version: 66.04
glider: 144
mission: 15
dive: 767
start: 2 24 110 3 54 32
data:
$ID,144
$MISSION,15
$DIVE,767
$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,-77244.18
$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,36
$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
$GPS1,033931,4918.256,-13531.999,37,1.9,37,19.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-63.0
$GPS2,035338,4918.308,-13532.008,11,1.8,11,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,-0.047
$KALMAN_X,-59612.3,85.3,-121.9,743382.4,697.5
$KALMAN_Y,63673.0,-108.9,-170.1,-179451.9,1445.1
$MHEAD_RNG_PITCHd_Wd,86.9,62877,-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,-117.3,0.0,0.0,0,63,0.00,0.00,-40.55,0.000,2,0.000,0.000,99,2295,2805
$GC,68,-0.68,-117.3,4.2,-8.2,2,93,7.22,2.30,-13.05,0.000,4,0.234,0.061,1841,3706,3412
$GC,182,-0.65,-117.3,20.0,-9.7,7,186,0.00,2.17,0.00,0.000,6,0.000,0.029,1841,2299,3414
$GC,511,-0.60,-117.3,56.0,-10.8,23,516,0.10,2.22,0.00,0.000,4,0.137,0.039,1867,899,3413
$GC,598,-0.63,-117.3,64.0,-9.5,27,602,0.00,2.22,0.00,0.000,6,0.000,0.036,1862,2311,3414
$GC,921,-0.63,-117.3,92.7,-8.3,49,925,0.00,2.28,0.00,0.000,4,0.000,0.039,1863,893,3414
$GC,951,-0.63,-117.3,95.2,-8.6,51,955,0.00,2.22,0.00,0.000,6,0.000,0.037,1861,2302,3414
$GC,1283,-0.65,-117.3,120.9,-8.0,81,1287,0.00,2.25,0.00,0.000,4,0.000,0.040,1861,889,3414
$GC,1336,-0.69,-117.3,125.6,-8.3,85,1340,0.00,2.25,0.00,0.000,6,0.000,0.037,1854,2304,3414
$GC,1666,-0.72,-117.3,153.3,-8.0,113,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2303,3414
$GC,1968,-0.76,-117.3,175.1,-6.4,123,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2304,3414
$GC,2274,-0.81,-117.3,192.8,-5.6,133,2279,0.10,2.25,0.00,0.000,4,0.064,0.039,1781,899,3415
$GC,2298,-0.79,-117.3,194.6,-7.3,133,2305,0.20,2.22,0.00,0.000,6,0.118,0.036,1825,2300,3414
$GC,2612,-0.79,-117.3,218.2,-7.4,144,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2300,3414
$GC,2919,-0.79,-117.3,241.3,-7.4,154,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2300,3414
$GC,3225,-0.79,-117.3,263.7,-7.4,164,3229,0.00,2.28,0.00,0.000,4,0.000,0.048,1825,902,3414
$GC,3278,-0.81,-117.3,267.8,-8.1,165,3282,0.00,2.30,0.00,0.000,6,0.000,0.044,1822,2314,3414
$GC,3598,-0.81,-117.3,294.0,-8.3,176,3601,0.00,2.30,0.00,0.000,4,0.000,0.041,1822,893,3414
$GC,3634,-0.81,-117.3,297.0,-8.7,177,3638,0.00,2.28,0.00,0.000,6,0.000,0.043,1814,2309,3413
$GC,3973,-0.81,-117.3,324.3,-7.9,183,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2309,3413
$GC,4275,-0.81,-117.3,347.6,-7.7,188,4279,0.00,2.30,0.00,0.000,4,0.000,0.042,1814,902,3413
$GC,4321,-0.81,-117.3,351.3,-8.0,188,4325,0.00,2.28,0.00,0.000,6,0.000,0.038,1808,2304,3413
$GC,4637,-0.79,-117.3,376.3,-7.9,194,4641,0.00,2.33,0.00,0.000,4,0.000,0.049,1798,3711,3412
$GC,4675,-0.76,-117.3,379.3,-8.8,194,4680,0.12,2.20,0.00,0.000,6,0.114,0.030,1833,2300,3412
$GC,5002,-0.80,-117.3,399.7,-6.0,200,5006,0.00,2.25,0.00,0.000,4,0.000,0.048,1834,899,3412
$GC,5049,-0.85,-117.3,402.7,-6.6,200,5053,0.00,2.28,0.00,0.000,6,0.000,0.045,1834,2308,3412
$GC,5367,-0.89,-117.3,421.0,-5.8,206,5369,0.10,0.00,0.00,0.000,6,0.065,0.000,1764,2308,3412
$GC,5669,-0.79,-117.3,448.8,-9.4,211,5671,0.22,0.00,0.00,0.000,6,0.120,0.000,1832,2308,3411
$GC,5972,-0.83,-117.3,467.1,-6.0,216,5976,0.00,2.28,0.00,0.000,4,0.000,0.044,1833,896,3411
$GC,6007,-0.88,-117.3,469.5,-6.6,216,6011,0.00,2.30,0.00,0.000,6,0.000,0.039,1827,2316,3411
$GC,6341,-0.91,-117.3,492.7,-7.1,222,6343,0.10,0.00,0.00,0.000,6,0.066,0.000,1753,2316,3411
$GC,6643,-0.79,-117.3,527.2,-11.7,227,6648,0.22,2.33,0.00,0.000,4,0.126,0.043,1826,898,3410
$GC,6734,-0.83,-117.3,535.1,-7.7,228,6738,0.00,2.30,0.00,0.000,6,0.000,0.040,1822,2309,3410
$GC,7074,-0.85,-117.3,560.3,-7.4,234,7078,0.00,2.33,0.00,0.000,4,0.000,0.055,1812,3713,3410
$GC,7120,-0.88,-117.3,564.0,-8.0,234,7124,0.00,2.22,0.00,0.000,6,0.000,0.031,1812,2305,3410
$GC,7447,-0.88,-117.3,589.2,-7.7,240,7451,0.00,2.28,0.00,0.000,4,0.000,0.046,1812,899,3410
$GC,7487,-0.88,-117.3,592.7,-9.1,240,7492,0.00,2.28,0.00,0.000,6,0.000,0.040,1808,2306,3410
$GC,7816,-0.88,-117.3,620.8,-8.6,246,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3410
$GC,8119,-0.88,-117.3,646.2,-8.3,251,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3410
$GC,8422,-0.88,-117.3,669.2,-7.5,256,8426,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,899,3409
$GC,8479,-0.88,-117.3,673.7,-7.7,256,8485,0.00,2.30,0.00,0.000,6,0.000,0.040,1806,2310,3409
$GC,8790,-0.88,-117.3,694.4,-6.6,262,8794,0.00,2.33,0.00,0.000,4,0.000,0.047,1806,899,3409
$GC,8819,-0.88,-117.3,696.3,-6.6,262,8823,0.00,2.30,0.00,0.000,6,0.000,0.045,1797,2313,3408
$GC,9152,-0.88,-117.3,717.8,-6.5,268,9156,0.00,2.35,0.00,0.000,4,0.000,0.046,1797,894,3408
$GC,9188,-0.88,-117.3,720.2,-6.7,268,9192,0.00,2.30,0.00,0.000,6,0.000,0.044,1794,2302,3408
$GC,9515,-0.86,-117.3,741.6,-6.5,274,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2301,3408
$GC,9818,-0.86,-117.3,762.1,-6.7,279,9822,0.00,2.33,0.00,0.000,4,0.000,0.043,1794,896,3408
$GC,9863,-0.86,-117.3,765.4,-7.8,279,9867,0.00,2.30,0.00,0.000,6,0.000,0.041,1793,2308,3408
$GC,10180,-0.83,-117.3,787.5,-7.1,285,10182,0.10,0.00,0.00,0.000,6,0.137,0.000,1821,2309,3408
$GC,10482,-0.88,-117.3,804.8,-5.6,290,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2308,3408
$GC,10785,-0.92,-117.3,822.5,-5.9,295,10789,0.00,2.33,0.00,0.000,4,0.000,0.048,1821,895,3407
$GC,10815,-0.96,-117.3,824.5,-6.9,295,10820,0.12,2.33,0.00,0.000,6,0.061,0.039,1756,2312,3408
$GC,11156,-0.87,-117.3,856.0,-9.5,301,11158,0.20,0.00,0.00,0.000,6,0.123,0.000,1816,2312,3407
$GC,11458,-0.91,-117.3,875.3,-6.2,306,11462,0.00,2.33,0.00,0.000,4,0.000,0.044,1816,894,3407
$GC,11504,-0.95,-117.3,878.7,-6.5,306,11508,0.00,2.30,0.00,0.000,6,0.000,0.044,1810,2312,3407
$GC,11833,-0.97,-117.3,901.4,-6.9,312,11834,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2312,3407
$GC,12135,-1.00,-117.3,922.2,-6.9,317,12140,0.10,2.33,0.00,0.000,4,0.077,0.048,1754,899,3407
$GC,12164,-0.94,-117.3,924.8,-9.6,317,12169,0.20,2.33,0.00,0.000,6,0.126,0.044,1801,2314,3407
$GC,12503,-0.94,-117.3,949.5,-7.2,323,12505,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2314,3407
$GC,12806,-0.94,-117.3,971.2,-7.2,328,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2314,3407
$STATE,13105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13105,begin apogee
$GC,13114,-0.22,0.0,991.7,6.8,333,13215,0.47,0.00,98.00,1.277,6,0.110,0.000,1956,2314,2931
$STATE,13215,end apogee,CONTROL_FINISHED_OK
$STATE,13216,begin climb
$GC,13220,0.68,117.3,993.3,0.0,334,13331,0.55,2.58,103.78,1.249,4,0.067,0.054,2152,3714,2451
$GC,13395,0.50,117.3,989.3,7.9,336,13400,0.22,2.38,0.00,0.000,6,0.159,0.040,2108,2302,2446
$GC,13712,0.50,133.7,973.2,4.9,342,13728,0.00,0.00,14.05,1.136,6,0.000,0.000,2108,2303,2385
$GC,14015,0.51,141.6,957.5,5.2,347,14025,0.00,0.00,8.07,1.024,6,0.000,0.000,2108,2302,2353
$GC,14317,0.52,155.9,942.3,5.0,352,14337,0.00,2.35,13.68,1.124,4,0.000,0.053,2108,3704,2294
$GC,14361,0.50,155.9,939.7,5.9,352,14365,0.00,2.22,0.00,0.000,6,0.000,0.036,2116,2301,2292
$GC,14685,0.49,167.7,923.0,5.1,358,14703,0.00,2.38,11.80,1.092,4,0.000,0.055,2116,3720,2245
$GC,14729,0.44,167.7,920.5,5.7,358,14733,0.12,2.25,0.00,0.000,6,0.156,0.035,2095,2304,2243
$GC,15051,0.52,193.3,905.7,4.6,364,15080,0.00,2.38,23.02,1.160,4,0.000,0.048,2104,898,2142
$GC,15111,0.63,193.3,902.0,5.9,364,15118,0.12,2.28,0.00,0.000,6,0.071,0.038,2161,2306,2140
$GC,15422,0.55,193.3,875.9,8.8,370,15427,0.15,2.30,0.00,0.000,4,0.139,0.053,2120,3708,2138
$GC,15474,0.52,193.3,871.2,8.6,370,15478,0.00,2.22,0.00,0.000,6,0.000,0.032,2129,2296,2138
$GC,15786,0.50,193.3,846.7,7.9,375,15787,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2296,2138
$GC,16087,0.50,193.3,823.5,7.7,380,16092,0.00,2.33,0.00,0.000,4,0.000,0.053,2129,3717,2137
$GC,16134,0.44,193.3,819.7,9.3,380,16138,0.17,2.25,0.00,0.000,6,0.140,0.038,2092,2303,2136
$GC,16451,0.55,193.3,800.5,6.0,386,16456,0.10,2.30,0.00,0.000,4,0.074,0.045,2150,894,2136
$GC,16525,0.51,193.3,795.1,7.4,387,16530,0.15,2.25,0.00,0.000,6,0.133,0.043,2111,2303,2136
$GC,16886,0.54,197.5,775.2,5.4,393,16896,0.00,2.33,4.20,0.722,4,0.000,0.048,2111,3705,2125
$GC,16949,0.54,197.5,771.5,6.9,393,16955,0.00,2.22,0.00,0.000,6,0.000,0.032,2119,2298,2125
$GC,17260,0.55,202.7,754.8,5.3,399,17273,0.00,2.35,6.57,0.883,4,0.000,0.052,2129,894,2104
$GC,17303,0.55,202.7,752.2,5.8,399,17307,0.00,2.25,0.00,0.000,6,0.000,0.038,2129,2304,2103
$GC,17625,0.55,202.7,731.0,6.7,405,17629,0.00,2.30,0.00,0.000,4,0.000,0.051,2130,3717,2102
$GC,17677,0.50,202.7,726.7,7.9,405,17682,0.12,2.22,0.00,0.000,6,0.140,0.032,2106,2299,2101
$GC,17988,0.54,202.7,707.3,6.2,410,17992,0.00,2.25,0.00,0.000,4,0.000,0.045,2115,897,2101
$GC,18018,0.59,202.7,705.3,6.6,410,18022,0.00,2.28,0.00,0.000,6,0.000,0.041,2114,2313,2100
$GC,18358,0.62,202.7,681.7,7.0,416,18362,0.00,2.28,0.00,0.000,4,0.000,0.048,2115,3708,2101
$GC,18410,0.62,202.7,677.5,8.8,416,18414,0.00,2.17,0.00,0.000,6,0.000,0.036,2124,2306,2101
$GC,18732,0.62,202.7,654.9,7.0,422,18733,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2306,2101
$GC,19036,0.62,202.7,635.1,6.4,427,19037,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2306,2100
$GC,19338,0.62,202.7,617.6,5.7,432,19342,0.00,2.35,0.00,0.000,4,0.000,0.054,2124,3717,2101
$GC,19373,0.59,202.7,615.6,6.6,432,19377,0.00,2.25,0.00,0.000,6,0.000,0.031,2135,2300,2100
$GC,19700,0.59,204.2,597.5,5.5,438,19702,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2300,2100
$GC,20004,0.59,204.2,579.8,5.9,443,20008,0.00,2.35,0.00,0.000,4,0.000,0.048,2135,3708,2100
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$STATE,28361,end climb,SURFACE_DEPTH_REACHED
$STATE,28362,begin surface coast
$FINISH,1.4,1.018501
$STATE,28383,end surface coast,CONTROL_FINISHED_OK
$STATE,28383,begin surface
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$HUMID,1772
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$TCM_TEMP,16.10
$XPDR_PINGS,70
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$10V_AH,10.3,93.860
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$DEVICE_SECS,19.475,251.150,388.400,0.000,0.000,89.182,101.655,330.561,17.500,0.000,0.000,12.781,1662.117,23658.154,525.027,2171.969,1276.858,33.383,1698.595,0.000,2144.110,0.000,0.529,0.000
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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,41179,714
$CAP_FILE_SIZE,191992,0
$CFSIZE,260165632,198987776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,240210,115006,4918.073,-13526.247,25,1.2,25,19.5