version: 66.04
glider: 144
mission: 15
dive: 260
start: 9 5 109 7 12 56
data:
$ID,144
$MISSION,15
$DIVE,260
$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,-66015.102
$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,35
$R_STBD_OVSHOOT,33
$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
$GPS1,070616,5014.423,-14435.840,41,1.7,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-53.7
$GPS2,071202,5014.455,-14435.905,11,2.0,11,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.130,0.106
$KALMAN_X,-20731.1,373.6,96.9,61219.7,-2018.5
$KALMAN_Y,11183.3,-197.6,102.0,-23172.0,689.1
$MHEAD_RNG_PITCHd_Wd,32.3,14101,-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,-117.3,0.0,0.0,0,71,0.00,0.00,-52.00,0.000,2,0.000,0.000,98,2301,2876
$GC,74,-0.68,-117.3,3.9,-5.3,5,98,7.07,2.35,-11.15,0.000,4,0.234,0.063,1845,889,3412
$GC,267,-0.50,-117.3,34.7,-13.5,22,272,0.20,2.28,0.00,0.000,6,0.130,0.043,1894,2312,3415
$GC,593,-0.61,-117.3,58.4,-6.5,52,597,0.10,2.25,0.00,0.000,4,0.066,0.047,1818,3716,3415
$GC,752,-0.48,-117.3,76.4,-11.7,66,757,0.28,2.20,0.00,0.000,6,0.117,0.029,1901,2292,3416
$GC,1080,-0.63,-117.3,98.6,-5.9,83,1084,0.12,2.20,0.00,0.000,4,0.057,0.040,1821,893,3417
$GC,1120,-0.47,-117.3,102.1,-10.6,85,1125,0.28,2.22,0.00,0.000,6,0.123,0.041,1893,2313,3417
$GC,1447,-0.62,-117.3,121.3,-4.7,101,1452,0.10,2.22,0.00,0.000,4,0.067,0.040,1823,897,3417
$GC,1480,-0.53,-117.3,123.8,-8.1,102,1485,0.25,2.20,0.00,0.000,6,0.120,0.039,1888,2301,3418
$GC,1801,-0.70,-117.3,142.7,-6.2,118,1803,0.15,0.00,0.00,0.000,6,0.051,0.000,1795,2302,3417
$GC,2128,-0.53,-117.3,179.5,-11.4,130,2133,0.25,2.22,0.00,0.000,4,0.121,0.044,1880,901,3417
$GC,2167,-0.71,-117.3,182.8,-7.5,131,2172,0.12,2.25,0.00,0.000,6,0.058,0.039,1805,2317,3416
$GC,2491,-0.59,-117.3,214.9,-10.1,142,2493,0.22,0.00,0.00,0.000,6,0.122,0.000,1873,2317,3416
$GC,2797,-0.75,-117.3,233.1,-5.7,152,2802,0.12,2.25,0.00,0.000,4,0.058,0.042,1794,904,3416
$GC,2826,-0.67,-117.3,235.4,-8.9,153,2831,0.25,2.22,0.00,0.000,6,0.123,0.044,1858,2311,3416
$GC,3161,-0.78,-117.3,256.2,-5.7,164,3163,0.10,0.00,0.00,0.000,6,0.071,0.000,1797,2311,3415
$GC,3467,-0.64,-117.3,284.1,-9.5,174,3469,0.22,0.00,0.00,0.000,6,0.120,0.000,1865,2310,3415
$GC,3803,-0.78,-117.3,305.4,-6.3,184,3805,0.12,0.00,0.00,0.000,6,0.061,0.000,1788,2311,3415
$GC,4107,-0.61,-117.3,335.3,-10.0,189,4111,0.22,2.28,0.00,0.000,4,0.128,0.050,1861,892,3414
$GC,4151,-0.77,-117.3,338.8,-6.5,189,4156,0.10,2.25,0.00,0.000,6,0.069,0.045,1798,2310,3413
$GC,4468,-0.65,-117.3,366.6,-9.0,195,4469,0.20,0.00,0.00,0.000,6,0.127,0.000,1857,2311,3413
$GC,4769,-0.78,-117.3,385.0,-6.0,200,4774,0.10,2.25,0.00,0.000,4,0.070,0.044,1793,897,3413
$GC,4824,-0.66,-117.3,390.1,-9.9,200,4831,0.25,2.22,0.00,0.000,6,0.125,0.044,1857,2303,3413
$GC,5135,-0.79,-117.3,408.8,-5.9,206,5136,0.10,0.00,0.00,0.000,6,0.071,0.000,1794,2304,3412
$GC,5437,-0.67,-117.3,434.7,-8.6,211,5442,0.17,2.25,0.00,0.000,4,0.127,0.044,1852,901,3412
$GC,5470,-0.77,-117.3,437.0,-6.3,211,5474,0.00,2.22,0.00,0.000,6,0.000,0.041,1850,2301,3412
$GC,5797,-0.87,-117.3,455.2,-5.6,217,5799,0.12,0.00,0.00,0.000,6,0.061,0.000,1778,2301,3411
$GC,6099,-0.70,-117.3,484.2,-9.9,222,6104,0.22,2.25,0.00,0.000,4,0.126,0.047,1849,896,3411
$GC,6143,-0.83,-117.3,487.8,-7.3,222,6148,0.10,2.25,0.00,0.000,6,0.071,0.045,1789,2311,3412
$GC,6459,-0.70,-117.3,517.8,-9.8,228,6460,0.20,0.00,0.00,0.000,6,0.129,0.000,1848,2310,3411
$GC,6761,-0.82,-117.3,538.0,-6.5,233,6763,0.10,0.00,0.00,0.000,6,0.070,0.000,1787,2311,3411
$GC,7064,-0.69,-117.3,564.8,-8.9,238,7066,0.22,0.00,0.00,0.000,6,0.123,0.000,1855,2311,3410
$GC,7368,-0.84,-117.3,580.4,-5.0,243,7370,0.15,0.00,0.00,0.000,6,0.054,0.000,1773,2311,3410
$GC,7670,-0.67,-117.3,606.0,-8.7,248,7675,0.22,2.30,0.00,0.000,4,0.127,0.044,1847,893,3410
$GC,7720,-0.81,-117.3,609.1,-5.0,248,7725,0.10,2.25,0.00,0.000,6,0.069,0.046,1785,2304,3410
$GC,8032,-0.69,-117.3,631.9,-7.5,253,8037,0.17,2.28,0.00,0.000,4,0.127,0.054,1836,3718,3409
$GC,8076,-0.82,-117.3,634.9,-5.9,253,8080,0.00,2.20,0.00,0.000,6,0.000,0.034,1836,2297,3409
$GC,8391,-0.91,-117.3,652.5,-5.6,259,8395,0.12,2.25,0.00,0.000,4,0.061,0.048,1765,892,3409
$GC,8435,-0.71,-117.3,656.5,-10.1,259,8440,0.30,2.25,0.00,0.000,6,0.125,0.040,1846,2305,3409
$GC,8750,-0.84,-117.3,672.5,-4.9,265,8752,0.12,0.00,0.00,0.000,6,0.062,0.000,1776,2305,3409
$GC,9053,-0.70,-117.3,696.4,-8.0,270,9055,0.25,0.00,0.00,0.000,6,0.123,0.000,1852,2305,3409
$GC,9357,-0.86,-117.3,709.7,-4.3,275,9359,0.15,0.00,0.00,0.000,6,0.057,0.000,1769,2305,3409
$GC,9660,-0.69,-117.3,733.8,-8.1,280,9662,0.28,0.00,0.00,0.000,6,0.125,0.000,1853,2305,3408
$GC,9963,-0.86,-117.3,747.1,-4.3,285,9965,0.15,0.00,0.00,0.000,6,0.060,0.000,1777,2305,3408
$GC,10266,-0.72,-117.3,772.3,-8.6,290,10268,0.22,0.00,0.00,0.000,6,0.123,0.000,1846,2305,3408
$GC,10569,-0.87,-117.3,789.1,-5.4,295,10571,0.12,0.00,0.00,0.000,6,0.069,0.000,1785,2305,3408
$GC,10872,-0.77,-117.3,813.4,-8.2,300,10874,0.17,0.00,0.00,0.000,6,0.125,0.000,1837,2305,3408
$GC,11176,-0.89,-117.3,829.4,-5.1,305,11180,0.12,2.28,0.00,0.000,4,0.075,0.051,1781,895,3407
$GC,11209,-0.78,-117.3,831.8,-7.6,305,11213,0.20,2.25,0.00,0.000,6,0.127,0.044,1830,2302,3407
$GC,11541,-0.87,-117.3,847.8,-4.6,311,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2302,3407
$GC,11844,-0.96,-117.3,862.4,-4.9,316,11848,0.15,2.28,0.00,0.000,4,0.069,0.056,1757,3706,3408
$GC,11877,-0.78,-117.3,864.9,-8.1,316,11882,0.25,2.20,0.00,0.000,6,0.130,0.038,1830,2299,3407
$GC,12204,-0.87,-117.3,881.7,-5.0,322,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2299,3406
$GC,12506,-0.97,-117.3,898.6,-5.6,327,12511,0.15,2.28,0.00,0.000,4,0.069,0.051,1767,889,3406
$GC,12545,-0.79,-117.3,902.0,-9.0,327,12550,0.25,2.25,0.00,0.000,6,0.131,0.044,1829,2300,3406
$GC,12866,-0.88,-117.3,921.4,-5.9,333,12867,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2300,3406
$GC,13168,-0.98,-117.3,939.4,-5.9,338,13170,0.15,0.00,0.00,0.000,6,0.074,0.000,1769,2300,3406
$GC,13472,-0.82,-117.3,964.8,-8.4,343,13474,0.17,0.00,0.00,0.000,6,0.137,0.000,1819,2300,3406
$GC,13776,-0.88,-117.3,981.4,-5.3,348,13780,0.00,2.28,0.00,0.000,4,0.000,0.054,1819,898,3406
$GC,13804,-0.94,-117.3,982.9,-5.5,348,13808,0.00,2.25,0.00,0.000,6,0.000,0.048,1811,2303,3406
$STATE,13951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13952,begin apogee
$GC,13957,-0.22,0.0,991.0,5.3,351,14055,0.45,0.00,95.40,1.312,6,0.123,0.000,1953,2303,2931
$STATE,14056,end apogee,CONTROL_FINISHED_OK
$STATE,14056,begin climb
$GC,14059,0.68,117.3,991.7,0.0,352,14168,0.60,2.58,101.40,1.280,4,0.078,0.055,2155,3700,2450
$GC,14185,0.34,117.3,987.2,7.8,354,14190,0.38,2.40,0.00,0.000,6,0.177,0.038,2075,2310,2448
$GC,14494,0.34,117.3,969.5,5.7,359,14496,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2310,2441
$GC,14799,0.35,124.0,953.3,5.3,364,14806,0.00,0.00,5.15,0.896,6,0.000,0.000,2075,2310,2425
$GC,15101,0.39,152.2,939.2,4.5,369,15129,0.00,0.00,25.65,1.220,6,0.000,0.000,2076,2310,2310
$GC,15405,0.61,174.3,925.1,4.8,374,15430,0.17,2.38,20.05,1.190,4,0.069,0.051,2161,887,2219
$GC,15548,0.42,174.3,914.9,7.5,376,15553,0.25,2.33,0.00,0.000,6,0.146,0.041,2092,2305,2216
$GC,15897,0.50,201.8,898.7,4.6,382,15926,0.00,2.35,24.30,1.195,4,0.000,0.054,2092,3716,2108
$GC,15972,0.50,201.8,894.4,6.1,383,15976,0.00,2.30,0.00,0.000,6,0.000,0.037,2099,2291,2105
$GC,16333,0.55,205.1,875.4,5.4,389,16339,0.00,0.00,3.80,0.718,6,0.000,0.000,2099,2291,2094
$GC,16636,0.59,205.1,857.9,5.9,394,16641,0.10,2.33,0.00,0.000,4,0.074,0.058,2147,3711,2092
$GC,16664,0.43,205.1,855.5,9.3,394,16668,0.25,2.22,0.00,0.000,6,0.156,0.038,2089,2302,2092
$GC,17001,0.52,205.1,835.3,5.8,400,17003,0.10,0.00,0.00,0.000,6,0.074,0.000,2137,2301,2091
$GC,17304,0.38,205.1,810.2,8.4,405,17309,0.20,2.30,0.00,0.000,4,0.140,0.055,2077,3715,2091
$GC,17327,0.38,205.1,808.5,8.0,405,17331,0.00,2.22,0.00,0.000,6,0.000,0.035,2086,2299,2091
$GC,17665,0.49,205.1,789.5,5.5,411,17666,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2299,2090
$GC,17967,0.62,223.2,774.4,4.9,416,17987,0.15,0.00,16.90,1.104,6,0.061,0.000,2156,2299,2020
$GC,18271,0.43,223.2,749.7,8.4,421,18275,0.20,2.30,0.00,0.000,4,0.143,0.055,2097,3711,2017
$GC,18298,0.43,223.2,747.7,6.3,421,18302,0.00,2.22,0.00,0.000,6,0.000,0.041,2105,2295,2016
$GC,18636,0.51,247.6,731.8,4.7,427,18664,0.00,2.40,21.77,1.093,4,0.000,0.050,2105,3719,1920
$GC,18683,0.62,268.0,729.3,4.8,427,18708,0.08,2.28,19.25,1.065,6,0.081,0.039,2157,2294,1838
$GC,19071,0.49,268.0,698.1,8.3,434,19076,0.17,2.28,0.00,0.000,4,0.140,0.052,2112,900,1831
$GC,19098,0.56,275.4,696.1,5.3,434,19112,0.00,2.25,6.93,0.896,6,0.000,0.044,2112,2305,1808
$GC,19435,0.71,292.8,679.5,4.9,440,19454,0.15,0.00,16.95,1.035,6,0.058,0.000,2188,2305,1737
$GC,19738,0.46,292.8,645.1,11.9,445,19743,0.28,2.28,0.00,0.000,4,0.142,0.049,2104,3713,1732
$GC,19777,0.55,292.8,641.4,6.8,445,19781,0.00,2.22,0.00,0.000,6,0.000,0.035,2112,2305,1732
$GC,20098,0.68,292.8,620.7,6.4,451,20103,0.12,2.28,0.00,0.000,4,0.063,0.050,2192,892,1730
$GC,20131,0.57,292.8,617.6,10.3,451,20136,0.25,2.25,0.00,0.000,6,0.136,0.038,2121,2303,1730
$GC,20463,0.66,292.8,594.1,6.9,457,20468,0.10,2.28,0.00,0.000,4,0.064,0.053,2183,3717,1729
$GC,20513,0.45,292.8,588.3,13.1,457,20518,0.35,2.22,0.00,0.000,6,0.139,0.039,2092,2303,1729
$GC,20823,0.98,292.8,564.7,7.9,462,20828,0.32,2.30,0.00,0.000,4,0.072,0.051,2210,3720,1728
$GC,20912,0.65,292.8,554.5,12.5,463,20917,0.28,2.22,0.00,0.000,6,0.150,0.035,2141,2304,1728
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$STATE,28923,end climb,SURFACE_DEPTH_REACHED
$STATE,28923,begin surface coast
$FINISH,1.1,1.024662
$STATE,28948,end surface coast,CONTROL_FINISHED_OK
$STATE,28948,begin surface
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$HUMID,1684
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$TCM_TEMP,14.60
$XPDR_PINGS,62
$24V_AH,22.5,39.084
$10V_AH,10.6,32.380
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$DEVICE_SECS,27.375,180.975,381.625,0.000,0.000,26.477,33.978,161.028,15.500,0.000,0.000,13.164,1681.578,24429.592,535.141,2110.264,604.333,33.373,1574.187,0.000,2110.329,0.000,0.528,0.000
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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,44171,756
$CAP_FILE_SIZE,182058,0
$CFSIZE,260165632,238477312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050909,151755,5016.675,-14432.476,37,1.3,37,18.6