version: 66.04
glider: 144
mission: 15
dive: 241
start: 8 29 109 23 35 8
data:
$ID,144
$MISSION,15
$DIVE,241
$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,-65622.109
$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,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
$GPS1,232826,5018.708,-14510.684,36,2.1,55,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-59.7
$GPS2,233415,5018.681,-14510.603,10,1.8,17,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.010,-0.167
$KALMAN_X,-12031.3,139.4,232.7,11613.7,-626.1
$KALMAN_Y,3524.7,418.3,148.1,-8351.8,-1242.8
$MHEAD_RNG_PITCHd_Wd,157.9,45716,-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,-117.3,0.0,0.0,0,60,0.00,0.00,-41.33,0.000,2,0.000,0.000,100,2302,2574
$GC,63,-0.68,-117.3,3.1,-3.9,4,97,7.00,2.30,-20.95,0.000,4,0.234,0.065,1840,3706,3411
$GC,182,-0.49,-117.3,19.5,-14.1,14,189,0.20,2.20,0.00,0.000,6,0.119,0.029,1899,2288,3412
$GC,509,-0.61,-117.3,46.8,-6.4,45,513,0.12,2.20,0.00,0.000,4,0.056,0.039,1819,892,3413
$GC,767,-0.46,-117.3,76.4,-11.6,68,772,0.30,2.22,0.00,0.000,6,0.123,0.036,1900,2314,3414
$GC,1085,-0.60,-117.3,98.5,-7.2,85,1089,0.12,2.25,0.00,0.000,4,0.058,0.039,1822,887,3415
$GC,1192,-0.47,-117.3,111.4,-12.6,90,1197,0.30,2.22,0.00,0.000,6,0.121,0.040,1902,2303,3415
$GC,1519,-0.64,-117.3,132.3,-5.3,106,1524,0.15,2.22,0.00,0.000,4,0.051,0.039,1809,888,3415
$GC,1547,-0.56,-117.3,134.7,-9.3,107,1551,0.28,2.22,0.00,0.000,6,0.123,0.044,1881,2303,3415
$GC,1883,-0.70,-117.3,153.6,-5.5,122,1887,0.12,2.25,0.00,0.000,4,0.059,0.052,1794,3716,3415
$GC,1923,-0.52,-117.3,157.2,-10.8,123,1928,0.30,2.17,0.00,0.000,6,0.118,0.037,1886,2302,3415
$GC,2252,-0.71,-117.3,177.1,-5.8,134,2257,0.15,2.22,0.00,0.000,4,0.054,0.041,1791,889,3414
$GC,2308,-0.54,-117.3,182.4,-10.4,135,2313,0.32,2.25,0.00,0.000,6,0.122,0.043,1881,2313,3414
$GC,2622,-0.72,-117.3,199.0,-4.9,145,2623,0.12,0.00,0.00,0.000,6,0.059,0.000,1799,2313,3414
$GC,2927,-0.57,-117.3,226.4,-9.2,155,2932,0.22,2.28,0.00,0.000,4,0.120,0.042,1871,888,3413
$GC,2965,-0.72,-117.3,229.0,-5.8,156,2969,0.00,2.25,0.00,0.000,6,0.000,0.043,1864,2311,3413
$GC,3290,-0.84,-117.3,248.3,-6.3,167,3294,0.15,2.25,0.00,0.000,4,0.055,0.042,1771,895,3413
$GC,3318,-0.68,-117.3,251.2,-10.7,168,3323,0.30,2.22,0.00,0.000,6,0.129,0.044,1852,2304,3413
$GC,3653,-0.76,-117.3,276.0,-7.2,179,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2305,3412
$GC,3959,-0.84,-117.3,297.8,-6.8,189,3964,0.12,2.22,0.00,0.000,4,0.063,0.042,1781,892,3412
$GC,4037,-0.66,-117.3,305.7,-10.6,191,4042,0.30,2.22,0.00,0.000,6,0.121,0.044,1862,2302,3412
$GC,4386,-0.79,-117.3,326.1,-5.6,197,4388,0.12,0.00,0.00,0.000,6,0.061,0.000,1787,2302,3411
$GC,4689,-0.62,-117.3,355.7,-10.0,202,4694,0.22,2.25,0.00,0.000,4,0.124,0.044,1861,892,3410
$GC,4729,-0.78,-117.3,358.5,-6.3,202,4734,0.12,2.25,0.00,0.000,6,0.059,0.040,1783,2309,3410
$GC,5050,-0.62,-117.3,388.4,-9.4,208,5052,0.28,0.00,0.00,0.000,6,0.168,0.000,1864,2309,3410
$GC,5353,-0.77,-117.3,404.0,-4.8,213,5355,0.12,0.00,0.00,0.000,6,0.061,0.000,1785,2309,3409
$GC,5656,-0.62,-117.3,430.3,-8.9,218,5660,0.22,2.25,0.00,0.000,4,0.123,0.044,1860,894,3409
$GC,5700,-0.78,-117.3,433.3,-5.7,218,5705,0.10,2.25,0.00,0.000,6,0.071,0.039,1791,2313,3409
$GC,6017,-0.66,-117.3,458.5,-8.2,224,6021,0.17,2.25,0.00,0.000,4,0.125,0.045,1851,891,3408
$GC,6055,-0.78,-117.3,461.3,-6.2,224,6059,0.00,2.22,0.00,0.000,6,0.000,0.044,1850,2302,3408
$GC,6381,-0.89,-117.3,479.2,-5.6,230,6383,0.15,0.00,0.00,0.000,6,0.055,0.000,1765,2302,3407
$GC,6684,-0.67,-117.3,508.4,-9.8,235,6689,0.28,2.25,0.00,0.000,4,0.127,0.048,1854,897,3407
$GC,6717,-0.78,-117.3,510.6,-5.7,235,6721,0.00,2.22,0.00,0.000,6,0.000,0.046,1850,2308,3407
$GC,7051,-0.90,-117.3,525.2,-4.4,241,7056,0.15,2.25,0.00,0.000,4,0.053,0.055,1755,3712,3407
$GC,7084,-0.66,-117.3,527.8,-8.8,241,7089,0.32,2.17,0.00,0.000,6,0.127,0.033,1854,2296,3407
$GC,7417,-0.80,-117.3,541.0,-3.8,247,7421,0.10,2.22,0.00,0.000,4,0.071,0.049,1790,897,3406
$GC,7444,-0.73,-117.3,542.8,-7.0,247,7449,0.20,2.22,0.00,0.000,6,0.128,0.039,1839,2305,3406
$GC,7776,-0.82,-117.3,559.1,-4.7,253,7780,0.00,2.25,0.00,0.000,4,0.000,0.047,1839,896,3406
$GC,7804,-0.91,-117.3,560.8,-5.9,253,7808,0.12,2.25,0.00,0.000,6,0.060,0.040,1766,2314,3406
$GC,8141,-0.72,-117.3,590.9,-9.1,259,8146,0.22,2.28,0.00,0.000,4,0.129,0.050,1839,894,3406
$GC,8174,-0.79,-117.3,593.4,-7.0,259,8178,0.00,2.25,0.00,0.000,6,0.000,0.041,1837,2309,3406
$GC,8507,-0.87,-117.3,611.6,-5.5,265,8511,0.10,2.25,0.00,0.000,4,0.070,0.045,1776,893,3405
$GC,8545,-0.70,-117.3,614.9,-9.7,265,8550,0.28,2.25,0.00,0.000,6,0.124,0.044,1850,2308,3405
$GC,8866,-0.84,-117.3,631.9,-5.2,271,8871,0.12,2.28,0.00,0.000,4,0.064,0.050,1771,3718,3406
$GC,8899,-0.68,-117.3,634.5,-8.6,271,8903,0.28,2.20,0.00,0.000,6,0.123,0.035,1855,2303,3404
$GC,9226,-0.84,-117.3,651.2,-4.9,277,9228,0.12,0.00,0.00,0.000,6,0.063,0.000,1779,2303,3405
$GC,9528,-0.70,-117.3,676.8,-8.7,282,9532,0.20,2.25,0.00,0.000,4,0.124,0.049,1845,899,3404
$GC,9555,-0.77,-117.3,678.7,-6.6,282,9559,0.00,2.22,0.00,0.000,6,0.000,0.046,1838,2303,3404
$GC,9887,-0.87,-117.3,697.9,-5.7,288,9889,0.10,0.00,0.00,0.000,6,0.072,0.000,1771,2303,3404
$GC,10190,-0.70,-117.3,725.1,-9.2,293,10195,0.22,2.28,0.00,0.000,4,0.124,0.048,1845,892,3405
$GC,10245,-0.85,-117.3,728.8,-6.0,293,10252,0.10,2.25,0.00,0.000,6,0.073,0.040,1781,2305,3404
$GC,10555,-0.73,-117.3,753.6,-8.1,299,10560,0.20,2.25,0.00,0.000,4,0.122,0.056,1839,3709,3404
$GC,10576,-0.73,-117.3,755.2,-6.6,299,10580,0.00,2.17,0.00,0.000,6,0.000,0.035,1839,2305,3404
$GC,10920,-0.86,-117.3,770.4,-4.3,305,10922,0.10,0.00,0.00,0.000,6,0.078,0.000,1782,2304,3404
$GC,11224,-0.74,-117.3,791.4,-7.0,310,11228,0.17,2.28,0.00,0.000,4,0.122,0.052,1841,892,3404
$GC,11251,-0.81,-117.3,793.2,-5.8,310,11255,0.00,2.25,0.00,0.000,6,0.000,0.041,1837,2303,3404
$GC,11589,-0.92,-117.3,807.8,-4.3,316,11591,0.12,0.00,0.00,0.000,6,0.068,0.000,1776,2303,3404
$GC,11892,-0.79,-117.3,830.2,-7.6,321,11894,0.17,0.00,0.00,0.000,6,0.127,0.000,1828,2304,3404
$GC,12196,-0.87,-117.3,846.8,-5.4,326,12200,0.00,2.28,0.00,0.000,4,0.000,0.054,1828,891,3403
$GC,12223,-0.96,-117.3,848.7,-5.8,326,12228,0.12,2.25,0.00,0.000,6,0.068,0.046,1768,2302,3404
$GC,12555,-0.79,-117.3,877.4,-8.9,332,12560,0.17,2.30,0.00,0.000,4,0.135,0.053,1816,3711,3403
$GC,12577,-0.74,-117.3,879.2,-7.8,332,12581,0.10,2.20,0.00,0.000,6,0.120,0.035,1843,2305,3403
$GC,12914,-0.88,-117.3,897.8,-5.5,338,12919,0.12,2.28,0.00,0.000,4,0.074,0.048,1789,892,3403
$GC,12947,-0.80,-117.3,900.5,-8.4,338,12952,0.17,2.25,0.00,0.000,6,0.134,0.041,1828,2301,3403
$GC,13274,-0.89,-117.3,921.5,-6.4,344,13278,0.00,2.28,0.00,0.000,4,0.000,0.052,1828,895,3403
$GC,13295,-0.97,-117.3,923.2,-6.5,344,13300,0.12,2.25,0.00,0.000,6,0.071,0.042,1770,2305,3403
$GC,13633,-0.82,-117.3,953.0,-8.9,350,13637,0.17,2.28,0.00,0.000,4,0.137,0.053,1817,3710,3403
$GC,13666,-0.88,-117.3,955.4,-6.7,350,13670,0.00,2.22,0.00,0.000,6,0.000,0.037,1818,2294,3403
$GC,13992,-0.92,-117.3,976.2,-6.3,356,13996,0.00,2.28,0.00,0.000,4,0.000,0.055,1817,888,3403
$GC,14019,-0.92,-117.3,978.2,-7.0,356,14023,0.00,2.28,0.00,0.000,6,0.000,0.047,1808,2312,3403
$STATE,14234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14234,begin apogee
$GC,14240,-0.22,0.0,992.2,6.5,360,14337,0.47,0.00,94.28,1.322,6,0.130,0.000,1953,2312,2931
$STATE,14337,end apogee,CONTROL_FINISHED_OK
$STATE,14338,begin climb
$GC,14340,0.68,117.3,993.3,0.0,361,14447,0.55,2.53,100.20,1.292,4,0.076,0.055,2148,3709,2451
$GC,14481,0.27,117.3,988.8,7.7,363,14486,0.40,2.38,0.00,0.000,6,0.173,0.036,2059,2310,2447
$GC,14824,0.47,143.6,973.0,4.6,369,14854,0.15,2.45,22.05,1.223,4,0.072,0.055,2125,893,2344
$GC,14899,0.36,143.6,968.6,6.2,370,14904,0.17,2.33,0.00,0.000,6,0.146,0.043,2080,2301,2342
$GC,15259,0.38,161.1,950.9,4.9,376,15279,0.00,2.33,15.55,1.183,4,0.000,0.058,2080,3710,2274
$GC,15331,0.38,161.1,946.7,6.0,377,15335,0.00,2.28,0.00,0.000,6,0.000,0.040,2087,2297,2272
$GC,15685,0.40,178.3,929.0,4.9,383,15706,0.00,2.35,15.95,1.181,4,0.000,0.051,2087,3713,2202
$GC,15728,0.41,183.1,926.6,5.3,383,15738,0.00,2.28,5.65,0.922,6,0.000,0.037,2097,2295,2184
$GC,16043,0.42,192.7,910.0,5.2,388,16057,0.00,2.35,9.52,1.089,4,0.000,0.053,2096,3713,2145
$GC,16075,0.42,192.7,908.0,5.5,388,16079,0.00,2.28,0.00,0.000,6,0.000,0.038,2106,2296,2144
$GC,16407,0.42,192.7,888.6,5.9,394,16408,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2295,2142
$GC,16710,0.42,192.7,870.6,6.0,399,16714,0.00,2.33,0.00,0.000,4,0.000,0.052,2106,3716,2142
$GC,16737,0.37,192.7,868.6,6.1,399,16742,0.15,2.25,0.00,0.000,6,0.154,0.036,2077,2302,2141
$GC,17069,0.53,202.1,851.5,5.2,405,17081,0.15,0.00,9.20,1.063,6,0.071,0.000,2136,2302,2107
$GC,17372,0.66,202.1,831.0,6.8,410,17376,0.00,2.28,0.00,0.000,4,0.000,0.052,2143,893,2105
$GC,17502,0.57,202.1,821.7,6.6,412,17506,0.00,2.25,0.00,0.000,6,0.000,0.047,2143,2305,2104
$GC,17873,0.41,202.1,792.4,8.0,418,17878,0.20,2.28,0.00,0.000,4,0.146,0.052,2084,3713,2104
$GC,17912,0.48,202.8,790.0,5.5,418,17916,0.00,2.22,0.00,0.000,6,0.000,0.035,2091,2294,2103
$GC,18233,0.59,231.3,775.2,4.5,424,18262,0.12,0.00,26.55,1.145,6,0.063,0.000,2154,2294,1987
$GC,18536,0.42,231.3,751.7,8.0,429,18538,0.22,0.00,0.00,0.000,6,0.138,0.000,2091,2294,1981
$GC,18839,0.60,269.6,738.5,4.2,434,18875,0.15,0.00,33.62,1.124,6,0.058,0.000,2161,2294,1831
$GC,19143,0.45,269.6,712.6,8.9,439,19147,0.20,2.35,0.00,0.000,4,0.133,0.054,2100,3720,1825
$GC,19169,0.45,269.6,710.4,6.6,439,19174,0.00,2.28,0.00,0.000,6,0.000,0.034,2108,2306,1824
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$STATE,28925,end climb,SURFACE_DEPTH_REACHED
$STATE,28925,begin surface coast
$FINISH,0.9,1.015614
$STATE,28938,end surface coast,CONTROL_FINISHED_OK
$STATE,28938,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1716
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$TCM_TEMP,16.40
$XPDR_PINGS,95
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$10V_AH,10.6,30.036
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$DEVICE_SECS,30.175,270.375,389.200,0.000,0.000,31.114,26.760,160.369,23.750,0.000,0.000,19.207,1796.810,23973.682,557.969,2399.237,623.745,33.369,1786.492,0.000,2377.681,0.000,0.529,0.000
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$DATA_FILE_SIZE,44339,743
$CAP_FILE_SIZE,213773,0
$CFSIZE,260165632,239972352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300809,074019,5015.639,-14510.021,40,1.7,59,18.5