version: 66.04
glider: 144
mission: 15
dive: 398
start: 10 22 109 7 32 56
data:
$ID,144
$MISSION,15
$DIVE,398
$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,-69129.492
$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,34
$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
$GPS1,072438,4956.960,-14429.406,40,1.6,41,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-62.2
$GPS2,073203,4957.092,-14429.444,32,1.6,34,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.025,-0.166
$KALMAN_X,-73834.7,149.0,-33.1,122321.7,491.6
$KALMAN_Y,24850.1,-171.2,208.4,-69125.8,804.5
$MHEAD_RNG_PITCHd_Wd,170.1,5725,-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,-41.67,0.000,2,0.000,0.000,100,2303,2848
$GC,64,-0.68,-117.3,3.5,-4.0,4,91,7.10,2.38,-12.57,0.000,4,0.234,0.061,1845,895,3412
$GC,159,-0.62,-117.3,19.5,-14.5,12,166,0.12,2.25,0.00,0.000,6,0.135,0.037,1870,2309,3413
$GC,488,-0.62,-117.3,51.9,-10.0,43,492,0.00,2.28,0.00,0.000,4,0.000,0.041,1870,890,3415
$GC,539,-0.62,-117.3,57.3,-9.1,47,543,0.00,2.25,0.00,0.000,6,0.000,0.036,1863,2305,3414
$GC,873,-0.62,-117.3,85.6,-8.4,75,877,0.00,2.25,0.00,0.000,4,0.000,0.040,1863,891,3416
$GC,965,-0.65,-117.3,93.2,-8.4,79,969,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2304,3416
$GC,1291,-0.65,-117.3,120.3,-8.1,95,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2303,3417
$GC,1603,-0.69,-117.3,142.3,-6.6,110,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2304,3417
$GC,1909,-0.74,-117.3,163.8,-7.3,122,1914,0.10,2.25,0.00,0.000,4,0.065,0.041,1785,890,3417
$GC,1944,-0.66,-117.3,167.3,-11.0,123,1948,0.28,2.22,0.00,0.000,6,0.120,0.038,1859,2313,3416
$GC,2284,-0.72,-117.3,190.1,-6.0,134,2288,0.00,2.25,0.00,0.000,4,0.000,0.042,1859,888,3415
$GC,2320,-0.79,-117.3,192.3,-6.5,135,2325,0.10,2.22,0.00,0.000,6,0.066,0.038,1780,2308,3415
$GC,2661,-0.71,-117.3,227.4,-10.6,146,2663,0.22,0.00,0.00,0.000,6,0.117,0.000,1849,2308,3415
$GC,2968,-0.76,-117.3,246.4,-5.9,156,2972,0.00,2.28,0.00,0.000,4,0.000,0.048,1849,892,3415
$GC,3003,-0.82,-117.3,248.7,-6.6,157,3007,0.10,2.22,0.00,0.000,6,0.065,0.038,1777,2304,3414
$GC,3343,-0.74,-117.3,282.8,-10.1,168,3345,0.22,0.00,0.00,0.000,6,0.119,0.000,1845,2304,3414
$GC,3680,-0.79,-117.3,304.3,-6.2,178,3684,0.00,2.25,0.00,0.000,4,0.000,0.044,1845,887,3413
$GC,3708,-0.85,-117.3,306.1,-6.5,178,3713,0.10,2.25,0.00,0.000,6,0.066,0.041,1767,2302,3413
$GC,4046,-0.75,-117.3,339.9,-10.2,184,4050,0.20,2.28,0.00,0.000,4,0.121,0.047,1834,892,3413
$GC,4091,-0.80,-117.3,343.7,-6.9,184,4095,0.00,2.25,0.00,0.000,6,0.000,0.039,1828,2307,3413
$GC,4406,-0.80,-117.3,365.8,-7.0,190,4410,0.00,2.28,0.00,0.000,4,0.000,0.044,1827,889,3413
$GC,4439,-0.82,-117.3,368.3,-7.8,190,4443,0.00,2.25,0.00,0.000,6,0.000,0.039,1822,2300,3412
$GC,4765,-0.82,-117.3,393.8,-7.8,196,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2301,3411
$GC,5068,-0.82,-117.3,417.1,-7.6,201,5072,0.00,2.30,0.00,0.000,4,0.000,0.048,1822,889,3411
$GC,5118,-0.82,-117.3,421.2,-7.6,201,5122,0.00,2.28,0.00,0.000,6,0.000,0.041,1813,2309,3411
$GC,5429,-0.82,-117.3,444.5,-7.5,206,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2310,3411
$GC,5731,-0.82,-117.3,467.0,-7.4,211,5735,0.00,2.28,0.00,0.000,4,0.000,0.050,1813,891,3411
$GC,5787,-0.82,-117.3,471.5,-8.4,211,5794,0.00,2.28,0.00,0.000,6,0.000,0.040,1808,2306,3410
$GC,6097,-0.82,-117.3,494.1,-7.3,217,6101,0.00,2.28,0.00,0.000,4,0.000,0.047,1808,891,3410
$GC,6129,-0.82,-117.3,496.6,-7.7,217,6134,0.10,2.28,0.00,0.000,6,0.130,0.039,1827,2314,3410
$GC,6457,-0.86,-117.3,515.5,-5.8,223,6458,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2314,3409
$GC,6759,-0.90,-117.3,533.6,-6.0,228,6764,0.10,2.28,0.00,0.000,4,0.067,0.043,1765,893,3409
$GC,6798,-0.81,-117.3,537.1,-9.9,228,6803,0.25,2.25,0.00,0.000,6,0.123,0.044,1830,2302,3409
$GC,7119,-0.85,-117.3,557.9,-6.3,234,7123,0.00,2.28,0.00,0.000,4,0.000,0.047,1830,892,3409
$GC,7153,-0.90,-117.3,560.3,-7.0,234,7157,0.00,2.25,0.00,0.000,6,0.000,0.043,1824,2303,3409
$GC,7481,-0.93,-117.3,580.6,-6.1,240,7482,0.10,0.00,0.00,0.000,6,0.066,0.000,1752,2304,3409
$GC,7783,-0.83,-117.3,609.6,-9.7,245,7788,0.20,2.28,0.00,0.000,4,0.127,0.046,1818,896,3408
$GC,7834,-0.86,-117.3,613.5,-7.4,245,7838,0.00,2.25,0.00,0.000,6,0.000,0.044,1810,2303,3408
$GC,8145,-0.86,-117.3,633.7,-6.6,250,8149,0.00,2.28,0.00,0.000,4,0.000,0.044,1810,886,3408
$GC,8178,-0.86,-117.3,636.2,-7.7,250,8182,0.00,2.25,0.00,0.000,6,0.000,0.047,1808,2301,3408
$GC,8510,-0.86,-117.3,658.2,-6.6,256,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3407
$GC,8814,-0.86,-117.3,677.9,-6.4,261,8818,0.00,2.28,0.00,0.000,4,0.000,0.044,1808,887,3407
$GC,8852,-0.86,-117.3,680.7,-7.6,261,8856,0.00,2.28,0.00,0.000,6,0.000,0.041,1799,2306,3407
$GC,9174,-0.86,-117.3,702.0,-6.6,267,9178,0.00,2.28,0.00,0.000,4,0.000,0.047,1799,890,3407
$GC,9214,-0.86,-117.3,704.9,-7.1,267,9218,0.00,2.28,0.00,0.000,6,0.000,0.040,1794,2307,3407
$GC,9535,-0.86,-117.3,727.0,-6.9,273,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2307,3407
$GC,9837,-0.86,-117.3,748.1,-6.9,278,9841,0.00,2.28,0.00,0.000,4,0.000,0.045,1794,891,3407
$GC,9876,-0.86,-117.3,751.1,-7.3,278,9880,0.00,2.28,0.00,0.000,6,0.000,0.041,1793,2311,3406
$GC,10198,-0.86,-117.3,773.1,-6.9,284,10202,0.00,2.28,0.00,0.000,4,0.000,0.048,1793,891,3406
$GC,10220,-0.86,-117.3,774.7,-7.0,284,10225,0.12,2.25,0.00,0.000,6,0.124,0.039,1819,2304,3406
$GC,10558,-0.90,-117.3,792.9,-5.4,290,10562,0.00,2.28,0.00,0.000,4,0.000,0.048,1819,890,3406
$GC,10585,-0.94,-117.3,794.6,-5.9,290,10590,0.10,2.28,0.00,0.000,6,0.073,0.041,1767,2312,3406
$GC,10918,-0.88,-117.3,820.7,-8.0,296,10920,0.15,0.00,0.00,0.000,6,0.124,0.000,1811,2313,3406
$GC,11221,-0.91,-117.3,837.7,-5.4,301,11225,0.00,2.30,0.00,0.000,4,0.000,0.050,1811,897,3406
$GC,11271,-0.94,-117.3,840.7,-5.8,301,11275,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2307,3406
$GC,11582,-0.96,-117.3,857.7,-5.5,306,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3406
$GC,11884,-0.98,-117.3,874.1,-5.4,311,11889,0.08,2.33,0.00,0.000,4,0.091,0.048,1768,888,3405
$GC,11912,-0.94,-117.3,876.2,-7.1,311,11917,0.15,2.28,0.00,0.000,6,0.132,0.045,1800,2303,3406
$GC,12245,-0.94,-117.3,895.8,-5.9,317,12249,0.00,2.30,0.00,0.000,4,0.000,0.053,1800,889,3405
$GC,12283,-0.94,-117.3,898.5,-6.8,317,12287,0.00,2.28,0.00,0.000,6,0.000,0.045,1795,2302,3406
$GC,12605,-0.94,-117.3,918.7,-6.3,323,12609,0.00,2.30,0.00,0.000,4,0.000,0.050,1795,888,3405
$GC,12650,-0.94,-117.3,921.7,-6.4,323,12654,0.00,2.30,0.00,0.000,6,0.000,0.042,1794,2308,3405
$GC,12966,-0.94,-117.3,942.4,-6.6,329,12970,0.00,2.30,0.00,0.000,4,0.000,0.053,1794,893,3405
$GC,13016,-0.94,-117.3,946.2,-7.2,329,13020,0.00,2.28,0.00,0.000,6,0.000,0.041,1784,2307,3405
$GC,13333,-0.91,-117.3,968.9,-7.2,335,13337,0.00,2.33,0.00,0.000,4,0.000,0.054,1784,890,3405
$GC,13378,-0.88,-117.3,972.5,-7.3,335,13383,0.10,2.28,0.00,0.000,6,0.146,0.047,1807,2304,3405
$STATE,13691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13691,begin apogee
$GC,13697,-0.22,0.0,992.8,6.4,341,13797,0.45,0.00,96.97,1.298,6,0.113,0.000,1954,2304,2931
$STATE,13797,end apogee,CONTROL_FINISHED_OK
$STATE,13797,begin climb
$GC,13800,0.68,117.3,994.4,0.0,342,13912,0.55,2.60,103.00,1.269,4,0.075,0.052,2145,3706,2451
$GC,13951,0.50,117.3,992.9,5.7,344,13956,0.20,2.42,0.00,0.000,6,0.163,0.037,2109,2303,2447
$GC,14290,0.50,153.1,978.1,4.3,350,14322,0.00,0.00,30.95,1.229,6,0.000,0.000,2109,2304,2306
$GC,14593,0.54,181.7,964.3,4.5,355,14620,0.00,0.00,25.58,1.213,6,0.000,0.000,2109,2303,2190
$GC,14895,0.55,192.6,949.0,5.1,360,14911,0.00,2.35,10.75,1.102,4,0.000,0.058,2109,3716,2144
$GC,14933,0.55,192.6,946.5,5.7,360,14937,0.00,2.30,0.00,0.000,6,0.000,0.036,2117,2300,2143
$GC,15254,0.55,192.6,927.3,6.0,366,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2300,2140
$GC,15556,0.55,192.6,909.1,6.0,371,15560,0.00,2.33,0.00,0.000,4,0.000,0.054,2117,3719,2139
$GC,15601,0.50,192.6,905.8,7.5,371,15605,0.00,2.28,0.00,0.000,6,0.000,0.036,2127,2299,2139
$GC,15917,0.47,192.6,885.0,6.6,377,15922,0.10,2.33,0.00,0.000,4,0.158,0.054,2103,3711,2139
$GC,15950,0.47,192.6,882.8,6.4,377,15954,0.00,2.25,0.00,0.000,6,0.000,0.035,2111,2303,2138
$GC,16277,0.47,192.6,864.8,5.5,383,16281,0.00,2.30,0.00,0.000,4,0.000,0.052,2111,3715,2138
$GC,16310,0.45,192.6,862.5,6.7,383,16314,0.10,2.25,0.00,0.000,6,0.158,0.038,2098,2301,2137
$GC,16637,0.51,213.0,846.8,4.8,389,16664,0.00,0.00,20.42,1.048,6,0.000,0.000,2098,2300,2062
$GC,16940,0.57,221.4,831.1,5.2,394,16951,0.10,0.00,8.82,1.015,6,0.071,0.000,2148,2301,2027
$GC,17243,0.51,221.4,806.4,8.3,399,17248,0.15,2.30,0.00,0.000,4,0.136,0.051,2108,3710,2025
$GC,17282,0.51,221.4,803.2,7.6,399,17286,0.00,2.25,0.00,0.000,6,0.000,0.033,2116,2291,2024
$GC,17603,0.53,221.4,782.6,6.4,405,17604,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2291,2023
$GC,17906,0.55,221.4,763.5,6.2,410,17910,0.00,2.30,0.00,0.000,4,0.000,0.051,2116,3712,2023
$GC,17950,0.55,221.4,760.1,7.9,410,17954,0.00,2.22,0.00,0.000,6,0.000,0.037,2126,2302,2023
$GC,18266,0.55,221.4,738.5,6.8,416,18270,0.00,2.28,0.00,0.000,4,0.000,0.050,2126,3713,2023
$GC,18293,0.53,221.4,736.4,7.4,416,18297,0.00,2.20,0.00,0.000,6,0.000,0.033,2136,2296,2023
$GC,18632,0.49,221.4,712.1,7.2,422,18636,0.12,2.30,0.00,0.000,4,0.147,0.048,2103,3722,2023
$GC,18671,0.51,221.4,709.4,6.6,422,18675,0.00,2.25,0.00,0.000,6,0.000,0.035,2111,2293,2023
$GC,18992,0.55,221.4,691.2,5.6,428,18993,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2293,2023
$GC,19295,0.58,221.4,673.9,5.7,433,19296,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2292,2023
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$STATE,28390,end climb,SURFACE_DEPTH_REACHED
$STATE,28390,begin surface coast
$FINISH,1.2,1.024774
$STATE,28416,end surface coast,CONTROL_FINISHED_OK
$STATE,28416,begin surface
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$TCM_TEMP,15.10
$XPDR_PINGS,68
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$10V_AH,10.5,49.861
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$DEVICE_SECS,20.075,245.275,418.100,0.000,0.000,29.945,23.635,231.940,17.000,0.000,0.000,36.446,1698.927,23612.111,564.688,2271.985,777.469,33.375,1720.137,0.000,2250.264,0.000,0.529,0.000
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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,44416,745
$CAP_FILE_SIZE,190998,0
$CFSIZE,260165632,227708928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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