version: 66.04
glider: 144
mission: 15
dive: 180
start: 8 10 109 18 37 2
data:
$ID,144
$MISSION,15
$DIVE,180
$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,-64512.867
$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,32
$R_STBD_OVSHOOT,31
$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
$GPS1,183036,4957.549,-14429.844,39,1.7,44,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-62.3
$GPS2,183608,4957.549,-14429.770,10,2.0,16,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.023,-0.167
$KALMAN_X,-81618.2,-27.6,-4.7,118651.9,766.5
$KALMAN_Y,70381.5,-127.4,-33.2,-74200.2,646.7
$MHEAD_RNG_PITCHd_Wd,169.3,6552,-12.2,-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,17,-0.68,-117.3,0.0,0.0,0,71,0.00,0.00,-52.03,0.000,2,0.000,0.000,100,2294,2850
$GC,74,-0.68,-117.3,3.9,-5.6,5,98,7.18,2.33,-11.38,0.000,4,0.246,0.066,1835,3708,3413
$GC,260,-0.49,-117.3,34.7,-11.7,21,268,0.20,2.20,0.00,0.000,6,0.124,0.030,1894,2291,3414
$GC,587,-0.56,-117.3,59.3,-7.2,52,591,0.00,2.20,0.00,0.000,4,0.000,0.042,1894,889,3416
$GC,644,-0.68,-117.3,63.8,-7.2,57,649,0.12,2.22,0.00,0.000,6,0.058,0.037,1820,2308,3416
$GC,975,-0.47,-117.3,103.5,-12.6,79,977,0.28,0.00,0.00,0.000,6,0.133,0.000,1902,2308,3417
$GC,1284,-0.61,-117.3,123.9,-6.0,94,1289,0.12,2.22,0.00,0.000,4,0.057,0.041,1822,895,3417
$GC,1362,-0.49,-117.3,132.0,-11.0,97,1369,0.28,2.20,0.00,0.000,6,0.120,0.038,1895,2305,3417
$GC,1679,-0.66,-117.3,150.2,-5.0,113,1683,0.12,2.20,0.00,0.000,4,0.058,0.046,1818,892,3417
$GC,1706,-0.59,-117.3,152.5,-8.0,113,1713,0.22,2.22,0.00,0.000,6,0.121,0.041,1876,2312,3417
$GC,2018,-0.71,-117.3,171.2,-5.9,124,2023,0.12,2.25,0.00,0.000,4,0.061,0.041,1803,893,3416
$GC,2059,-0.53,-117.3,174.5,-9.3,125,2063,0.30,2.22,0.00,0.000,6,0.121,0.044,1887,2305,3416
$GC,2388,-0.71,-117.3,191.2,-4.8,136,2393,0.15,2.22,0.00,0.000,4,0.052,0.041,1795,891,3416
$GC,2422,-0.54,-117.3,193.8,-9.3,137,2427,0.32,2.22,0.00,0.000,6,0.123,0.039,1887,2310,3416
$GC,2763,-0.73,-117.3,209.2,-4.2,148,2768,0.15,2.22,0.00,0.000,4,0.052,0.042,1795,895,3415
$GC,2790,-0.64,-117.3,211.3,-8.3,148,2797,0.25,2.22,0.00,0.000,6,0.123,0.038,1862,2315,3415
$GC,3104,-0.73,-117.3,228.2,-5.4,159,3108,0.00,2.25,0.00,0.000,4,0.000,0.050,1862,890,3414
$GC,3131,-0.83,-117.3,230.0,-6.3,159,3138,0.15,2.22,0.00,0.000,6,0.054,0.040,1780,2307,3414
$GC,3444,-0.59,-117.3,264.0,-11.5,170,3449,0.28,2.22,0.00,0.000,4,0.131,0.044,1869,895,3414
$GC,3479,-0.70,-117.3,267.1,-7.6,171,3483,0.00,2.20,0.00,0.000,6,0.000,0.040,1863,2304,3414
$GC,3820,-0.80,-117.3,289.2,-6.4,182,3822,0.12,0.00,0.00,0.000,6,0.058,0.000,1781,2305,3413
$GC,4124,-0.59,-117.3,322.9,-11.4,189,4129,0.28,2.25,0.00,0.000,4,0.127,0.045,1870,892,3413
$GC,4162,-0.74,-117.3,326.1,-6.8,189,4167,0.10,2.22,0.00,0.000,6,0.067,0.041,1796,2306,3413
$GC,4483,-0.60,-117.3,357.5,-10.0,195,4488,0.22,2.25,0.00,0.000,4,0.127,0.046,1870,891,3412
$GC,4521,-0.76,-117.3,360.5,-6.4,195,4526,0.10,2.22,0.00,0.000,6,0.067,0.040,1803,2305,3412
$GC,4842,-0.64,-117.3,390.8,-9.6,201,4844,0.20,0.00,0.00,0.000,6,0.123,0.000,1863,2305,3411
$GC,5146,-0.78,-117.3,410.1,-6.2,206,5150,0.12,2.22,0.00,0.000,4,0.061,0.044,1788,899,3411
$GC,5173,-0.68,-117.3,412.6,-9.5,206,5178,0.25,2.22,0.00,0.000,6,0.125,0.041,1854,2314,3411
$GC,5505,-0.79,-117.3,434.2,-6.4,212,5506,0.10,0.00,0.00,0.000,6,0.073,0.000,1793,2314,3410
$GC,5808,-0.64,-117.3,461.3,-9.1,217,5813,0.20,2.25,0.00,0.000,4,0.126,0.048,1858,899,3410
$GC,5863,-0.79,-117.3,465.1,-6.8,217,5870,0.05,2.25,0.00,0.000,6,0.063,0.046,1797,2307,3410
$GC,6173,-0.68,-117.3,490.1,-8.3,223,6175,0.20,0.00,0.00,0.000,6,0.127,0.000,1856,2308,3410
$GC,6476,-0.81,-117.3,507.3,-5.6,228,6478,0.12,0.00,0.00,0.000,6,0.059,0.000,1782,2308,3409
$GC,6779,-0.62,-117.3,536.8,-10.0,233,6784,0.25,2.28,0.00,0.000,4,0.125,0.048,1864,891,3409
$GC,6819,-0.79,-117.3,539.9,-6.8,233,6824,0.12,2.25,0.00,0.000,6,0.060,0.041,1790,2312,3409
$GC,7141,-0.66,-117.3,570.7,-9.8,239,7146,0.20,2.28,0.00,0.000,4,0.126,0.048,1856,890,3408
$GC,7185,-0.80,-117.3,574.4,-7.1,239,7189,0.10,2.25,0.00,0.000,6,0.070,0.042,1784,2315,3409
$GC,7500,-0.65,-117.3,603.0,-9.2,245,7505,0.20,2.25,0.00,0.000,4,0.128,0.053,1849,3714,3408
$GC,7533,-0.78,-117.3,605.4,-6.0,245,7537,0.00,2.20,0.00,0.000,6,0.000,0.037,1849,2296,3408
$GC,7867,-0.91,-117.3,621.9,-4.8,251,7869,0.15,0.00,0.00,0.000,6,0.058,0.000,1765,2295,3408
$GC,8169,-0.68,-117.3,649.5,-9.4,256,8173,0.25,2.20,0.00,0.000,4,0.131,0.046,1846,899,3407
$GC,8202,-0.76,-117.3,651.9,-6.2,256,8206,0.00,2.22,0.00,0.000,6,0.000,0.047,1839,2314,3408
$GC,8529,-0.85,-117.3,668.2,-4.9,262,8534,0.08,2.25,0.00,0.000,4,0.087,0.048,1784,897,3407
$GC,8573,-0.69,-117.3,671.6,-8.5,262,8578,0.25,2.22,0.00,0.000,6,0.124,0.044,1850,2307,3407
$GC,8891,-0.83,-117.3,688.3,-5.2,268,8892,0.12,0.00,0.00,0.000,6,0.064,0.000,1780,2307,3407
$GC,9191,-0.66,-117.3,715.4,-9.1,273,9196,0.22,2.25,0.00,0.000,4,0.126,0.051,1854,900,3406
$GC,9235,-0.82,-117.3,718.6,-6.9,273,9240,0.10,2.22,0.00,0.000,6,0.074,0.045,1796,2310,3406
$GC,9551,-0.73,-117.3,743.3,-7.9,279,9553,0.15,0.00,0.00,0.000,6,0.126,0.000,1840,2311,3406
$GC,9853,-0.84,-117.3,760.1,-5.4,284,9858,0.10,2.28,0.00,0.000,4,0.077,0.047,1790,890,3406
$GC,9892,-0.71,-117.3,763.1,-8.1,284,9896,0.22,2.25,0.00,0.000,6,0.124,0.043,1849,2312,3406
$GC,10213,-0.86,-117.3,779.5,-5.0,290,10215,0.12,0.00,0.00,0.000,6,0.071,0.000,1791,2312,3406
$GC,10515,-0.75,-117.3,803.0,-7.9,295,10520,0.15,2.28,0.00,0.000,4,0.129,0.054,1836,893,3406
$GC,10554,-0.84,-117.3,805.7,-7.1,295,10558,0.00,2.25,0.00,0.000,6,0.000,0.042,1836,2313,3406
$GC,10875,-0.92,-117.3,823.9,-5.7,301,10877,0.12,0.00,0.00,0.000,6,0.074,0.000,1778,2313,3406
$GC,11178,-0.77,-117.3,849.9,-8.7,306,11182,0.17,2.30,0.00,0.000,4,0.133,0.048,1834,892,3405
$GC,11205,-0.77,-117.3,852.0,-6.9,306,11209,0.00,2.25,0.00,0.000,6,0.000,0.048,1826,2307,3405
$GC,11537,-0.81,-117.3,873.2,-6.4,312,11541,0.00,2.25,0.00,0.000,4,0.000,0.052,1827,900,3405
$GC,11582,-0.86,-117.3,876.3,-7.2,312,11586,0.00,2.22,0.00,0.000,6,0.000,0.048,1823,2302,3405
$GC,11898,-0.86,-117.3,895.6,-6.1,318,11902,0.00,2.25,0.00,0.000,4,0.000,0.050,1823,898,3405
$GC,11931,-0.86,-117.3,897.9,-7.1,318,11935,0.00,2.25,0.00,0.000,6,0.000,0.042,1813,2298,3405
$GC,12265,-0.86,-117.3,918.6,-6.2,324,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2298,3405
$GC,12566,-0.86,-117.3,936.7,-5.9,329,12570,0.00,2.25,0.00,0.000,4,0.000,0.055,1813,894,3405
$GC,12605,-0.86,-117.3,939.2,-6.6,329,12609,0.00,2.25,0.00,0.000,6,0.000,0.045,1808,2309,3405
$GC,12936,-0.86,-117.3,959.2,-6.1,335,12938,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3404
$GC,13240,-0.86,-117.3,977.8,-6.1,340,13244,0.00,2.28,0.00,0.000,4,0.000,0.052,1808,892,3404
$GC,13339,-0.86,-117.3,985.0,-7.9,341,13343,0.00,2.25,0.00,0.000,6,0.000,0.044,1799,2305,3404
$STATE,13428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13429,begin apogee
$GC,13434,-0.22,0.0,991.0,6.9,343,13530,0.50,0.00,93.35,1.330,6,0.129,0.000,1956,2305,2931
$STATE,13531,end apogee,CONTROL_FINISHED_OK
$STATE,13531,begin climb
$GC,13534,0.68,117.3,992.2,0.0,344,13640,0.57,2.53,98.85,1.298,4,0.077,0.057,2150,3716,2451
$GC,13658,0.35,117.3,989.3,5.9,346,13663,0.35,2.38,0.00,0.000,6,0.185,0.035,2077,2315,2448
$GC,13973,0.39,153.1,975.3,4.3,352,14009,0.00,2.45,30.15,1.249,4,0.000,0.058,2086,891,2305
$GC,14033,0.51,199.1,972.7,4.0,353,14079,0.10,2.38,40.60,1.252,6,0.082,0.043,2125,2310,2119
$GC,14395,0.40,199.1,946.7,7.4,359,14400,0.15,2.33,0.00,0.000,4,0.155,0.058,2086,3712,2110
$GC,14445,0.40,199.1,943.3,6.4,359,14449,0.00,2.30,0.00,0.000,6,0.000,0.043,2094,2291,2109
$GC,14755,0.45,206.4,927.0,5.3,364,14763,0.00,0.00,6.07,0.967,6,0.000,0.000,2094,2291,2089
$GC,15058,0.51,215.1,911.1,5.2,369,15073,0.00,2.33,9.07,1.084,4,0.000,0.058,2093,3712,2054
$GC,15096,0.51,215.1,908.7,6.1,369,15100,0.00,2.28,0.00,0.000,6,0.000,0.035,2103,2293,2053
$GC,15422,0.51,215.1,888.7,6.2,375,15423,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2292,2051
$GC,15725,0.51,215.1,869.2,6.5,380,15726,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2292,2051
$GC,16028,0.51,215.1,849.5,6.4,385,16029,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2292,2050
$GC,16331,0.51,215.1,831.0,6.0,390,16335,0.00,2.30,0.00,0.000,4,0.000,0.058,2103,3712,2050
$GC,16358,0.51,215.1,829.1,6.8,390,16362,0.00,2.22,0.00,0.000,6,0.000,0.040,2113,2300,2049
$GC,16690,0.51,215.1,807.7,6.4,396,16691,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2300,2049
$GC,16992,0.51,215.1,788.1,6.4,401,16994,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2300,2048
$GC,17295,0.51,215.1,769.1,6.2,406,17297,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2300,2048
$GC,17599,0.51,215.1,749.7,6.5,411,17603,0.00,2.28,0.00,0.000,4,0.000,0.051,2113,3712,2048
$GC,17644,0.43,215.1,746.2,7.2,411,17649,0.12,2.22,0.00,0.000,6,0.156,0.036,2091,2295,2048
$GC,17961,0.53,224.4,729.3,5.2,417,17976,0.08,2.30,8.77,1.004,4,0.086,0.051,2149,894,2015
$GC,17993,0.44,224.4,727.0,7.6,417,17998,0.20,2.25,0.00,0.000,6,0.136,0.044,2092,2309,2015
$GC,18325,0.56,235.6,709.5,5.1,423,18342,0.10,2.28,11.07,1.029,4,0.068,0.054,2147,3716,1969
$GC,18381,0.35,235.6,704.6,9.9,423,18388,0.30,2.25,0.00,0.000,6,0.149,0.035,2072,2296,1968
$GC,18692,0.81,235.6,687.1,5.8,429,18694,0.32,0.00,0.00,0.000,6,0.063,0.000,2191,2296,1965
$GC,18994,0.57,235.6,656.9,10.7,434,18999,0.22,2.30,0.00,0.000,4,0.155,0.054,2124,3714,1965
$GC,19033,0.46,235.6,652.8,9.4,434,19037,0.12,2.22,0.00,0.000,6,0.150,0.035,2101,2300,1965
$GC,19353,0.54,235.6,634.8,5.5,440,19357,0.00,2.28,0.00,0.000,4,0.000,0.049,2110,888,1965
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$STATE,28019,end climb,SURFACE_DEPTH_REACHED
$STATE,28019,begin surface coast
$FINISH,1.0,1.006151
$STATE,28052,end surface coast,CONTROL_FINISHED_OK
$STATE,28052,begin surface
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$HUMID,1678
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$TCM_TEMP,16.50
$XPDR_PINGS,76
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$10V_AH,10.7,22.889
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44375,742
$CAP_FILE_SIZE,199498,0
$CFSIZE,260165632,244637696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,110809,022724,4954.461,-14430.427,40,1.8,57,18.5