version: 66.04
glider: 144
mission: 15
dive: 334
start: 9 30 109 10 19 34
data:
$ID,144
$MISSION,15
$DIVE,334
$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,-67801.5
$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,0.02
$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,34
$R_STBD_OVSHOOT,30
$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
$GPS1,100910,4954.094,-14511.902,33,1.3,37,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-59.5
$GPS2,101839,4954.091,-14511.878,38,1.4,50,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.107,0.129
$KALMAN_X,-51671.3,-192.5,173.7,50149.7,286.5
$KALMAN_Y,16501.4,-38.5,43.6,-66301.5,-509.9
$MHEAD_RNG_PITCHd_Wd,21.2,35195,-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,-117.3,0.0,0.0,0,49,0.00,0.00,-31.75,0.000,2,0.000,0.000,99,2300,2484
$GC,52,-0.68,-117.3,3.0,-4.4,3,91,7.20,2.30,-26.40,0.000,4,0.237,0.058,1840,897,3410
$GC,344,-0.61,-117.3,39.8,-12.3,28,351,0.12,2.22,0.00,0.000,6,0.140,0.038,1866,2306,3412
$GC,671,-0.63,-117.3,71.1,-8.2,59,675,0.00,2.25,0.00,0.000,4,0.000,0.044,1866,891,3413
$GC,712,-0.66,-117.3,74.7,-8.5,62,716,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2310,3413
$GC,1045,-0.66,-117.3,102.3,-7.5,81,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2311,3414
$GC,1355,-0.66,-117.3,126.4,-8.0,96,1359,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,886,3414
$GC,1388,-0.70,-117.3,128.9,-7.5,97,1394,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2316,3414
$GC,1704,-0.74,-117.3,149.4,-5.8,113,1709,0.10,2.25,0.00,0.000,4,0.067,0.054,1779,3714,3414
$GC,1782,-0.66,-117.3,157.7,-11.2,116,1787,0.25,2.20,0.00,0.000,6,0.118,0.030,1855,2295,3414
$GC,2101,-0.70,-117.3,178.2,-6.2,127,2105,0.00,2.20,0.00,0.000,4,0.000,0.042,1855,897,3413
$GC,2162,-0.75,-117.3,182.5,-6.8,128,2169,0.00,2.22,0.00,0.000,6,0.000,0.037,1850,2313,3413
$GC,2475,-0.79,-117.3,202.2,-6.1,139,2477,0.08,0.00,0.00,0.000,6,0.081,0.000,1777,2313,3413
$GC,2782,-0.69,-117.3,233.3,-10.3,149,2786,0.20,2.25,0.00,0.000,4,0.124,0.048,1842,892,3412
$GC,2826,-0.73,-117.3,237.1,-7.2,150,2830,0.00,2.25,0.00,0.000,6,0.000,0.044,1836,2313,3412
$GC,3150,-0.73,-117.3,259.7,-7.3,161,3154,0.00,2.25,0.00,0.000,4,0.000,0.046,1837,894,3412
$GC,3178,-0.75,-117.3,261.9,-8.1,161,3184,0.00,2.25,0.00,0.000,6,0.000,0.044,1836,2312,3412
$GC,3490,-0.77,-117.3,284.9,-7.4,172,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2312,3411
$GC,3826,-0.80,-117.3,310.3,-7.7,181,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2312,3411
$GC,4129,-0.82,-117.3,333.6,-7.6,186,4133,0.00,2.25,0.00,0.000,4,0.000,0.043,1835,896,3410
$GC,4180,-0.84,-117.3,337.6,-8.2,186,4184,0.00,2.25,0.00,0.000,6,0.000,0.040,1828,2307,3410
$GC,4495,-0.84,-117.3,360.1,-7.1,192,4499,0.00,2.22,0.00,0.000,4,0.000,0.044,1828,899,3409
$GC,4522,-0.84,-117.3,362.3,-8.1,192,4526,0.00,2.25,0.00,0.000,6,0.000,0.040,1822,2314,3409
$GC,4860,-0.84,-117.3,386.7,-7.3,198,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2314,3409
$GC,5163,-0.84,-117.3,408.6,-7.2,203,5167,0.00,2.25,0.00,0.000,4,0.000,0.044,1822,898,3408
$GC,5241,-0.84,-117.3,414.6,-7.7,204,5245,0.00,2.22,0.00,0.000,6,0.000,0.041,1818,2303,3408
$GC,5601,-0.84,-117.3,439.3,-6.8,210,5605,0.00,2.25,0.00,0.000,4,0.000,0.050,1818,898,3407
$GC,5640,-0.84,-117.3,442.2,-7.5,210,5644,0.00,2.25,0.00,0.000,6,0.000,0.042,1809,2309,3407
$GC,5961,-0.82,-117.3,466.1,-7.5,216,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2310,3407
$GC,6264,-0.82,-117.3,488.3,-7.3,221,6268,0.00,2.28,0.00,0.000,4,0.000,0.050,1809,890,3407
$GC,6307,-0.82,-117.3,491.8,-8.1,221,6311,0.00,2.28,0.00,0.000,6,0.000,0.044,1806,2313,3407
$GC,6629,-0.80,-117.3,516.2,-7.6,227,6634,0.08,2.28,0.00,0.000,4,0.151,0.048,1827,895,3406
$GC,6668,-0.83,-117.3,519.0,-6.5,227,6672,0.00,2.25,0.00,0.000,6,0.000,0.042,1823,2305,3406
$GC,6989,-0.85,-117.3,540.6,-6.8,233,6993,0.00,2.28,0.00,0.000,4,0.000,0.056,1814,3713,3406
$GC,7017,-0.85,-117.3,542.8,-8.0,233,7021,0.00,2.17,0.00,0.000,6,0.000,0.031,1814,2305,3405
$GC,7354,-0.85,-117.3,567.5,-7.2,239,7358,0.00,2.25,0.00,0.000,4,0.000,0.051,1813,893,3405
$GC,7404,-0.85,-117.3,571.3,-7.5,239,7408,0.00,2.25,0.00,0.000,6,0.000,0.039,1808,2303,3405
$GC,7725,-0.85,-117.3,594.4,-7.2,245,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3405
$GC,8028,-0.85,-117.3,616.3,-7.2,250,8032,0.00,2.25,0.00,0.000,4,0.000,0.044,1808,899,3405
$GC,8055,-0.85,-117.3,618.4,-7.4,250,8059,0.00,2.25,0.00,0.000,6,0.000,0.041,1807,2302,3405
$GC,8393,-0.85,-117.3,641.1,-6.7,256,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2302,3405
$GC,8696,-0.85,-117.3,661.0,-6.6,261,8700,0.00,2.28,0.00,0.000,4,0.000,0.051,1807,896,3405
$GC,8729,-0.85,-117.3,663.3,-6.8,261,8733,0.00,2.28,0.00,0.000,6,0.000,0.040,1798,2306,3405
$GC,9062,-0.83,-117.3,685.9,-6.8,267,9064,0.10,0.00,0.00,0.000,6,0.136,0.000,1826,2306,3404
$GC,9365,-0.87,-117.3,702.6,-5.4,272,9366,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2306,3404
$GC,9668,-0.91,-117.3,719.4,-5.5,277,9673,0.10,2.28,0.00,0.000,4,0.067,0.048,1765,899,3404
$GC,9741,-0.83,-117.3,725.6,-9.0,278,9746,0.22,2.25,0.00,0.000,6,0.126,0.040,1821,2305,3404
$GC,10095,-0.86,-117.3,746.5,-5.8,284,10099,0.00,2.28,0.00,0.000,4,0.000,0.046,1822,889,3404
$GC,10129,-0.90,-117.3,748.6,-6.6,284,10133,0.00,2.28,0.00,0.000,6,0.000,0.046,1822,2306,3404
$GC,10462,-0.93,-117.3,768.7,-6.1,290,10464,0.10,0.00,0.00,0.000,6,0.071,0.000,1764,2306,3403
$GC,10764,-0.85,-117.3,795.9,-9.1,295,10769,0.17,2.28,0.00,0.000,4,0.126,0.047,1816,900,3403
$GC,10838,-0.88,-117.3,801.3,-7.2,296,10843,0.00,2.25,0.00,0.000,6,0.000,0.039,1809,2302,3403
$GC,11193,-0.88,-117.3,823.8,-6.4,302,11197,0.00,2.28,0.00,0.000,4,0.000,0.049,1809,896,3403
$GC,11237,-0.88,-117.3,827.2,-7.5,302,11241,0.00,2.28,0.00,0.000,6,0.000,0.045,1808,2309,3403
$GC,11559,-0.88,-117.3,848.1,-6.5,308,11560,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3403
$GC,11863,-0.88,-117.3,866.5,-6.1,313,11867,0.00,2.30,0.00,0.000,4,0.000,0.051,1808,893,3402
$GC,11912,-0.88,-117.3,870.0,-6.5,313,11917,0.00,2.30,0.00,0.000,6,0.000,0.048,1808,2301,3403
$GC,12233,-0.88,-117.3,888.7,-5.8,319,12234,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2301,3402
$GC,12537,-0.88,-117.3,906.1,-5.8,324,12541,0.00,2.30,0.00,0.000,4,0.000,0.050,1808,893,3402
$GC,12577,-0.88,-117.3,908.7,-6.2,324,12581,0.00,2.28,0.00,0.000,6,0.000,0.043,1807,2303,3402
$GC,12898,-0.88,-117.3,927.7,-5.9,330,12900,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3402
$GC,13201,-0.88,-117.3,946.5,-6.2,335,13205,0.00,2.28,0.00,0.000,4,0.000,0.054,1807,902,3402
$GC,13245,-0.88,-117.3,949.8,-7.1,335,13248,0.00,2.28,0.00,0.000,6,0.000,0.047,1806,2305,3402
$GC,13566,-0.88,-117.3,970.4,-6.5,341,13567,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3402
$GC,13869,-0.88,-117.3,989.7,-6.3,346,13873,0.00,2.30,0.00,0.000,4,0.000,0.051,1806,895,3402
$STATE,13877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13877,begin apogee
$GC,13885,-0.22,0.0,990.4,6.4,346,13984,0.47,0.00,95.50,1.306,6,0.123,0.000,1951,2311,2931
$STATE,13985,end apogee,CONTROL_FINISHED_OK
$STATE,13985,begin climb
$GC,13987,0.68,117.3,991.7,0.0,347,14098,0.57,2.58,102.15,1.277,4,0.077,0.054,2151,3706,2451
$GC,14132,0.48,117.3,989.1,6.7,349,14137,0.22,2.40,0.00,0.000,6,0.166,0.035,2108,2307,2447
$GC,14476,0.45,129.0,971.6,5.1,355,14487,0.00,0.00,9.85,1.093,6,0.000,0.000,2108,2307,2405
$GC,14780,0.41,132.9,955.3,5.4,360,14789,0.00,2.33,4.78,0.852,4,0.000,0.057,2108,3710,2388
$GC,14823,0.34,132.9,952.4,7.0,360,14828,0.17,2.28,0.00,0.000,6,0.155,0.036,2071,2298,2387
$GC,15139,0.43,178.8,939.7,4.0,366,15183,0.10,0.00,41.15,1.239,6,0.075,0.000,2117,2298,2201
$GC,15441,0.41,178.8,921.9,6.0,371,15443,0.12,0.00,0.00,0.000,6,0.139,0.000,2084,2297,2194
$GC,15745,0.50,211.7,908.2,4.4,376,15779,0.08,2.38,28.50,1.201,4,0.087,0.056,2123,3703,2067
$GC,15810,0.45,211.7,904.1,7.6,377,15814,0.15,2.28,0.00,0.000,6,0.150,0.035,2096,2304,2066
$GC,16175,0.50,219.9,884.8,5.2,383,16189,0.00,2.35,8.07,1.021,4,0.000,0.049,2104,891,2033
$GC,16213,0.57,223.7,882.6,5.4,383,16223,0.00,2.28,5.07,0.851,6,0.000,0.041,2104,2305,2018
$GC,16540,0.61,223.7,863.7,5.8,389,16541,0.10,0.00,0.00,0.000,6,0.077,0.000,2157,2305,2015
$GC,16842,0.52,223.7,836.9,8.9,394,16847,0.17,2.28,0.00,0.000,4,0.140,0.050,2109,3710,2015
$GC,16875,0.52,223.7,834.0,7.7,394,16879,0.00,2.25,0.00,0.000,6,0.000,0.038,2117,2291,2014
$GC,17209,0.52,223.7,813.2,6.3,400,17210,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2291,2014
$GC,17509,0.52,223.7,793.9,6.4,405,17511,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2291,2013
$GC,17813,0.52,223.7,774.4,6.4,410,17814,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2291,2013
$GC,18116,0.52,223.7,754.7,6.5,415,18120,0.00,2.30,0.00,0.000,4,0.000,0.050,2117,3716,2013
$GC,18148,0.52,223.7,752.0,7.3,415,18152,0.00,2.22,0.00,0.000,6,0.000,0.033,2128,2288,2012
$GC,18481,0.52,223.7,727.1,7.6,421,18483,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2287,2012
$GC,18784,0.52,223.7,703.7,7.7,426,18788,0.00,2.33,0.00,0.000,4,0.000,0.055,2127,3719,2012
$GC,18828,0.48,223.7,699.7,8.4,426,18833,0.15,2.25,0.00,0.000,6,0.140,0.037,2097,2296,2012
$GC,19144,0.53,223.7,681.3,5.7,432,19148,0.00,2.28,0.00,0.000,4,0.000,0.053,2106,887,2012
$GC,19166,0.60,223.7,679.9,5.8,432,19170,0.08,2.28,0.00,0.000,6,0.083,0.044,2165,2312,2011
$GC,19503,0.50,223.7,648.3,9.7,438,19508,0.20,2.28,0.00,0.000,4,0.137,0.053,2103,3720,2011
$GC,19566,0.52,223.7,643.3,7.7,439,19570,0.00,2.22,0.00,0.000,6,0.000,0.033,2111,2291,2011
$GC,19933,0.55,223.7,619.7,6.4,445,19934,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2291,2011
$GC,20236,0.58,223.7,600.6,6.3,450,20237,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2291,2012
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$STATE,29427,end climb,SURFACE_DEPTH_REACHED
$STATE,29427,begin surface coast
$FINISH,1.1,1.024829
$STATE,29460,end surface coast,CONTROL_FINISHED_OK
$STATE,29460,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1705
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$TCM_TEMP,16.30
$XPDR_PINGS,69
$24V_AH,22.2,49.378
$10V_AH,10.6,41.739
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$DEVICE_SECS,19.325,239.725,387.850,0.000,0.000,52.985,50.209,231.830,17.250,0.000,0.000,51.827,1737.009,24679.596,521.665,2376.674,780.942,33.375,1710.101,0.000,2334.173,0.000,0.528,0.000
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$DATA_FILE_SIZE,44372,761
$CAP_FILE_SIZE,193021,0
$CFSIZE,260165632,232652800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300909,183327,4956.972,-14509.062,38,3.0,57,18.4