version: 66.04
glider: 144
mission: 15
dive: 168
start: 8 6 109 17 4 15
data:
$ID,144
$MISSION,15
$DIVE,168
$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,-64238.965
$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,36
$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
$GPS1,165730,5009.480,-14446.008,41,1.3,41,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-56.7
$GPS2,170319,5009.546,-14445.996,13,1.6,13,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.156,0.062
$KALMAN_X,-82664.4,329.5,-70.8,100087.4,-2086.4
$KALMAN_Y,69999.0,-152.1,-42.5,-51559.1,1653.2
$MHEAD_RNG_PITCHd_Wd,49.7,28557,-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,-42.22,0.000,2,0.000,0.000,100,2299,2536
$GC,62,-0.68,-117.3,3.0,-4.3,4,97,7.07,2.35,-22.08,0.000,4,0.244,0.069,1840,3717,3413
$GC,205,-0.41,-117.3,25.2,-15.0,16,212,0.25,2.20,0.00,0.000,6,0.127,0.031,1913,2301,3414
$GC,532,-0.56,-117.3,47.7,-6.7,47,536,0.12,2.22,0.00,0.000,4,0.058,0.040,1834,888,3416
$GC,656,-0.43,-117.3,61.3,-10.8,58,661,0.28,2.22,0.00,0.000,6,0.126,0.037,1907,2309,3416
$GC,992,-0.58,-117.3,82.8,-5.5,87,996,0.12,2.25,0.00,0.000,4,0.058,0.040,1830,887,3417
$GC,1015,-0.58,-117.3,84.4,-6.6,88,1019,0.20,2.22,0.00,0.000,6,0.125,0.037,1880,2305,3417
$GC,1342,-0.62,-117.3,104.4,-5.8,104,1346,0.00,2.22,0.00,0.000,4,0.000,0.050,1881,896,3417
$GC,1381,-0.70,-117.3,107.0,-7.0,105,1388,0.10,2.22,0.00,0.000,6,0.067,0.038,1813,2312,3418
$GC,1697,-0.52,-117.3,142.3,-11.9,121,1702,0.22,2.25,0.00,0.000,4,0.131,0.041,1886,887,3417
$GC,1760,-0.68,-117.3,147.9,-8.0,124,1765,0.10,2.22,0.00,0.000,6,0.066,0.041,1809,2309,3417
$GC,2074,-0.54,-117.3,179.0,-9.6,135,2076,0.25,0.00,0.00,0.000,6,0.122,0.000,1886,2310,3417
$GC,2380,-0.71,-117.3,195.5,-5.2,145,2382,0.15,0.00,0.00,0.000,6,0.052,0.000,1790,2310,3417
$GC,2686,-0.51,-117.3,225.2,-9.9,155,2690,0.28,2.22,0.00,0.000,4,0.126,0.047,1880,895,3416
$GC,2736,-0.70,-117.3,228.5,-5.5,156,2740,0.10,2.20,0.00,0.000,6,0.067,0.038,1808,2303,3416
$GC,3054,-0.58,-117.3,255.9,-9.1,167,3056,0.22,0.00,0.00,0.000,6,0.122,0.000,1877,2302,3415
$GC,3360,-0.74,-117.3,274.3,-6.1,177,3362,0.12,0.00,0.00,0.000,6,0.059,0.000,1793,2303,3415
$GC,3696,-0.57,-117.3,308.8,-10.3,187,3701,0.25,2.22,0.00,0.000,4,0.124,0.048,1875,891,3413
$GC,3757,-0.75,-117.3,313.2,-6.2,187,3764,0.12,2.22,0.00,0.000,6,0.058,0.042,1800,2310,3414
$GC,4067,-0.61,-117.3,341.7,-9.4,193,4069,0.22,0.00,0.00,0.000,6,0.125,0.000,1868,2309,3413
$GC,4371,-0.75,-117.3,360.3,-6.0,198,4376,0.12,2.22,0.00,0.000,4,0.060,0.044,1793,897,3412
$GC,4415,-0.59,-117.3,364.5,-10.8,198,4420,0.30,2.20,0.00,0.000,6,0.120,0.040,1875,2302,3412
$GC,4732,-0.77,-117.3,381.2,-5.1,204,4734,0.15,0.00,0.00,0.000,6,0.055,0.000,1787,2303,3411
$GC,5034,-0.60,-117.3,408.5,-9.3,209,5038,0.25,2.22,0.00,0.000,4,0.124,0.048,1869,897,3411
$GC,5083,-0.77,-117.3,411.9,-5.6,209,5088,0.12,2.22,0.00,0.000,6,0.059,0.040,1786,2313,3411
$GC,5393,-0.60,-117.3,439.3,-9.2,214,5395,0.28,0.00,0.00,0.000,6,0.124,0.000,1870,2313,3410
$GC,5697,-0.77,-117.3,454.5,-4.9,219,5702,0.12,2.25,0.00,0.000,4,0.059,0.048,1794,896,3410
$GC,5724,-0.70,-117.3,456.8,-9.0,219,5729,0.22,2.22,0.00,0.000,6,0.124,0.042,1852,2315,3409
$GC,6062,-0.80,-117.3,477.3,-6.0,225,6064,0.10,0.00,0.00,0.000,6,0.074,0.000,1793,2315,3409
$GC,6365,-0.67,-117.3,503.6,-8.8,230,6367,0.22,0.00,0.00,0.000,6,0.121,0.000,1861,2315,3408
$GC,6668,-0.82,-117.3,518.5,-4.7,235,6673,0.15,2.28,0.00,0.000,4,0.054,0.048,1780,888,3408
$GC,6689,-0.82,-117.3,519.9,-6.3,235,6693,0.17,2.25,0.00,0.000,6,0.134,0.047,1820,2314,3408
$GC,7033,-0.82,-117.3,543.7,-6.9,241,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2314,3407
$GC,7336,-0.82,-117.3,565.6,-7.2,246,7340,0.00,2.25,0.00,0.000,4,0.000,0.051,1820,898,3407
$GC,7402,-0.82,-117.3,570.9,-7.8,247,7406,0.00,2.22,0.00,0.000,6,0.000,0.047,1812,2309,3407
$GC,7768,-0.77,-117.3,598.6,-7.6,253,7773,0.00,2.25,0.00,0.000,4,0.000,0.048,1812,893,3407
$GC,7807,-0.77,-117.3,601.8,-8.2,253,7812,0.10,2.22,0.00,0.000,6,0.138,0.043,1833,2306,3407
$GC,8128,-0.83,-117.3,622.6,-6.5,259,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2306,3407
$GC,8431,-0.88,-117.3,642.6,-6.7,264,8435,0.10,2.25,0.00,0.000,4,0.073,0.046,1777,892,3407
$GC,8486,-0.70,-117.3,647.8,-9.9,264,8493,0.28,2.22,0.00,0.000,6,0.126,0.041,1852,2303,3406
$GC,8796,-0.84,-117.3,666.3,-5.8,270,8798,0.12,0.00,0.00,0.000,6,0.065,0.000,1781,2304,3406
$GC,9099,-0.68,-117.3,692.5,-8.8,275,9104,0.20,2.22,0.00,0.000,4,0.126,0.048,1847,894,3406
$GC,9143,-0.81,-117.3,695.5,-6.0,275,9148,0.10,2.22,0.00,0.000,6,0.071,0.044,1788,2307,3406
$GC,9459,-0.69,-117.3,718.6,-7.4,281,9461,0.22,0.00,0.00,0.000,6,0.170,0.000,1856,2307,3406
$GC,9762,-0.85,-117.3,730.9,-3.9,286,9766,0.15,2.25,0.00,0.000,4,0.059,0.046,1780,895,3405
$GC,9795,-0.70,-117.3,733.2,-7.7,286,9799,0.28,2.22,0.00,0.000,6,0.123,0.041,1854,2306,3405
$GC,10121,-0.86,-117.3,748.0,-4.5,292,10123,0.15,0.00,0.00,0.000,6,0.064,0.000,1784,2307,3405
$GC,10424,-0.72,-117.3,772.6,-8.3,297,10429,0.20,2.25,0.00,0.000,4,0.127,0.050,1848,893,3405
$GC,10463,-0.86,-117.3,775.5,-6.6,297,10467,0.12,2.22,0.00,0.000,6,0.070,0.043,1790,2304,3404
$GC,10783,-0.75,-117.3,802.1,-8.5,303,10785,0.17,0.00,0.00,0.000,6,0.130,0.000,1842,2304,3405
$GC,11086,-0.87,-117.3,820.7,-6.0,308,11091,0.12,2.25,0.00,0.000,4,0.071,0.051,1787,891,3404
$GC,11150,-0.75,-117.3,826.1,-10.0,309,11154,0.20,2.22,0.00,0.000,6,0.130,0.043,1836,2303,3404
$GC,11515,-0.85,-117.3,846.6,-5.4,315,11517,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2302,3404
$GC,11819,-0.95,-117.3,860.4,-4.5,320,11821,0.15,0.00,0.00,0.000,6,0.073,0.000,1774,2302,3404
$GC,12122,-0.78,-117.3,882.2,-7.3,325,12126,0.17,2.25,0.00,0.000,4,0.137,0.051,1831,892,3404
$GC,12160,-0.85,-117.3,884.5,-5.1,325,12164,0.00,2.22,0.00,0.000,6,0.000,0.043,1823,2301,3404
$GC,12481,-0.85,-117.3,899.9,-4.8,331,12485,0.00,2.25,0.00,0.000,4,0.000,0.054,1823,895,3404
$GC,12525,-0.85,-117.3,902.5,-6.1,331,12529,0.00,2.22,0.00,0.000,6,0.000,0.045,1813,2304,3404
$GC,12839,-0.85,-117.3,920.4,-5.8,337,12843,0.00,2.25,0.00,0.000,4,0.000,0.050,1814,892,3403
$GC,12889,-0.85,-117.3,923.8,-7.1,337,12893,0.00,2.25,0.00,0.000,6,0.000,0.044,1806,2314,3403
$GC,13204,-0.85,-117.3,944.4,-6.6,343,13208,0.00,2.25,0.00,0.000,4,0.000,0.051,1806,899,3404
$GC,13249,-0.85,-117.3,947.8,-7.7,343,13253,0.00,2.22,0.00,0.000,6,0.000,0.046,1797,2308,3403
$GC,13570,-0.78,-117.3,970.9,-7.2,349,13575,0.12,2.28,0.00,0.000,4,0.145,0.051,1831,894,3404
$GC,13603,-0.86,-117.3,973.3,-6.5,349,13607,0.00,2.22,0.00,0.000,6,0.000,0.044,1824,2302,3403
$STATE,13926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13927,begin apogee
$GC,13933,-0.22,0.0,993.3,6.2,355,14028,0.40,0.00,92.72,1.334,6,0.123,0.000,1950,2304,2931
$STATE,14029,end apogee,CONTROL_FINISHED_OK
$STATE,14029,begin climb
$GC,14031,0.68,117.3,994.8,0.0,356,14138,0.60,2.55,98.60,1.305,4,0.082,0.057,2150,3707,2449
$GC,14168,0.25,117.3,991.5,7.4,358,14175,0.43,2.35,0.00,0.000,6,0.183,0.037,2056,2313,2446
$GC,14479,0.46,164.0,979.1,3.9,364,14523,0.15,2.45,38.88,1.268,4,0.069,0.052,2121,894,2261
$GC,14587,0.35,164.0,972.7,6.5,365,14592,0.17,2.35,0.00,0.000,6,0.143,0.043,2076,2305,2257
$GC,14908,0.44,188.4,957.5,4.7,371,14934,0.00,2.38,21.08,1.227,4,0.000,0.054,2076,3717,2162
$GC,14979,0.52,203.8,953.7,5.0,372,14999,0.10,2.30,14.77,1.177,6,0.071,0.035,2128,2298,2100
$GC,15332,0.39,203.8,926.3,8.0,378,15334,0.17,0.00,0.00,0.000,6,0.150,0.000,2081,2298,2093
$GC,15636,0.50,216.5,910.4,5.1,383,15654,0.10,2.38,11.45,1.141,4,0.078,0.058,2135,892,2047
$GC,15665,0.44,216.5,908.3,7.3,383,15670,0.15,2.30,0.00,0.000,6,0.140,0.044,2095,2311,2046
$GC,15998,0.48,216.5,889.0,5.8,389,16002,0.00,2.28,0.00,0.000,4,0.000,0.057,2095,3713,2044
$GC,16041,0.48,216.5,885.8,7.1,389,16045,0.00,2.22,0.00,0.000,6,0.000,0.035,2102,2304,2043
$GC,16363,0.48,216.5,864.0,6.9,395,16364,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2303,2043
$GC,16666,0.48,216.5,843.7,6.7,400,16670,0.00,2.28,0.00,0.000,4,0.000,0.052,2102,3713,2042
$GC,16705,0.44,216.5,840.7,7.7,400,16709,0.00,2.22,0.00,0.000,6,0.000,0.041,2113,2302,2042
$GC,17026,0.39,216.5,818.9,6.7,406,17031,0.12,2.28,0.00,0.000,4,0.157,0.052,2080,3713,2042
$GC,17058,0.45,216.5,816.8,5.6,406,17062,0.00,2.20,0.00,0.000,6,0.000,0.040,2089,2302,2042
$GC,17393,0.55,233.0,800.4,4.9,412,17410,0.10,0.00,14.75,1.129,6,0.077,0.000,2142,2302,1981
$GC,17695,0.41,233.0,775.9,8.3,417,17697,0.20,0.00,0.00,0.000,6,0.145,0.000,2087,2301,1977
$GC,17997,0.55,246.5,760.4,5.0,422,18017,0.12,2.35,12.45,1.079,4,0.064,0.055,2147,3713,1925
$GC,18040,0.37,246.5,756.8,11.1,422,18045,0.28,2.25,0.00,0.000,6,0.151,0.041,2080,2293,1924
$GC,18360,0.79,246.5,738.5,5.8,428,18365,0.25,2.33,0.00,0.000,4,0.067,0.055,2177,3722,1921
$GC,18398,0.79,246.5,735.6,8.4,428,18402,0.00,2.25,0.00,0.000,6,0.000,0.039,2185,2297,1921
$GC,18726,0.46,246.5,697.7,12.1,434,18730,0.28,2.30,0.00,0.000,4,0.158,0.053,2103,3722,1921
$GC,18749,0.28,246.5,695.4,10.4,434,18753,0.20,2.22,0.00,0.000,6,0.133,0.036,2053,2301,1921
$GC,19086,0.87,246.5,672.5,7.6,440,19091,0.38,2.25,0.00,0.000,4,0.068,0.053,2196,884,1920
$GC,19114,1.07,246.5,670.1,8.4,440,19119,0.12,2.25,0.00,0.000,6,0.059,0.047,2263,2306,1920
$GC,19446,0.43,246.5,612.7,18.3,446,19451,0.57,2.25,0.00,0.000,4,0.182,0.054,2097,3711,1920
$GC,19536,0.47,246.5,605.2,7.2,447,19540,0.00,2.20,0.00,0.000,6,0.000,0.039,2105,2300,1920
$GC,19874,0.54,250.8,587.6,5.4,453,19883,0.00,2.25,4.47,0.729,4,0.000,0.053,2115,892,1908
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$STATE,28296,end climb,SURFACE_DEPTH_REACHED
$STATE,28297,begin surface coast
$FINISH,1.0,1.024254
$STATE,28349,end surface coast,CONTROL_FINISHED_OK
$STATE,28349,begin surface
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$HUMID,1667
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$TCM_TEMP,16.90
$XPDR_PINGS,81
$24V_AH,23.1,26.698
$10V_AH,10.7,21.382
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$DEVICE_SECS,30.800,229.250,356.875,0.000,0.000,31.486,28.312,163.342,20.250,0.000,0.000,15.432,1768.588,23477.242,521.288,2375.089,622.131,33.380,1705.686,0.000,2372.621,0.000,0.528,0.000
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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,47614,772
$CAP_FILE_SIZE,199299,0
$CFSIZE,260165632,245616640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,070809,005925,5010.866,-14441.979,30,1.2,48,18.6