6,0.143,0.033,2102,2297,2136
$GC,18462,0.53,193.8,737.1,5.7,428,18464,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2297,2137
$GC,18766,0.57,193.8,719.6,5.8,433,18770,0.00,2.30,0.00,0.000,4,0.000,0.048,2102,3710,2136
$GC,18789,0.59,193.8,718.1,6.6,433,18793,0.00,2.20,0.00,0.000,6,0.000,0.032,2110,2302,2136
$GC,19133,0.62,193.8,697.7,5.9,439,19138,0.08,2.30,0.00,0.000,4,0.078,0.047,2172,3709,2136
$GC,19173,0.46,193.8,694.1,9.0,439,19178,0.30,2.22,0.00,0.000,6,0.150,0.032,2100,2294,2136
$GC,19495,0.53,207.7,677.0,5.0,445,19514,0.00,2.38,13.15,0.988,4,0.000,0.049,2100,3715,2084
$GC,19533,0.58,215.3,674.8,5.2,445,19547,0.00,2.22,8.65,0.904,6,0.000,0.032,2107,2302,2053
$GC,19865,0.65,242.6,659.3,4.6,451,19896,0.12,2.35,25.27,1.021,4,0.056,0.047,2197,887,1941
$GC,19914,0.55,242.6,655.6,7.8,451,19919,0.28,2.30,0.00,0.000,6,0.137,0.038,2120,2305,1939
$GC,20226,0.63,277.5,641.1,4.3,456,20264,0.00,2.38,31.80,1.018,4,0.000,0.048,2120,3709,1798
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$STATE,29187,end climb,SURFACE_DEPTH_REACHED
$STATE,29188,begin surface coast
$FINISH,1.2,1.013029
$STATE,29209,end surface coast,CONTROL_FINISHED_OK
$STATE,29210,begin surface
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$XPDR_PINGS,56
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$10V_AH,10.4,73.540
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$DATA_FILE_SIZE,44301,752
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