version: 66.04
glider: 144
mission: 15
dive: 384
start: 10 17 109 11 0 38
data:
$ID,144
$MISSION,15
$DIVE,384
$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,-68823.398
$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,39
$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
$GPS1,105306,5007.126,-14451.194,40,1.2,41,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-63.1
$GPS2,105944,5007.093,-14451.132,13,1.4,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.124,0.114
$KALMAN_X,-73667.1,-190.9,13.1,96823.3,-707.6
$KALMAN_Y,22065.4,25.7,-258.8,-47537.2,-261.4
$MHEAD_RNG_PITCHd_Wd,28.9,36024,-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,15,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-31.27,0.000,2,0.000,0.000,99,2314,2565
$GC,54,-0.68,-117.3,3.4,-6.9,3,89,7.07,2.28,-21.15,0.000,4,0.230,0.062,1837,3702,3411
$GC,315,-0.62,-117.3,36.5,-13.5,26,320,0.12,2.20,0.00,0.000,6,0.127,0.030,1871,2303,3413
$GC,643,-0.65,-117.3,67.3,-7.2,56,647,0.00,2.25,0.00,0.000,4,0.000,0.041,1871,896,3413
$GC,722,-0.70,-117.3,73.6,-7.7,62,728,0.00,2.20,0.00,0.000,6,0.000,0.037,1863,2301,3414
$GC,1041,-0.70,-117.3,99.1,-8.1,82,1045,0.00,2.22,0.00,0.000,4,0.000,0.041,1864,894,3415
$GC,1069,-0.72,-117.3,101.6,-8.5,83,1073,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2303,3415
$GC,1385,-0.72,-117.3,125.6,-7.6,98,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2303,3415
$GC,1695,-0.76,-117.3,149.2,-7.4,113,1697,0.10,0.00,0.00,0.000,6,0.065,0.000,1785,2303,3415
$GC,2021,-0.68,-117.3,184.6,-10.7,124,2026,0.20,2.25,0.00,0.000,4,0.119,0.046,1848,897,3414
$GC,2088,-0.73,-117.3,189.9,-7.0,126,2092,0.00,2.22,0.00,0.000,6,0.000,0.041,1848,2303,3414
$GC,2418,-0.77,-117.3,211.8,-6.5,137,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2303,3414
$GC,2723,-0.82,-117.3,231.7,-6.6,147,2725,0.10,0.00,0.00,0.000,6,0.065,0.000,1776,2303,3413
$GC,3030,-0.72,-117.3,263.5,-10.7,157,3034,0.20,2.28,0.00,0.000,4,0.120,0.047,1841,890,3413
$GC,3130,-0.77,-117.3,271.4,-6.9,160,3135,0.00,2.22,0.00,0.000,6,0.000,0.038,1836,2306,3413
$GC,3461,-0.79,-117.3,293.5,-6.7,171,3464,0.00,2.22,0.00,0.000,4,0.000,0.043,1836,899,3412
$GC,3496,-0.82,-117.3,296.0,-7.2,172,3500,0.00,2.22,0.00,0.000,6,0.000,0.040,1836,2302,3412
$GC,3860,-0.85,-117.3,321.8,-7.1,179,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2302,3411
$GC,4163,-0.89,-117.3,344.5,-7.5,184,4167,0.10,2.22,0.00,0.000,4,0.066,0.046,1767,899,3410
$GC,4207,-0.79,-117.3,349.4,-11.5,184,4212,0.25,2.22,0.00,0.000,6,0.120,0.041,1831,2305,3411
$GC,4524,-0.82,-117.3,374.4,-7.7,190,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2305,3410
$GC,4826,-0.85,-117.3,396.4,-7.2,195,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2305,3410
$GC,5129,-0.88,-117.3,417.6,-7.0,200,5134,0.10,2.28,0.00,0.000,4,0.067,0.045,1767,890,3409
$GC,5162,-0.79,-117.3,420.8,-10.6,200,5167,0.25,2.25,0.00,0.000,6,0.120,0.045,1831,2303,3408
$GC,5489,-0.82,-117.3,445.4,-7.4,206,5493,0.00,2.25,0.00,0.000,4,0.000,0.044,1831,896,3408
$GC,5527,-0.86,-117.3,448.5,-7.5,206,5531,0.00,2.25,0.00,0.000,6,0.000,0.044,1825,2310,3409
$GC,5849,-0.88,-117.3,472.6,-7.5,212,5853,0.00,2.25,0.00,0.000,4,0.000,0.051,1815,3708,3408
$GC,5877,-0.91,-117.3,474.9,-8.1,212,5881,0.00,2.20,0.00,0.000,6,0.000,0.033,1815,2302,3408
$GC,6208,-0.91,-117.3,499.3,-7.3,218,6212,0.00,2.25,0.00,0.000,4,0.000,0.044,1816,896,3408
$GC,6247,-0.91,-117.3,502.3,-8.1,218,6251,0.00,2.25,0.00,0.000,6,0.000,0.044,1808,2309,3407
$GC,6574,-0.91,-117.3,525.8,-7.2,224,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2310,3407
$GC,6877,-0.91,-117.3,547.3,-7.1,229,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2310,3407
$GC,7180,-0.91,-117.3,568.8,-7.1,234,7184,0.00,2.28,0.00,0.000,4,0.000,0.045,1808,896,3407
$GC,7230,-0.91,-117.3,572.5,-7.2,234,7233,0.00,2.25,0.00,0.000,6,0.000,0.042,1799,2309,3407
$GC,7545,-0.91,-117.3,595.0,-7.2,240,7549,0.00,2.28,0.00,0.000,4,0.000,0.051,1791,3714,3406
$GC,7568,-0.88,-117.3,596.8,-7.5,240,7572,0.00,2.22,0.00,0.000,6,0.000,0.032,1790,2295,3406
$GC,7906,-0.85,-117.3,621.8,-7.4,246,7910,0.10,2.28,0.00,0.000,4,0.128,0.051,1819,889,3406
$GC,7955,-0.88,-117.3,625.3,-6.8,246,7959,0.00,2.25,0.00,0.000,6,0.000,0.046,1812,2302,3406
$GC,8266,-0.88,-117.3,645.5,-6.6,251,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2303,3405
$GC,8568,-0.88,-117.3,665.9,-6.8,256,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2303,3405
$GC,8871,-0.88,-117.3,685.9,-6.5,261,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2303,3405
$GC,9175,-0.88,-117.3,705.8,-6.5,266,9179,0.00,2.28,0.00,0.000,4,0.000,0.044,1811,892,3405
$GC,9215,-0.88,-117.3,708.6,-7.2,266,9219,0.00,2.28,0.00,0.000,6,0.000,0.046,1810,2306,3405
$GC,9536,-0.88,-117.3,729.6,-6.5,272,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2306,3404
$GC,9838,-0.88,-117.3,749.5,-6.6,277,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2306,3405
$GC,10141,-0.88,-117.3,769.2,-6.5,282,10142,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2306,3404
$GC,10445,-0.88,-117.3,788.5,-6.4,287,10449,0.00,2.28,0.00,0.000,4,0.000,0.048,1810,898,3404
$GC,10495,-0.88,-117.3,792.0,-6.8,287,10499,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2304,3404
$GC,10805,-0.88,-117.3,810.8,-6.0,292,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3404
$GC,11108,-0.88,-117.3,828.6,-5.9,297,11109,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3404
$GC,11411,-0.88,-117.3,847.3,-6.2,302,11415,0.00,2.30,0.00,0.000,4,0.000,0.049,1808,890,3404
$GC,11450,-0.88,-117.3,849.9,-7.1,302,11454,0.00,2.28,0.00,0.000,6,0.000,0.048,1805,2304,3404
$GC,11770,-0.88,-117.3,869.8,-6.1,308,11772,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2304,3404
$GC,12073,-0.88,-117.3,887.1,-5.7,313,12077,0.00,2.28,0.00,0.000,4,0.000,0.052,1805,899,3403
$GC,12112,-0.88,-117.3,889.6,-5.9,313,12116,0.00,2.25,0.00,0.000,6,0.000,0.044,1795,2300,3403
$GC,12434,-0.88,-117.3,908.0,-5.7,319,12435,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2300,3403
$GC,12737,-0.88,-117.3,925.7,-5.8,324,12738,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2300,3403
$GC,13039,-0.88,-117.3,942.9,-5.7,329,13040,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2300,3403
$GC,13342,-0.88,-117.3,960.6,-5.9,334,13346,0.00,2.30,0.00,0.000,4,0.000,0.053,1796,899,3403
$GC,13387,-0.88,-117.3,963.7,-6.8,334,13391,0.00,2.28,0.00,0.000,6,0.000,0.046,1794,2304,3402
$GC,13703,-0.88,-117.3,984.6,-6.6,340,13704,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2304,3403
$STATE,13821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13821,begin apogee
$GC,13827,-0.22,0.0,992.7,6.7,342,13926,0.50,0.00,96.25,1.299,6,0.119,0.000,1953,2304,2930
$STATE,13926,end apogee,CONTROL_FINISHED_OK
$STATE,13927,begin climb
$GC,13929,0.68,117.3,994.3,0.0,343,14040,0.57,2.60,102.38,1.270,4,0.077,0.057,2151,3713,2451
$GC,14074,0.48,117.3,991.8,7.1,345,14080,0.22,2.40,0.00,0.000,6,0.162,0.041,2109,2309,2447
$GC,14419,0.47,135.6,975.1,4.9,351,14436,0.00,0.00,15.68,1.167,6,0.000,0.000,2109,2309,2378
$GC,14722,0.45,143.7,959.3,5.2,356,14732,0.00,0.00,8.23,1.049,6,0.000,0.000,2109,2309,2345
$GC,15025,0.43,144.5,942.7,5.5,361,15026,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2309,2342
$GC,15328,0.41,146.8,926.2,5.4,366,15333,0.00,0.00,3.90,0.739,6,0.000,0.000,2109,2309,2332
$GC,15631,0.42,153.2,910.0,5.3,371,15640,0.00,0.00,7.43,1.012,6,0.000,0.000,2109,2309,2306
$GC,15934,0.43,164.8,894.3,5.1,376,15952,0.00,2.35,11.45,1.103,4,0.000,0.057,2109,3715,2258
$GC,15971,0.40,164.8,892.0,6.1,376,15976,0.12,2.28,0.00,0.000,6,0.149,0.035,2085,2300,2257
$GC,16297,0.49,205.9,878.5,4.1,382,16337,0.08,0.00,37.33,1.199,6,0.081,0.000,2129,2299,2091
$GC,16601,0.46,205.9,859.4,6.5,387,16603,0.12,0.00,0.00,0.000,6,0.133,0.000,2096,2299,2085
$GC,16904,0.53,221.7,844.2,5.0,392,16923,0.00,2.38,14.20,1.103,4,0.000,0.057,2096,3714,2026
$GC,16946,0.58,221.7,841.5,5.5,392,16951,0.08,2.28,0.00,0.000,6,0.077,0.038,2146,2299,2025
$GC,17267,0.51,221.7,816.1,8.2,398,17272,0.15,2.30,0.00,0.000,4,0.137,0.047,2114,889,2023
$GC,17295,0.53,221.7,814.1,6.6,398,17299,0.00,2.28,0.00,0.000,6,0.000,0.042,2114,2306,2022
$GC,17627,0.53,221.7,793.2,6.3,404,17631,0.00,2.28,0.00,0.000,4,0.000,0.052,2114,3712,2021
$GC,17654,0.53,221.7,791.2,6.7,404,17658,0.00,2.22,0.00,0.000,6,0.000,0.034,2124,2304,2021
$GC,17992,0.53,221.7,768.6,6.7,410,17996,0.00,2.28,0.00,0.000,4,0.000,0.051,2124,3712,2021
$GC,18026,0.50,221.7,766.0,8.1,410,18030,0.10,2.22,0.00,0.000,6,0.150,0.034,2109,2292,2020
$GC,18359,0.55,230.7,748.3,5.2,416,18373,0.00,2.33,8.48,0.968,4,0.000,0.052,2110,3705,1990
$GC,18391,0.58,230.7,746.2,5.6,416,18396,0.00,2.22,0.00,0.000,6,0.000,0.033,2117,2294,1990
$GC,18724,0.59,241.5,729.0,5.1,422,18737,0.00,0.00,11.10,1.006,6,0.000,0.000,2117,2294,1946
$GC,19028,0.63,258.7,714.1,4.9,427,19052,0.00,2.40,16.45,1.045,4,0.000,0.053,2117,3721,1876
$GC,19075,0.66,258.7,711.3,5.6,427,19079,0.00,2.28,0.00,0.000,6,0.000,0.033,2126,2301,1875
$GC,19390,0.66,258.7,693.9,5.6,433,19391,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2301,1872
$GC,19693,0.66,258.7,676.0,5.9,438,19697,0.00,2.30,0.00,0.000,4,0.000,0.052,2125,3719,1871
$GC,19732,0.66,258.7,673.1,7.7,438,19736,0.00,2.25,0.00,0.000,6,0.000,0.038,2135,2301,1871
$GC,20053,0.66,258.7,651.2,6.9,444,20054,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2301,1870
$GC,20356,0.66,258.7,629.3,7.2,449,20359,0.00,2.28,0.00,0.000,4,0.000,0.048,2136,3716,1870
$GC,20389,0.64,258.7,626.5,8.1,449,20393,0.00,2.22,0.00,0.000,6,0.000,0.033,2146,2300,1870
$GC,20722,0.61,258.7,600.4,7.9,455,20726,0.00,2.30,0.00,0.000,4,0.000,0.056,2146,3719,1870
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$STATE,29743,end climb,SURFACE_DEPTH_REACHED
$STATE,29743,begin surface coast
$FINISH,1.1,1.021675
$STATE,29776,end surface coast,CONTROL_FINISHED_OK
$STATE,29777,begin surface
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$HUMID,1669
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$TCM_TEMP,17.30
$XPDR_PINGS,49
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$10V_AH,10.6,48.051
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$DEVICE_SECS,17.900,208.125,374.025,0.000,0.000,24.580,32.521,205.893,12.250,0.000,0.000,15.180,1704.562,25098.486,523.010,2182.224,731.585,33.370,1611.531,0.000,2192.448,0.000,0.529,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47474,786
$CAP_FILE_SIZE,179711,0
$CFSIZE,260165632,228806656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
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