version: 66.04
glider: 144
mission: 15
dive: 669
start: 1 21 110 19 43 45
data:
$ID,144
$MISSION,15
$DIVE,669
$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,-75221.875
$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
$GPS1,193607,5006.112,-14405.461,38,1.3,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-65.2
$GPS2,194252,5006.052,-14405.557,12,2.4,31,18.7
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.162,-0.044
$KALMAN_X,-90628.7,-284.0,-16.7,167764.0,214.0
$KALMAN_Y,29818.0,-346.4,-25.3,-57085.4,668.7
$MHEAD_RNG_PITCHd_Wd,86.7,395518,-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,-40.95,0.000,2,0.000,0.000,98,2305,2417
$GC,67,-0.68,-117.3,3.0,-3.5,2,110,7.18,2.30,-29.85,0.000,4,0.232,0.063,1839,3704,3410
$GC,297,-0.66,-117.3,25.8,-10.3,12,301,0.00,2.20,0.00,0.000,6,0.000,0.030,1839,2300,3411
$GC,620,-0.61,-117.3,59.7,-10.5,28,624,0.12,2.28,0.00,0.000,4,0.124,0.041,1875,897,3412
$GC,705,-0.66,-117.3,67.2,-7.5,31,711,0.00,2.22,0.00,0.000,6,0.000,0.037,1870,2305,3412
$GC,1027,-0.68,-117.3,93.9,-8.2,54,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2305,3412
$GC,1346,-0.72,-117.3,119.1,-7.4,84,1350,0.10,2.25,0.00,0.000,4,0.064,0.041,1788,894,3412
$GC,1503,-0.63,-117.3,137.9,-12.5,97,1508,0.28,2.25,0.00,0.000,6,0.116,0.041,1863,2306,3412
$GC,1845,-0.69,-117.3,162.0,-6.2,117,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2306,3412
$GC,2150,-0.75,-117.3,180.5,-6.0,127,2155,0.10,2.28,0.00,0.000,4,0.064,0.041,1790,888,3413
$GC,2184,-0.69,-117.3,183.8,-10.3,128,2189,0.22,2.25,0.00,0.000,6,0.114,0.036,1849,2307,3413
$GC,2516,-0.73,-117.3,206.3,-6.6,139,2519,0.00,2.25,0.00,0.000,4,0.000,0.042,1848,896,3412
$GC,2545,-0.79,-117.3,208.5,-7.3,139,2551,0.00,2.25,0.00,0.000,6,0.000,0.039,1849,2300,3412
$GC,2859,-0.83,-117.3,229.3,-6.7,150,2861,0.12,0.00,0.00,0.000,6,0.054,0.000,1766,2300,3412
$GC,3166,-0.72,-117.3,264.3,-12.0,160,3171,0.22,2.28,0.00,0.000,4,0.120,0.042,1840,898,3412
$GC,3223,-0.77,-117.3,269.6,-8.4,161,3227,0.00,2.28,0.00,0.000,6,0.000,0.038,1836,2304,3412
$GC,3537,-0.80,-117.3,293.9,-8.0,171,3541,0.00,2.30,0.00,0.000,4,0.000,0.043,1836,889,3412
$GC,3572,-0.84,-117.3,296.8,-8.2,172,3576,0.00,2.30,0.00,0.000,6,0.000,0.044,1836,2307,3412
$GC,3930,-0.87,-117.3,324.8,-7.8,179,3932,0.10,0.00,0.00,0.000,6,0.065,0.000,1766,2308,3412
$GC,4233,-0.77,-117.3,358.2,-11.2,184,4238,0.17,2.30,0.00,0.000,4,0.122,0.046,1826,890,3411
$GC,4302,-0.80,-117.3,364.0,-7.8,185,4306,0.00,2.28,0.00,0.000,6,0.000,0.041,1821,2309,3411
$GC,4663,-0.80,-117.3,389.1,-6.8,191,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2309,3411
$GC,4966,-0.80,-117.3,407.8,-6.1,196,4970,0.00,2.30,0.00,0.000,4,0.000,0.048,1821,897,3410
$GC,5006,-0.80,-117.3,410.5,-6.9,196,5011,0.00,2.28,0.00,0.000,6,0.000,0.042,1812,2308,3411
$GC,5329,-0.80,-117.3,431.8,-6.7,202,5333,0.00,2.28,0.00,0.000,4,0.000,0.044,1812,898,3411
$GC,5357,-0.80,-117.3,433.9,-7.3,202,5361,0.10,2.25,0.00,0.000,6,0.126,0.039,1831,2312,3411
$GC,5695,-0.84,-117.3,453.8,-5.9,208,5699,0.00,2.30,0.00,0.000,4,0.000,0.051,1831,891,3411
$GC,5736,-0.88,-117.3,456.5,-6.8,208,5740,0.00,2.28,0.00,0.000,6,0.000,0.041,1824,2309,3410
$GC,6057,-0.91,-117.3,478.3,-6.8,214,6059,0.08,0.00,0.00,0.000,6,0.079,0.000,1757,2309,3410
$GC,6360,-0.80,-117.3,510.0,-10.7,219,6365,0.20,2.30,0.00,0.000,4,0.123,0.050,1825,891,3410
$GC,6424,-0.84,-117.3,515.0,-7.5,219,6430,0.00,2.28,0.00,0.000,6,0.000,0.045,1821,2310,3410
$GC,6734,-0.84,-117.3,536.3,-6.9,225,6738,0.00,2.28,0.00,0.000,4,0.000,0.048,1821,897,3410
$GC,6774,-0.87,-117.3,539.3,-7.7,225,6778,0.00,2.28,0.00,0.000,6,0.000,0.039,1812,2315,3410
$GC,7095,-0.87,-117.3,564.0,-7.8,231,7099,0.00,2.30,0.00,0.000,4,0.000,0.044,1812,891,3409
$GC,7136,-0.87,-117.3,567.5,-8.8,231,7140,0.00,2.28,0.00,0.000,6,0.000,0.045,1806,2306,3410
$GC,7457,-0.87,-117.3,593.1,-7.9,237,7461,0.00,2.30,0.00,0.000,4,0.000,0.044,1806,894,3410
$GC,7496,-0.87,-117.3,596.3,-8.1,237,7500,0.00,2.28,0.00,0.000,6,0.000,0.038,1797,2309,3410
$GC,7817,-0.85,-117.3,620.6,-7.5,243,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2309,3409
$GC,8121,-0.82,-117.3,642.2,-7.2,248,8126,0.10,2.33,0.00,0.000,4,0.134,0.044,1825,890,3409
$GC,8189,-0.88,-117.3,646.9,-6.8,249,8193,0.00,2.30,0.00,0.000,6,0.000,0.039,1823,2314,3409
$GC,8550,-0.91,-117.3,668.2,-6.0,255,8552,0.08,0.00,0.00,0.000,6,0.081,0.000,1756,2314,3408
$GC,8854,-0.82,-117.3,697.2,-9.9,260,8859,0.20,2.35,0.00,0.000,4,0.121,0.049,1821,889,3409
$GC,8888,-0.85,-117.3,700.4,-8.1,260,8892,0.00,2.30,0.00,0.000,6,0.000,0.044,1820,2308,3409
$GC,9216,-0.89,-117.3,722.0,-6.6,266,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2308,3409
$GC,9520,-0.92,-117.3,741.3,-6.3,271,9525,0.00,2.30,0.00,0.000,4,0.000,0.048,1820,896,3409
$GC,9557,-0.95,-117.3,743.8,-6.4,271,9561,0.00,2.28,0.00,0.000,6,0.000,0.039,1812,2312,3408
$GC,9884,-0.95,-117.3,765.2,-6.6,277,9888,0.00,2.30,0.00,0.000,4,0.000,0.047,1812,893,3408
$GC,9923,-0.98,-117.3,767.9,-7.3,277,9928,0.00,2.28,0.00,0.000,6,0.000,0.044,1809,2304,3408
$GC,10246,-0.98,-117.3,789.0,-6.6,283,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2304,3408
$GC,10548,-0.98,-117.3,808.5,-6.4,288,10552,0.00,2.30,0.00,0.000,4,0.000,0.046,1809,891,3408
$GC,10593,-0.98,-117.3,811.7,-7.6,288,10597,0.00,2.30,0.00,0.000,6,0.000,0.041,1807,2314,3407
$GC,10909,-0.98,-117.3,832.8,-6.7,294,10910,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2315,3407
$GC,11211,-0.98,-117.3,852.9,-6.6,299,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2315,3407
$GC,11515,-0.98,-117.3,873.0,-6.6,304,11516,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2315,3408
$GC,11818,-0.98,-117.3,892.3,-6.4,309,11819,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2314,3407
$GC,12121,-0.98,-117.3,911.0,-6.1,314,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2314,3408
$GC,12425,-0.98,-117.3,928.9,-5.9,319,12429,0.00,2.38,0.00,0.000,4,0.000,0.048,1807,891,3407
$GC,12453,-0.98,-117.3,930.8,-7.4,319,12457,0.00,2.33,0.00,0.000,6,0.000,0.048,1805,2308,3407
$GC,12785,-0.98,-117.3,950.7,-6.0,325,12789,0.00,2.35,0.00,0.000,4,0.000,0.051,1805,898,3407
$GC,12814,-0.98,-117.3,952.6,-6.4,325,12818,0.00,2.30,0.00,0.000,6,0.000,0.043,1795,2302,3407
$GC,13147,-0.98,-117.3,974.6,-6.7,331,13149,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2301,3406
$STATE,13385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13385,begin apogee
$GC,13393,-0.22,0.0,991.1,6.8,335,13495,0.50,0.00,99.00,1.276,6,0.111,0.000,1955,2302,2931
$STATE,13496,end apogee,CONTROL_FINISHED_OK
$STATE,13496,begin climb
$GC,13500,0.68,117.3,992.5,0.0,336,13612,0.57,2.58,104.20,1.252,4,0.069,0.054,2154,3704,2451
$GC,13659,0.49,117.3,989.9,7.2,339,13664,0.22,2.35,0.00,0.000,6,0.159,0.041,2109,2310,2447
$GC,13998,0.47,131.9,972.7,5.0,345,14017,0.00,2.38,12.35,1.116,4,0.000,0.051,2110,3708,2392
$GC,14054,0.40,131.9,969.2,6.9,345,14058,0.12,2.25,0.00,0.000,6,0.159,0.037,2088,2302,2390
$GC,14364,0.43,151.9,954.2,4.8,350,14385,0.00,0.00,18.77,1.169,6,0.000,0.000,2087,2302,2310
$GC,14668,0.48,169.4,939.2,4.9,355,14686,0.00,0.00,16.25,1.144,6,0.000,0.000,2088,2302,2240
$GC,14971,0.55,186.0,924.4,4.9,360,14989,0.12,0.00,16.05,1.136,6,0.065,0.000,2145,2302,2172
$GC,15275,0.48,186.0,901.8,7.6,365,15276,0.15,0.00,0.00,0.000,6,0.139,0.000,2105,2301,2168
$GC,15577,0.53,200.5,886.2,5.0,370,15602,0.00,2.30,15.55,0.983,4,0.000,0.054,2105,3710,2113
$GC,15632,0.53,205.4,883.2,5.3,370,15643,0.00,2.25,6.20,0.911,6,0.000,0.038,2113,2300,2093
$GC,16005,0.55,205.4,862.5,5.6,377,16007,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2300,2091
$GC,16308,0.58,205.4,844.5,6.0,382,16312,0.00,2.30,0.00,0.000,4,0.000,0.049,2113,3714,2089
$GC,16330,0.58,205.4,843.0,6.2,382,16334,0.00,2.20,0.00,0.000,6,0.000,0.034,2123,2303,2089
$GC,16675,0.58,205.4,819.9,6.8,388,16679,0.00,2.28,0.00,0.000,4,0.000,0.052,2123,3709,2089
$GC,16704,0.55,205.4,817.6,7.8,388,16708,0.00,2.22,0.00,0.000,6,0.000,0.036,2133,2300,2088
$GC,17037,0.52,205.4,794.6,6.9,394,17039,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2300,2088
$GC,17341,0.52,205.4,774.3,6.7,399,17345,0.00,2.33,0.00,0.000,4,0.000,0.052,2133,3719,2088
$GC,17375,0.47,205.4,771.6,7.9,399,17380,0.17,2.25,0.00,0.000,6,0.138,0.034,2099,2294,2087
$GC,17702,0.54,221.2,754.9,5.0,405,17722,0.00,2.30,14.75,1.042,4,0.000,0.055,2107,895,2029
$GC,17753,0.63,232.7,752.3,5.1,405,17771,0.10,2.25,11.88,0.999,6,0.070,0.040,2165,2306,1982
$GC,18075,0.55,232.7,726.0,8.4,411,18079,0.17,2.30,0.00,0.000,4,0.137,0.054,2117,3708,1978
$GC,18137,0.55,232.7,721.4,6.4,412,18141,0.00,2.25,0.00,0.000,6,0.000,0.038,2125,2298,1978
$GC,18504,0.55,232.7,700.0,5.8,418,18508,0.00,2.30,0.00,0.000,4,0.000,0.048,2136,888,1977
$GC,18532,0.57,232.7,698.2,6.5,418,18536,0.00,2.28,0.00,0.000,6,0.000,0.041,2136,2305,1976
$GC,18865,0.57,232.7,675.8,6.7,424,18869,0.00,2.25,0.00,0.000,4,0.000,0.048,2136,3708,1975
$GC,18918,0.53,232.7,671.6,8.7,424,18922,0.12,2.20,0.00,0.000,6,0.140,0.033,2113,2302,1976
$GC,19234,0.59,244.0,654.9,5.1,430,19249,0.00,2.30,10.70,0.940,4,0.000,0.047,2122,884,1935
$GC,19267,0.65,246.7,653.0,5.4,430,19276,0.00,2.28,3.80,0.614,6,0.000,0.041,2122,2310,1926
$GC,19602,0.72,264.1,636.5,4.9,436,19627,0.12,2.38,17.45,0.976,4,0.057,0.051,2199,3726,1853
$GC,19662,0.55,264.1,630.6,11.2,436,19669,0.32,2.28,0.00,0.000,6,0.147,0.035,2119,2304,1853
$GC,19973,0.63,283.3,614.4,4.9,442,19997,0.00,2.35,18.02,0.960,4,0.000,0.049,2128,901,1775
$GC,20023,0.73,299.3,611.8,5.0,442,20053,0.10,2.25,18.27,0.861,6,0.068,0.038,2199,2305,1709
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$STATE,28450,end climb,SURFACE_DEPTH_REACHED
$STATE,28450,begin surface coast
$FINISH,1.3,1.025542
$STATE,28472,end surface coast,CONTROL_FINISHED_OK
$STATE,28472,begin surface
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$10V_AH,10.3,82.767
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$DEVICE_SECS,20.150,246.250,455.400,0.000,0.000,31.572,26.399,160.434,17.250,0.000,0.000,33.958,1683.072,23548.949,605.623,2224.228,881.283,33.379,1802.161,0.000,2174.513,0.000,0.528,0.000
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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,44370,737
$CAP_FILE_SIZE,190512,0
$CFSIZE,260165632,206585856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
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