version: 66.04
glider: 144
mission: 15
dive: 59
start: 7 1 109 12 20 2
data:
$ID,144
$MISSION,15
$DIVE,59
$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,-62118.465
$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,27
$R_STBD_OVSHOOT,27
$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
$GPS1,121229,5017.609,-14506.619,41,1.7,41,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-62.1
$GPS2,121909,5017.653,-14506.599,11,1.5,18,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.080,0.148
$KALMAN_X,-32646.7,-10.4,215.1,25593.5,-2365.5
$KALMAN_Y,10683.0,50.1,20.9,22503.1,-206.9
$MHEAD_RNG_PITCHd_Wd,313.2,8861,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,60,0.00,0.00,-41.55,0.000,2,0.000,0.000,102,2295,2807
$GC,63,-0.68,-117.3,3.8,-5.7,4,89,6.57,2.30,-13.85,0.000,4,0.225,0.073,1844,895,3413
$GC,343,-0.53,-117.3,40.2,-12.3,29,348,0.17,2.22,0.00,0.000,6,0.146,0.045,1885,2304,3415
$GC,670,-0.57,-117.3,66.5,-8.0,59,674,0.00,2.25,0.00,0.000,4,0.000,0.051,1885,887,3416
$GC,851,-0.65,-117.3,81.2,-7.7,74,855,0.00,2.22,0.00,0.000,6,0.000,0.045,1878,2304,3416
$GC,1172,-0.65,-117.3,107.2,-8.1,90,1176,0.00,2.22,0.00,0.000,4,0.000,0.050,1877,886,3416
$GC,1222,-0.69,-117.3,111.4,-8.7,92,1226,0.10,2.25,0.00,0.000,6,0.076,0.048,1823,2311,3417
$GC,1543,-0.56,-117.3,144.5,-9.5,108,1547,0.17,2.25,0.00,0.000,4,0.132,0.050,1879,892,3417
$GC,1598,-0.67,-117.3,148.6,-6.8,110,1605,0.08,2.22,0.00,0.000,6,0.090,0.047,1826,2307,3417
$GC,1931,-0.58,-117.3,177.9,-9.3,122,1936,0.17,2.25,0.00,0.000,4,0.130,0.062,1876,3717,3417
$GC,1959,-0.67,-117.3,179.9,-7.2,122,1966,0.05,2.20,0.00,0.000,6,0.064,0.038,1827,2306,3417
$GC,2271,-0.61,-117.3,206.4,-8.6,133,2276,0.15,2.22,0.00,0.000,4,0.127,0.057,1871,894,3417
$GC,2343,-0.74,-117.3,211.5,-6.4,135,2348,0.10,2.22,0.00,0.000,6,0.074,0.046,1806,2314,3416
$GC,2667,-0.61,-117.3,241.0,-9.3,146,2672,0.17,2.25,0.00,0.000,4,0.133,0.052,1863,892,3416
$GC,2722,-0.71,-117.3,245.2,-6.9,147,2729,0.00,2.22,0.00,0.000,6,0.000,0.048,1863,2308,3416
$GC,3035,-0.81,-117.3,265.0,-6.4,158,3040,0.12,2.22,0.00,0.000,4,0.067,0.059,1791,3713,3416
$GC,3069,-0.64,-117.3,268.0,-9.8,159,3074,0.22,2.17,0.00,0.000,6,0.132,0.040,1858,2298,3416
$GC,3410,-0.72,-117.3,290.4,-6.2,170,3414,0.00,2.17,0.00,0.000,4,0.000,0.054,1858,897,3415
$GC,3450,-0.82,-117.3,293.1,-6.1,171,3455,0.10,2.20,0.00,0.000,6,0.074,0.046,1795,2305,3415
$GC,3777,-0.66,-117.3,323.2,-9.4,178,3779,0.20,0.00,0.00,0.000,6,0.133,0.000,1854,2305,3415
$GC,4080,-0.74,-117.3,342.4,-6.1,183,4084,0.00,2.22,0.00,0.000,4,0.000,0.054,1854,893,3414
$GC,4113,-0.82,-117.3,344.7,-6.7,183,4118,0.10,2.20,0.00,0.000,6,0.076,0.047,1794,2301,3414
$GC,4445,-0.67,-117.3,375.8,-9.6,189,4450,0.20,2.22,0.00,0.000,4,0.133,0.059,1859,896,3414
$GC,4494,-0.80,-117.3,379.6,-6.7,189,4499,0.10,2.20,0.00,0.000,6,0.074,0.049,1795,2304,3414
$GC,4805,-0.66,-117.3,408.3,-9.4,194,4807,0.22,0.00,0.00,0.000,6,0.130,0.000,1864,2304,3414
$GC,5107,-0.78,-117.3,426.9,-6.1,199,5112,0.12,2.22,0.00,0.000,4,0.068,0.053,1799,894,3413
$GC,5135,-0.72,-117.3,429.2,-9.1,199,5139,0.20,2.22,0.00,0.000,6,0.137,0.050,1850,2310,3413
$GC,5466,-0.79,-117.3,450.1,-6.2,205,5468,0.10,0.00,0.00,0.000,6,0.077,0.000,1799,2311,3413
$GC,5770,-0.67,-117.3,476.8,-9.0,210,5774,0.17,2.25,0.00,0.000,4,0.128,0.053,1857,888,3412
$GC,5832,-0.79,-117.3,481.3,-7.0,211,5837,0.08,2.22,0.00,0.000,6,0.092,0.047,1801,2311,3413
$GC,6198,-0.69,-117.3,511.7,-8.4,217,6202,0.17,2.25,0.00,0.000,4,0.132,0.053,1858,887,3412
$GC,6236,-0.83,-117.3,514.5,-6.6,217,6240,0.12,2.22,0.00,0.000,6,0.070,0.051,1784,2308,3412
$GC,6556,-0.67,-117.3,543.0,-9.1,223,6558,0.25,0.00,0.00,0.000,6,0.130,0.000,1859,2308,3412
$GC,6860,-0.81,-117.3,559.4,-5.3,228,6862,0.12,0.00,0.00,0.000,6,0.066,0.000,1795,2307,3411
$GC,7163,-0.69,-117.3,585.8,-9.0,233,7165,0.20,0.00,0.00,0.000,6,0.128,0.000,1855,2308,3412
$GC,7465,-0.82,-117.3,604.4,-6.1,238,7467,0.12,0.00,0.00,0.000,6,0.071,0.000,1796,2308,3411
$GC,7769,-0.71,-117.3,630.4,-8.7,243,7770,0.17,0.00,0.00,0.000,6,0.128,0.000,1848,2308,3411
$GC,8072,-0.82,-117.3,648.4,-5.8,248,8077,0.10,2.25,0.00,0.000,4,0.082,0.061,1805,890,3410
$GC,8105,-0.74,-117.3,651.0,-8.1,248,8109,0.15,2.22,0.00,0.000,6,0.137,0.050,1838,2312,3410
$GC,8437,-0.90,-117.3,670.4,-5.7,254,8441,0.12,2.22,0.00,0.000,4,0.082,0.061,1781,3710,3410
$GC,8469,-0.81,-117.3,672.7,-7.5,254,8474,0.15,2.15,0.00,0.000,6,0.139,0.042,1824,2303,3410
$GC,8801,-0.81,-117.3,692.0,-5.7,260,8804,0.00,2.22,0.00,0.000,4,0.000,0.061,1824,892,3411
$GC,8907,-0.81,-117.3,699.0,-7.2,261,8910,0.00,2.22,0.00,0.000,6,0.000,0.055,1820,2303,3410
$GC,9239,-0.81,-117.3,718.8,-6.0,267,9243,0.00,2.22,0.00,0.000,4,0.000,0.057,1820,894,3410
$GC,9301,-0.81,-117.3,722.7,-6.7,268,9305,0.00,2.22,0.00,0.000,6,0.000,0.049,1811,2311,3410
$GC,9666,-0.81,-117.3,744.7,-6.0,274,9670,0.00,2.25,0.00,0.000,4,0.000,0.061,1811,889,3410
$GC,9788,-0.81,-117.3,753.2,-7.0,275,9795,0.00,2.25,0.00,0.000,6,0.000,0.051,1805,2299,3410
$GC,10098,-0.76,-117.3,773.1,-6.5,281,10103,0.12,2.22,0.00,0.000,4,0.145,0.058,1840,895,3410
$GC,10172,-0.85,-117.3,777.6,-6.1,282,10176,0.00,2.22,0.00,0.000,6,0.000,0.054,1837,2308,3410
$GC,10526,-1.08,-117.3,798.1,-5.9,288,10531,0.20,2.25,0.00,0.000,4,0.074,0.058,1752,890,3410
$GC,10784,-0.80,-117.3,824.0,-10.6,291,10791,0.22,2.25,0.00,0.000,6,0.146,0.052,1826,2299,3409
$GC,11093,-0.85,-117.3,843.7,-6.2,297,11097,0.00,2.22,0.00,0.000,4,0.000,0.062,1826,895,3409
$GC,11216,-0.85,-117.3,852.7,-7.2,298,11220,0.00,2.25,0.00,0.000,6,0.000,0.055,1822,2301,3409
$GC,11532,-0.85,-117.3,873.0,-6.4,304,11536,0.00,2.25,0.00,0.000,4,0.000,0.060,1822,886,3409
$GC,11594,-0.85,-117.3,877.3,-7.0,305,11598,0.00,2.25,0.00,0.000,6,0.000,0.056,1814,2311,3409
$GC,11960,-0.85,-117.3,901.7,-6.7,311,11964,0.00,2.25,0.00,0.000,4,0.000,0.063,1814,894,3409
$GC,12055,-0.85,-117.3,908.5,-6.8,312,12059,0.00,2.22,0.00,0.000,6,0.000,0.054,1806,2303,3409
$GC,12393,-0.85,-117.3,930.9,-6.6,318,12396,0.00,2.25,0.00,0.000,4,0.000,0.060,1805,886,3409
$GC,12504,-0.81,-117.3,938.4,-5.8,319,12509,0.10,2.25,0.00,0.000,6,0.166,0.057,1821,2310,3409
$GC,12826,-0.85,-117.3,954.5,-4.9,325,12829,0.00,2.25,0.00,0.000,4,0.000,0.061,1826,895,3408
$GC,12898,-0.91,-117.3,958.2,-5.0,326,12902,0.00,2.22,0.00,0.000,6,0.000,0.054,1822,2306,3409
$GC,13259,-0.91,-117.3,974.8,-4.5,332,13263,0.00,2.25,0.00,0.000,4,0.000,0.061,1822,897,3408
$GC,13291,-0.91,-117.3,976.5,-5.0,332,13295,0.00,2.22,0.00,0.000,6,0.000,0.054,1815,2306,3408
$STATE,13561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13561,begin apogee
$GC,13566,-0.22,0.0,990.2,5.1,337,13662,0.45,0.00,93.28,1.348,6,0.137,0.000,1956,2306,2931
$STATE,13663,end apogee,CONTROL_FINISHED_OK
$STATE,13663,begin climb
$GC,13665,0.68,117.3,990.6,0.0,338,13770,0.60,2.47,97.68,1.319,4,0.093,0.063,2150,3714,2452
$GC,13794,0.30,117.3,985.0,7.9,340,13799,0.38,2.35,0.00,0.000,6,0.194,0.050,2068,2309,2448
$GC,14104,0.31,132.6,968.9,5.0,345,14123,0.00,2.42,12.62,1.185,4,0.000,0.064,2078,894,2389
$GC,14146,0.42,168.7,966.8,4.3,345,14184,0.00,2.35,31.95,1.266,6,0.000,0.053,2078,2312,2243
$GC,14535,0.50,179.3,947.1,5.1,352,14547,0.12,0.00,9.50,1.124,6,0.085,0.000,2125,2312,2200
$GC,14837,0.37,179.3,924.2,7.7,357,14841,0.17,2.35,0.00,0.000,4,0.159,0.063,2083,890,2197
$GC,14864,0.42,179.7,922.4,5.5,357,14868,0.00,2.28,0.00,0.000,6,0.000,0.052,2083,2306,2196
$GC,15202,0.49,188.4,904.7,5.2,363,15215,0.08,0.00,8.98,1.107,6,0.106,0.000,2117,2305,2161
$GC,15572,0.40,188.4,879.3,6.9,369,15577,0.12,2.33,0.00,0.000,4,0.156,0.061,2094,885,2158
$GC,15593,0.40,188.4,877.8,6.0,369,15597,0.00,2.28,0.00,0.000,6,0.000,0.054,2094,2302,2158
$GC,15937,0.40,188.4,858.5,5.7,375,15938,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2302,2157
$GC,16240,0.40,188.4,840.9,5.8,380,16241,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2302,2157
$GC,16543,0.40,188.4,823.4,5.7,385,16544,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2302,2157
$GC,16846,0.40,188.4,806.0,5.7,390,16847,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2303,2157
$GC,17150,0.40,188.9,789.0,5.5,395,17154,0.00,2.28,0.00,0.000,4,0.000,0.062,2103,890,2157
$GC,17183,0.42,203.3,787.2,5.0,395,17202,0.00,2.22,13.15,1.122,6,0.000,0.054,2103,2302,2103
$GC,17512,0.42,203.3,766.6,6.3,401,17514,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2302,2099
$GC,17815,0.42,203.3,748.0,6.1,406,17819,0.00,2.30,0.00,0.000,4,0.000,0.060,2113,884,2098
$GC,17837,0.42,203.3,746.6,6.7,406,17841,0.10,2.28,0.00,0.000,6,0.149,0.051,2088,2306,2098
$GC,18181,0.50,203.3,726.9,5.7,412,18185,0.00,2.28,0.00,0.000,4,0.000,0.066,2088,3719,2098
$GC,18208,0.54,203.3,725.0,6.8,412,18213,0.08,2.22,0.00,0.000,6,0.087,0.048,2134,2298,2097
$GC,18540,0.41,203.3,696.3,8.8,418,18545,0.17,2.25,0.00,0.000,4,0.151,0.058,2094,893,2098
$GC,18578,0.53,203.3,693.5,6.0,418,18582,0.00,2.25,0.00,0.000,6,0.000,0.054,2094,2315,2097
$GC,18900,0.58,203.3,672.6,6.4,424,18904,0.12,2.25,0.00,0.000,4,0.071,0.060,2151,3717,2097
$GC,18926,0.40,203.3,670.1,8.7,424,18931,0.28,2.22,0.00,0.000,6,0.170,0.044,2085,2297,2097
$GC,19259,0.49,203.3,650.4,5.7,430,19260,0.08,0.00,0.00,0.000,6,0.087,0.000,2130,2297,2097
$GC,19561,0.38,203.3,627.9,7.5,435,19566,0.17,2.25,0.00,0.000,4,0.150,0.058,2084,887,2097
$GC,19582,0.38,203.3,626.5,6.4,435,19586,0.00,2.25,0.00,0.000,6,0.000,0.054,2084,2316,2097
$GC,19926,0.54,233.7,610.7,4.5,441,19956,0.12,0.00,26.20,1.068,6,0.071,0.000,2146,2315,1977
$GC,20295,0.40,233.7,581.5,8.1,447,20300,0.20,2.25,0.00,0.000,4,0.149,0.058,2086,3709,1971
$GC,20350,0.49,233.7,578.0,5.8,447,20357,0.00,2.25,0.00,0.000,6,0.000,0.042,2093,2301,1970
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$STATE,28061,end climb,SURFACE_DEPTH_REACHED
$STATE,28061,begin surface coast
$FINISH,1.1,1.024633
$STATE,28083,end surface coast,CONTROL_FINISHED_OK
$STATE,28083,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1602
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$TCM_TEMP,16.00
$XPDR_PINGS,71
$24V_AH,23.5,11.818
$10V_AH,10.7,7.898
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$DEVICE_SECS,26.425,238.125,363.500,0.000,0.000,31.118,27.121,215.505,17.750,0.000,0.000,19.708,1708.500,23228.729,508.814,2439.337,661.642,33.375,1741.717,0.000,2427.504,0.000,0.528,0.000
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$SENSOR_SECS,501.736,576.325,735.398,1219.071,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41144,710
$CAP_FILE_SIZE,198993,0
$CFSIZE,260165632,254361600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,010709,201037,5019.974,-14510.503,39,1.2,39,18.5