version: 66.04
glider: 144
mission: 15
dive: 765
start: 2 23 110 11 37 56
data:
$ID,144
$MISSION,15
$DIVE,765
$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,-77213.734
$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,35
$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
$GPS1,112837,4919.385,-13542.984,66,1.5,66,19.5
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-48.5
$GPS2,113702,4919.469,-13543.009,13,1.8,13,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.159,-0.054
$KALMAN_X,-61310.8,-65.9,109.5,731999.9,176.5
$KALMAN_Y,61770.0,-57.6,-107.7,-175514.3,1567.9
$MHEAD_RNG_PITCHd_Wd,89.1,76257,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.68,-117.3,0.0,0.0,0,79,0.00,0.00,-56.20,0.000,2,0.000,0.000,97,2309,2709
$GC,84,-0.68,-117.3,3.7,-3.6,3,114,7.15,2.38,-16.45,0.000,4,0.230,0.065,1838,3703,3413
$GC,166,-0.65,-117.3,15.8,-13.3,6,173,0.00,2.22,0.00,0.000,6,0.000,0.035,1838,2294,3413
$GC,485,-0.59,-117.3,54.9,-10.4,22,490,0.12,2.28,0.00,0.000,4,0.137,0.040,1873,893,3413
$GC,527,-0.62,-117.3,58.8,-7.9,24,531,0.00,2.25,0.00,0.000,6,0.000,0.036,1865,2303,3414
$GC,847,-0.62,-117.3,90.5,-9.4,44,851,0.00,2.22,0.00,0.000,4,0.000,0.040,1865,893,3414
$GC,896,-0.64,-117.3,94.7,-9.4,48,900,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2301,3414
$GC,1232,-0.67,-117.3,123.8,-7.5,79,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2301,3413
$GC,1560,-0.71,-117.3,147.2,-7.5,110,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2301,3414
$GC,1876,-0.77,-117.3,169.1,-6.6,123,1880,0.10,2.30,0.00,0.000,4,0.063,0.046,1768,3709,3414
$GC,1906,-0.70,-117.3,171.9,-10.1,124,1911,0.28,2.17,0.00,0.000,6,0.118,0.029,1850,2302,3414
$GC,2244,-0.74,-117.3,194.3,-6.3,135,2248,0.00,2.25,0.00,0.000,4,0.000,0.041,1850,898,3414
$GC,2303,-0.79,-117.3,198.5,-7.2,136,2309,0.00,2.25,0.00,0.000,6,0.000,0.037,1850,2313,3414
$GC,2617,-0.83,-117.3,218.9,-6.6,147,2622,0.10,2.28,0.00,0.000,4,0.064,0.039,1768,893,3414
$GC,2653,-0.73,-117.3,222.4,-11.6,148,2657,0.28,2.28,0.00,0.000,6,0.122,0.037,1837,2311,3414
$GC,2984,-0.76,-117.3,246.7,-6.8,159,2987,0.00,2.25,0.00,0.000,4,0.000,0.041,1837,900,3414
$GC,3024,-0.79,-117.3,249.6,-7.0,160,3028,0.00,2.28,0.00,0.000,6,0.000,0.040,1836,2310,3413
$GC,3357,-0.82,-117.3,272.3,-6.7,171,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2310,3414
$GC,3662,-0.84,-117.3,292.7,-6.5,181,3666,0.00,2.28,0.00,0.000,4,0.000,0.048,1836,904,3413
$GC,3708,-0.88,-117.3,295.9,-7.1,182,3712,0.10,2.25,0.00,0.000,6,0.064,0.044,1766,2303,3413
$GC,4061,-0.77,-117.3,333.2,-10.9,189,4066,0.20,2.30,0.00,0.000,4,0.129,0.044,1831,903,3413
$GC,4118,-0.81,-117.3,338.1,-7.7,189,4124,0.00,2.25,0.00,0.000,6,0.000,0.043,1824,2309,3413
$GC,4429,-0.81,-117.3,360.8,-7.3,195,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2308,3412
$GC,4732,-0.81,-117.3,383.1,-7.4,200,4736,0.00,2.30,0.00,0.000,4,0.000,0.045,1824,894,3412
$GC,4799,-0.83,-117.3,388.2,-8.1,201,4803,0.00,2.30,0.00,0.000,6,0.000,0.038,1821,2312,3412
$GC,5166,-0.83,-117.3,419.2,-8.6,207,5170,0.00,2.25,0.00,0.000,4,0.000,0.042,1821,902,3412
$GC,5200,-0.83,-117.3,422.5,-9.3,207,5204,0.00,2.28,0.00,0.000,6,0.000,0.044,1813,2306,3412
$GC,5534,-0.83,-117.3,451.7,-8.7,213,5538,0.00,2.33,0.00,0.000,4,0.000,0.054,1804,3711,3411
$GC,5574,-0.83,-117.3,455.3,-8.1,213,5578,0.00,2.20,0.00,0.000,6,0.000,0.033,1804,2308,3411
$GC,5901,-0.83,-117.3,483.2,-8.5,219,5905,0.00,2.30,0.00,0.000,4,0.000,0.046,1804,885,3411
$GC,5946,-0.83,-117.3,487.3,-9.7,219,5951,0.10,2.30,0.00,0.000,6,0.125,0.044,1821,2307,3410
$GC,6263,-0.83,-117.3,509.1,-6.8,225,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2308,3410
$GC,6565,-0.85,-117.3,529.2,-6.6,230,6569,0.00,2.35,0.00,0.000,4,0.000,0.043,1821,887,3410
$GC,6611,-0.89,-117.3,532.5,-7.2,230,6616,0.00,2.33,0.00,0.000,6,0.000,0.042,1821,2315,3409
$GC,6930,-0.91,-117.3,554.0,-6.8,236,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2316,3409
$GC,7232,-0.93,-117.3,573.7,-6.5,241,7234,0.10,0.00,0.00,0.000,6,0.064,0.000,1755,2316,3409
$GC,7535,-0.82,-117.3,603.5,-9.9,246,7540,0.20,2.40,0.00,0.000,4,0.129,0.047,1820,889,3409
$GC,7576,-0.86,-117.3,606.7,-6.3,246,7580,0.00,2.33,0.00,0.000,6,0.000,0.041,1820,2313,3409
$GC,7899,-0.86,-117.3,625.4,-5.8,252,7903,0.00,2.33,0.00,0.000,4,0.000,0.048,1820,894,3409
$GC,7928,-0.88,-117.3,627.3,-6.8,252,7932,0.00,2.30,0.00,0.000,6,0.000,0.038,1811,2311,3408
$GC,8267,-0.88,-117.3,648.3,-6.2,258,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2311,3408
$GC,8570,-0.88,-117.3,666.3,-5.9,263,8574,0.00,2.38,0.00,0.000,4,0.000,0.048,1811,889,3408
$GC,8611,-0.88,-117.3,668.9,-6.3,263,8615,0.00,2.33,0.00,0.000,6,0.000,0.038,1809,2303,3408
$GC,8938,-0.88,-117.3,690.0,-6.6,269,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3408
$GC,9241,-0.88,-117.3,713.0,-7.7,274,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3408
$GC,9544,-0.88,-117.3,736.7,-7.8,279,9548,0.00,2.38,0.00,0.000,4,0.000,0.046,1809,887,3407
$GC,9590,-0.88,-117.3,740.5,-8.5,279,9594,0.00,2.35,0.00,0.000,6,0.000,0.039,1808,2303,3407
$GC,9906,-0.88,-117.3,765.3,-7.8,285,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3407
$GC,10209,-0.88,-117.3,788.6,-7.7,290,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3407
$GC,10512,-0.88,-117.3,809.8,-6.8,295,10516,0.00,2.35,0.00,0.000,4,0.000,0.050,1807,888,3407
$GC,10547,-0.88,-117.3,812.2,-7.9,295,10551,0.00,2.35,0.00,0.000,6,0.000,0.044,1806,2315,3407
$GC,10875,-0.88,-117.3,833.5,-6.5,301,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2314,3407
$GC,11178,-0.88,-117.3,851.2,-5.7,306,11182,0.00,2.38,0.00,0.000,4,0.000,0.044,1806,897,3407
$GC,11235,-0.88,-117.3,854.5,-5.4,306,11241,0.00,2.33,0.00,0.000,6,0.000,0.042,1797,2306,3406
$GC,11547,-0.88,-117.3,871.4,-5.4,312,11548,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2306,3406
$GC,11849,-0.88,-117.3,887.5,-5.4,317,11853,0.00,2.38,0.00,0.000,4,0.000,0.044,1797,890,3406
$GC,11894,-0.88,-117.3,890.3,-6.7,317,11898,0.00,2.35,0.00,0.000,6,0.000,0.040,1794,2306,3406
$GC,12210,-0.88,-117.3,909.4,-6.1,323,12211,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3406
$GC,12514,-0.88,-117.3,929.9,-6.8,328,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2306,3406
$GC,12816,-0.88,-117.3,952.4,-7.4,333,12820,0.00,2.38,0.00,0.000,4,0.000,0.048,1795,889,3405
$GC,12856,-0.88,-117.3,955.7,-8.4,333,12860,0.00,2.35,0.00,0.000,6,0.000,0.047,1792,2305,3405
$GC,13178,-0.88,-117.3,980.2,-7.6,339,13179,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2305,3405
$STATE,13355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13355,begin apogee
$GC,13366,-0.22,0.0,993.9,7.6,342,13466,0.50,0.00,97.88,1.277,6,0.112,0.000,1952,2305,2931
$STATE,13467,end apogee,CONTROL_FINISHED_OK
$STATE,13467,begin climb
$GC,13471,0.68,117.3,996.0,0.0,343,13582,0.55,2.55,104.07,1.249,4,0.071,0.052,2148,3707,2450
$GC,13630,0.50,117.3,994.4,6.2,345,13635,0.20,2.38,0.00,0.000,6,0.160,0.033,2111,2301,2446
$GC,13970,0.50,144.8,978.6,4.6,351,13995,0.00,0.00,23.35,1.190,6,0.000,0.000,2111,2301,2340
$GC,14272,0.51,149.4,962.6,5.3,356,14279,0.00,0.00,5.07,0.861,6,0.000,0.000,2110,2301,2321
$GC,14575,0.51,149.4,945.8,5.5,361,14579,0.00,2.35,0.00,0.000,4,0.000,0.052,2111,3711,2319
$GC,14605,0.46,149.4,943.8,5.6,361,14609,0.00,2.28,0.00,0.000,6,0.000,0.037,2120,2294,2318
$GC,14938,0.43,149.4,923.1,6.2,367,14943,0.12,2.35,0.00,0.000,4,0.153,0.054,2086,3717,2317
$GC,14978,0.43,149.4,920.7,5.7,367,14982,0.00,2.28,0.00,0.000,6,0.000,0.035,2094,2295,2317
$GC,15301,0.43,150.3,903.2,5.5,373,15305,0.00,2.35,0.00,0.000,4,0.000,0.049,2094,3718,2316
$GC,15335,0.43,150.3,900.8,5.9,373,15339,0.00,2.25,0.00,0.000,6,0.000,0.032,2104,2299,2317
$GC,15662,0.43,150.3,881.5,5.9,379,15666,0.00,2.35,0.00,0.000,4,0.000,0.051,2104,3713,2316
$GC,15696,0.39,150.3,879.2,6.9,379,15701,0.12,2.28,0.00,0.000,6,0.155,0.037,2084,2294,2316
$GC,16025,0.46,172.2,863.0,4.8,385,16048,0.00,0.00,20.52,1.133,6,0.000,0.000,2085,2294,2229
$GC,16327,0.58,172.2,846.0,5.9,390,16332,0.15,2.35,0.00,0.000,4,0.061,0.054,2155,3715,2225
$GC,16520,0.45,172.2,829.1,8.9,392,16526,0.25,2.25,0.00,0.000,6,0.142,0.033,2100,2301,2224
$GC,16831,0.50,191.2,813.4,4.9,398,16855,0.00,2.38,17.33,1.088,4,0.000,0.049,2109,888,2150
$GC,16875,0.59,230.3,811.3,4.2,398,16916,0.00,2.30,35.92,1.118,6,0.000,0.039,2109,2311,1992
$GC,17266,0.65,238.8,790.9,5.2,405,17280,0.10,2.33,8.12,0.946,4,0.072,0.053,2171,3710,1956
$GC,17305,0.54,238.8,787.5,8.5,405,17310,0.25,2.22,0.00,0.000,6,0.144,0.032,2113,2299,1956
$GC,17634,0.62,262.8,771.0,4.7,411,17663,0.00,2.40,22.35,1.074,4,0.000,0.046,2121,887,1858
$GC,17688,0.74,300.8,768.6,4.2,411,17739,0.12,2.30,37.62,1.037,6,0.059,0.041,2185,2307,1704
$GC,18072,0.66,300.8,734.5,9.3,418,18076,0.17,2.28,0.00,0.000,4,0.135,0.051,2137,3715,1696
$GC,18130,0.68,300.8,729.5,6.7,418,18134,0.00,2.25,0.00,0.000,6,0.000,0.032,2145,2291,1696
$GC,18441,0.68,300.8,709.6,6.3,423,18445,0.00,2.30,0.00,0.000,4,0.000,0.050,2155,885,1694
$GC,18471,0.71,300.8,707.7,6.0,423,18475,0.00,2.28,0.00,0.000,6,0.000,0.038,2155,2303,1693
$GC,18809,0.71,300.8,683.5,7.3,429,18813,0.00,2.30,0.00,0.000,4,0.000,0.051,2155,3716,1693
$GC,18856,0.68,300.8,679.7,8.7,429,18860,0.00,2.22,0.00,0.000,6,0.000,0.032,2165,2303,1693
$GC,19172,0.65,300.8,654.3,8.0,435,19177,0.10,2.30,0.00,0.000,4,0.143,0.045,2148,889,1692
$GC,19202,0.67,300.8,652.2,6.5,435,19206,0.00,2.28,0.00,0.000,6,0.000,0.038,2147,2305,1691
$GC,19536,0.67,300.8,630.8,6.4,441,19540,0.00,2.28,0.00,0.000,4,0.000,0.049,2147,3710,1691
$GC,19581,0.67,300.8,627.5,7.3,441,19585,0.00,2.20,0.00,0.000,6,0.000,0.031,2157,2301,1691
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$STATE,28057,end climb,SURFACE_DEPTH_REACHED
$STATE,28057,begin surface coast
$FINISH,1.5,1.025188
$STATE,28099,end surface coast,CONTROL_FINISHED_OK
$STATE,28100,begin surface
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$HUMID,1771
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$TCM_TEMP,16.20
$XPDR_PINGS,81
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$10V_AH,10.3,93.631
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$DEVICE_SECS,19.425,242.700,404.400,0.000,0.000,29.753,31.440,259.362,20.250,0.000,0.000,14.501,1658.481,23245.951,573.686,2124.527,1065.684,33.379,1726.618,0.000,2101.583,0.000,0.529,0.000
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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,44447,729
$CAP_FILE_SIZE,185153,0
$CFSIZE,260165632,199147520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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