version: 66.04
glider: 144
mission: 15
dive: 757
start: 2 20 110 18 1 56
data:
$ID,144
$MISSION,15
$DIVE,757
$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,-77091.305
$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,34
$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
$GPS1,174949,4920.736,-13624.428,35,1.5,47,19.5
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-63.0
$GPS2,180102,4920.700,-13624.422,13,1.6,13,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.166,-0.024
$KALMAN_X,-63214.2,115.4,206.5,684674.7,-483.5
$KALMAN_Y,56817.6,-254.9,-55.5,-168142.3,550.0
$MHEAD_RNG_PITCHd_Wd,78.6,126337,-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,13,begin dive
$GC,17,-0.68,-117.2,0.0,0.0,0,59,0.00,0.00,-39.97,0.000,2,0.000,0.000,100,2296,2645
$GC,63,-0.68,-117.2,3.9,-6.7,2,92,7.57,0.00,-18.17,0.000,6,0.246,0.000,1846,2296,3411
$GC,389,-0.64,-117.2,39.3,-10.4,18,393,0.00,2.25,0.00,0.000,4,0.000,0.041,1846,894,3413
$GC,457,-0.64,-117.2,46.9,-11.0,21,462,0.00,2.25,0.00,0.000,6,0.000,0.035,1839,2312,3413
$GC,781,-0.59,-117.2,82.8,-11.1,38,786,0.12,2.28,0.00,0.000,4,0.139,0.039,1874,893,3413
$GC,839,-0.63,-117.2,88.3,-8.5,42,846,0.00,2.28,0.00,0.000,6,0.000,0.037,1868,2302,3413
$GC,1169,-0.66,-117.2,115.9,-7.5,73,1173,0.00,2.25,0.00,0.000,4,0.000,0.040,1868,893,3413
$GC,1235,-0.72,-117.2,121.4,-8.0,78,1239,0.00,2.25,0.00,0.000,6,0.000,0.035,1863,2310,3413
$GC,1566,-0.77,-117.2,143.5,-5.9,108,1571,0.10,2.25,0.00,0.000,4,0.063,0.046,1770,3709,3413
$GC,1602,-0.66,-117.2,146.9,-10.4,111,1607,0.30,2.20,0.00,0.000,6,0.120,0.029,1860,2292,3413
$GC,1919,-0.72,-117.3,165.1,-5.5,123,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2291,3414
$GC,2224,-0.78,-117.3,183.2,-6.1,133,2229,0.12,2.25,0.00,0.000,4,0.056,0.039,1770,890,3413
$GC,2316,-0.69,-117.3,193.2,-11.6,135,2323,0.30,2.28,0.00,0.000,6,0.123,0.037,1851,2313,3413
$GC,2631,-0.74,-117.3,215.2,-6.6,146,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2312,3414
$GC,2937,-0.79,-117.3,234.7,-6.4,156,2941,0.10,2.30,0.00,0.000,4,0.064,0.045,1782,899,3413
$GC,2972,-0.72,-117.3,238.1,-10.2,157,2977,0.25,2.28,0.00,0.000,6,0.119,0.040,1846,2308,3413
$GC,3303,-0.77,-117.3,260.4,-6.6,168,3307,0.00,2.28,0.00,0.000,4,0.000,0.041,1846,891,3413
$GC,3343,-0.82,-117.3,263.2,-7.1,169,3347,0.00,2.28,0.00,0.000,6,0.000,0.038,1842,2303,3413
$GC,3669,-0.86,-117.3,283.4,-6.2,180,3671,0.10,0.00,0.00,0.000,6,0.064,0.000,1765,2303,3412
$GC,3973,-0.76,-117.3,316.4,-11.3,188,3978,0.20,2.30,0.00,0.000,4,0.129,0.040,1831,900,3412
$GC,4058,-0.79,-117.3,323.7,-8.0,189,4062,0.00,2.28,0.00,0.000,6,0.000,0.040,1824,2307,3412
$GC,4403,-0.79,-117.3,350.4,-7.7,195,4407,0.00,2.33,0.00,0.000,4,0.000,0.044,1824,897,3412
$GC,4449,-0.81,-117.3,354.2,-7.9,195,4453,0.00,2.30,0.00,0.000,6,0.000,0.038,1821,2310,3412
$GC,4766,-0.81,-117.3,378.1,-7.5,201,4770,0.00,2.25,0.00,0.000,4,0.000,0.049,1821,905,3412
$GC,4817,-0.83,-117.3,382.1,-7.4,201,4821,0.00,2.22,0.00,0.000,6,0.000,0.044,1813,2302,3412
$GC,5140,-0.83,-117.3,406.3,-7.5,207,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2303,3412
$GC,5442,-0.83,-117.3,428.5,-7.3,212,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2303,3411
$GC,5745,-0.83,-117.3,450.4,-7.2,217,5749,0.00,2.33,0.00,0.000,4,0.000,0.046,1813,892,3410
$GC,5802,-0.83,-117.3,454.8,-7.5,217,5809,0.00,2.30,0.00,0.000,6,0.000,0.044,1808,2305,3410
$GC,6114,-0.83,-117.3,476.4,-6.9,223,6118,0.00,2.30,0.00,0.000,4,0.000,0.047,1808,900,3410
$GC,6159,-0.83,-117.3,479.8,-7.2,223,6163,0.00,2.30,0.00,0.000,6,0.000,0.038,1799,2314,3410
$GC,6475,-0.80,-117.3,503.4,-7.6,229,6480,0.10,2.33,0.00,0.000,4,0.139,0.044,1827,899,3410
$GC,6511,-0.83,-117.3,506.0,-6.9,229,6515,0.00,2.28,0.00,0.000,6,0.000,0.041,1823,2303,3410
$GC,6839,-0.85,-117.3,526.7,-6.3,235,6843,0.00,2.28,0.00,0.000,4,0.000,0.048,1823,901,3410
$GC,6879,-0.89,-117.3,529.5,-6.4,235,6883,0.00,2.30,0.00,0.000,6,0.000,0.045,1821,2310,3410
$GC,7202,-0.91,-117.3,550.1,-6.4,241,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2310,3409
$GC,7506,-0.93,-117.3,570.0,-6.6,246,7511,0.10,2.33,0.00,0.000,4,0.064,0.043,1757,900,3409
$GC,7558,-0.84,-117.3,575.2,-10.8,246,7562,0.22,2.33,0.00,0.000,6,0.127,0.044,1819,2309,3409
$GC,7869,-0.87,-117.3,597.5,-7.0,251,7873,0.00,2.33,0.00,0.000,4,0.000,0.048,1819,899,3409
$GC,7921,-0.90,-117.3,601.5,-7.4,251,7925,0.00,2.28,0.00,0.000,6,0.000,0.042,1814,2303,3409
$GC,8232,-0.90,-117.3,622.9,-6.7,256,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2303,3408
$GC,8536,-0.90,-117.3,642.6,-6.5,261,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2303,3408
$GC,8838,-0.90,-117.3,663.0,-6.7,266,8842,0.00,2.28,0.00,0.000,4,0.000,0.044,1814,906,3408
$GC,8874,-0.90,-117.3,665.4,-6.7,266,8878,0.00,2.30,0.00,0.000,6,0.000,0.044,1809,2307,3408
$GC,9206,-0.90,-117.3,687.8,-6.7,272,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3408
$GC,9510,-0.90,-117.3,708.6,-6.9,277,9514,0.00,2.35,0.00,0.000,4,0.000,0.049,1800,3720,3408
$GC,9533,-0.90,-117.3,710.5,-7.8,277,9537,0.00,2.25,0.00,0.000,6,0.000,0.035,1800,2307,3407
$GC,9872,-0.90,-117.3,736.2,-7.7,283,9876,0.00,2.33,0.00,0.000,4,0.000,0.052,1800,898,3407
$GC,9941,-0.88,-117.3,741.7,-8.8,284,9945,0.00,2.28,0.00,0.000,6,0.000,0.038,1794,2309,3407
$GC,10308,-0.83,-117.3,768.8,-7.4,290,10313,0.10,2.35,0.00,0.000,4,0.143,0.051,1821,897,3407
$GC,10465,-0.91,-117.3,778.9,-6.8,292,10469,0.00,2.30,0.00,0.000,6,0.000,0.041,1822,2307,3407
$GC,10810,-1.03,-117.3,800.4,-6.1,298,10814,0.15,2.33,0.00,0.000,4,0.058,0.042,1747,890,3407
$GC,10856,-0.93,-117.3,803.9,-7.6,298,10861,0.20,2.33,0.00,0.000,6,0.136,0.041,1796,2315,3406
$GC,11173,-0.89,-117.3,824.2,-6.3,304,11177,0.00,2.35,0.00,0.000,4,0.000,0.048,1795,898,3406
$GC,11297,-0.85,-117.3,832.8,-6.9,305,11304,0.00,2.30,0.00,0.000,6,0.000,0.042,1794,2306,3406
$GC,11610,-0.81,-117.3,852.3,-6.3,311,11615,0.12,2.33,0.00,0.000,4,0.133,0.048,1830,892,3406
$GC,11735,-0.89,-117.3,859.6,-5.6,312,11739,0.00,2.33,0.00,0.000,6,0.000,0.042,1823,2310,3406
$GC,12046,-1.02,-117.3,877.6,-5.9,317,12050,0.15,2.35,0.00,0.000,4,0.066,0.048,1756,892,3406
$GC,12187,-0.89,-117.3,888.7,-8.9,319,12192,0.20,2.33,0.00,0.000,6,0.134,0.039,1810,2310,3406
$GC,12554,-0.92,-117.3,912.4,-6.3,325,12555,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2310,3406
$GC,12858,-0.95,-117.3,933.1,-6.9,330,12862,0.00,2.35,0.00,0.000,4,0.000,0.051,1810,899,3406
$GC,12893,-0.98,-117.3,935.8,-7.7,330,12898,0.10,2.33,0.00,0.000,6,0.075,0.044,1766,2307,3406
$GC,13221,-0.92,-117.3,964.5,-8.9,336,13226,0.12,2.35,0.00,0.000,4,0.138,0.051,1792,3713,3405
$GC,13262,-0.92,-117.3,967.9,-8.1,336,13266,0.00,2.25,0.00,0.000,6,0.000,0.039,1792,2306,3405
$STATE,13579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13580,begin apogee
$GC,13589,-0.22,0.0,991.0,7.1,342,13690,0.50,0.00,97.93,1.275,6,0.114,0.000,1951,2305,2931
$STATE,13690,end apogee,CONTROL_FINISHED_OK
$STATE,13690,begin climb
$GC,13694,0.68,117.3,992.5,0.0,343,13806,0.57,2.55,103.72,1.248,4,0.071,0.051,2154,3698,2451
$GC,13865,0.50,117.3,988.4,8.4,345,13870,0.22,2.33,0.00,0.000,6,0.158,0.037,2110,2306,2446
$GC,14187,0.46,118.7,970.7,5.5,351,14189,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2306,2441
$GC,14491,0.43,118.7,953.3,5.7,356,14495,0.00,2.30,0.00,0.000,4,0.000,0.050,2109,3717,2439
$GC,14521,0.37,118.7,951.1,6.5,356,14525,0.15,2.22,0.00,0.000,6,0.156,0.036,2079,2293,2439
$GC,14860,0.43,150.0,935.5,4.4,362,14889,0.00,0.00,27.35,1.190,6,0.000,0.000,2080,2293,2318
$GC,15163,0.56,161.1,920.4,5.1,367,15179,0.15,2.33,10.50,1.071,4,0.063,0.054,2148,3710,2274
$GC,15321,0.43,161.1,907.9,8.2,369,15325,0.25,2.25,0.00,0.000,6,0.150,0.033,2091,2293,2272
$GC,15661,0.50,193.1,892.4,4.4,375,15692,0.00,0.00,29.42,1.174,6,0.000,0.000,2091,2293,2143
$GC,15962,0.63,193.1,875.9,5.6,380,15967,0.15,2.28,0.00,0.000,4,0.061,0.049,2162,895,2138
$GC,16053,0.57,193.1,869.6,7.1,381,16058,0.15,2.28,0.00,0.000,6,0.134,0.039,2123,2310,2137
$GC,16392,0.57,193.1,849.3,6.0,387,16396,0.00,2.25,0.00,0.000,4,0.000,0.049,2123,3711,2136
$GC,16444,0.52,193.1,845.4,7.2,387,16448,0.00,2.20,0.00,0.000,6,0.000,0.032,2131,2295,2136
$GC,16767,0.50,193.1,825.0,6.2,393,16768,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2295,2136
$GC,17071,0.48,193.1,806.2,6.2,398,17075,0.12,2.33,0.00,0.000,4,0.143,0.052,2097,3712,2136
$GC,17116,0.48,193.1,803.4,6.0,398,17120,0.00,2.20,0.00,0.000,6,0.000,0.033,2105,2307,2135
$GC,17438,0.51,196.6,786.4,5.4,404,17440,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2307,2134
$GC,17741,0.55,196.6,768.8,5.9,409,17742,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2307,2134
$GC,18045,0.58,196.6,750.3,6.1,414,18049,0.00,2.30,0.00,0.000,4,0.000,0.049,2105,3711,2134
$GC,18069,0.60,196.6,748.6,6.6,414,18073,0.00,2.22,0.00,0.000,6,0.000,0.032,2115,2298,2134
$GC,18413,0.60,196.6,728.0,5.9,420,18414,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2298,2134
$GC,18716,0.60,196.6,710.4,5.9,425,18720,0.00,2.30,0.00,0.000,4,0.000,0.048,2115,3711,2134
$GC,18756,0.60,196.6,707.9,6.0,425,18760,0.00,2.22,0.00,0.000,6,0.000,0.032,2125,2292,2133
$GC,19085,0.60,196.6,687.8,6.0,431,19086,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2292,2133
$GC,19387,0.60,196.6,670.2,5.8,436,19391,0.00,2.33,0.00,0.000,4,0.000,0.051,2125,3710,2133
$GC,19439,0.56,196.6,666.4,7.5,436,19443,0.00,2.20,0.00,0.000,6,0.000,0.032,2135,2304,2133
$GC,19762,0.53,196.6,646.5,6.1,442,19763,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2304,2133
$GC,20064,0.53,196.6,629.2,5.7,447,20068,0.00,2.30,0.00,0.000,4,0.000,0.048,2135,3717,2133
$GC,20099,0.47,196.6,626.9,7.0,447,20103,0.17,2.22,0.00,0.000,6,0.133,0.032,2097,2295,2133
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$GC,20729,0.50,229.3,589.2,8.0,458,20734,0.20,2.35,0.00,0.000,4,0.125,0.048,2104,3721,1992
$GC,20786,0.53,229.3,585.4,5.7,458,20792,0.00,2.22,0.00,0.000,6,0.000,0.031,2112,2296,1991
$GC,21099,0.60,246.9,570.0,4.9,464,21119,0.00,2.28,16.15,0.929,4,0.000,0.046,2122,896,1923
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$STATE,29076,end climb,SURFACE_DEPTH_REACHED
$STATE,29076,begin surface coast
$FINISH,1.7,1.001633
$STATE,29098,end surface coast,CONTROL_FINISHED_OK
$STATE,29098,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1758
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$TCM_TEMP,16.00
$XPDR_PINGS,76
$24V_AH,21.9,109.036
$10V_AH,10.3,92.727
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$DEVICE_SECS,20.725,250.575,387.625,0.000,0.000,49.777,59.395,318.958,19.000,0.000,0.000,14.612,1722.545,24060.102,553.266,2320.319,1180.900,33.384,1775.388,0.000,2290.159,0.000,0.528,0.000
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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,44239,731
$CAP_FILE_SIZE,197913,0
$CFSIZE,260165632,199753728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210210,020956,4920.766,-13619.296,47,2.0,56,19.5