version: 66.04
glider: 144
mission: 15
dive: 50
start: 6 28 109 11 54 15
data:
$ID,144
$MISSION,15
$DIVE,50
$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,-61944.391
$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,29
$R_STBD_OVSHOOT,29
$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
$GPS1,114726,4956.248,-14433.990,52,1.2,55,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-59.9
$GPS2,115321,4956.197,-14433.906,13,2.5,32,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.114,0.124
$KALMAN_X,-25081.0,-166.3,-141.7,57473.5,355.4
$KALMAN_Y,10214.3,-73.0,201.3,-16828.0,-582.3
$MHEAD_RNG_PITCHd_Wd,298.9,29078,-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,-117.3,0.0,0.0,0,59,0.00,0.00,-41.67,0.000,2,0.000,0.000,101,2288,2777
$GC,62,-0.68,-117.3,3.6,-4.8,4,89,7.03,2.28,-14.93,0.000,4,0.253,0.070,1849,894,3411
$GC,180,-0.56,-117.3,19.9,-12.9,14,185,0.12,2.25,0.00,0.000,6,0.153,0.048,1881,2300,3413
$GC,505,-0.56,-117.3,49.6,-6.9,44,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2300,3413
$GC,824,-0.56,-117.3,74.8,-8.4,74,828,0.00,2.25,0.00,0.000,4,0.000,0.052,1881,892,3414
$GC,868,-0.62,-117.3,78.9,-9.4,77,874,0.00,2.22,0.00,0.000,6,0.000,0.046,1877,2305,3414
$GC,1194,-0.62,-117.3,107.4,-8.7,94,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,2304,3415
$GC,1504,-0.66,-117.3,133.0,-7.9,109,1508,0.00,2.25,0.00,0.000,4,0.000,0.052,1877,888,3414
$GC,1570,-0.77,-117.3,138.7,-8.4,112,1575,0.15,2.25,0.00,0.000,6,0.062,0.054,1801,2307,3415
$GC,1900,-0.58,-117.3,173.2,-10.1,125,1905,0.22,2.25,0.00,0.000,4,0.134,0.058,1865,3717,3414
$GC,1939,-0.69,-117.3,176.4,-7.3,126,1943,0.00,2.20,0.00,0.000,6,0.000,0.039,1865,2295,3414
$GC,2268,-0.77,-117.3,196.4,-5.8,137,2273,0.12,2.22,0.00,0.000,4,0.064,0.051,1801,887,3414
$GC,2303,-0.62,-117.3,199.3,-9.8,138,2307,0.25,2.22,0.00,0.000,6,0.136,0.048,1869,2303,3414
$GC,2643,-0.72,-117.3,220.8,-6.1,149,2647,0.10,2.22,0.00,0.000,4,0.075,0.051,1819,896,3414
$GC,2687,-0.62,-117.3,224.6,-8.8,150,2692,0.20,2.22,0.00,0.000,6,0.130,0.053,1869,2309,3414
$GC,3011,-0.74,-117.3,243.0,-5.5,161,3013,0.12,0.00,0.00,0.000,6,0.066,0.000,1807,2309,3414
$GC,3317,-0.62,-117.3,271.1,-9.3,171,3321,0.17,2.25,0.00,0.000,4,0.133,0.052,1864,890,3413
$GC,3367,-0.74,-117.3,274.8,-6.7,172,3371,0.10,2.22,0.00,0.000,6,0.076,0.050,1808,2305,3413
$GC,3714,-0.63,-117.3,306.5,-9.3,183,3716,0.20,0.00,0.00,0.000,6,0.132,0.000,1868,2305,3413
$GC,4018,-0.76,-117.3,324.5,-5.8,188,4020,0.12,0.00,0.00,0.000,6,0.067,0.000,1806,2305,3412
$GC,4321,-0.64,-117.3,350.1,-8.6,193,4326,0.20,2.25,0.00,0.000,4,0.132,0.053,1870,895,3412
$GC,4376,-0.79,-117.3,353.8,-6.0,193,4383,0.12,2.22,0.00,0.000,6,0.069,0.052,1797,2307,3412
$GC,4686,-0.65,-117.3,381.0,-9.0,199,4691,0.20,2.25,0.00,0.000,4,0.134,0.062,1862,3710,3412
$GC,4725,-0.81,-117.3,383.6,-5.3,199,4730,0.12,2.17,0.00,0.000,6,0.067,0.040,1802,2301,3412
$GC,5046,-0.69,-117.3,410.3,-8.5,205,5051,0.17,2.22,0.00,0.000,4,0.133,0.059,1860,896,3411
$GC,5118,-0.82,-117.3,415.2,-6.1,206,5123,0.12,2.22,0.00,0.000,6,0.070,0.051,1785,2309,3411
$GC,5473,-0.64,-117.3,450.0,-10.1,212,5475,0.25,0.00,0.00,0.000,6,0.138,0.000,1859,2309,3412
$GC,5776,-0.77,-117.3,469.6,-6.3,217,5777,0.10,0.00,0.00,0.000,6,0.074,0.000,1807,2309,3411
$GC,6079,-0.68,-117.3,496.1,-8.8,222,6081,0.15,0.00,0.00,0.000,6,0.135,0.000,1851,2309,3410
$GC,6382,-0.78,-117.3,515.5,-6.3,227,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2309,3410
$GC,6685,-0.89,-117.3,533.7,-6.0,232,6689,0.15,2.25,0.00,0.000,4,0.064,0.054,1781,892,3410
$GC,6723,-0.69,-117.3,537.1,-9.7,232,6728,0.28,2.22,0.00,0.000,6,0.140,0.056,1855,2304,3410
$GC,7043,-0.81,-117.3,555.1,-5.5,238,7045,0.12,0.00,0.00,0.000,6,0.070,0.000,1795,2304,3409
$GC,7347,-0.69,-117.3,581.0,-8.8,243,7349,0.20,0.00,0.00,0.000,6,0.132,0.000,1854,2304,3409
$GC,7650,-0.82,-117.3,598.4,-5.6,248,7651,0.12,0.00,0.00,0.000,6,0.073,0.000,1798,2304,3409
$GC,7953,-0.71,-117.3,622.6,-8.1,253,7957,0.17,2.25,0.00,0.000,4,0.132,0.054,1856,888,3409
$GC,7986,-0.83,-117.3,624.8,-5.5,253,7991,0.10,2.22,0.00,0.000,6,0.084,0.051,1804,2304,3409
$GC,8312,-0.75,-117.3,648.1,-7.2,259,8317,0.12,2.25,0.00,0.000,4,0.139,0.067,1832,3712,3409
$GC,8339,-0.75,-117.3,649.8,-6.1,259,8343,0.00,2.17,0.00,0.000,6,0.000,0.041,1831,2305,3409
$GC,8677,-0.75,-117.3,668.1,-5.4,265,8681,0.00,2.22,0.00,0.000,4,0.000,0.058,1831,896,3409
$GC,8721,-0.75,-117.3,670.8,-6.5,265,8725,0.00,2.22,0.00,0.000,6,0.000,0.055,1823,2311,3409
$GC,9048,-0.75,-117.3,690.2,-6.0,271,9049,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2310,3408
$GC,9351,-0.75,-117.3,709.2,-6.2,276,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2310,3408
$GC,9654,-0.75,-117.3,726.7,-5.7,281,9658,0.00,2.25,0.00,0.000,4,0.000,0.058,1823,897,3408
$GC,9720,-0.75,-117.3,731.1,-7.1,282,9724,0.00,2.25,0.00,0.000,6,0.000,0.051,1819,2301,3408
$GC,10086,-0.75,-117.3,754.0,-6.3,288,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2302,3408
$GC,10389,-0.75,-117.3,772.8,-6.1,293,10390,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2302,3408
$GC,10692,-0.75,-117.3,791.8,-6.3,298,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2302,3408
$GC,10995,-0.75,-117.3,811.2,-6.4,303,10999,0.00,2.25,0.00,0.000,4,0.000,0.064,1819,897,3407
$GC,11038,-0.75,-117.3,814.4,-6.9,303,11043,0.10,2.22,0.00,0.000,6,0.159,0.052,1835,2305,3408
$GC,11359,-0.84,-117.3,834.1,-6.1,309,11360,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2305,3407
$GC,11662,-0.92,-117.3,852.5,-6.1,314,11667,0.12,2.25,0.00,0.000,4,0.091,0.058,1789,897,3407
$GC,11701,-0.79,-117.3,855.6,-8.1,314,11705,0.17,2.22,0.00,0.000,6,0.156,0.051,1827,2304,3407
$GC,12021,-0.83,-117.3,875.9,-6.3,320,12022,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2305,3407
$GC,12325,-0.88,-117.3,894.8,-6.2,325,12328,0.00,2.25,0.00,0.000,4,0.000,0.060,1828,899,3407
$GC,12375,-0.92,-117.3,898.3,-6.7,325,12380,0.08,2.22,0.00,0.000,6,0.109,0.058,1790,2304,3407
$GC,12690,-0.82,-117.3,922.6,-7.8,331,12695,0.12,2.28,0.00,0.000,4,0.158,0.067,1813,3719,3407
$GC,12723,-0.82,-117.3,925.1,-7.0,331,12727,0.00,2.20,0.00,0.000,6,0.000,0.044,1813,2297,3407
$GC,13054,-0.82,-117.3,946.3,-6.3,337,13059,0.00,2.25,0.00,0.000,4,0.000,0.068,1814,889,3407
$GC,13104,-0.82,-117.3,949.8,-6.5,337,13108,0.00,2.25,0.00,0.000,6,0.000,0.054,1807,2309,3407
$GC,13420,-0.82,-117.3,969.7,-6.3,343,13424,0.00,2.28,0.00,0.000,4,0.000,0.064,1807,893,3407
$GC,13453,-0.77,-117.3,972.0,-7.1,343,13457,0.12,2.25,0.00,0.000,6,0.163,0.052,1829,2315,3407
$GC,13785,-0.83,-117.3,989.3,-5.1,349,13786,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2315,3407
$STATE,13842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13842,begin apogee
$GC,13848,-0.22,0.0,992.6,5.2,350,13943,0.40,0.00,93.00,1.347,6,0.141,0.000,1956,2315,2931
$STATE,13944,end apogee,CONTROL_FINISHED_OK
$STATE,13944,begin climb
$GC,13947,0.68,117.3,993.7,0.0,351,14053,0.57,2.53,98.07,1.321,4,0.101,0.067,2145,3711,2450
$GC,14087,0.26,117.3,988.6,8.1,353,14092,0.40,2.35,0.00,0.000,6,0.188,0.051,2055,2304,2447
$GC,14437,0.40,160.7,973.9,4.0,359,14479,0.12,2.45,36.00,1.283,4,0.083,0.061,2109,887,2274
$GC,14506,0.40,160.7,970.0,5.6,360,14510,0.00,2.40,0.00,0.000,6,0.000,0.056,2108,2303,2271
$GC,14868,0.31,160.7,947.6,6.2,366,14870,0.15,0.00,0.00,0.000,6,0.161,0.000,2070,2303,2267
$GC,15171,0.44,189.2,933.7,4.5,371,15198,0.10,0.00,24.15,1.250,6,0.090,0.000,2106,2304,2159
$GC,15473,0.44,189.2,915.2,6.2,376,15475,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2304,2153
$GC,15776,0.44,189.2,896.7,6.1,381,15780,0.00,2.35,0.00,0.000,4,0.000,0.062,2116,880,2152
$GC,15803,0.44,189.2,894.9,6.0,381,15807,0.00,2.33,0.00,0.000,6,0.000,0.058,2116,2311,2152
$GC,16135,0.36,189.2,871.9,7.1,387,16137,0.15,0.00,0.00,0.000,6,0.157,0.000,2076,2311,2152
$GC,16438,0.46,196.8,855.9,5.2,392,16452,0.10,2.40,6.88,1.019,4,0.087,0.061,2125,890,2128
$GC,16469,0.42,196.8,853.8,5.7,392,16474,0.12,2.30,0.00,0.000,6,0.153,0.052,2093,2312,2127
$GC,16801,0.47,196.8,834.5,5.7,398,16805,0.00,2.28,0.00,0.000,4,0.000,0.060,2093,3712,2126
$GC,16833,0.47,196.8,832.2,6.6,398,16837,0.00,2.25,0.00,0.000,6,0.000,0.046,2101,2294,2125
$GC,17165,0.47,196.8,813.3,5.6,404,17169,0.00,2.28,0.00,0.000,4,0.000,0.064,2112,889,2125
$GC,17198,0.47,196.8,811.3,5.9,404,17202,0.00,2.28,0.00,0.000,6,0.000,0.052,2112,2308,2124
$GC,17531,0.41,196.8,791.5,6.0,410,17535,0.10,2.28,0.00,0.000,4,0.170,0.060,2087,3718,2124
$GC,17574,0.44,215.6,788.8,4.9,410,17596,0.00,2.22,16.98,1.148,6,0.000,0.046,2096,2302,2052
$GC,17957,0.49,219.7,768.5,5.4,417,17966,0.00,2.33,4.65,0.824,4,0.000,0.062,2096,3711,2035
$GC,17984,0.49,219.7,766.7,6.6,417,17988,0.00,2.25,0.00,0.000,6,0.000,0.045,2106,2301,2034
$GC,18327,0.49,219.7,745.3,6.3,423,18331,0.00,2.30,0.00,0.000,4,0.000,0.064,2116,883,2033
$GC,18349,0.49,219.7,743.7,7.3,423,18353,0.00,2.28,0.00,0.000,6,0.000,0.051,2117,2304,2033
$GC,18692,0.49,219.7,719.9,6.9,429,18696,0.00,2.28,0.00,0.000,4,0.000,0.059,2116,3713,2033
$GC,18714,0.44,219.7,718.1,7.5,429,18719,0.12,2.22,0.00,0.000,6,0.168,0.044,2095,2302,2032
$GC,19052,0.51,221.0,699.6,5.5,435,19053,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2302,2032
$GC,19354,0.59,221.0,682.4,5.7,440,19356,0.12,0.00,0.00,0.000,6,0.069,0.000,2148,2302,2032
$GC,19658,0.42,221.0,654.7,9.3,445,19663,0.20,2.30,0.00,0.000,4,0.157,0.064,2089,3723,2032
$GC,19692,0.42,221.0,651.9,7.7,445,19696,0.00,2.25,0.00,0.000,6,0.000,0.051,2097,2294,2031
$GC,20019,0.48,221.0,632.7,5.8,451,20020,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2294,2031
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$STATE,29381,end climb,SURFACE_DEPTH_REACHED
$STATE,29381,begin surface coast
$FINISH,1.3,1.007144
$STATE,29393,end surface coast,CONTROL_FINISHED_OK
$STATE,29393,begin surface
$SM_CCo,29408,2.42,0.261,0,0,1708,300.00
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$TT8_MAMPS,0.029146
$HUMID,1580
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$TCM_TEMP,16.30
$XPDR_PINGS,70
$24V_AH,23.5,10.615
$10V_AH,10.7,6.779
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$DEVICE_SECS,24.575,248.375,345.625,2.425,0.000,30.348,25.258,160.975,17.500,0.000,0.000,34.805,1773.208,24484.264,504.396,2360.319,637.697,33.365,1697.764,0.000,2355.186,0.000,0.528,0.000
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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,44373,772
$CAP_FILE_SIZE,199648,0
$CFSIZE,260165632,255086592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280609,200547,4958.563,-14438.040,31,1.9,41,18.5