version: 66.04
glider: 144
mission: 15
dive: 65
start: 7 3 109 12 16 43
data:
$ID,144
$MISSION,15
$DIVE,65
$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,-62205.203
$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
$GPS1,120920,5009.639,-14506.756,73,1.8,79,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-68.3
$GPS2,121549,5009.675,-14506.732,10,1.9,15,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.021,-0.166
$KALMAN_X,-35108.3,-75.7,177.5,27992.6,-386.3
$KALMAN_Y,11792.1,42.6,-16.7,6659.4,687.3
$MHEAD_RNG_PITCHd_Wd,168.6,29667,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-32.28,0.000,2,0.000,0.000,100,2641,2573
$GC,54,-0.68,-117.3,3.1,-4.8,3,89,7.03,1.80,-21.88,0.000,4,0.249,0.080,1839,3720,3412
$GC,227,-0.52,-117.3,24.9,-13.1,18,231,0.17,2.22,0.00,0.000,6,0.132,0.038,1889,2301,3413
$GC,552,-0.58,-117.3,54.4,-8.1,48,553,0.00,0.00,0.00,0.000,6,0.000,0.000,1889,2300,3414
$GC,870,-0.62,-117.3,78.8,-7.5,78,875,0.10,2.25,0.00,0.000,4,0.072,0.051,1833,890,3415
$GC,955,-0.48,-117.3,88.3,-12.0,82,960,0.25,2.22,0.00,0.000,6,0.130,0.045,1899,2301,3415
$GC,1282,-0.59,-117.3,112.9,-7.2,98,1287,0.10,2.22,0.00,0.000,4,0.073,0.050,1845,894,3416
$GC,1303,-0.59,-117.3,115.0,-9.3,99,1307,0.12,2.22,0.00,0.000,6,0.137,0.051,1871,2306,3416
$GC,1630,-0.59,-117.3,142.2,-7.7,115,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2306,3416
$GC,1938,-0.67,-117.3,164.9,-7.6,127,1942,0.00,2.25,0.00,0.000,4,0.000,0.052,1872,887,3416
$GC,1993,-0.77,-117.3,169.3,-7.8,128,2001,0.08,2.25,0.00,0.000,6,0.054,0.049,1807,2301,3416
$GC,2306,-0.61,-117.3,200.8,-10.0,139,2311,0.20,2.25,0.00,0.000,4,0.133,0.052,1872,886,3416
$GC,2373,-0.73,-117.3,205.5,-6.3,141,2378,0.08,2.25,0.00,0.000,6,0.086,0.048,1811,2312,3416
$GC,2702,-0.60,-117.3,234.8,-8.9,152,2707,0.17,2.25,0.00,0.000,4,0.130,0.051,1868,894,3415
$GC,2752,-0.71,-117.3,238.5,-6.8,153,2756,0.00,2.22,0.00,0.000,6,0.000,0.049,1864,2306,3415
$GC,3071,-0.81,-117.3,257.3,-5.9,164,3075,0.12,2.25,0.00,0.000,4,0.063,0.051,1797,887,3415
$GC,3100,-0.70,-117.3,259.7,-8.9,165,3104,0.20,2.22,0.00,0.000,6,0.137,0.048,1847,2304,3415
$GC,3434,-0.70,-117.3,282.7,-6.9,176,3438,0.00,2.22,0.00,0.000,4,0.000,0.058,1847,894,3415
$GC,3462,-0.74,-117.3,284.8,-7.7,176,3468,0.00,2.25,0.00,0.000,6,0.000,0.054,1847,2307,3415
$GC,3805,-0.74,-117.3,309.3,-7.3,186,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2307,3414
$GC,4107,-0.74,-117.3,332.6,-7.7,191,4111,0.00,2.25,0.00,0.000,4,0.000,0.058,1847,887,3414
$GC,4174,-0.79,-117.3,338.3,-8.2,192,4178,0.00,2.22,0.00,0.000,6,0.000,0.048,1847,2304,3414
$GC,4539,-0.84,-117.3,364.7,-7.1,198,4541,0.12,0.00,0.00,0.000,6,0.067,0.000,1781,2304,3413
$GC,4843,-0.63,-117.3,394.1,-9.8,203,4847,0.22,2.25,0.00,0.000,4,0.135,0.054,1856,889,3413
$GC,4898,-0.73,-117.3,397.8,-6.1,203,4904,0.00,2.25,0.00,0.000,6,0.000,0.049,1850,2301,3413
$GC,5208,-0.80,-117.3,414.2,-5.3,209,5213,0.08,2.22,0.00,0.000,4,0.088,0.052,1800,894,3413
$GC,5241,-0.67,-117.3,416.9,-8.4,209,5245,0.20,2.22,0.00,0.000,6,0.133,0.054,1854,2307,3412
$GC,5567,-0.76,-117.3,435.5,-5.6,215,5570,0.00,2.22,0.00,0.000,4,0.000,0.054,1853,895,3412
$GC,5605,-0.87,-117.3,437.8,-5.6,215,5610,0.12,2.22,0.00,0.000,6,0.067,0.050,1785,2313,3412
$GC,5932,-0.69,-117.3,467.6,-9.4,221,5934,0.22,0.00,0.00,0.000,6,0.132,0.000,1853,2313,3411
$GC,6235,-0.79,-117.3,484.6,-5.5,226,6240,0.10,2.25,0.00,0.000,4,0.076,0.053,1802,890,3411
$GC,6284,-0.67,-117.3,488.6,-8.6,226,6289,0.20,2.22,0.00,0.000,6,0.132,0.048,1854,2304,3411
$GC,6596,-0.77,-117.3,505.6,-5.4,231,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2304,3411
$GC,6897,-0.88,-117.3,522.0,-5.4,236,6902,0.15,2.22,0.00,0.000,4,0.064,0.054,1783,896,3411
$GC,6952,-0.71,-117.3,527.0,-9.7,236,6959,0.22,2.22,0.00,0.000,6,0.137,0.053,1848,2309,3411
$GC,7263,-0.79,-117.3,544.9,-5.6,242,7267,0.00,2.25,0.00,0.000,4,0.000,0.054,1848,884,3411
$GC,7303,-0.88,-117.3,547.3,-5.8,242,7308,0.12,2.25,0.00,0.000,6,0.068,0.048,1783,2314,3411
$GC,7624,-0.70,-117.3,575.0,-8.8,248,7626,0.22,0.00,0.00,0.000,6,0.131,0.000,1851,2315,3410
$GC,7927,-0.81,-117.3,591.5,-5.3,253,7932,0.10,2.25,0.00,0.000,4,0.076,0.058,1800,888,3410
$GC,7971,-0.70,-117.3,594.8,-8.4,253,7976,0.20,2.22,0.00,0.000,6,0.131,0.051,1853,2304,3410
$GC,8286,-0.82,-117.3,611.0,-5.1,259,8288,0.12,0.00,0.00,0.000,6,0.070,0.000,1794,2304,3410
$GC,8589,-0.69,-117.3,634.5,-7.9,264,8593,0.17,2.25,0.00,0.000,4,0.130,0.054,1852,887,3410
$GC,8621,-0.80,-117.3,636.8,-6.0,264,8626,0.10,2.22,0.00,0.000,6,0.079,0.055,1801,2304,3410
$GC,8947,-0.71,-117.3,661.3,-7.7,270,8949,0.15,0.00,0.00,0.000,6,0.134,0.000,1844,2304,3410
$GC,9251,-0.81,-117.3,677.9,-5.4,275,9255,0.00,2.25,0.00,0.000,4,0.000,0.059,1844,893,3409
$GC,9295,-0.91,-117.3,680.7,-6.7,275,9299,0.12,2.22,0.00,0.000,6,0.074,0.049,1781,2307,3410
$GC,9610,-0.74,-117.3,707.0,-8.5,281,9611,0.20,0.00,0.00,0.000,6,0.137,0.000,1840,2307,3409
$GC,9913,-0.83,-117.3,724.2,-5.5,286,9917,0.00,2.25,0.00,0.000,4,0.000,0.057,1840,896,3409
$GC,9957,-0.91,-117.3,726.9,-6.2,286,9962,0.12,2.22,0.00,0.000,6,0.077,0.053,1782,2306,3409
$GC,10272,-0.76,-117.3,753.0,-8.5,292,10274,0.20,0.00,0.00,0.000,6,0.140,0.000,1841,2306,3409
$GC,10575,-0.85,-117.3,771.8,-6.1,297,10580,0.10,2.25,0.00,0.000,4,0.087,0.057,1801,897,3409
$GC,10619,-0.75,-117.3,775.6,-9.5,297,10624,0.17,2.22,0.00,0.000,6,0.139,0.054,1843,2307,3409
$GC,10934,-0.85,-117.3,795.7,-6.3,303,10938,0.10,2.25,0.00,0.000,4,0.091,0.061,1804,894,3409
$GC,10966,-0.77,-117.3,798.4,-8.4,303,10971,0.15,2.22,0.00,0.000,6,0.143,0.051,1836,2307,3409
$GC,11293,-0.85,-117.3,819.4,-6.3,309,11297,0.00,2.25,0.00,0.000,4,0.000,0.058,1840,897,3409
$GC,11320,-0.93,-117.3,821.3,-6.9,309,11325,0.12,2.22,0.00,0.000,6,0.082,0.049,1785,2305,3409
$GC,11652,-0.80,-117.3,849.1,-8.5,315,11654,0.15,0.00,0.00,0.000,6,0.148,0.000,1826,2306,3408
$GC,11954,-0.80,-117.3,868.7,-6.4,320,11958,0.00,2.25,0.00,0.000,4,0.000,0.058,1827,896,3408
$GC,11981,-0.80,-117.3,870.6,-7.0,320,11985,0.00,2.22,0.00,0.000,6,0.000,0.053,1822,2305,3408
$GC,12319,-0.80,-117.3,891.0,-5.9,326,12323,0.00,2.25,0.00,0.000,4,0.000,0.065,1822,897,3408
$GC,12363,-0.80,-117.3,893.8,-6.1,326,12367,0.00,2.22,0.00,0.000,6,0.000,0.056,1813,2303,3408
$GC,12685,-0.80,-117.3,911.4,-5.4,332,12689,0.00,2.25,0.00,0.000,4,0.000,0.060,1815,893,3408
$GC,12718,-0.80,-117.3,913.3,-5.2,332,12722,0.00,2.25,0.00,0.000,6,0.000,0.057,1807,2313,3408
$GC,13045,-0.75,-117.3,930.0,-5.0,338,13049,0.12,2.28,0.00,0.000,4,0.153,0.058,1842,891,3408
$GC,13095,-0.86,-117.3,932.1,-4.1,338,13099,0.10,2.25,0.00,0.000,6,0.094,0.051,1797,2311,3408
$GC,13406,-0.78,-117.3,947.8,-5.1,343,13408,0.12,0.00,0.00,0.000,6,0.150,0.000,1829,2312,3407
$GC,13708,-0.84,-117.3,959.7,-3.9,348,13712,0.00,2.28,0.00,0.000,4,0.000,0.064,1830,892,3408
$GC,13763,-0.91,-117.3,962.4,-4.7,348,13770,0.00,2.25,0.00,0.000,6,0.000,0.058,1823,2311,3407
$GC,14073,-0.91,-117.3,977.9,-5.1,354,14074,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2311,3407
$STATE,14314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14314,begin apogee
$GC,14320,-0.22,0.0,991.7,5.7,358,14416,0.43,0.00,92.95,1.350,6,0.134,0.000,1957,2311,2931
$STATE,14416,end apogee,CONTROL_FINISHED_OK
$STATE,14417,begin climb
$GC,14419,0.68,117.3,993.3,0.0,359,14525,0.55,2.53,97.88,1.324,4,0.091,0.067,2144,3709,2450
$GC,14581,0.28,117.3,987.9,7.8,361,14587,0.38,2.33,0.00,0.000,6,0.186,0.048,2059,2309,2445
$GC,14908,0.42,189.0,977.0,3.1,367,14971,0.12,0.00,60.10,1.305,6,0.078,0.000,2105,2310,2160
$GC,15271,0.43,192.6,958.0,5.4,373,15272,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2310,2151
$GC,15574,0.43,192.6,940.7,5.7,378,15575,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2309,2150
$GC,15877,0.43,192.6,922.4,6.1,383,15878,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2309,2149
$GC,16180,0.43,192.6,902.1,6.8,388,16181,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2310,2149
$GC,16483,0.43,192.6,880.9,7.1,393,16484,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2309,2148
$GC,16786,0.43,192.6,859.9,6.9,398,16790,0.00,2.30,0.00,0.000,4,0.000,0.061,2104,3724,2147
$GC,16813,0.35,192.6,857.7,7.9,398,16818,0.15,2.25,0.00,0.000,6,0.163,0.044,2076,2302,2147
$GC,17145,0.45,193.9,839.3,5.5,404,17147,0.08,0.00,0.00,0.000,6,0.094,0.000,2113,2302,2147
$GC,17448,0.40,193.9,817.8,7.2,409,17450,0.12,0.00,0.00,0.000,6,0.153,0.000,2080,2301,2146
$GC,17751,0.50,193.9,800.6,5.6,414,17753,0.10,0.00,0.00,0.000,6,0.077,0.000,2124,2302,2146
$GC,18054,0.39,193.9,777.8,7.6,419,18056,0.15,0.00,0.00,0.000,6,0.152,0.000,2083,2301,2146
$GC,18357,0.48,196.6,761.1,5.4,424,18368,0.08,2.28,5.53,0.907,4,0.089,0.064,2120,3713,2128
$GC,18385,0.41,196.6,759.0,8.0,424,18390,0.17,2.22,0.00,0.000,6,0.163,0.044,2084,2299,2127
$GC,18717,0.50,196.6,740.1,5.6,430,18719,0.10,0.00,0.00,0.000,6,0.077,0.000,2131,2299,2127
$GC,19020,0.36,196.6,716.8,7.8,435,19022,0.20,0.00,0.00,0.000,6,0.147,0.000,2074,2298,2127
$GC,19324,0.53,225.3,702.7,4.5,440,19355,0.15,2.35,25.38,1.128,4,0.063,0.058,2141,3723,2011
$GC,19377,0.34,225.3,698.4,7.7,440,19384,0.28,2.28,0.00,0.000,6,0.156,0.042,2076,2302,2009
$GC,19687,0.66,225.3,681.1,5.7,446,19692,0.17,2.28,0.00,0.000,4,0.071,0.054,2149,893,2005
$GC,19777,0.56,225.3,674.3,7.3,447,19782,0.12,2.28,0.00,0.000,6,0.148,0.054,2117,2313,2004
$GC,20114,0.56,225.3,653.0,6.2,453,20118,0.00,2.28,0.00,0.000,4,0.000,0.059,2117,3717,2004
$GC,20159,0.50,225.3,649.7,7.1,453,20163,0.00,2.22,0.00,0.000,6,0.000,0.041,2124,2301,2004
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$STATE,29795,end climb,SURFACE_DEPTH_REACHED
$STATE,29796,begin surface coast
$FINISH,1.1,1.025094
$STATE,29821,end surface coast,CONTROL_FINISHED_OK
$STATE,29821,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1585
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$TCM_TEMP,16.30
$XPDR_PINGS,72
$24V_AH,23.5,12.612
$10V_AH,10.7,8.657
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$DEVICE_SECS,26.600,251.300,381.025,0.000,0.000,29.596,26.667,210.044,18.000,0.000,0.000,17.259,1799.555,24908.055,546.464,2364.879,657.452,33.376,1748.850,0.000,2358.962,0.000,0.528,0.000
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$SENSOR_SECS,550.600,620.476,798.428,1330.554,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47490,775
$CAP_FILE_SIZE,206981,0
$CFSIZE,260165632,253861888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030709,203607,5006.362,-14507.148,30,1.2,30,18.5