version: 66.04
glider: 144
mission: 15
dive: 355
start: 10 7 109 18 5 55
data:
$ID,144
$MISSION,15
$DIVE,355
$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,-68204.602
$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,35
$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
$GPS1,175856,4956.307,-14434.117,29,1.7,48,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-60.1
$GPS2,180502,4956.324,-14434.088,13,1.5,20,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.097,0.137
$KALMAN_X,-59405.8,-329.7,29.6,102830.9,-539.0
$KALMAN_Y,19841.1,33.0,-146.5,-65383.8,-718.2
$MHEAD_RNG_PITCHd_Wd,306.1,28759,-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,-32.05,0.000,2,0.000,0.000,97,2300,2539
$GC,54,-0.68,-117.3,3.5,-6.4,3,89,7.25,2.35,-21.95,0.000,4,0.239,0.061,1845,891,3412
$GC,341,-0.63,-117.3,37.9,-12.2,28,348,0.10,2.25,0.00,0.000,6,0.142,0.037,1862,2314,3414
$GC,670,-0.63,-117.3,70.3,-7.6,59,674,0.00,2.25,0.00,0.000,4,0.000,0.040,1862,893,3415
$GC,737,-0.67,-117.3,75.6,-8.0,64,743,0.00,2.22,0.00,0.000,6,0.000,0.037,1862,2303,3415
$GC,1054,-0.67,-117.3,100.0,-8.2,83,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2303,3416
$GC,1364,-0.67,-117.3,125.2,-7.8,98,1367,0.00,2.22,0.00,0.000,4,0.000,0.041,1862,892,3417
$GC,1396,-0.70,-117.3,127.8,-7.9,99,1400,0.00,2.25,0.00,0.000,6,0.000,0.040,1862,2306,3417
$GC,1713,-0.74,-117.3,150.1,-6.8,114,1717,0.08,2.22,0.00,0.000,4,0.082,0.048,1783,3707,3417
$GC,1769,-0.65,-117.3,155.8,-10.7,115,1776,0.25,2.20,0.00,0.000,6,0.118,0.030,1859,2288,3417
$GC,2082,-0.70,-117.3,176.1,-6.0,126,2086,0.00,2.20,0.00,0.000,4,0.000,0.041,1859,892,3416
$GC,2127,-0.77,-117.3,179.3,-7.1,127,2131,0.00,2.25,0.00,0.000,6,0.000,0.038,1853,2308,3416
$GC,2451,-0.82,-117.3,200.5,-6.5,138,2453,0.10,0.00,0.00,0.000,6,0.064,0.000,1771,2308,3415
$GC,2757,-0.71,-117.3,234.5,-11.4,148,2759,0.25,0.00,0.00,0.000,6,0.123,0.000,1847,2308,3415
$GC,3063,-0.75,-117.3,254.9,-6.3,158,3067,0.00,2.25,0.00,0.000,4,0.000,0.043,1847,890,3414
$GC,3103,-0.80,-117.3,257.7,-7.1,159,3107,0.00,2.25,0.00,0.000,6,0.000,0.044,1847,2299,3414
$GC,3438,-0.85,-117.3,280.9,-7.1,170,3443,0.12,2.28,0.00,0.000,4,0.058,0.054,1756,3712,3414
$GC,3471,-0.74,-117.3,284.4,-11.2,171,3476,0.28,2.20,0.00,0.000,6,0.123,0.038,1839,2301,3414
$GC,3799,-0.77,-117.3,308.7,-7.2,180,3803,0.00,2.22,0.00,0.000,4,0.000,0.050,1839,899,3413
$GC,3844,-0.81,-117.3,312.2,-7.9,180,3848,0.00,2.25,0.00,0.000,6,0.000,0.041,1836,2317,3413
$GC,4165,-0.84,-117.3,336.2,-7.6,186,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2316,3413
$GC,4468,-0.87,-117.3,358.6,-7.3,191,4473,0.10,2.28,0.00,0.000,4,0.064,0.043,1769,893,3412
$GC,4495,-0.80,-117.3,361.2,-10.2,191,4500,0.22,2.25,0.00,0.000,6,0.127,0.041,1824,2303,3412
$GC,4827,-0.80,-117.3,384.5,-6.8,197,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2303,3412
$GC,5130,-0.80,-117.3,403.7,-6.3,202,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2303,3412
$GC,5434,-0.80,-117.3,423.9,-6.6,207,5438,0.00,2.25,0.00,0.000,4,0.000,0.044,1825,896,3411
$GC,5461,-0.80,-117.3,426.0,-7.6,207,5465,0.00,2.25,0.00,0.000,6,0.000,0.040,1822,2302,3411
$GC,5799,-0.80,-117.3,449.3,-6.8,213,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2302,3410
$GC,6102,-0.80,-117.3,469.8,-6.7,218,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2302,3410
$GC,6405,-0.80,-117.3,489.0,-6.4,223,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2302,3409
$GC,6708,-0.80,-117.3,509.9,-6.9,228,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2302,3409
$GC,7011,-0.80,-117.3,532.2,-7.4,233,7015,0.00,2.28,0.00,0.000,4,0.000,0.051,1823,894,3409
$GC,7045,-0.82,-117.3,535.0,-8.2,233,7049,0.00,2.25,0.00,0.000,6,0.000,0.044,1817,2308,3409
$GC,7378,-0.82,-117.3,560.0,-7.6,239,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2308,3408
$GC,7680,-0.82,-117.3,581.6,-7.0,244,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2308,3408
$GC,7983,-0.82,-117.3,601.1,-6.4,249,7987,0.00,2.28,0.00,0.000,4,0.000,0.047,1818,897,3408
$GC,8021,-0.82,-117.3,603.8,-7.0,249,8025,0.00,2.25,0.00,0.000,6,0.000,0.040,1809,2304,3408
$GC,8347,-0.82,-117.3,624.5,-6.3,255,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3408
$GC,8651,-0.82,-117.3,642.9,-6.1,260,8655,0.00,2.28,0.00,0.000,4,0.000,0.050,1809,898,3408
$GC,8683,-0.82,-117.3,645.2,-6.7,260,8687,0.00,2.28,0.00,0.000,6,0.000,0.047,1808,2309,3407
$GC,9015,-0.82,-117.3,666.1,-6.3,266,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3407
$GC,9319,-0.82,-117.3,685.9,-6.6,271,9323,0.00,2.28,0.00,0.000,4,0.000,0.048,1808,893,3407
$GC,9352,-0.82,-117.3,688.3,-7.1,271,9356,0.10,2.25,0.00,0.000,6,0.132,0.046,1826,2308,3407
$GC,9684,-0.86,-117.3,706.7,-5.5,277,9685,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2308,3407
$GC,9987,-0.91,-117.3,722.9,-5.4,282,9989,0.10,0.00,0.00,0.000,6,0.067,0.000,1765,2308,3407
$GC,10290,-0.83,-117.3,750.7,-9.4,287,10292,0.20,0.00,0.00,0.000,6,0.124,0.000,1825,2308,3407
$GC,10593,-0.87,-117.3,770.7,-6.4,292,10597,0.00,2.28,0.00,0.000,4,0.000,0.049,1825,892,3406
$GC,10621,-0.91,-117.3,772.7,-7.4,292,10625,0.00,2.28,0.00,0.000,6,0.000,0.040,1823,2313,3406
$GC,10953,-0.95,-117.3,794.0,-6.4,298,10955,0.10,0.00,0.00,0.000,6,0.071,0.000,1769,2314,3406
$GC,11257,-0.88,-117.3,821.2,-9.1,303,11259,0.15,0.00,0.00,0.000,6,0.128,0.000,1812,2313,3406
$GC,11559,-0.90,-117.3,842.2,-6.8,308,11563,0.00,2.28,0.00,0.000,4,0.000,0.046,1812,900,3406
$GC,11587,-0.92,-117.3,844.3,-8.4,308,11591,0.00,2.25,0.00,0.000,6,0.000,0.043,1809,2305,3406
$GC,11920,-0.92,-117.3,866.9,-6.8,314,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3405
$GC,12222,-0.92,-117.3,886.3,-6.4,319,12226,0.00,2.30,0.00,0.000,4,0.000,0.052,1799,3718,3405
$GC,12255,-0.92,-117.3,888.7,-6.2,319,12259,0.00,2.22,0.00,0.000,6,0.000,0.035,1798,2297,3405
$GC,12588,-0.92,-117.3,911.5,-7.0,325,12589,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2297,3405
$GC,12891,-0.92,-117.3,932.1,-6.8,330,12895,0.00,2.35,0.00,0.000,4,0.000,0.053,1793,3716,3405
$GC,12947,-0.92,-117.3,936.4,-7.7,330,12953,0.00,2.28,0.00,0.000,6,0.000,0.033,1793,2304,3405
$GC,13256,-0.92,-117.3,956.5,-6.5,336,13258,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2303,3405
$GC,13559,-0.92,-117.3,975.7,-6.3,341,13561,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2304,3405
$STATE,13799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13799,begin apogee
$GC,13806,-0.22,0.0,991.5,6.5,345,13905,0.50,0.00,96.60,1.305,6,0.118,0.000,1951,2304,2931
$STATE,13906,end apogee,CONTROL_FINISHED_OK
$STATE,13906,begin climb
$GC,13909,0.68,117.3,992.9,0.0,346,14018,0.60,2.58,102.75,1.276,4,0.076,0.058,2153,3710,2451
$GC,14029,0.55,117.7,991.0,5.5,348,14034,0.20,2.45,0.00,0.000,6,0.173,0.038,2120,2304,2448
$GC,14340,0.49,117.7,973.4,5.7,353,14344,0.00,2.38,0.00,0.000,4,0.000,0.052,2129,883,2441
$GC,14378,0.44,117.7,970.9,6.4,353,14383,0.12,2.35,0.00,0.000,6,0.142,0.043,2097,2312,2440
$GC,14699,0.44,134.5,954.9,4.9,359,14718,0.00,2.33,14.12,1.157,4,0.000,0.058,2098,3715,2382
$GC,14766,0.39,134.5,950.9,6.4,360,14771,0.00,2.28,0.00,0.000,6,0.000,0.035,2106,2296,2379
$GC,15139,0.38,141.8,931.4,5.3,366,15148,0.10,0.00,7.45,1.020,6,0.168,0.000,2083,2296,2352
$GC,15443,0.45,180.2,918.6,4.2,371,15482,0.00,2.38,34.20,1.220,4,0.000,0.053,2083,3716,2196
$GC,15500,0.54,214.4,915.8,4.3,371,15537,0.10,2.30,31.58,1.199,6,0.067,0.035,2136,2301,2057
$GC,15870,0.49,214.4,888.4,7.6,378,15875,0.12,2.30,0.00,0.000,4,0.140,0.051,2113,888,2049
$GC,15909,0.53,214.4,885.5,6.6,378,15913,0.00,2.30,0.00,0.000,6,0.000,0.045,2113,2314,2047
$GC,16230,0.53,214.4,866.0,6.1,384,16231,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2314,2046
$GC,16533,0.53,214.4,847.5,6.2,389,16534,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2314,2046
$GC,16837,0.53,214.4,829.3,6.0,394,16841,0.00,2.33,0.00,0.000,4,0.000,0.054,2122,889,2045
$GC,16859,0.56,214.4,827.9,5.5,394,16863,0.00,2.28,0.00,0.000,6,0.000,0.041,2122,2306,2045
$GC,17196,0.56,214.4,806.4,6.5,400,17200,0.00,2.28,0.00,0.000,4,0.000,0.051,2122,3713,2045
$GC,17223,0.53,214.4,804.2,7.5,400,17228,0.00,2.22,0.00,0.000,6,0.000,0.035,2132,2295,2044
$GC,17556,0.49,214.4,780.3,7.2,406,17561,0.12,2.30,0.00,0.000,4,0.153,0.055,2099,3712,2045
$GC,17606,0.52,214.4,776.6,6.3,406,17610,0.00,2.22,0.00,0.000,6,0.000,0.038,2108,2296,2044
$GC,17916,0.54,214.4,758.2,6.0,411,17917,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2295,2044
$GC,18219,0.57,214.4,739.9,6.1,416,18220,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2295,2044
$GC,18522,0.61,214.4,721.4,6.1,421,18527,0.08,2.30,0.00,0.000,4,0.077,0.048,2162,3717,2044
$GC,18561,0.48,214.4,717.6,9.6,421,18566,0.25,2.22,0.00,0.000,6,0.146,0.035,2102,2300,2043
$GC,18881,0.53,214.4,698.7,5.7,427,18883,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2300,2043
$GC,19185,0.59,222.5,682.8,5.2,432,19197,0.10,2.30,6.30,0.867,4,0.067,0.055,2170,3718,2023
$GC,19220,0.47,222.5,679.8,7.7,432,19225,0.30,2.22,0.00,0.000,6,0.148,0.033,2096,2303,2023
$GC,19546,0.57,251.5,664.1,4.5,438,19580,0.10,2.35,26.62,1.055,4,0.066,0.048,2177,895,1904
$GC,19598,0.50,251.5,660.5,7.6,438,19603,0.25,2.28,0.00,0.000,6,0.127,0.040,2106,2305,1902
$GC,19908,0.59,273.3,645.2,4.8,443,19933,0.08,2.33,19.88,1.019,4,0.077,0.051,2170,3710,1816
$GC,19969,0.49,273.3,640.0,9.5,444,19974,0.28,2.28,0.00,0.000,6,0.137,0.033,2103,2301,1814
$GC,20335,0.65,273.3,617.8,6.3,450,20340,0.12,2.33,0.00,0.000,4,0.068,0.053,2150,3712,1810
$GC,20379,0.70,273.3,614.2,7.4,450,20383,0.00,2.25,0.00,0.000,6,0.000,0.032,2158,2297,1810
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$STATE,28936,end climb,SURFACE_DEPTH_REACHED
$STATE,28936,begin surface coast
$FINISH,1.2,1.024591
$STATE,28959,end surface coast,CONTROL_FINISHED_OK
$STATE,28959,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1712
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$TCM_TEMP,16.60
$XPDR_PINGS,56
$24V_AH,22.2,52.330
$10V_AH,10.6,44.397
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$DEVICE_SECS,19.475,217.975,380.425,0.000,0.000,28.569,29.127,166.738,14.000,0.000,0.000,22.010,1671.961,24335.912,518.324,2212.128,650.072,33.375,1629.570,0.000,2194.035,0.000,0.528,0.000
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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,44407,746
$CAP_FILE_SIZE,181327,0
$CFSIZE,260165632,231055360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,081009,021127,4958.946,-14437.599,38,2.2,57,18.5