version: 66.04
glider: 144
mission: 15
dive: 350
start: 10 5 109 23 56 38
data:
$ID,144
$MISSION,15
$DIVE,350
$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,-68099.539
$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,33
$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
$GPS1,235007,5007.706,-14428.867,29,1.2,29,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-62.4
$GPS2,235544,5007.687,-14428.876,12,1.3,12,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.019,-0.167
$KALMAN_X,-56575.8,48.7,-341.7,106153.4,400.9
$KALMAN_Y,21393.8,-110.3,144.8,-46040.3,-200.8
$MHEAD_RNG_PITCHd_Wd,167.9,25353,-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,-117.3,0.0,0.0,0,61,0.00,0.00,-41.70,0.000,2,0.000,0.000,99,2312,2627
$GC,64,-0.68,-117.3,3.6,-4.6,4,98,7.12,2.33,-18.38,0.000,4,0.237,0.064,1838,3705,3412
$GC,167,-0.60,-117.3,17.4,-13.1,13,172,0.12,2.22,0.00,0.000,6,0.127,0.030,1872,2296,3413
$GC,493,-0.58,-117.3,51.0,-10.0,43,496,0.00,2.22,0.00,0.000,4,0.000,0.041,1872,895,3414
$GC,561,-0.62,-117.3,57.8,-9.2,49,565,0.00,2.22,0.00,0.000,6,0.000,0.036,1864,2308,3415
$GC,901,-0.62,-117.3,86.1,-8.5,78,904,0.00,2.22,0.00,0.000,4,0.000,0.040,1864,896,3416
$GC,929,-0.64,-117.3,88.5,-8.2,79,933,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2311,3416
$GC,1250,-0.64,-117.3,113.9,-8.3,95,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2310,3416
$GC,1559,-0.67,-117.3,137.5,-7.0,110,1563,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,889,3416
$GC,1615,-0.71,-117.3,141.8,-7.3,112,1619,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2309,3416
$GC,1935,-0.76,-117.3,164.4,-6.8,125,1939,0.10,2.25,0.00,0.000,4,0.066,0.039,1790,889,3416
$GC,2001,-0.68,-117.3,171.1,-10.7,127,2006,0.25,2.22,0.00,0.000,6,0.123,0.037,1856,2303,3416
$GC,2331,-0.73,-117.3,192.0,-5.6,138,2335,0.00,2.22,0.00,0.000,4,0.000,0.044,1856,890,3416
$GC,2369,-0.79,-117.3,194.3,-5.7,139,2374,0.00,2.20,0.00,0.000,6,0.000,0.036,1850,2305,3415
$GC,2705,-0.83,-117.3,213.1,-5.8,150,2707,0.10,0.00,0.00,0.000,6,0.065,0.000,1769,2305,3415
$GC,3012,-0.71,-117.3,246.2,-11.2,160,3016,0.22,2.25,0.00,0.000,4,0.125,0.041,1842,889,3414
$GC,3061,-0.76,-117.3,250.6,-7.8,161,3065,0.00,2.25,0.00,0.000,6,0.000,0.038,1837,2304,3414
$GC,3379,-0.78,-117.3,272.9,-6.9,172,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2304,3414
$GC,3686,-0.80,-117.3,295.1,-7.3,182,3690,0.00,2.22,0.00,0.000,4,0.000,0.043,1837,896,3413
$GC,3721,-0.83,-117.3,297.7,-8.1,183,3725,0.00,2.22,0.00,0.000,6,0.000,0.040,1836,2302,3413
$GC,4059,-0.85,-117.3,321.4,-6.9,189,4061,0.08,0.00,0.00,0.000,6,0.083,0.000,1777,2302,3412
$GC,4362,-0.77,-117.3,350.5,-9.8,194,4364,0.20,0.00,0.00,0.000,6,0.120,0.000,1837,2302,3412
$GC,4665,-0.81,-117.3,370.7,-6.6,199,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2302,3412
$GC,4968,-0.85,-117.3,391.7,-6.9,204,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2302,3411
$GC,5271,-0.88,-117.3,411.3,-6.5,209,5276,0.12,2.25,0.00,0.000,4,0.058,0.043,1764,890,3411
$GC,5304,-0.79,-117.3,414.3,-9.5,209,5309,0.25,2.25,0.00,0.000,6,0.126,0.045,1828,2301,3410
$GC,5631,-0.81,-117.3,436.2,-6.6,215,5635,0.00,2.25,0.00,0.000,4,0.000,0.045,1829,893,3410
$GC,5664,-0.84,-117.3,438.7,-7.4,215,5668,0.00,2.25,0.00,0.000,6,0.000,0.044,1823,2309,3410
$GC,5991,-0.84,-117.3,461.0,-6.8,221,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2309,3410
$GC,6294,-0.84,-117.3,481.5,-6.8,226,6298,0.00,2.28,0.00,0.000,4,0.000,0.051,1822,898,3409
$GC,6322,-0.84,-117.3,483.6,-7.7,226,6326,0.00,2.28,0.00,0.000,6,0.000,0.046,1819,2314,3409
$GC,6654,-0.84,-117.3,505.8,-6.7,232,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2315,3409
$GC,6957,-0.84,-117.3,525.9,-6.7,237,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2315,3408
$GC,7260,-0.84,-117.3,547.1,-7.0,242,7265,0.00,2.28,0.00,0.000,4,0.000,0.051,1820,900,3408
$GC,7311,-0.86,-117.3,550.9,-8.0,242,7315,0.00,2.25,0.00,0.000,6,0.000,0.044,1810,2309,3408
$GC,7620,-0.86,-117.3,573.5,-7.4,247,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2308,3408
$GC,7923,-0.86,-117.3,595.8,-7.4,252,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2308,3408
$GC,8227,-0.86,-117.3,617.3,-7.1,257,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2309,3408
$GC,8530,-0.86,-117.3,638.4,-7.0,262,8534,0.00,2.28,0.00,0.000,4,0.000,0.049,1810,892,3407
$GC,8557,-0.86,-117.3,640.5,-7.6,262,8561,0.00,2.28,0.00,0.000,6,0.000,0.046,1808,2307,3407
$GC,8895,-0.86,-117.3,665.5,-7.5,268,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3407
$GC,9198,-0.86,-117.3,687.3,-7.1,273,9202,0.00,2.28,0.00,0.000,4,0.000,0.049,1808,892,3407
$GC,9253,-0.86,-117.3,691.7,-8.5,273,9260,0.00,2.28,0.00,0.000,6,0.000,0.040,1799,2313,3407
$GC,9563,-0.86,-117.3,714.7,-7.5,279,9564,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2313,3407
$GC,9866,-0.86,-117.3,737.1,-7.4,284,9870,0.00,2.28,0.00,0.000,4,0.000,0.045,1799,895,3407
$GC,9898,-0.86,-117.3,739.7,-7.7,284,9902,0.00,2.28,0.00,0.000,6,0.000,0.045,1794,2313,3406
$GC,10231,-0.83,-117.3,765.1,-7.6,290,10236,0.10,2.28,0.00,0.000,4,0.138,0.057,1813,3713,3406
$GC,10258,-0.83,-117.3,767.3,-7.8,290,10262,0.00,2.22,0.00,0.000,6,0.000,0.038,1813,2296,3406
$GC,10591,-0.86,-117.3,788.6,-6.4,296,10595,0.00,2.25,0.00,0.000,4,0.000,0.046,1813,892,3406
$GC,10636,-0.88,-117.3,791.8,-8.3,296,10640,0.00,2.28,0.00,0.000,6,0.000,0.040,1809,2310,3406
$GC,10953,-0.88,-117.3,813.1,-6.7,302,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3406
$GC,11254,-0.88,-117.3,833.5,-6.7,307,11255,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3405
$GC,11557,-0.88,-117.3,853.9,-6.7,312,11561,0.00,2.30,0.00,0.000,4,0.000,0.051,1809,900,3405
$GC,11584,-0.88,-117.3,855.9,-7.7,312,11588,0.00,2.28,0.00,0.000,6,0.000,0.043,1807,2306,3405
$GC,11916,-0.88,-117.3,878.4,-6.7,318,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3405
$GC,12219,-0.88,-117.3,897.6,-6.3,323,12220,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3405
$GC,12523,-0.88,-117.3,915.5,-5.9,328,12524,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3405
$GC,12826,-0.88,-117.3,933.3,-5.9,333,12830,0.00,2.30,0.00,0.000,4,0.000,0.054,1807,899,3405
$GC,12853,-0.88,-117.3,935.0,-6.1,333,12857,0.00,2.28,0.00,0.000,6,0.000,0.048,1805,2302,3405
$GC,13185,-0.88,-117.3,954.4,-5.8,339,13189,0.00,2.30,0.00,0.000,4,0.000,0.047,1805,894,3405
$GC,13212,-0.88,-117.3,956.3,-7.0,339,13216,0.00,2.28,0.00,0.000,6,0.000,0.042,1796,2302,3405
$GC,13550,-0.88,-117.3,977.8,-6.4,345,13552,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2302,3405
$STATE,13790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13790,begin apogee
$GC,13796,-0.22,0.0,993.6,6.5,349,13895,0.50,0.00,96.53,1.305,6,0.119,0.000,1954,2303,2931
$STATE,13896,end apogee,CONTROL_FINISHED_OK
$STATE,13896,begin climb
$GC,13898,0.68,117.3,994.9,0.0,350,14008,0.60,2.60,102.07,1.277,4,0.072,0.056,2159,3704,2451
$GC,14040,0.48,117.3,991.7,7.4,353,14045,0.28,2.40,0.00,0.000,6,0.171,0.038,2103,2314,2447
$GC,14406,0.46,129.0,972.3,5.1,359,14418,0.00,0.00,10.02,1.098,6,0.000,0.000,2104,2314,2404
$GC,14710,0.44,133.5,956.0,5.4,364,14717,0.00,0.00,5.18,0.891,6,0.000,0.000,2104,2314,2386
$GC,15012,0.45,140.1,940.2,5.3,369,15021,0.00,0.00,7.35,1.021,6,0.000,0.000,2104,2314,2359
$GC,15315,0.47,158.0,925.2,4.9,374,15338,0.00,2.35,16.70,1.172,4,0.000,0.048,2113,891,2286
$GC,15356,0.51,188.9,923.0,4.5,374,15391,0.00,2.33,28.33,1.203,6,0.000,0.041,2113,2309,2159
$GC,15749,0.51,191.1,901.7,5.4,381,15753,0.00,2.30,0.00,0.000,4,0.000,0.054,2112,3710,2153
$GC,15789,0.47,191.1,899.0,6.1,381,15793,0.00,2.25,0.00,0.000,6,0.000,0.040,2123,2298,2152
$GC,16110,0.44,191.1,880.3,5.8,387,16112,0.12,0.00,0.00,0.000,6,0.155,0.000,2091,2298,2152
$GC,16414,0.53,228.6,867.1,4.2,392,16453,0.10,2.38,34.30,1.190,4,0.071,0.051,2141,3713,1999
$GC,16470,0.47,228.6,863.2,7.2,392,16478,0.20,2.30,0.00,0.000,6,0.149,0.035,2099,2302,1997
$GC,16782,0.56,257.7,848.7,4.5,398,16815,0.10,2.40,26.30,1.157,4,0.068,0.054,2159,895,1879
$GC,16838,0.54,257.7,844.9,6.3,398,16845,0.17,2.33,0.00,0.000,6,0.131,0.040,2112,2311,1876
$GC,17148,0.57,257.7,827.5,5.6,404,17152,0.00,2.28,0.00,0.000,4,0.000,0.055,2112,3709,1873
$GC,17189,0.60,257.7,824.7,7.3,404,17193,0.00,2.22,0.00,0.000,6,0.000,0.038,2120,2300,1873
$GC,17510,0.60,257.7,803.4,6.7,410,17511,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2300,1872
$GC,17813,0.60,257.7,781.8,7.2,415,17817,0.00,2.33,0.00,0.000,4,0.000,0.051,2120,3717,1871
$GC,17851,0.60,257.7,778.6,8.0,415,17855,0.00,2.22,0.00,0.000,6,0.000,0.035,2131,2303,1871
$GC,18178,0.60,257.7,753.0,7.9,421,18179,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2303,1870
$GC,18481,0.60,257.7,730.0,7.5,426,18485,0.00,2.30,0.00,0.000,4,0.000,0.050,2130,3720,1870
$GC,18502,0.60,257.7,728.2,8.6,426,18506,0.00,2.22,0.00,0.000,6,0.000,0.034,2140,2304,1870
$GC,18846,0.57,257.7,701.0,7.9,432,18850,0.00,2.25,0.00,0.000,4,0.000,0.048,2151,894,1870
$GC,18868,0.57,257.7,699.2,7.6,432,18873,0.12,2.25,0.00,0.000,6,0.124,0.041,2117,2310,1869
$GC,19211,0.62,257.7,678.2,6.0,438,19215,0.00,2.25,0.00,0.000,4,0.000,0.055,2117,3709,1869
$GC,19245,0.64,257.7,675.9,7.0,438,19249,0.00,2.20,0.00,0.000,6,0.000,0.033,2124,2299,1869
$GC,19577,0.64,257.7,656.4,5.8,444,19581,0.00,2.28,0.00,0.000,4,0.000,0.049,2124,3710,1870
$GC,19600,0.64,257.7,654.8,6.9,444,19604,0.00,2.20,0.00,0.000,6,0.000,0.033,2135,2295,1869
$GC,19937,0.64,257.7,633.8,6.2,450,19938,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2295,1869
$GC,20240,0.64,257.7,613.5,6.7,455,20244,0.00,2.30,0.00,0.000,4,0.000,0.049,2135,3715,1869
$GC,20273,0.62,257.7,610.9,8.0,455,20277,0.00,2.20,0.00,0.000,6,0.000,0.033,2145,2305,1869
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$STATE,29021,end climb,SURFACE_DEPTH_REACHED
$STATE,29021,begin surface coast
$FINISH,1.2,1.014204
$STATE,29054,end surface coast,CONTROL_FINISHED_OK
$STATE,29054,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1697
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$TCM_TEMP,17.10
$XPDR_PINGS,66
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$10V_AH,10.6,43.759
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$DEVICE_SECS,17.425,234.750,390.850,0.000,0.000,29.522,23.817,152.161,16.500,0.000,0.000,13.644,1698.543,24364.727,519.161,2250.740,623.755,33.376,1668.353,0.000,2235.964,0.000,0.527,0.000
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$SENSOR_SECS,540.709,617.938,789.174,1318.549,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44480,768
$CAP_FILE_SIZE,181794,0
$CFSIZE,260165632,231440384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061009,080324,5004.072,-14429.223,37,1.7,37,18.6