version: 66.04
glider: 144
mission: 15
dive: 245
start: 8 31 109 7 18 31
data:
$ID,144
$MISSION,15
$DIVE,245
$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,-65690.594
$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
$GPS1,071154,5006.188,-14511.387,38,1.6,38,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-62.6
$GPS2,071737,5006.139,-14511.384,15,1.9,15,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.026,-0.166
$KALMAN_X,-10205.9,-273.3,-108.0,9642.0,758.3
$KALMAN_Y,4884.3,-143.0,78.6,-32298.0,148.1
$MHEAD_RNG_PITCHd_Wd,170.5,22470,-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,17,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-32.17,0.000,2,0.000,0.000,99,2293,2604
$GC,53,-0.68,-117.3,3.4,-6.3,3,88,7.03,2.30,-19.77,0.000,4,0.234,0.061,1834,3712,3411
$GC,207,-0.47,-117.3,25.6,-14.7,16,214,0.22,2.20,0.00,0.000,6,0.124,0.030,1900,2292,3412
$GC,534,-0.58,-117.3,52.1,-6.5,47,539,0.10,2.20,0.00,0.000,4,0.066,0.039,1828,893,3413
$GC,642,-0.46,-117.3,64.0,-11.4,56,647,0.28,2.22,0.00,0.000,6,0.123,0.037,1902,2312,3414
$GC,977,-0.60,-117.3,87.1,-6.3,82,979,0.12,0.00,0.00,0.000,6,0.057,0.000,1820,2312,3415
$GC,1285,-0.43,-117.3,119.5,-10.4,97,1289,0.25,2.22,0.00,0.000,4,0.122,0.041,1901,894,3415
$GC,1307,-0.43,-117.3,121.3,-7.9,98,1311,0.00,2.22,0.00,0.000,6,0.000,0.041,1902,2305,3415
$GC,1634,-0.63,-117.3,140.2,-6.1,114,1636,0.12,0.00,0.00,0.000,6,0.057,0.000,1823,2305,3415
$GC,1942,-0.55,-117.3,167.0,-8.4,126,1947,0.17,2.25,0.00,0.000,4,0.119,0.043,1881,892,3414
$GC,2004,-0.76,-117.3,171.2,-6.7,128,2009,0.15,2.22,0.00,0.000,6,0.052,0.038,1791,2303,3415
$GC,2340,-0.58,-117.3,208.4,-11.3,139,2345,0.25,2.25,0.00,0.000,4,0.129,0.042,1871,892,3414
$GC,2378,-0.73,-117.3,211.9,-7.5,140,2383,0.10,2.22,0.00,0.000,6,0.066,0.038,1797,2305,3414
$GC,2702,-0.58,-117.3,244.4,-10.2,151,2704,0.25,0.00,0.00,0.000,6,0.123,0.000,1873,2305,3414
$GC,3008,-0.74,-117.3,263.3,-6.1,161,3013,0.12,2.22,0.00,0.000,4,0.058,0.041,1793,891,3413
$GC,3035,-0.68,-117.3,265.8,-9.9,161,3042,0.22,2.25,0.00,0.000,6,0.121,0.038,1850,2312,3413
$GC,3348,-0.75,-117.3,288.1,-6.8,172,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2312,3413
$GC,3653,-0.83,-117.3,307.9,-6.4,180,3658,0.12,2.25,0.00,0.000,4,0.061,0.044,1780,897,3412
$GC,3732,-0.65,-117.3,315.8,-10.8,181,3737,0.30,2.22,0.00,0.000,6,0.120,0.038,1860,2305,3412
$GC,4081,-0.78,-117.3,337.1,-5.9,187,4086,0.12,2.25,0.00,0.000,4,0.056,0.048,1784,892,3411
$GC,4131,-0.60,-117.3,342.1,-10.8,187,4136,0.30,2.25,0.00,0.000,6,0.123,0.041,1870,2311,3410
$GC,4441,-0.78,-117.3,361.8,-6.2,192,4443,0.15,0.00,0.00,0.000,6,0.053,0.000,1781,2311,3411
$GC,4744,-0.59,-117.3,394.5,-11.1,197,4748,0.25,2.28,0.00,0.000,4,0.123,0.048,1864,893,3410
$GC,4788,-0.77,-117.3,398.1,-6.9,197,4793,0.10,2.25,0.00,0.000,6,0.067,0.040,1796,2312,3410
$GC,5103,-0.65,-117.3,428.8,-10.0,203,5105,0.22,0.00,0.00,0.000,6,0.121,0.000,1864,2312,3409
$GC,5406,-0.81,-117.3,446.9,-5.7,208,5411,0.15,2.25,0.00,0.000,4,0.055,0.048,1779,898,3409
$GC,5439,-0.64,-117.3,449.9,-10.1,208,5444,0.30,2.22,0.00,0.000,6,0.123,0.046,1859,2304,3409
$GC,5765,-0.79,-117.3,467.9,-5.3,214,5767,0.12,0.00,0.00,0.000,6,0.059,0.000,1783,2305,3408
$GC,6068,-0.63,-117.3,494.8,-9.1,219,6070,0.28,0.00,0.00,0.000,6,0.122,0.000,1867,2305,3409
$GC,6372,-0.82,-117.3,509.8,-4.7,224,6374,0.15,0.00,0.00,0.000,6,0.056,0.000,1781,2305,3408
$GC,6674,-0.65,-117.3,537.1,-9.2,229,6679,0.22,2.25,0.00,0.000,4,0.123,0.051,1853,898,3407
$GC,6736,-0.79,-117.3,541.3,-6.1,230,6741,0.08,2.22,0.00,0.000,6,0.084,0.046,1794,2302,3407
$GC,7102,-0.68,-117.3,572.4,-8.7,236,7107,0.20,2.28,0.00,0.000,4,0.123,0.051,1850,3709,3407
$GC,7135,-0.83,-117.3,575.0,-7.0,236,7139,0.10,2.20,0.00,0.000,6,0.071,0.032,1783,2291,3406
$GC,7461,-0.69,-117.3,605.5,-9.6,242,7466,0.20,2.22,0.00,0.000,4,0.128,0.051,1847,898,3406
$GC,7516,-0.83,-117.3,609.8,-7.3,242,7523,0.10,2.22,0.00,0.000,6,0.069,0.041,1780,2305,3406
$GC,7827,-0.68,-117.3,638.2,-9.4,248,7828,0.25,0.00,0.00,0.000,6,0.125,0.000,1856,2305,3406
$GC,8129,-0.85,-117.3,656.1,-5.7,253,8131,0.15,0.00,0.00,0.000,6,0.054,0.000,1769,2305,3406
$GC,8433,-0.66,-117.3,685.9,-10.1,258,8438,0.25,2.28,0.00,0.000,4,0.125,0.051,1852,890,3406
$GC,8488,-0.83,-117.3,689.9,-6.7,258,8495,0.08,2.28,0.00,0.000,6,0.052,0.041,1768,2299,3405
$GC,8798,-0.64,-117.3,718.7,-9.5,264,8803,0.28,2.28,0.00,0.000,4,0.127,0.057,1850,3710,3405
$GC,8837,-0.84,-117.3,721.4,-5.9,264,8841,0.12,2.17,0.00,0.000,6,0.064,0.037,1779,2302,3405
$GC,9157,-0.70,-117.3,747.6,-8.2,270,9162,0.20,2.25,0.00,0.000,4,0.126,0.047,1845,892,3405
$GC,9207,-0.85,-117.3,750.8,-6.3,270,9211,0.00,2.25,0.00,0.000,6,0.000,0.044,1837,2313,3405
$GC,9517,-0.95,-117.3,766.6,-5.1,275,9519,0.15,0.00,0.00,0.000,6,0.061,0.000,1764,2313,3405
$GC,9820,-0.75,-117.3,793.4,-9.0,280,9825,0.20,2.28,0.00,0.000,4,0.132,0.048,1830,895,3405
$GC,9864,-0.85,-117.3,796.8,-6.9,280,9868,0.00,2.25,0.00,0.000,6,0.000,0.042,1823,2305,3405
$GC,10179,-0.90,-117.3,816.0,-6.1,286,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2305,3405
$GC,10482,-0.95,-117.3,835.2,-6.3,291,10484,0.10,0.00,0.00,0.000,6,0.078,0.000,1770,2305,3404
$GC,10785,-0.79,-117.3,862.8,-9.2,296,10787,0.20,0.00,0.00,0.000,6,0.128,0.000,1829,2305,3404
$GC,11088,-0.88,-117.3,882.8,-6.5,301,11092,0.00,2.30,0.00,0.000,4,0.000,0.053,1829,889,3404
$GC,11127,-0.98,-117.3,885.9,-7.9,301,11132,0.12,2.28,0.00,0.000,6,0.069,0.043,1768,2308,3404
$GC,11448,-0.81,-117.3,916.5,-9.7,307,11450,0.20,0.00,0.00,0.000,6,0.131,0.000,1826,2308,3404
$GC,11751,-0.89,-117.3,935.9,-6.2,312,11752,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2308,3404
$GC,12055,-0.97,-117.3,953.3,-5.7,317,12056,0.12,0.00,0.00,0.000,6,0.077,0.000,1775,2308,3404
$GC,12357,-0.83,-117.3,977.4,-8.0,322,12359,0.15,0.00,0.00,0.000,6,0.138,0.000,1817,2308,3404
$STATE,12597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12597,begin apogee
$GC,12603,-0.22,0.0,992.1,6.1,326,12700,0.43,0.00,94.20,1.323,6,0.125,0.000,1952,2308,2931
$STATE,12700,end apogee,CONTROL_FINISHED_OK
$STATE,12700,begin climb
$GC,12703,0.68,117.3,993.3,0.0,327,12810,0.57,2.55,100.15,1.290,4,0.078,0.057,2152,3715,2451
$GC,12861,0.27,117.3,987.7,8.6,329,12866,0.43,2.38,0.00,0.000,6,0.176,0.041,2057,2314,2446
$GC,13189,0.47,143.2,972.4,4.6,335,13218,0.15,2.47,21.67,1.220,4,0.071,0.055,2125,886,2346
$GC,13309,0.37,143.2,964.6,6.5,336,13314,0.17,2.35,0.00,0.000,6,0.145,0.043,2079,2308,2343
$GC,13619,0.44,157.6,948.7,5.0,341,13639,0.00,2.35,13.20,1.163,4,0.000,0.057,2079,3706,2287
$GC,13686,0.44,157.6,944.8,5.9,342,13690,0.00,2.25,0.00,0.000,6,0.000,0.038,2087,2289,2285
$GC,14057,0.44,160.1,924.7,5.4,348,14061,0.00,2.35,0.00,0.000,4,0.000,0.057,2087,3718,2283
$GC,14083,0.44,160.1,922.8,6.7,348,14087,0.00,2.25,0.00,0.000,6,0.000,0.041,2097,2302,2282
$GC,14422,0.44,160.1,902.4,6.1,354,14423,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2302,2282
$GC,14724,0.44,160.1,884.2,6.0,359,14728,0.00,2.30,0.00,0.000,4,0.000,0.057,2097,3710,2282
$GC,14746,0.39,160.1,882.8,6.0,359,14751,0.10,2.22,0.00,0.000,6,0.173,0.036,2084,2304,2281
$GC,15085,0.44,164.0,864.5,5.4,365,15096,0.00,2.28,6.28,0.967,4,0.000,0.055,2093,892,2261
$GC,15112,0.52,176.0,863.1,5.1,365,15131,0.00,2.25,11.88,1.115,6,0.000,0.046,2093,2304,2213
$GC,15447,0.56,176.0,844.0,5.6,371,15452,0.10,2.30,0.00,0.000,4,0.077,0.051,2144,3720,2210
$GC,15492,0.30,176.0,840.4,8.3,371,15497,0.32,2.25,0.00,0.000,6,0.160,0.035,2065,2300,2208
$GC,15807,0.59,179.5,823.8,5.4,377,15816,0.20,2.28,3.97,0.742,4,0.065,0.053,2148,892,2199
$GC,15895,0.45,179.5,817.7,7.2,378,15900,0.20,2.28,0.00,0.000,6,0.141,0.040,2093,2314,2199
$GC,16239,0.51,194.2,800.2,5.0,384,16258,0.00,2.28,14.27,1.111,4,0.000,0.057,2093,3710,2138
$GC,16292,0.51,194.2,797.1,6.2,384,16296,0.00,2.25,0.00,0.000,6,0.000,0.035,2101,2292,2137
$GC,16607,0.51,194.2,779.1,5.8,390,16611,0.00,2.28,0.00,0.000,4,0.000,0.051,2112,886,2135
$GC,16637,0.56,194.2,777.4,6.1,390,16641,0.00,2.28,0.00,0.000,6,0.000,0.041,2112,2307,2135
$GC,16969,0.56,194.2,757.0,6.1,396,16973,0.00,2.28,0.00,0.000,4,0.000,0.050,2112,3719,2134
$GC,16996,0.50,194.2,754.9,7.2,396,17000,0.00,2.22,0.00,0.000,6,0.000,0.035,2122,2302,2134
$GC,17328,0.45,194.2,732.2,6.9,402,17330,0.10,0.00,0.00,0.000,6,0.163,0.000,2097,2302,2134
$GC,17631,0.51,195.0,715.5,5.5,407,17633,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2302,2133
$GC,17934,0.57,195.0,698.2,5.8,412,17936,0.10,0.00,0.00,0.000,6,0.067,0.000,2153,2302,2133
$GC,18238,0.37,195.0,670.3,9.4,417,18242,0.22,2.30,0.00,0.000,4,0.141,0.054,2084,3716,2134
$GC,18310,0.42,195.0,664.7,6.4,418,18314,0.00,2.22,0.00,0.000,6,0.000,0.034,2092,2297,2133
$GC,18664,0.50,195.0,643.6,5.8,424,18668,0.00,2.25,0.00,0.000,4,0.000,0.051,2102,891,2133
$GC,18686,0.59,195.0,642.2,5.5,424,18691,0.10,2.25,0.00,0.000,6,0.067,0.044,2168,2313,2133
$GC,19029,0.34,195.0,610.1,9.5,430,19034,0.30,2.25,0.00,0.000,4,0.146,0.055,2076,3713,2133
$GC,19102,0.43,195.0,605.4,5.5,431,19106,0.00,2.20,0.00,0.000,6,0.000,0.035,2084,2295,2132
$GC,19457,0.72,195.0,585.4,5.9,437,19461,0.17,2.30,0.00,0.000,4,0.058,0.053,2172,3720,2133
$GC,19663,0.38,195.0,564.0,9.8,440,19668,0.38,2.17,0.00,0.000,6,0.154,0.034,2077,2308,2133
$GC,20024,0.68,208.7,546.1,5.0,446,20044,0.17,2.30,13.00,0.951,4,0.060,0.049,2169,895,2079
$GC,20160,0.52,208.7,536.5,8.0,448,20164,0.22,2.25,0.00,0.000,6,0.137,0.044,2107,2312,2077
$GC,20526,0.59,218.8,517.0,5.2,454,20541,0.00,2.25,10.25,0.901,4,0.000,0.055,2106,3710,2037
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$STATE,28106,end climb,SURFACE_DEPTH_REACHED
$STATE,28106,begin surface coast
$FINISH,1.1,1.024541
$STATE,28163,end surface coast,CONTROL_FINISHED_OK
$STATE,28163,begin surface
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$HUMID,1686
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$TCM_TEMP,16.50
$XPDR_PINGS,85
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$10V_AH,10.6,30.528
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$DEVICE_SECS,29.500,234.525,358.650,7.575,0.000,29.278,27.302,157.462,21.250,0.000,0.000,17.152,1755.359,23227.494,512.018,2417.334,609.709,33.370,1722.773,0.000,2395.484,0.000,0.528,0.000
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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,44368,740
$CAP_FILE_SIZE,202736,0
$CFSIZE,260165632,239661056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,310809,150936,5003.206,-14511.175,38,1.2,38,18.4