version: 66.04
glider: 144
mission: 15
dive: 155
start: 8 2 109 9 6 20
data:
$ID,144
$MISSION,15
$DIVE,155
$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,-63951.559
$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,33
$R_STBD_OVSHOOT,30
$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
$GPS1,085936,5009.157,-14510.499,40,1.8,40,18.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-62.1
$GPS2,090526,5009.161,-14510.611,13,1.6,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.005,-0.168
$KALMAN_X,-76107.4,-246.6,-93.3,64832.9,-524.1
$KALMAN_Y,64319.1,64.6,95.8,-46954.5,69.5
$MHEAD_RNG_PITCHd_Wd,159.7,28103,-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,13,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,54,0.00,0.00,-36.55,0.000,2,0.000,0.000,100,2302,2720
$GC,56,-0.68,-117.3,3.8,-5.8,4,83,7.00,2.28,-14.75,0.000,4,0.242,0.061,1848,895,3412
$GC,336,-0.57,-117.3,44.7,-12.3,28,343,0.12,2.22,0.00,0.000,6,0.140,0.040,1874,2309,3415
$GC,663,-0.57,-117.3,73.3,-8.8,59,667,0.00,2.25,0.00,0.000,4,0.000,0.043,1874,892,3417
$GC,729,-0.57,-117.3,79.4,-8.9,64,736,0.00,2.25,0.00,0.000,6,0.000,0.038,1867,2302,3417
$GC,1056,-0.57,-117.3,109.8,-9.0,81,1059,0.00,2.25,0.00,0.000,4,0.000,0.048,1867,884,3418
$GC,1095,-0.61,-117.3,113.6,-9.4,82,1101,0.00,2.22,0.00,0.000,6,0.000,0.039,1863,2304,3419
$GC,1410,-0.61,-117.3,138.8,-7.1,98,1414,0.00,2.22,0.00,0.000,4,0.000,0.048,1863,892,3418
$GC,1443,-0.61,-117.3,141.2,-7.3,99,1447,0.00,2.22,0.00,0.000,6,0.000,0.045,1863,2306,3418
$GC,1764,-0.66,-117.3,161.9,-6.2,112,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2306,3418
$GC,2070,-0.76,-117.3,180.8,-6.2,122,2074,0.10,2.25,0.00,0.000,4,0.069,0.044,1798,887,3417
$GC,2108,-0.59,-117.3,184.2,-9.9,123,2113,0.28,2.25,0.00,0.000,6,0.126,0.041,1878,2312,3417
$GC,2432,-0.74,-117.3,204.9,-6.5,134,2433,0.15,0.00,0.00,0.000,6,0.054,0.000,1792,2312,3417
$GC,2738,-0.54,-117.3,239.5,-11.5,144,2742,0.25,2.28,0.00,0.000,4,0.127,0.046,1875,883,3416
$GC,2810,-0.71,-117.3,245.3,-7.2,146,2814,0.10,2.25,0.00,0.000,6,0.070,0.044,1810,2310,3416
$GC,3133,-0.60,-117.3,275.0,-9.1,157,3135,0.20,0.00,0.00,0.000,6,0.124,0.000,1870,2310,3416
$GC,3440,-0.74,-117.3,291.8,-5.2,167,3444,0.12,2.25,0.00,0.000,4,0.059,0.044,1794,888,3415
$GC,3489,-0.58,-117.3,296.3,-9.8,168,3494,0.30,2.22,0.00,0.000,6,0.124,0.040,1875,2304,3415
$GC,3831,-0.74,-117.3,312.9,-4.7,175,3832,0.12,0.00,0.00,0.000,6,0.061,0.000,1801,2304,3414
$GC,4134,-0.61,-117.3,339.6,-9.1,180,4138,0.17,2.22,0.00,0.000,4,0.126,0.045,1860,888,3414
$GC,4178,-0.74,-117.3,342.7,-6.2,180,4182,0.00,2.22,0.00,0.000,6,0.000,0.044,1853,2304,3414
$GC,4493,-0.82,-117.3,360.9,-5.7,186,4497,0.12,2.22,0.00,0.000,4,0.063,0.045,1778,894,3413
$GC,4525,-0.62,-117.3,363.8,-9.4,186,4530,0.32,2.22,0.00,0.000,6,0.128,0.048,1868,2312,3413
$GC,4852,-0.76,-117.3,380.3,-4.8,192,4854,0.12,0.00,0.00,0.000,6,0.063,0.000,1795,2312,3412
$GC,5155,-0.62,-117.3,405.6,-8.5,197,5159,0.20,2.25,0.00,0.000,4,0.127,0.048,1861,895,3412
$GC,5217,-0.78,-117.3,409.7,-6.0,198,5222,0.12,2.22,0.00,0.000,6,0.061,0.045,1790,2311,3412
$GC,5584,-0.62,-117.3,442.9,-9.3,204,5588,0.22,2.22,0.00,0.000,4,0.129,0.056,1856,3707,3411
$GC,5616,-0.74,-117.3,445.2,-6.3,204,5620,0.00,2.17,0.00,0.000,6,0.000,0.039,1857,2296,3411
$GC,5948,-0.88,-117.3,461.9,-5.1,210,5953,0.15,2.20,0.00,0.000,4,0.058,0.044,1775,894,3411
$GC,5970,-0.81,-117.3,463.7,-7.4,210,5974,0.20,2.22,0.00,0.000,6,0.137,0.048,1823,2310,3411
$GC,6307,-0.81,-117.3,486.8,-6.8,216,6310,0.00,2.22,0.00,0.000,4,0.000,0.053,1823,901,3411
$GC,6367,-0.81,-117.3,491.3,-7.5,216,6374,0.00,2.22,0.00,0.000,6,0.000,0.045,1821,2294,3411
$GC,6678,-0.81,-117.3,514.3,-7.5,222,6681,0.00,2.20,0.00,0.000,4,0.000,0.046,1821,894,3410
$GC,6722,-0.81,-117.3,518.1,-9.1,222,6726,0.00,2.22,0.00,0.000,6,0.000,0.045,1813,2308,3410
$GC,7049,-0.76,-117.3,545.5,-8.5,228,7051,0.10,0.00,0.00,0.000,6,0.143,0.000,1840,2308,3410
$GC,7352,-0.83,-117.3,567.6,-7.3,233,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2308,3410
$GC,7655,-0.91,-117.3,589.9,-7.3,238,7660,0.12,2.22,0.00,0.000,4,0.066,0.046,1773,898,3409
$GC,7699,-0.71,-117.3,594.5,-11.3,238,7704,0.28,2.22,0.00,0.000,6,0.130,0.042,1849,2313,3409
$GC,8014,-0.83,-117.3,616.7,-6.9,244,8016,0.12,0.00,0.00,0.000,6,0.064,0.000,1779,2314,3409
$GC,8317,-0.66,-117.3,647.1,-10.2,249,8322,0.22,2.25,0.00,0.000,4,0.131,0.047,1853,894,3409
$GC,8361,-0.81,-117.3,650.7,-6.8,249,8366,0.10,2.22,0.00,0.000,6,0.071,0.044,1790,2305,3409
$GC,8676,-0.69,-117.3,679.0,-9.2,255,8681,0.20,2.25,0.00,0.000,4,0.127,0.055,1848,3719,3409
$GC,8704,-0.76,-117.3,681.0,-7.3,255,8708,0.00,2.17,0.00,0.000,6,0.000,0.038,1848,2305,3409
$GC,9036,-0.91,-117.3,699.5,-5.4,261,9038,0.15,0.00,0.00,0.000,6,0.062,0.000,1769,2305,3408
$GC,9339,-0.72,-117.3,727.3,-9.4,266,9344,0.22,2.25,0.00,0.000,4,0.130,0.049,1843,890,3408
$GC,9389,-0.84,-117.3,730.8,-5.7,266,9393,0.00,2.22,0.00,0.000,6,0.000,0.041,1837,2301,3408
$GC,9699,-0.93,-117.3,746.6,-5.0,271,9701,0.12,0.00,0.00,0.000,6,0.065,0.000,1774,2301,3408
$GC,10002,-0.74,-117.3,769.7,-7.8,276,10006,0.17,2.22,0.00,0.000,4,0.133,0.048,1832,891,3407
$GC,10029,-0.74,-117.3,771.6,-6.6,276,10033,0.00,2.22,0.00,0.000,6,0.000,0.042,1824,2304,3408
$GC,10362,-0.74,-117.3,788.7,-5.2,282,10365,0.00,2.25,0.00,0.000,4,0.000,0.049,1824,888,3407
$GC,10406,-0.74,-117.3,791.3,-6.1,282,10410,0.00,2.25,0.00,0.000,6,0.000,0.043,1818,2312,3407
$GC,10732,-0.74,-117.3,810.5,-6.0,288,10736,0.00,2.25,0.00,0.000,4,0.000,0.049,1818,897,3408
$GC,10771,-0.74,-117.3,813.3,-6.9,288,10775,0.12,2.22,0.00,0.000,6,0.132,0.043,1844,2306,3407
$GC,11103,-0.87,-117.3,831.8,-5.6,294,11105,0.12,0.00,0.00,0.000,6,0.073,0.000,1790,2306,3407
$GC,11406,-0.77,-117.3,858.1,-8.9,299,11407,0.15,0.00,0.00,0.000,6,0.130,0.000,1833,2306,3407
$GC,11709,-0.86,-117.3,878.0,-6.5,304,11713,0.00,2.25,0.00,0.000,4,0.000,0.057,1834,894,3407
$GC,11748,-0.95,-117.3,880.9,-7.5,304,11752,0.12,2.22,0.00,0.000,6,0.071,0.047,1773,2304,3407
$GC,12068,-0.79,-117.3,909.7,-9.1,310,12070,0.20,0.00,0.00,0.000,6,0.137,0.000,1830,2305,3407
$GC,12371,-0.87,-117.3,927.5,-5.7,315,12373,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2305,3407
$GC,12676,-0.95,-117.3,944.1,-5.4,320,12677,0.12,0.00,0.00,0.000,6,0.080,0.000,1780,2306,3407
$GC,12978,-0.81,-117.3,966.9,-7.6,325,12979,0.15,0.00,0.00,0.000,6,0.140,0.000,1822,2305,3407
$GC,13281,-0.86,-117.3,984.2,-5.6,330,13284,0.00,2.25,0.00,0.000,4,0.000,0.053,1826,898,3407
$GC,13314,-0.92,-117.3,986.3,-6.4,330,13318,0.00,2.22,0.00,0.000,6,0.000,0.044,1821,2302,3406
$STATE,13400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13401,begin apogee
$GC,13406,-0.22,0.0,991.3,5.7,332,13502,0.43,0.00,93.35,1.335,6,0.124,0.000,1956,2302,2931
$STATE,13503,end apogee,CONTROL_FINISHED_OK
$STATE,13503,begin climb
$GC,13505,0.68,117.3,992.4,0.0,333,13610,0.57,2.50,98.45,1.305,4,0.074,0.057,2152,3713,2452
$GC,13640,0.25,117.3,987.6,8.0,335,13648,0.43,2.35,0.00,0.000,6,0.179,0.041,2056,2313,2447
$GC,13951,0.41,137.5,972.2,4.8,341,13970,0.12,0.00,17.00,1.210,6,0.074,0.000,2105,2312,2370
$GC,14254,0.46,137.5,953.0,6.4,346,14258,0.00,2.35,0.00,0.000,4,0.000,0.053,2114,887,2366
$GC,14298,0.37,137.5,950.1,6.7,346,14303,0.15,2.33,0.00,0.000,6,0.145,0.045,2075,2314,2365
$GC,14613,0.39,159.2,935.0,4.8,352,14638,0.00,2.35,18.80,1.219,4,0.000,0.055,2075,3713,2281
$GC,14679,0.42,177.6,931.4,4.9,353,14703,0.00,2.28,17.50,1.197,6,0.000,0.037,2083,2294,2205
$GC,15049,0.48,187.1,912.4,5.2,359,15059,0.00,0.00,8.60,1.080,6,0.000,0.000,2083,2294,2168
$GC,15352,0.54,193.4,896.2,5.3,364,15366,0.12,2.40,6.95,1.019,4,0.069,0.058,2137,3714,2141
$GC,15400,0.29,193.4,892.0,8.6,364,15405,0.30,2.28,0.00,0.000,6,0.163,0.040,2065,2297,2140
$GC,15715,0.57,201.4,875.6,5.2,370,15730,0.17,2.33,8.32,1.059,4,0.071,0.053,2147,898,2108
$GC,15803,0.43,201.4,869.5,7.0,371,15808,0.20,2.28,0.00,0.000,6,0.143,0.044,2092,2304,2107
$GC,16147,0.49,215.0,851.9,5.0,377,16166,0.00,2.35,13.05,1.137,4,0.000,0.058,2092,3714,2053
$GC,16189,0.49,216.5,849.4,5.4,377,16193,0.00,2.28,0.00,0.000,6,0.000,0.041,2099,2289,2052
$GC,16515,0.50,221.5,831.9,5.3,383,16524,0.00,0.00,6.95,0.991,6,0.000,0.000,2099,2289,2027
$GC,16819,0.57,237.9,816.8,4.9,388,16840,0.08,2.33,14.98,1.131,4,0.085,0.058,2143,3713,1963
$GC,16862,0.39,237.9,813.4,8.3,388,16867,0.25,2.25,0.00,0.000,6,0.154,0.043,2085,2305,1961
$GC,17178,0.56,266.2,798.5,4.5,394,17209,0.12,2.35,26.00,1.163,4,0.064,0.056,2152,896,1844
$GC,17232,0.49,266.2,794.2,8.2,394,17239,0.17,2.30,0.00,0.000,6,0.135,0.047,2105,2303,1841
$GC,17542,0.57,266.2,774.8,6.3,400,17546,0.00,2.30,0.00,0.000,4,0.000,0.058,2105,3717,1838
$GC,17587,0.61,266.2,771.4,7.2,400,17591,0.00,2.25,0.00,0.000,6,0.000,0.042,2113,2299,1837
$GC,17901,0.61,266.2,748.7,7.2,406,17905,0.00,2.28,0.00,0.000,4,0.000,0.052,2122,895,1837
$GC,17929,0.69,266.2,746.5,7.1,406,17934,0.10,2.25,0.00,0.000,6,0.071,0.047,2173,2305,1836
$GC,18261,0.44,266.2,708.2,12.0,412,18266,0.25,2.28,0.00,0.000,4,0.150,0.056,2099,3720,1836
$GC,18305,0.52,266.2,703.8,8.1,412,18309,0.00,2.22,0.00,0.000,6,0.000,0.035,2107,2302,1835
$GC,18626,0.59,266.2,681.1,7.1,418,18627,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2302,1835
$GC,18929,0.66,266.2,658.9,7.3,423,18931,0.12,0.00,0.00,0.000,6,0.058,0.000,2175,2302,1835
$GC,19233,0.41,266.2,621.7,12.6,428,19238,0.28,2.28,0.00,0.000,4,0.145,0.054,2092,3712,1835
$GC,19288,0.52,266.2,616.5,9.1,428,19295,0.00,2.20,0.00,0.000,6,0.000,0.035,2100,2301,1834
$GC,19598,0.63,266.2,595.0,6.9,434,19603,0.12,2.25,0.00,0.000,4,0.063,0.049,2179,886,1834
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$GC,26248,0.85,326.4,82.0,5.1,600,26265,0.12,2.17,12.25,0.675,6,0.061,0.032,2214,2299,1600
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$STATE,27214,end climb,SURFACE_DEPTH_REACHED
$STATE,27215,begin surface coast
$FINISH,1.2,1.012698
$STATE,27226,end surface coast,CONTROL_FINISHED_OK
$STATE,27226,begin surface
$SM_CCo,27301,0.00,0.000,0,0,1592,328.21
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$TT8_MAMPS,0.029146
$HUMID,1674
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$TCM_TEMP,16.10
$XPDR_PINGS,79
$24V_AH,23.1,24.931
$10V_AH,10.7,19.765
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$DEVICE_SECS,29.425,238.200,382.775,0.000,0.000,29.401,25.679,172.038,19.750,0.000,0.000,16.188,1646.868,22655.924,535.634,2195.878,607.470,33.369,1666.294,0.000,2190.603,0.000,0.528,0.000
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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,41201,690
$CAP_FILE_SIZE,196309,0
$CFSIZE,260165632,246661120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,020809,164239,5005.731,-14509.922,40,1.2,41,18.5