version: 66.04
glider: 144
mission: 15
dive: 535
start: 12 7 109 17 15 15
data:
$ID,144
$MISSION,15
$DIVE,535
$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,-72403.445
$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,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
$GPS1,170736,5007.579,-14450.434,44,1.9,56,18.5
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-55.0
$GPS2,171419,5007.574,-14450.507,13,1.6,30,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.114,0.123
$KALMAN_X,-97682.0,139.1,67.1,121181.9,-1316.9
$KALMAN_Y,26965.4,-197.5,-135.1,-51457.3,898.1
$MHEAD_RNG_PITCHd_Wd,298.7,35508,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,49,0.00,0.00,-31.38,0.000,2,0.000,0.000,98,2295,2549
$GC,53,-0.68,-117.3,3.4,-4.2,3,88,7.25,2.35,-21.90,0.000,4,0.235,0.060,1843,888,3411
$GC,342,-0.62,-117.3,33.9,-11.1,28,349,0.08,2.28,0.00,0.000,6,0.124,0.038,1874,2290,3413
$GC,671,-0.65,-117.3,61.5,-10.6,59,675,0.00,2.25,0.00,0.000,4,0.000,0.042,1874,889,3413
$GC,723,-0.70,-117.3,67.5,-11.2,63,727,0.00,2.28,0.00,0.000,6,0.000,0.038,1868,2316,3413
$GC,1043,-0.70,-117.3,97.2,-9.5,84,1047,0.00,2.28,0.00,0.000,4,0.000,0.043,1868,898,3414
$GC,1089,-0.74,-117.3,101.5,-8.5,86,1094,0.10,2.25,0.00,0.000,6,0.064,0.038,1791,2314,3413
$GC,1412,-0.65,-117.3,141.2,-11.5,102,1416,0.20,2.28,0.00,0.000,4,0.122,0.054,1847,3715,3414
$GC,1446,-0.67,-117.3,144.3,-7.6,103,1453,0.00,2.20,0.00,0.000,6,0.000,0.031,1847,2307,3413
$GC,1781,-0.70,-117.3,166.3,-6.3,116,1785,0.00,2.22,0.00,0.000,4,0.000,0.042,1847,890,3413
$GC,1832,-0.75,-117.3,169.9,-6.8,117,1836,0.00,2.25,0.00,0.000,6,0.000,0.037,1838,2313,3414
$GC,2152,-0.77,-117.3,194.2,-8.0,128,2156,0.00,2.28,0.00,0.000,4,0.000,0.052,1829,3716,3414
$GC,2197,-0.79,-117.3,197.8,-8.0,129,2201,0.00,2.20,0.00,0.000,6,0.000,0.031,1829,2302,3414
$GC,2522,-0.79,-117.3,220.8,-7.1,140,2526,0.00,2.22,0.00,0.000,4,0.000,0.043,1829,892,3414
$GC,2550,-0.79,-117.3,223.0,-7.5,140,2556,0.00,2.25,0.00,0.000,6,0.000,0.038,1821,2312,3414
$GC,2864,-0.79,-117.3,247.6,-8.2,151,2868,0.00,2.25,0.00,0.000,4,0.000,0.043,1821,890,3414
$GC,2937,-0.79,-117.3,254.3,-8.9,153,2941,0.00,2.25,0.00,0.000,6,0.000,0.038,1812,2311,3414
$GC,3267,-0.79,-117.3,283.1,-8.7,164,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2311,3413
$GC,3603,-0.79,-117.3,311.0,-8.3,173,3607,0.00,2.28,0.00,0.000,4,0.000,0.043,1812,888,3414
$GC,3666,-0.79,-117.3,316.7,-9.1,174,3670,0.10,2.28,0.00,0.000,6,0.126,0.039,1830,2310,3414
$GC,4037,-0.82,-117.3,345.4,-7.7,180,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2310,3413
$GC,4342,-0.85,-117.3,367.2,-7.1,185,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2310,3413
$GC,4644,-0.88,-117.3,387.5,-6.7,190,4648,0.00,2.28,0.00,0.000,4,0.000,0.044,1830,886,3412
$GC,4700,-0.92,-117.3,391.6,-7.1,190,4707,0.08,2.28,0.00,0.000,6,0.077,0.044,1763,2309,3413
$GC,5011,-0.82,-117.3,422.8,-10.2,196,5016,0.20,2.28,0.00,0.000,4,0.123,0.051,1828,899,3412
$GC,5068,-0.86,-117.3,427.4,-7.5,196,5074,0.00,2.25,0.00,0.000,6,0.000,0.045,1822,2304,3412
$GC,5378,-0.86,-117.3,449.2,-7.0,202,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2304,3412
$GC,5681,-0.86,-117.3,469.8,-6.8,207,5685,0.00,2.25,0.00,0.000,4,0.000,0.048,1822,899,3412
$GC,5710,-0.88,-117.3,471.8,-6.9,207,5715,0.00,2.25,0.00,0.000,6,0.000,0.041,1814,2306,3411
$GC,6049,-0.88,-117.3,494.7,-6.7,213,6053,0.00,2.28,0.00,0.000,4,0.000,0.049,1814,895,3412
$GC,6082,-0.88,-117.3,497.2,-7.4,213,6086,0.00,2.28,0.00,0.000,6,0.000,0.042,1807,2310,3411
$GC,6410,-0.88,-117.3,519.6,-6.8,219,6414,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,893,3411
$GC,6466,-0.88,-117.3,523.8,-7.3,219,6473,0.00,2.28,0.00,0.000,6,0.000,0.042,1799,2304,3411
$GC,6777,-0.88,-117.3,546.7,-7.4,225,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2304,3411
$GC,7080,-0.88,-117.3,569.9,-7.7,230,7084,0.00,2.28,0.00,0.000,4,0.000,0.044,1799,893,3410
$GC,7164,-0.88,-117.3,577.1,-8.7,231,7168,0.00,2.28,0.00,0.000,6,0.000,0.040,1794,2308,3410
$GC,7509,-0.85,-117.3,605.8,-8.5,237,7513,0.00,2.28,0.00,0.000,4,0.000,0.049,1794,895,3411
$GC,7559,-0.85,-117.3,610.6,-9.8,237,7564,0.12,2.28,0.00,0.000,6,0.125,0.045,1820,2311,3410
$GC,7870,-0.89,-117.3,633.6,-7.3,242,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2311,3410
$GC,8174,-0.93,-117.3,655.5,-7.2,247,8175,0.10,0.00,0.00,0.000,6,0.067,0.000,1762,2312,3410
$GC,8476,-0.85,-117.3,686.6,-10.4,252,8481,0.17,2.30,0.00,0.000,4,0.121,0.044,1821,898,3410
$GC,8543,-0.89,-117.3,692.2,-7.8,253,8547,0.00,2.28,0.00,0.000,6,0.000,0.042,1821,2303,3410
$GC,8905,-0.93,-117.3,715.9,-6.4,259,8907,0.08,0.00,0.00,0.000,6,0.081,0.000,1763,2304,3410
$GC,9208,-0.85,-117.3,742.2,-8.8,264,9212,0.17,2.30,0.00,0.000,4,0.120,0.050,1823,891,3409
$GC,9264,-0.91,-117.3,746.0,-6.2,264,9270,0.00,2.30,0.00,0.000,6,0.000,0.047,1822,2310,3410
$GC,9576,-0.95,-117.3,762.7,-5.4,270,9578,0.10,0.00,0.00,0.000,6,0.066,0.000,1755,2311,3409
$GC,9877,-0.86,-117.3,789.2,-9.0,275,9882,0.20,2.33,0.00,0.000,4,0.120,0.044,1821,895,3409
$GC,9922,-0.92,-117.3,792.4,-6.8,275,9926,0.00,2.30,0.00,0.000,6,0.000,0.045,1821,2307,3410
$GC,10239,-0.96,-117.3,810.7,-5.8,281,10240,0.10,0.00,0.00,0.000,6,0.069,0.000,1761,2308,3409
$GC,10543,-0.89,-117.3,836.5,-8.6,286,10547,0.17,2.33,0.00,0.000,4,0.120,0.046,1814,893,3409
$GC,10584,-0.93,-117.3,839.6,-7.1,286,10588,0.00,2.30,0.00,0.000,6,0.000,0.043,1809,2309,3409
$GC,10905,-0.95,-117.3,860.5,-6.5,292,10907,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3408
$GC,11209,-0.98,-117.3,880.6,-6.6,297,11213,0.00,2.30,0.00,0.000,4,0.000,0.046,1809,894,3408
$GC,11253,-1.00,-117.3,884.0,-7.5,297,11258,0.10,2.30,0.00,0.000,6,0.075,0.041,1760,2311,3408
$GC,11569,-0.93,-117.3,912.4,-9.1,303,11571,0.15,0.00,0.00,0.000,6,0.128,0.000,1804,2310,3408
$GC,11873,-0.95,-117.3,933.3,-6.8,308,11877,0.00,2.30,0.00,0.000,4,0.000,0.050,1804,899,3408
$GC,11906,-0.95,-117.3,935.9,-7.4,308,11910,0.00,2.28,0.00,0.000,6,0.000,0.043,1796,2306,3408
$GC,12233,-0.95,-117.3,960.4,-7.6,314,12237,0.00,2.33,0.00,0.000,4,0.000,0.048,1796,892,3408
$GC,12266,-0.95,-117.3,963.3,-8.1,314,12271,0.00,2.30,0.00,0.000,6,0.000,0.046,1795,2301,3408
$GC,12594,-0.95,-117.3,987.4,-7.3,320,12598,0.00,2.30,0.00,0.000,4,0.000,0.048,1794,898,3408
$GC,12627,-0.95,-117.3,989.9,-7.4,320,12631,0.00,2.25,0.00,0.000,3,0.000,0.047,1792,2278,3408
$STATE,12632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12632,begin apogee
$GC,12640,-0.22,0.0,990.3,7.4,320,12741,0.47,0.00,98.78,1.287,6,0.116,0.000,1950,2278,2931
$STATE,12742,end apogee,CONTROL_FINISHED_OK
$STATE,12742,begin climb
$GC,12746,0.68,117.3,993.3,0.0,322,12854,0.60,0.00,105.18,1.263,6,0.076,0.000,2152,2278,2452
$GC,13146,0.56,117.3,976.2,5.8,329,13148,0.12,0.00,0.00,0.000,6,0.147,0.000,2122,2278,2443
$GC,13449,0.53,134.4,961.1,4.9,334,13465,0.00,0.00,14.70,1.155,6,0.000,0.000,2122,2278,2381
$GC,13753,0.48,134.4,944.5,5.6,339,13757,0.00,2.35,0.00,0.000,4,0.000,0.051,2121,3702,2378
$GC,13809,0.39,134.4,940.5,7.1,339,13816,0.17,2.22,0.00,0.000,6,0.150,0.036,2083,2308,2377
$GC,14120,0.47,170.6,927.0,4.3,345,14154,0.00,0.00,32.42,1.213,6,0.000,0.000,2083,2307,2235
$GC,14424,0.59,174.2,911.2,5.4,350,14433,0.15,2.33,4.07,0.748,4,0.064,0.058,2147,3705,2220
$GC,14593,0.47,174.2,898.0,8.3,352,14598,0.20,2.25,0.00,0.000,6,0.147,0.041,2103,2302,2219
$GC,14926,0.51,206.2,882.6,4.4,358,14957,0.00,0.00,29.83,1.182,6,0.000,0.000,2103,2302,2090
$GC,15230,0.58,235.7,868.9,4.5,363,15267,0.08,0.00,29.12,1.097,6,0.081,0.000,2149,2301,1970
$GC,15532,0.53,235.7,846.3,7.7,368,15537,0.12,2.33,0.00,0.000,4,0.134,0.049,2115,3709,1964
$GC,15576,0.53,235.7,842.8,7.3,368,15581,0.00,2.22,0.00,0.000,6,0.000,0.034,2123,2301,1964
$GC,15893,0.53,235.7,822.9,6.3,374,15897,0.00,2.30,0.00,0.000,4,0.000,0.050,2123,3707,1962
$GC,15927,0.53,235.7,820.2,7.8,374,15931,0.00,2.22,0.00,0.000,6,0.000,0.033,2133,2295,1962
$GC,16261,0.53,235.7,798.1,6.6,380,16265,0.00,2.30,0.00,0.000,4,0.000,0.056,2133,3706,1961
$GC,16295,0.49,235.7,795.3,7.8,380,16300,0.15,2.20,0.00,0.000,6,0.140,0.033,2102,2299,1960
$GC,16628,0.58,253.1,778.8,4.9,386,16647,0.08,0.00,15.73,1.072,6,0.081,0.000,2154,2298,1898
$GC,16931,0.52,253.1,754.2,8.3,391,16936,0.15,2.30,0.00,0.000,4,0.130,0.053,2112,3702,1894
$GC,16967,0.52,253.1,751.5,6.0,391,16971,0.00,2.20,0.00,0.000,6,0.000,0.033,2120,2303,1894
$GC,17295,0.55,253.1,730.2,6.4,397,17299,0.00,2.28,0.00,0.000,4,0.000,0.055,2120,3706,1893
$GC,17323,0.57,253.1,728.1,7.9,397,17327,0.00,2.20,0.00,0.000,6,0.000,0.032,2130,2293,1893
$GC,17662,0.57,253.1,703.8,7.2,403,17666,0.00,2.30,0.00,0.000,4,0.000,0.048,2130,3706,1893
$GC,17696,0.57,253.1,700.7,8.9,403,17700,0.00,2.20,0.00,0.000,6,0.000,0.032,2139,2304,1893
$GC,18030,0.57,253.1,674.9,7.8,409,18031,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2303,1892
$GC,18332,0.57,253.1,651.6,7.6,414,18335,0.00,2.28,0.00,0.000,4,0.000,0.054,2139,3702,1892
$GC,18366,0.54,253.1,648.6,8.9,414,18371,0.12,2.20,0.00,0.000,6,0.136,0.033,2116,2297,1892
$GC,18693,0.59,253.1,628.5,6.0,420,18694,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2297,1892
$GC,18996,0.64,253.1,611.7,5.5,425,18998,0.08,0.00,0.00,0.000,6,0.080,0.000,2174,2296,1892
$GC,19300,0.55,253.1,584.2,9.3,430,19305,0.17,2.28,0.00,0.000,4,0.132,0.048,2119,3703,1892
$GC,19340,0.55,253.1,581.1,6.9,430,19344,0.00,2.20,0.00,0.000,6,0.000,0.032,2126,2297,1892
$GC,19662,0.57,253.1,561.1,6.2,436,19663,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2298,1892
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$STATE,27723,end climb,SURFACE_DEPTH_REACHED
$STATE,27723,begin surface coast
$FINISH,1.7,1.025460
$STATE,27739,end surface coast,CONTROL_FINISHED_OK
$STATE,27739,begin surface
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$HUMID,1706
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$TCM_TEMP,14.40
$XPDR_PINGS,62
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$10V_AH,10.5,67.335
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$DEVICE_SECS,20.200,226.775,447.775,0.000,0.000,27.877,32.633,182.524,15.500,0.000,0.000,32.145,1631.865,22978.990,620.292,2186.407,795.910,33.410,1715.125,0.000,2162.891,0.000,0.528,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41161,715
$CAP_FILE_SIZE,182795,0
$CFSIZE,260165632,217014272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
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