version: 66.04
glider: 144
mission: 15
dive: 786
start: 3 2 110 12 21 56
data:
$ID,144
$MISSION,15
$DIVE,786
$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,-77605.25
$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
$GPS1,121306,4906.558,-13400.652,36,0.9,36,19.5
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-58.7
$GPS2,122102,4906.520,-13400.663,13,1.0,13,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.168,-0.006
$KALMAN_X,-49665.2,-43.4,-126.7,841527.1,135.2
$KALMAN_Y,78489.0,366.3,-161.4,-216584.0,-184.8
$MHEAD_RNG_PITCHd_Wd,72.6,244442,-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,12,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.00,0.000,2,0.000,0.000,97,2291,2468
$GC,64,-0.68,-117.3,3.3,-4.9,2,107,7.10,2.40,-25.67,0.000,4,0.230,0.063,1837,3711,3411
$GC,227,-0.64,-117.3,20.3,-11.4,9,232,0.10,2.25,0.00,0.000,6,0.129,0.032,1863,2294,3412
$GC,556,-0.64,-117.3,51.3,-9.4,25,560,0.00,2.25,0.00,0.000,4,0.000,0.040,1862,895,3413
$GC,653,-0.66,-117.3,59.4,-8.5,29,656,0.00,2.22,0.00,0.000,6,0.000,0.036,1862,2305,3413
$GC,979,-0.66,-117.3,90.4,-8.8,50,983,0.00,2.28,0.00,0.000,4,0.000,0.040,1863,889,3413
$GC,1082,-0.69,-117.3,99.1,-7.9,58,1088,0.00,2.25,0.00,0.000,6,0.000,0.035,1854,2306,3413
$GC,1410,-0.69,-117.3,124.7,-7.4,89,1414,0.00,2.28,0.00,0.000,4,0.000,0.039,1854,895,3413
$GC,1470,-0.73,-117.3,129.6,-8.3,94,1474,0.00,2.25,0.00,0.000,6,0.000,0.035,1850,2303,3414
$GC,1799,-0.76,-117.3,152.5,-6.5,122,1804,0.00,2.33,0.00,0.000,4,0.000,0.048,1845,3711,3413
$GC,1864,-0.81,-117.3,157.2,-7.5,124,1869,0.08,2.20,0.00,0.000,6,0.074,0.028,1773,2296,3413
$GC,2202,-0.71,-117.3,197.1,-12.2,135,2207,0.20,2.28,0.00,0.000,4,0.117,0.039,1841,898,3413
$GC,2315,-0.74,-117.3,207.1,-7.8,138,2319,0.00,2.25,0.00,0.000,6,0.000,0.038,1837,2306,3413
$GC,2635,-0.74,-117.3,229.9,-7.2,149,2639,0.00,2.25,0.00,0.000,4,0.000,0.040,1837,893,3413
$GC,2665,-0.77,-117.3,232.0,-7.3,149,2671,0.00,2.28,0.00,0.000,6,0.000,0.040,1836,2304,3413
$GC,2979,-0.77,-117.3,254.3,-7.1,160,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2305,3413
$GC,3286,-0.79,-117.3,276.3,-7.2,170,3290,0.00,2.25,0.00,0.000,4,0.000,0.041,1836,900,3413
$GC,3333,-0.82,-117.3,279.7,-7.5,171,3337,0.00,2.28,0.00,0.000,6,0.000,0.037,1836,2311,3413
$GC,3688,-0.85,-117.3,305.6,-7.3,182,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2311,3413
$GC,3991,-0.87,-117.3,328.6,-7.6,187,3996,0.10,2.30,0.00,0.000,4,0.066,0.040,1766,900,3412
$GC,4083,-0.78,-117.3,339.1,-12.3,188,4088,0.25,2.28,0.00,0.000,6,0.115,0.042,1828,2310,3412
$GC,4421,-0.78,-117.3,365.7,-7.5,194,4425,0.00,2.33,0.00,0.000,4,0.000,0.044,1828,902,3411
$GC,4473,-0.81,-117.3,369.8,-7.8,194,4477,0.00,2.25,0.00,0.000,6,0.000,0.038,1823,2301,3412
$GC,4785,-0.81,-117.3,395.7,-8.5,199,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2302,3411
$GC,5087,-0.81,-117.3,421.1,-8.4,204,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2302,3411
$GC,5390,-0.81,-117.3,445.8,-8.1,209,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2302,3411
$GC,5693,-0.81,-117.3,468.1,-7.4,214,5697,0.00,2.30,0.00,0.000,4,0.000,0.051,1823,897,3410
$GC,5773,-0.81,-117.3,473.9,-7.3,215,5777,0.00,2.30,0.00,0.000,6,0.000,0.043,1822,2314,3410
$GC,6124,-0.81,-117.3,498.2,-7.0,221,6128,0.00,2.33,0.00,0.000,4,0.000,0.044,1821,899,3410
$GC,6158,-0.81,-117.3,500.8,-7.1,221,6162,0.00,2.28,0.00,0.000,6,0.000,0.038,1812,2306,3410
$GC,6492,-0.81,-117.3,526.2,-7.7,227,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2306,3409
$GC,6794,-0.81,-117.3,548.6,-7.3,232,6798,0.00,2.33,0.00,0.000,4,0.000,0.044,1812,900,3409
$GC,6858,-0.81,-117.3,553.3,-7.4,233,6862,0.00,2.30,0.00,0.000,6,0.000,0.042,1809,2312,3409
$GC,7224,-0.81,-117.3,580.3,-7.3,239,7229,0.00,2.33,0.00,0.000,4,0.000,0.048,1808,899,3408
$GC,7283,-0.81,-117.3,584.7,-7.9,239,7289,0.00,2.30,0.00,0.000,6,0.000,0.043,1806,2306,3408
$GC,7593,-0.81,-117.3,606.2,-6.8,245,7597,0.00,2.33,0.00,0.000,4,0.000,0.050,1796,3711,3408
$GC,7628,-0.81,-117.3,608.7,-7.3,245,7633,0.10,2.25,0.00,0.000,6,0.117,0.031,1824,2295,3408
$GC,7957,-0.85,-117.3,628.6,-6.1,251,7961,0.00,2.28,0.00,0.000,4,0.000,0.044,1824,892,3408
$GC,7998,-0.89,-117.3,631.7,-7.1,251,8002,0.00,2.30,0.00,0.000,6,0.000,0.043,1824,2308,3408
$GC,8326,-0.92,-117.3,655.1,-7.2,257,8327,0.08,0.00,0.00,0.000,6,0.081,0.000,1761,2309,3407
$GC,8629,-0.84,-117.3,687.9,-11.2,262,8631,0.20,0.00,0.00,0.000,6,0.119,0.000,1822,2309,3407
$GC,8933,-0.88,-117.3,710.0,-7.0,267,8937,0.00,2.33,0.00,0.000,4,0.000,0.044,1822,893,3407
$GC,9001,-0.94,-117.3,715.4,-7.5,268,9006,0.10,2.30,0.00,0.000,6,0.067,0.041,1761,2307,3407
$GC,9363,-0.86,-117.3,752.1,-10.4,274,9367,0.17,2.35,0.00,0.000,4,0.124,0.055,1806,3716,3406
$GC,9421,-0.89,-117.3,757.0,-8.4,274,9427,0.00,2.25,0.00,0.000,6,0.000,0.037,1806,2296,3406
$GC,9731,-0.89,-117.3,779.2,-7.0,280,9735,0.00,2.30,0.00,0.000,4,0.000,0.051,1806,897,3406
$GC,9772,-0.89,-117.3,782.3,-8.2,280,9776,0.00,2.30,0.00,0.000,6,0.000,0.040,1798,2303,3405
$GC,10095,-0.89,-117.3,805.3,-7.1,286,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2303,3406
$GC,10397,-0.89,-117.3,827.2,-7.3,291,10401,0.00,2.33,0.00,0.000,4,0.000,0.045,1798,893,3405
$GC,10460,-0.89,-117.3,832.3,-8.0,292,10465,0.00,2.33,0.00,0.000,6,0.000,0.039,1795,2306,3406
$GC,10827,-0.89,-117.3,858.4,-7.0,298,10829,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2306,3405
$GC,11131,-0.89,-117.3,880.1,-7.2,303,11135,0.00,2.33,0.00,0.000,4,0.000,0.050,1794,899,3405
$GC,11166,-0.89,-117.3,883.0,-8.0,303,11170,0.00,2.33,0.00,0.000,6,0.000,0.046,1792,2308,3405
$GC,11494,-0.89,-117.3,908.9,-7.9,309,11495,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2308,3405
$GC,11798,-0.89,-117.3,932.5,-7.8,314,11802,0.00,2.38,0.00,0.000,4,0.000,0.047,1792,896,3405
$GC,11868,-0.89,-117.3,938.5,-9.2,315,11873,0.10,2.30,0.00,0.000,6,0.127,0.044,1808,2301,3405
$GC,12229,-0.92,-117.3,964.1,-7.0,321,12234,0.00,2.33,0.00,0.000,4,0.000,0.048,1808,894,3404
$GC,12276,-0.95,-117.3,967.7,-7.5,321,12280,0.00,2.33,0.00,0.000,6,0.000,0.041,1808,2303,3404
$GC,12594,-0.97,-117.3,989.1,-6.6,327,12595,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3404
$STATE,12649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12649,begin apogee
$GC,12658,-0.22,0.0,992.8,6.5,328,12758,0.45,0.00,97.22,1.277,6,0.106,0.000,1953,2303,2931
$STATE,12759,end apogee,CONTROL_FINISHED_OK
$STATE,12759,begin climb
$GC,12763,0.68,117.3,994.3,0.0,329,12873,0.57,2.55,103.05,1.249,4,0.066,0.055,2153,3711,2452
$GC,12929,0.49,117.3,990.9,7.2,332,12934,0.22,2.38,0.00,0.000,6,0.156,0.038,2108,2306,2447
$GC,13262,0.48,138.2,974.4,4.8,338,13282,0.00,0.00,17.98,1.160,6,0.000,0.000,2108,2306,2367
$GC,13566,0.52,169.6,960.8,4.4,343,13600,0.00,2.40,27.98,1.193,4,0.000,0.054,2117,894,2239
$GC,13626,0.55,193.6,958.0,4.7,343,13655,0.00,2.30,22.55,1.167,6,0.000,0.044,2117,2308,2140
$GC,14001,0.55,193.6,937.2,5.6,350,14005,0.00,2.28,0.00,0.000,4,0.000,0.055,2117,3711,2134
$GC,14042,0.52,193.6,934.5,6.5,350,14046,0.00,2.22,0.00,0.000,6,0.000,0.039,2126,2298,2134
$GC,14365,0.52,193.6,915.2,5.9,356,14369,0.00,2.30,0.00,0.000,4,0.000,0.051,2134,897,2133
$GC,14388,0.52,193.6,913.8,5.7,356,14393,0.10,2.28,0.00,0.000,6,0.127,0.039,2109,2312,2132
$GC,14728,0.59,231.5,898.8,4.2,362,14768,0.00,2.35,33.30,1.179,4,0.000,0.051,2109,3702,1986
$GC,14816,0.62,239.7,894.4,5.2,363,14830,0.00,2.22,8.90,1.011,6,0.000,0.032,2117,2302,1953
$GC,15165,0.68,265.7,878.1,4.6,369,15195,0.10,2.33,24.27,1.144,4,0.071,0.052,2181,893,1847
$GC,15220,0.63,265.7,874.2,8.1,369,15225,0.17,2.30,0.00,0.000,6,0.133,0.044,2134,2315,1843
$GC,15531,0.63,265.7,854.8,6.2,374,15535,0.00,2.28,0.00,0.000,4,0.000,0.056,2134,3720,1840
$GC,15577,0.63,265.7,851.3,7.9,374,15581,0.00,2.22,0.00,0.000,6,0.000,0.039,2141,2304,1840
$GC,15894,0.63,265.7,830.3,6.5,380,15895,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2304,1840
$GC,16196,0.63,265.7,810.9,6.4,385,16200,0.00,2.33,0.00,0.000,4,0.000,0.049,2141,3712,1839
$GC,16236,0.60,265.7,807.9,7.5,385,16240,0.00,2.25,0.00,0.000,6,0.000,0.034,2151,2301,1838
$GC,16559,0.57,265.7,784.7,7.2,391,16564,0.12,2.33,0.00,0.000,4,0.144,0.054,2118,3717,1838
$GC,16582,0.57,265.7,782.8,7.4,391,16586,0.00,2.22,0.00,0.000,6,0.000,0.032,2126,2299,1838
$GC,16927,0.59,265.7,763.2,5.8,397,16931,0.00,2.30,0.00,0.000,4,0.000,0.047,2136,891,1837
$GC,16951,0.63,267.1,761.7,5.5,397,16955,0.00,2.28,0.00,0.000,6,0.000,0.038,2136,2305,1837
$GC,17296,0.63,267.1,739.9,6.4,403,17300,0.00,2.30,0.00,0.000,4,0.000,0.048,2136,3718,1836
$GC,17331,0.63,267.1,737.3,8.0,403,17335,0.00,2.25,0.00,0.000,6,0.000,0.032,2146,2295,1836
$GC,17664,0.63,267.1,713.3,7.1,409,17665,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2295,1836
$GC,17967,0.63,267.1,692.9,6.7,414,17971,0.00,2.33,0.00,0.000,4,0.000,0.049,2146,3711,1837
$GC,18008,0.60,267.1,689.6,8.0,414,18013,0.12,2.22,0.00,0.000,6,0.133,0.032,2123,2296,1837
$GC,18330,0.67,280.1,672.6,5.1,420,18354,0.00,2.33,14.25,0.851,4,0.000,0.047,2132,890,1789
$GC,18391,0.74,280.1,669.1,6.0,420,18398,0.10,2.28,0.00,0.000,6,0.065,0.036,2199,2316,1788
$GC,18704,0.62,280.1,635.1,11.4,426,18708,0.20,2.30,0.00,0.000,4,0.138,0.053,2137,3718,1788
$GC,18779,0.62,280.1,627.9,10.0,427,18783,0.00,2.25,0.00,0.000,6,0.000,0.032,2146,2293,1787
$GC,19135,0.62,280.1,600.0,7.9,433,19136,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2293,1787
$GC,19437,0.62,280.1,576.1,7.8,438,19441,0.00,2.33,0.00,0.000,4,0.000,0.050,2146,3713,1786
$GC,19466,0.62,280.1,573.8,8.4,438,19470,0.00,2.22,0.00,0.000,6,0.000,0.031,2155,2295,1786
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$STATE,27779,end climb,SURFACE_DEPTH_REACHED
$STATE,27779,begin surface coast
$FINISH,1.6,1.017158
$STATE,27800,end surface coast,CONTROL_FINISHED_OK
$STATE,27800,begin surface
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$HUMID,1779
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$TCM_TEMP,16.20
$XPDR_PINGS,73
$24V_AH,21.9,113.168
$10V_AH,10.3,95.993
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$DEVICE_SECS,17.650,251.225,402.075,0.000,0.000,24.142,31.882,238.182,18.250,0.000,0.000,15.258,1667.908,22826.434,554.617,2264.841,1028.988,33.378,1766.501,0.000,2232.766,0.000,0.529,0.000
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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,44379,723
$CAP_FILE_SIZE,186757,0
$CFSIZE,260165632,197521408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,020310,200800,4906.134,-13355.580,37,1.6,37,19.5