version: 66.04
glider: 144
mission: 15
dive: 152
start: 8 1 109 9 2 46
data:
$ID,144
$MISSION,15
$DIVE,152
$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,-63903.324
$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,0.039999999
$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
$GPS1,085607,5018.580,-14509.979,38,1.3,39,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-66.6
$GPS2,090150,5018.582,-14509.975,14,1.3,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.008,-0.168
$KALMAN_X,-74915.8,-100.1,212.7,63923.3,-633.3
$KALMAN_Y,63542.0,164.8,92.0,-28827.4,-693.6
$MHEAD_RNG_PITCHd_Wd,158.8,45565,-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,-32.25,0.000,2,0.000,0.000,99,2295,2495
$GC,52,-0.68,-117.3,3.1,-5.1,3,87,6.95,2.33,-22.60,0.000,4,0.239,0.063,1844,888,3412
$GC,313,-0.54,-117.3,37.8,-11.5,26,318,0.17,2.25,0.00,0.000,6,0.136,0.038,1886,2312,3415
$GC,638,-0.60,-117.3,65.4,-7.5,56,639,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,2312,3416
$GC,963,-0.64,-117.3,89.6,-7.6,81,968,0.10,2.25,0.00,0.000,4,0.069,0.041,1827,886,3417
$GC,1013,-0.49,-117.3,95.1,-11.5,83,1018,0.25,2.25,0.00,0.000,6,0.129,0.043,1893,2312,3417
$GC,1335,-0.59,-117.3,120.0,-8.1,99,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,2312,3417
$GC,1644,-0.71,-117.3,142.6,-6.6,114,1648,0.15,2.22,0.00,0.000,4,0.055,0.041,1812,894,3417
$GC,1747,-0.56,-117.3,153.2,-10.7,119,1752,0.25,2.22,0.00,0.000,6,0.130,0.042,1878,2309,3417
$GC,2082,-0.68,-117.3,173.8,-5.7,130,2084,0.10,0.00,0.00,0.000,6,0.070,0.000,1815,2309,3417
$GC,2389,-0.57,-117.3,200.5,-8.9,140,2393,0.17,2.25,0.00,0.000,4,0.125,0.044,1873,888,3417
$GC,2438,-0.72,-117.3,204.1,-6.4,141,2443,0.10,2.22,0.00,0.000,6,0.068,0.044,1803,2309,3416
$GC,2751,-0.58,-117.3,234.8,-10.1,151,2753,0.25,0.00,0.00,0.000,6,0.126,0.000,1879,2309,3416
$GC,3057,-0.74,-117.3,252.4,-5.5,161,3062,0.15,2.22,0.00,0.000,4,0.054,0.044,1794,891,3415
$GC,3078,-0.74,-117.3,254.3,-8.2,161,3083,0.20,2.22,0.00,0.000,6,0.130,0.040,1842,2304,3415
$GC,3397,-0.74,-117.3,276.5,-6.9,172,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2304,3415
$GC,3703,-0.74,-117.3,297.4,-6.8,182,3707,0.00,2.25,0.00,0.000,4,0.000,0.058,1836,3717,3414
$GC,3732,-0.74,-117.3,299.5,-6.9,183,3736,0.00,2.17,0.00,0.000,6,0.000,0.031,1836,2294,3414
$GC,4069,-0.74,-117.3,324.7,-7.5,189,4073,0.00,2.20,0.00,0.000,4,0.000,0.046,1835,888,3413
$GC,4108,-0.74,-117.3,328.1,-8.4,189,4112,0.00,2.22,0.00,0.000,6,0.000,0.042,1827,2307,3413
$GC,4440,-0.74,-117.3,356.7,-8.7,195,4444,0.00,2.22,0.00,0.000,4,0.000,0.046,1826,893,3413
$GC,4473,-0.74,-117.3,359.7,-9.3,195,4477,0.00,2.22,0.00,0.000,6,0.000,0.041,1821,2309,3413
$GC,4805,-0.69,-117.3,386.8,-8.1,201,4807,0.12,0.00,0.00,0.000,6,0.137,0.000,1856,2309,3412
$GC,5108,-0.78,-117.3,403.1,-5.3,206,5113,0.10,2.25,0.00,0.000,4,0.073,0.046,1796,893,3412
$GC,5152,-0.63,-117.3,406.8,-9.3,206,5157,0.25,2.22,0.00,0.000,6,0.128,0.041,1862,2305,3412
$GC,5467,-0.76,-117.3,424.7,-5.7,212,5469,0.12,0.00,0.00,0.000,6,0.064,0.000,1793,2306,3411
$GC,5770,-0.62,-117.3,454.5,-10.1,217,5772,0.25,0.00,0.00,0.000,6,0.126,0.000,1869,2306,3411
$GC,6074,-0.79,-117.3,472.0,-5.5,222,6079,0.15,2.22,0.00,0.000,4,0.054,0.046,1785,897,3410
$GC,6101,-0.69,-117.3,474.3,-9.0,222,6106,0.25,2.22,0.00,0.000,6,0.131,0.043,1856,2310,3410
$GC,6433,-0.80,-117.3,492.4,-5.3,228,6438,0.12,2.22,0.00,0.000,4,0.063,0.048,1787,901,3410
$GC,6496,-0.63,-117.3,497.5,-9.3,229,6501,0.28,2.22,0.00,0.000,6,0.126,0.047,1865,2311,3410
$GC,6862,-0.79,-117.3,513.4,-4.1,235,6867,0.12,2.22,0.00,0.000,4,0.065,0.049,1795,900,3410
$GC,6883,-0.79,-117.3,514.7,-5.6,235,6888,0.15,2.22,0.00,0.000,6,0.133,0.047,1828,2317,3409
$GC,7227,-0.79,-117.3,535.1,-5.9,241,7231,0.00,2.25,0.00,0.000,4,0.000,0.051,1828,897,3409
$GC,7265,-0.79,-117.3,537.7,-6.5,241,7269,0.00,2.22,0.00,0.000,6,0.000,0.045,1823,2306,3409
$GC,7591,-0.79,-117.3,560.2,-7.0,247,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2306,3409
$GC,7895,-0.79,-117.3,582.4,-7.3,252,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2306,3408
$GC,8198,-0.79,-117.3,604.1,-7.1,257,8202,0.00,2.25,0.00,0.000,4,0.000,0.053,1815,3715,3408
$GC,8225,-0.79,-117.3,606.2,-7.8,257,8229,0.00,2.17,0.00,0.000,6,0.000,0.035,1816,2304,3408
$GC,8563,-0.79,-117.3,631.6,-7.6,263,8567,0.00,2.22,0.00,0.000,4,0.000,0.050,1815,894,3408
$GC,8590,-0.79,-117.3,633.8,-8.2,263,8594,0.00,2.22,0.00,0.000,6,0.000,0.041,1808,2304,3408
$GC,8934,-0.73,-117.3,661.5,-8.2,269,8936,0.12,0.00,0.00,0.000,6,0.137,0.000,1843,2304,3408
$GC,9237,-0.82,-117.3,680.5,-6.1,274,9241,0.00,2.22,0.00,0.000,4,0.000,0.051,1843,897,3408
$GC,9265,-0.92,-117.3,682.4,-7.2,274,9270,0.12,2.22,0.00,0.000,6,0.064,0.044,1770,2310,3408
$GC,9603,-0.72,-117.3,714.1,-9.6,280,9607,0.22,2.25,0.00,0.000,4,0.136,0.057,1833,3719,3408
$GC,9652,-0.83,-117.3,717.6,-6.1,280,9656,0.00,2.20,0.00,0.000,6,0.000,0.034,1833,2292,3407
$GC,9968,-0.89,-117.3,733.8,-5.0,286,9973,0.10,2.20,0.00,0.000,4,0.080,0.050,1778,894,3407
$GC,9995,-0.77,-117.3,735.7,-7.3,286,10000,0.22,2.22,0.00,0.000,6,0.133,0.044,1835,2310,3407
$GC,10327,-0.85,-117.3,751.3,-4.7,292,10331,0.00,2.25,0.00,0.000,4,0.000,0.048,1835,887,3407
$GC,10355,-0.92,-117.3,752.8,-5.6,292,10359,0.12,2.22,0.00,0.000,6,0.071,0.047,1778,2304,3407
$GC,10687,-0.76,-117.3,778.4,-8.0,298,10692,0.17,2.25,0.00,0.000,4,0.139,0.057,1825,3717,3406
$GC,10725,-0.84,-117.3,781.0,-5.8,298,10729,0.00,2.17,0.00,0.000,6,0.000,0.040,1825,2302,3406
$GC,11047,-0.88,-117.3,799.2,-5.7,304,11050,0.00,2.22,0.00,0.000,4,0.000,0.048,1824,890,3406
$GC,11074,-0.88,-117.3,801.1,-6.5,304,11078,0.00,2.22,0.00,0.000,6,0.000,0.043,1818,2304,3406
$GC,11417,-0.88,-117.3,822.7,-6.4,310,11418,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2304,3406
$GC,11721,-0.88,-117.3,842.6,-6.6,315,11722,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2304,3406
$GC,12024,-0.88,-117.3,861.7,-6.3,320,12028,0.00,2.25,0.00,0.000,4,0.000,0.049,1818,894,3406
$GC,12068,-0.88,-117.3,864.9,-7.3,320,12072,0.00,2.22,0.00,0.000,6,0.000,0.042,1808,2302,3406
$GC,12389,-0.88,-117.3,886.2,-6.6,326,12392,0.00,2.25,0.00,0.000,4,0.000,0.053,1808,887,3406
$GC,12432,-0.88,-117.3,889.5,-7.1,326,12436,0.00,2.25,0.00,0.000,6,0.000,0.045,1798,2311,3406
$GC,12760,-0.81,-117.3,912.0,-6.9,332,12764,0.10,2.25,0.00,0.000,4,0.151,0.050,1825,897,3405
$GC,12788,-0.81,-117.3,913.9,-5.9,332,12792,0.00,2.22,0.00,0.000,6,0.000,0.049,1820,2306,3406
$GC,13120,-0.81,-117.3,933.4,-5.8,338,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2307,3405
$GC,13422,-0.81,-117.3,951.4,-6.0,343,13426,0.00,2.25,0.00,0.000,4,0.000,0.053,1820,898,3405
$GC,13455,-0.81,-117.3,953.5,-5.5,343,13459,0.00,2.22,0.00,0.000,6,0.000,0.050,1812,2304,3405
$GC,13788,-0.81,-117.3,974.1,-6.2,349,13792,0.00,2.25,0.00,0.000,4,0.000,0.051,1813,895,3405
$GC,13821,-0.81,-117.3,976.5,-7.7,349,13824,0.00,2.25,0.00,0.000,6,0.000,0.048,1807,2313,3405
$STATE,14029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14029,begin apogee
$GC,14035,-0.22,0.0,990.1,6.6,353,14131,0.47,0.00,93.10,1.336,6,0.128,0.000,1957,2313,2932
$STATE,14131,end apogee,CONTROL_FINISHED_OK
$STATE,14132,begin climb
$GC,14134,0.68,117.3,991.3,0.0,354,14242,0.57,2.53,98.62,1.307,4,0.077,0.054,2151,3708,2450
$GC,14271,0.25,117.3,987.1,8.2,356,14279,0.43,2.35,0.00,0.000,6,0.179,0.041,2056,2311,2447
$GC,14582,0.43,146.2,972.7,4.5,362,14612,0.12,2.38,23.98,1.244,4,0.074,0.056,2105,3710,2334
$GC,14657,0.25,146.2,967.7,7.0,363,14662,0.25,2.30,0.00,0.000,6,0.163,0.038,2051,2299,2332
$GC,15017,0.57,150.7,949.5,5.3,369,15027,0.20,2.30,4.53,0.854,4,0.069,0.050,2134,894,2316
$GC,15094,0.41,150.7,944.1,6.8,370,15099,0.17,2.30,0.00,0.000,6,0.148,0.042,2088,2313,2315
$GC,15448,0.41,150.7,923.3,5.9,376,15452,0.00,2.28,0.00,0.000,4,0.000,0.053,2088,3719,2314
$GC,15503,0.32,150.7,919.3,7.7,376,15511,0.08,2.28,0.00,0.000,6,0.158,0.038,2074,2301,2313
$GC,15813,0.38,150.7,901.8,5.6,382,15814,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2301,2313
$GC,16116,0.44,150.7,884.6,5.7,387,16120,0.00,2.28,0.00,0.000,4,0.000,0.055,2074,3710,2312
$GC,16148,0.44,150.7,882.5,6.1,387,16152,0.00,2.22,0.00,0.000,6,0.000,0.040,2082,2293,2312
$GC,16481,0.44,150.7,862.9,5.9,393,16482,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2293,2312
$GC,16784,0.44,150.7,845.9,5.6,398,16785,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2293,2312
$GC,17087,0.44,150.7,829.0,5.5,403,17091,0.00,2.30,0.00,0.000,4,0.000,0.058,2082,3717,2312
$GC,17120,0.39,150.7,826.9,6.0,403,17124,0.00,2.20,0.00,0.000,6,0.000,0.037,2092,2304,2311
$GC,17453,0.39,150.7,807.3,6.0,409,17457,0.00,2.28,0.00,0.000,4,0.000,0.054,2092,3716,2311
$GC,17492,0.29,150.7,804.2,6.9,409,17497,0.15,2.20,0.00,0.000,6,0.157,0.042,2062,2298,2311
$GC,17818,0.53,150.7,786.0,5.7,415,17823,0.17,2.28,0.00,0.000,4,0.063,0.057,2146,3712,2311
$GC,17930,0.18,150.7,775.8,9.3,416,17935,0.40,2.17,0.00,0.000,6,0.166,0.035,2042,2301,2311
$GC,18250,0.50,150.7,758.1,5.7,422,18255,0.17,2.25,0.00,0.000,4,0.065,0.050,2124,887,2311
$GC,18351,0.39,150.7,751.7,6.6,423,18356,0.15,2.25,0.00,0.000,6,0.143,0.041,2083,2312,2311
$GC,18677,0.42,171.9,735.6,4.8,429,18701,0.00,2.30,18.15,1.116,4,0.000,0.056,2083,3709,2229
$GC,18746,0.42,175.2,731.9,5.4,430,18755,0.00,2.20,4.35,0.760,6,0.000,0.034,2091,2301,2216
$GC,19112,0.44,196.0,714.3,4.8,436,19137,0.00,2.35,18.75,1.096,4,0.000,0.051,2101,892,2130
$GC,19171,0.54,213.7,711.0,4.9,436,19193,0.00,2.28,16.65,1.068,6,0.000,0.047,2102,2305,2059
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$STATE,29143,end climb,SURFACE_DEPTH_REACHED
$STATE,29143,begin surface coast
$FINISH,1.2,1.012722
$STATE,29176,end surface coast,CONTROL_FINISHED_OK
$STATE,29176,begin surface
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$HUMID,1649
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$TCM_TEMP,15.10
$XPDR_PINGS,91
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$10V_AH,10.7,19.406
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$DEVICE_SECS,27.325,259.825,373.000,0.000,0.000,30.908,24.150,164.602,22.750,0.000,0.000,15.677,1790.163,24202.166,528.037,2442.268,623.945,33.372,1769.673,0.000,2433.286,0.000,0.529,0.000
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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,44432,763
$CAP_FILE_SIZE,204663,0
$CFSIZE,260165632,246890496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
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