version: 66.04
glider: 144
mission: 15
dive: 582
start: 12 23 109 10 52 14
data:
$ID,144
$MISSION,15
$DIVE,582
$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,-73457.867
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,104500,5018.756,-14507.364,37,1.6,42,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-61.6
$GPS2,105120,5018.760,-14507.356,14,1.7,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.120,0.113
$KALMAN_X,-94872.1,304.1,255.8,98102.4,-1098.5
$KALMAN_Y,32217.6,-168.6,-188.9,-35965.9,82.7
$MHEAD_RNG_PITCHd_Wd,294.9,6837,-12.7,-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,-0.69,-112.1,0.0,0.0,0,62,0.00,0.00,-41.17,0.000,2,0.000,0.000,98,2299,2758
$GC,66,-0.69,-112.1,4.0,-8.1,2,93,7.28,2.33,-14.68,0.000,4,0.238,0.056,1845,896,3389
$GC,346,-0.69,-112.1,36.1,-9.6,14,352,0.00,2.30,0.00,0.000,6,0.000,0.036,1837,2301,3391
$GC,663,-0.64,-112.1,71.5,-11.3,30,667,0.10,2.30,0.00,0.000,4,0.140,0.040,1865,887,3391
$GC,727,-0.68,-112.1,77.1,-8.2,33,731,0.00,2.28,0.00,0.000,6,0.000,0.038,1863,2308,3392
$GC,1052,-0.68,-112.1,104.5,-8.1,62,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2308,3392
$GC,1374,-0.71,-112.1,130.3,-7.2,92,1378,0.00,2.28,0.00,0.000,4,0.000,0.041,1863,890,3391
$GC,1415,-0.77,-112.1,133.4,-7.2,95,1419,0.10,2.28,0.00,0.000,6,0.064,0.038,1787,2314,3391
$GC,1740,-0.68,-112.1,165.5,-10.2,116,1745,0.17,2.33,0.00,0.000,4,0.124,0.044,1845,888,3391
$GC,1791,-0.74,-112.1,169.8,-7.2,117,1795,0.00,2.25,0.00,0.000,6,0.000,0.038,1838,2305,3392
$GC,2110,-0.76,-112.1,191.8,-6.9,128,2114,0.00,2.28,0.00,0.000,4,0.000,0.056,1828,3711,3392
$GC,2150,-0.79,-112.1,194.8,-7.5,129,2154,0.00,2.17,0.00,0.000,6,0.000,0.030,1828,2300,3391
$GC,2480,-0.79,-112.1,221.2,-8.1,140,2483,0.00,2.25,0.00,0.000,4,0.000,0.042,1828,891,3392
$GC,2515,-0.79,-112.1,224.1,-8.6,141,2519,0.00,2.28,0.00,0.000,6,0.000,0.039,1820,2306,3392
$GC,2851,-0.79,-112.1,250.6,-7.3,152,2855,0.00,2.28,0.00,0.000,4,0.000,0.047,1820,902,3391
$GC,2924,-0.79,-112.1,256.3,-8.0,154,2928,0.00,2.28,0.00,0.000,6,0.000,0.041,1810,2315,3392
$GC,3250,-0.77,-112.1,282.2,-8.3,165,3254,0.08,2.30,0.00,0.000,4,0.146,0.042,1832,899,3391
$GC,3306,-0.80,-112.1,286.8,-7.2,166,3313,0.00,2.25,0.00,0.000,6,0.000,0.042,1825,2303,3391
$GC,3618,-0.80,-112.1,310.3,-7.5,175,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2304,3392
$GC,3921,-0.80,-112.1,331.8,-7.1,180,3925,0.00,2.28,0.00,0.000,4,0.000,0.050,1825,896,3391
$GC,3961,-0.83,-112.1,334.8,-7.7,180,3965,0.00,2.28,0.00,0.000,6,0.000,0.041,1816,2307,3392
$GC,4284,-0.83,-112.1,359.4,-7.7,186,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2308,3391
$GC,4586,-0.83,-112.1,381.6,-7.2,191,4590,0.00,2.28,0.00,0.000,4,0.000,0.044,1817,891,3391
$GC,4660,-0.83,-112.1,387.4,-7.9,192,4664,0.00,2.30,0.00,0.000,6,0.000,0.042,1808,2315,3390
$GC,5014,-0.83,-112.1,415.8,-8.1,198,5018,0.00,2.33,0.00,0.000,4,0.000,0.050,1808,889,3390
$GC,5083,-0.83,-112.1,421.8,-8.5,199,5087,0.00,2.30,0.00,0.000,6,0.000,0.038,1798,2308,3390
$GC,5444,-0.80,-112.1,452.1,-8.5,205,5448,0.10,2.30,0.00,0.000,4,0.138,0.049,1826,898,3389
$GC,5501,-0.84,-112.1,456.4,-7.6,205,5507,0.00,2.30,0.00,0.000,6,0.000,0.039,1821,2302,3389
$GC,5811,-0.84,-112.1,478.1,-7.0,211,5815,0.00,2.30,0.00,0.000,4,0.000,0.044,1822,891,3389
$GC,5845,-0.86,-112.1,480.7,-7.6,211,5849,0.00,2.30,0.00,0.000,6,0.000,0.038,1812,2314,3389
$GC,6177,-0.86,-112.1,502.1,-6.3,217,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2314,3389
$GC,6481,-0.86,-112.1,519.7,-5.8,222,6485,0.00,2.30,0.00,0.000,4,0.000,0.050,1812,896,3389
$GC,6520,-0.86,-112.1,522.4,-6.8,222,6524,0.00,2.28,0.00,0.000,6,0.000,0.046,1808,2306,3389
$GC,6841,-0.86,-112.1,543.6,-6.7,228,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3389
$GC,7144,-0.86,-112.1,565.9,-7.4,233,7148,0.00,2.30,0.00,0.000,4,0.000,0.051,1808,894,3388
$GC,7195,-0.86,-112.1,569.9,-8.1,233,7199,0.00,2.30,0.00,0.000,6,0.000,0.038,1799,2312,3388
$GC,7505,-0.86,-112.1,593.8,-7.7,238,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2312,3388
$GC,7808,-0.86,-112.1,617.6,-7.9,243,7812,0.00,2.30,0.00,0.000,4,0.000,0.051,1799,899,3388
$GC,7858,-0.86,-112.1,621.8,-8.2,243,7862,0.00,2.25,0.00,0.000,6,0.000,0.040,1794,2302,3388
$GC,8180,-0.84,-112.1,647.4,-8.0,249,8184,0.10,2.30,0.00,0.000,4,0.137,0.044,1823,897,3387
$GC,8214,-0.87,-112.1,650.0,-7.4,249,8218,0.00,2.28,0.00,0.000,6,0.000,0.044,1822,2306,3388
$GC,8547,-0.91,-112.1,670.6,-6.1,255,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2307,3388
$GC,8850,-0.95,-112.1,689.2,-6.2,260,8854,0.10,2.30,0.00,0.000,4,0.067,0.049,1757,891,3387
$GC,8916,-0.87,-112.1,695.1,-9.3,261,8921,0.20,2.30,0.00,0.000,6,0.130,0.046,1812,2309,3387
$GC,9282,-0.90,-112.1,721.1,-6.8,267,9286,0.00,2.30,0.00,0.000,4,0.000,0.047,1812,888,3387
$GC,9341,-0.93,-112.1,725.4,-7.6,267,9345,0.00,2.30,0.00,0.000,6,0.000,0.045,1809,2310,3387
$GC,9651,-0.93,-112.1,747.3,-7.0,272,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3387
$GC,9954,-0.93,-112.1,768.0,-6.8,277,9958,0.00,2.30,0.00,0.000,4,0.000,0.049,1809,897,3387
$GC,10022,-0.93,-112.1,772.9,-7.4,278,10027,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2304,3387
$GC,10389,-0.93,-112.1,796.9,-6.4,284,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3387
$GC,10692,-0.93,-112.1,816.2,-6.3,289,10696,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,897,3386
$GC,10743,-0.95,-112.1,819.7,-7.6,289,10747,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2304,3387
$GC,11065,-0.95,-112.1,839.0,-6.1,295,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3386
$GC,11367,-0.95,-112.1,857.0,-6.0,300,11371,0.00,2.28,0.00,0.000,4,0.000,0.053,1807,893,3386
$GC,11419,-0.97,-112.1,860.4,-6.7,300,11423,0.00,2.30,0.00,0.000,6,0.000,0.041,1806,2316,3386
$GC,11735,-0.97,-112.1,879.6,-6.1,306,11736,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2316,3386
$GC,12038,-0.97,-112.1,899.2,-6.5,311,12042,0.00,2.30,0.00,0.000,4,0.000,0.048,1806,898,3386
$GC,12084,-0.97,-112.1,902.6,-6.9,311,12088,0.00,2.28,0.00,0.000,6,0.000,0.041,1799,2307,3386
$GC,12399,-0.97,-112.1,924.9,-7.1,317,12403,0.00,2.30,0.00,0.000,4,0.000,0.050,1799,893,3386
$GC,12438,-0.97,-112.1,928.0,-7.7,317,12442,0.00,2.30,0.00,0.000,6,0.000,0.041,1795,2311,3386
$GC,12760,-0.97,-112.1,951.4,-7.4,323,12764,0.00,2.30,0.00,0.000,4,0.000,0.049,1795,902,3385
$GC,12799,-0.97,-112.1,954.6,-8.0,323,12803,0.00,2.30,0.00,0.000,6,0.000,0.046,1794,2312,3385
$GC,13120,-0.97,-112.1,977.4,-7.1,329,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2312,3385
$STATE,13298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13298,begin apogee
$GC,13306,-0.22,0.0,990.3,7.1,332,13403,0.50,0.00,94.30,1.288,6,0.115,0.000,1954,2312,2931
$STATE,13404,end apogee,CONTROL_FINISHED_OK
$STATE,13404,begin climb
$GC,13408,0.69,112.1,991.9,0.0,333,13514,0.57,2.53,99.43,1.262,4,0.071,0.053,2155,3705,2472
$GC,13577,0.51,112.1,988.4,6.7,335,13582,0.22,2.35,0.00,0.000,6,0.161,0.035,2110,2303,2467
$GC,13900,0.51,141.5,973.8,4.5,341,13927,0.00,0.00,25.08,1.206,6,0.000,0.000,2110,2303,2354
$GC,14202,0.53,155.3,958.7,5.0,346,14221,0.00,2.38,13.07,1.133,4,0.000,0.058,2110,3704,2296
$GC,14256,0.48,155.3,955.4,6.8,346,14260,0.00,2.25,0.00,0.000,6,0.000,0.035,2118,2295,2295
$GC,14568,0.46,155.3,937.3,5.8,351,14569,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2295,2293
$GC,14870,0.46,155.3,919.0,6.1,356,14874,0.00,2.33,0.00,0.000,4,0.000,0.050,2118,3709,2292
$GC,14926,0.39,155.3,914.9,7.3,356,14933,0.17,2.22,0.00,0.000,6,0.152,0.037,2084,2300,2291
$GC,15237,0.48,183.5,900.7,4.5,362,15264,0.00,0.00,25.12,1.183,6,0.000,0.000,2085,2300,2183
$GC,15541,0.62,183.5,883.8,5.7,367,15546,0.17,2.35,0.00,0.000,4,0.061,0.051,2162,3714,2178
$GC,15685,0.48,183.5,871.1,10.6,369,15690,0.25,2.25,0.00,0.000,6,0.153,0.034,2104,2302,2177
$GC,16041,0.54,209.1,853.2,4.6,375,16066,0.00,0.00,23.70,1.148,6,0.000,0.000,2105,2302,2078
$GC,16343,0.64,252.4,840.9,4.0,380,16388,0.12,2.40,39.35,1.159,4,0.058,0.052,2162,3714,1902
$GC,16408,0.56,252.4,836.6,6.9,381,16413,0.20,2.30,0.00,0.000,6,0.146,0.034,2120,2303,1900
$GC,16775,0.62,268.7,817.9,4.9,387,16799,0.00,0.00,17.12,0.974,6,0.000,0.000,2121,2303,1835
$GC,17077,0.67,268.7,801.4,5.5,392,17082,0.10,2.33,0.00,0.000,4,0.065,0.048,2172,3714,1831
$GC,17106,0.62,268.7,798.9,9.6,392,17111,0.20,2.28,0.00,0.000,6,0.144,0.034,2130,2292,1831
$GC,17439,0.65,268.7,776.5,6.5,398,17440,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2293,1830
$GC,17742,0.68,268.7,756.2,6.7,403,17746,0.00,2.30,0.00,0.000,4,0.000,0.048,2130,3710,1829
$GC,17787,0.68,268.7,752.7,8.0,403,17791,0.00,2.22,0.00,0.000,6,0.000,0.033,2138,2300,1829
$GC,18103,0.68,268.7,729.7,7.3,409,18104,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2299,1828
$GC,18405,0.68,268.7,708.4,7.0,414,18409,0.00,2.28,0.00,0.000,4,0.000,0.048,2138,3709,1828
$GC,18439,0.68,268.7,705.8,8.0,414,18443,0.00,2.22,0.00,0.000,6,0.000,0.032,2147,2295,1828
$GC,18773,0.68,268.7,681.8,7.2,420,18777,0.00,2.30,0.00,0.000,4,0.000,0.048,2148,3712,1827
$GC,18802,0.65,268.7,679.3,8.3,420,18806,0.00,2.20,0.00,0.000,6,0.000,0.032,2157,2303,1827
$GC,19141,0.61,268.7,652.4,8.0,426,19146,0.10,2.30,0.00,0.000,4,0.148,0.048,2132,3714,1827
$GC,19169,0.61,268.7,650.0,9.0,426,19173,0.00,2.22,0.00,0.000,6,0.000,0.032,2140,2303,1827
$GC,19502,0.61,268.7,626.6,7.2,432,19503,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2303,1827
$GC,19804,0.61,268.7,604.0,7.5,437,19808,0.00,2.30,0.00,0.000,4,0.000,0.048,2140,3719,1827
$GC,19839,0.61,268.7,601.2,8.9,437,19843,0.00,2.22,0.00,0.000,6,0.000,0.032,2150,2303,1827
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$STATE,28615,end climb,SURFACE_DEPTH_REACHED
$STATE,28615,begin surface coast
$FINISH,1.4,1.019184
$STATE,28636,end surface coast,CONTROL_FINISHED_OK
$STATE,28636,begin surface
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$HUMID,1740
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$TCM_TEMP,15.60
$XPDR_PINGS,60
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$10V_AH,10.4,72.975
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$DEVICE_SECS,18.175,241.325,410.375,0.000,0.000,28.839,27.323,161.868,15.000,0.000,0.000,16.368,1684.483,23814.992,556.274,2200.754,822.811,33.378,1732.422,0.000,2172.297,0.000,0.527,0.000
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$DATA_FILE_SIZE,44352,732
$CAP_FILE_SIZE,184036,0
$CFSIZE,260165632,213360640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
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