version: 66.04
glider: 144
mission: 15
dive: 789
start: 3 3 110 12 43 8
data:
$ID,144
$MISSION,15
$DIVE,789
$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,-77666
$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,37
$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
$GPS1,123536,4905.188,-13345.816,57,1.7,63,19.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-64.9
$GPS2,124214,4905.156,-13345.779,13,1.6,13,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.167,0.014
$KALMAN_X,-50181.0,-58.8,-70.0,859574.7,-80.4
$KALMAN_Y,77247.1,443.7,-44.5,-218075.3,-841.6
$MHEAD_RNG_PITCHd_Wd,65.8,226228,-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,-40.58,0.000,2,0.000,0.000,98,2291,2733
$GC,68,-0.68,-117.3,4.1,-8.2,2,95,7.03,2.38,-14.80,0.000,4,0.226,0.058,1839,3705,3410
$GC,254,-0.65,-117.3,28.3,-12.3,10,258,0.00,2.20,0.00,0.000,6,0.000,0.028,1839,2300,3411
$GC,571,-0.59,-117.3,64.5,-11.5,25,576,0.12,2.30,0.00,0.000,4,0.129,0.040,1874,897,3411
$GC,657,-0.63,-117.3,72.8,-9.3,28,664,0.00,2.25,0.00,0.000,6,0.000,0.036,1867,2314,3411
$GC,982,-0.63,-117.3,102.0,-9.1,55,983,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2314,3411
$GC,1303,-0.67,-117.3,125.6,-7.1,85,1307,0.00,2.28,0.00,0.000,4,0.000,0.051,1858,3704,3411
$GC,1368,-0.73,-117.3,130.6,-7.5,90,1372,0.00,2.20,0.00,0.000,6,0.000,0.028,1858,2293,3411
$GC,1716,-0.79,-117.3,156.9,-7.4,116,1720,0.10,2.22,0.00,0.000,4,0.064,0.038,1780,899,3411
$GC,1872,-0.70,-117.3,175.0,-12.4,120,1877,0.28,2.25,0.00,0.000,6,0.111,0.038,1846,2312,3412
$GC,2193,-0.73,-117.3,199.3,-7.1,131,2197,0.00,2.28,0.00,0.000,4,0.000,0.040,1847,899,3412
$GC,2245,-0.78,-117.3,203.3,-7.3,132,2249,0.00,2.28,0.00,0.000,6,0.000,0.037,1842,2312,3412
$GC,2560,-0.81,-117.3,225.6,-6.9,142,2564,0.00,2.28,0.00,0.000,4,0.000,0.051,1836,3716,3411
$GC,2583,-0.84,-117.3,227.2,-6.6,142,2587,0.00,2.20,0.00,0.000,6,0.000,0.029,1836,2299,3411
$GC,2899,-0.87,-117.3,248.4,-6.6,152,2904,0.10,2.28,0.00,0.000,4,0.065,0.039,1763,896,3411
$GC,2928,-0.79,-117.3,251.2,-9.6,152,2935,0.17,2.28,0.00,0.000,6,0.105,0.036,1828,2298,3411
$GC,3242,-0.79,-117.3,273.5,-6.9,163,3246,0.00,2.33,0.00,0.000,4,0.000,0.048,1820,3709,3411
$GC,3273,-0.79,-117.3,275.7,-8.3,164,3276,0.00,2.20,0.00,0.000,6,0.000,0.029,1820,2304,3411
$GC,3616,-0.79,-117.3,301.1,-7.4,175,3620,0.00,2.28,0.00,0.000,4,0.000,0.041,1820,898,3411
$GC,3707,-0.79,-117.3,308.4,-7.9,176,3711,0.00,2.25,0.00,0.000,6,0.000,0.037,1810,2303,3411
$GC,4046,-0.77,-117.3,336.3,-8.4,182,4048,0.10,0.00,0.00,0.000,6,0.127,0.000,1838,2303,3411
$GC,4350,-0.81,-117.3,358.6,-7.4,187,4354,0.00,2.30,0.00,0.000,4,0.000,0.042,1838,895,3411
$GC,4385,-0.86,-117.3,361.4,-7.9,187,4389,0.10,2.28,0.00,0.000,6,0.063,0.043,1768,2308,3411
$GC,4712,-0.76,-117.3,396.5,-10.9,193,4717,0.20,2.33,0.00,0.000,4,0.122,0.044,1832,893,3410
$GC,4781,-0.80,-117.3,402.2,-7.7,194,4785,0.00,2.25,0.00,0.000,6,0.000,0.036,1825,2310,3410
$GC,5148,-0.80,-117.3,428.0,-6.9,200,5152,0.00,2.30,0.00,0.000,4,0.000,0.050,1817,3707,3410
$GC,5177,-0.80,-117.3,430.2,-7.3,200,5182,0.00,2.22,0.00,0.000,6,0.000,0.036,1817,2301,3409
$GC,5512,-0.80,-117.3,454.1,-7.2,206,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2301,3409
$GC,5814,-0.80,-117.3,476.4,-7.3,211,5818,0.00,2.30,0.00,0.000,4,0.000,0.046,1816,891,3409
$GC,5854,-0.80,-117.3,479.6,-7.7,211,5858,0.00,2.30,0.00,0.000,6,0.000,0.038,1809,2303,3409
$GC,6175,-0.80,-117.3,504.7,-7.8,217,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3409
$GC,6479,-0.80,-117.3,527.5,-7.5,222,6483,0.00,2.30,0.00,0.000,4,0.000,0.043,1809,900,3408
$GC,6525,-0.80,-117.3,531.2,-7.6,222,6530,0.10,2.33,0.00,0.000,6,0.124,0.038,1828,2312,3408
$GC,6842,-0.83,-117.3,550.9,-6.1,228,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2312,3408
$GC,7145,-0.87,-117.3,570.3,-6.4,233,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2313,3407
$GC,7449,-0.92,-117.3,590.3,-6.6,238,7450,0.10,0.00,0.00,0.000,6,0.064,0.000,1763,2313,3407
$GC,7751,-0.83,-117.3,619.4,-9.7,243,7756,0.17,2.40,0.00,0.000,4,0.119,0.049,1826,902,3407
$GC,7808,-0.88,-117.3,623.9,-7.2,243,7814,0.00,2.33,0.00,0.000,6,0.000,0.043,1822,2303,3407
$GC,8120,-0.91,-117.3,644.8,-6.7,249,8124,0.00,2.35,0.00,0.000,4,0.000,0.051,1813,3713,3406
$GC,8155,-0.94,-117.3,647.5,-7.8,249,8159,0.00,2.25,0.00,0.000,6,0.000,0.032,1813,2297,3406
$GC,8483,-0.96,-117.3,671.4,-7.3,255,8487,0.00,2.28,0.00,0.000,4,0.000,0.046,1813,898,3406
$GC,8517,-0.96,-117.3,674.1,-7.9,255,8521,0.00,2.30,0.00,0.000,6,0.000,0.041,1809,2303,3406
$GC,8846,-0.96,-117.3,698.0,-7.2,261,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3405
$GC,9148,-0.96,-117.3,720.1,-7.3,266,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3405
$GC,9452,-0.96,-117.3,742.4,-7.3,271,9456,0.00,2.35,0.00,0.000,4,0.000,0.049,1809,896,3405
$GC,9503,-0.96,-117.3,746.9,-8.6,271,9507,0.00,2.33,0.00,0.000,6,0.000,0.046,1808,2305,3405
$GC,9816,-0.96,-117.3,771.6,-8.0,276,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3405
$GC,10117,-0.96,-117.3,794.2,-7.4,281,10121,0.00,2.33,0.00,0.000,4,0.000,0.048,1808,892,3404
$GC,10157,-0.96,-117.3,797.3,-8.2,281,10162,0.00,2.33,0.00,0.000,6,0.000,0.041,1807,2305,3404
$GC,10485,-0.96,-117.3,820.3,-7.0,287,10486,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3405
$GC,10789,-0.96,-117.3,839.9,-6.4,292,10790,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3404
$GC,11091,-0.96,-117.3,857.2,-5.6,297,11095,0.00,2.33,0.00,0.000,4,0.000,0.048,1808,891,3404
$GC,11143,-0.98,-117.3,860.3,-6.0,297,11147,0.00,2.33,0.00,0.000,6,0.000,0.046,1806,2304,3404
$GC,11454,-0.98,-117.3,876.7,-5.2,302,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2304,3404
$GC,11759,-0.98,-117.3,892.9,-5.4,307,11760,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2304,3404
$GC,12060,-0.98,-117.3,911.1,-6.1,312,12064,0.00,2.35,0.00,0.000,4,0.000,0.045,1806,893,3404
$GC,12095,-0.98,-117.3,913.5,-6.8,312,12099,0.00,2.33,0.00,0.000,6,0.000,0.041,1796,2303,3404
$GC,12422,-0.98,-117.3,936.7,-7.2,318,12423,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2303,3403
$GC,12726,-0.98,-117.3,959.6,-7.6,323,12730,0.00,2.35,0.00,0.000,4,0.000,0.046,1796,893,3403
$GC,12794,-0.98,-117.3,965.1,-8.0,324,12798,0.00,2.35,0.00,0.000,6,0.000,0.045,1794,2309,3403
$STATE,13151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13151,begin apogee
$GC,13160,-0.22,0.0,991.0,7.1,330,13260,0.50,0.00,97.05,1.278,6,0.108,0.000,1954,2309,2931
$STATE,13261,end apogee,CONTROL_FINISHED_OK
$STATE,13261,begin climb
$GC,13266,0.68,117.3,992.6,0.0,331,13377,0.55,2.58,103.22,1.251,4,0.068,0.052,2150,3700,2451
$GC,13418,0.50,117.3,990.8,6.3,333,13423,0.22,2.38,0.00,0.000,6,0.156,0.032,2106,2310,2447
$GC,13764,0.52,158.7,976.1,4.1,339,13802,0.00,0.00,35.60,1.216,6,0.000,0.000,2107,2310,2283
$GC,14066,0.55,183.8,962.3,4.7,344,14090,0.00,0.00,22.48,1.180,6,0.000,0.000,2106,2310,2181
$GC,14369,0.56,194.5,947.0,5.1,349,14381,0.00,0.00,10.38,1.074,6,0.000,0.000,2106,2310,2138
$GC,14672,0.59,194.5,930.3,5.6,354,14673,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2310,2134
$GC,14977,0.62,199.6,914.0,5.3,359,14985,0.10,0.00,5.68,0.900,6,0.070,0.000,2155,2309,2117
$GC,15278,0.54,199.6,890.1,8.0,364,15283,0.15,2.35,0.00,0.000,4,0.138,0.054,2112,3708,2115
$GC,15318,0.54,199.6,887.3,6.7,364,15322,0.00,2.25,0.00,0.000,6,0.000,0.033,2120,2298,2115
$GC,15641,0.54,199.6,868.5,5.8,370,15642,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2299,2114
$GC,15943,0.54,199.6,851.3,5.7,375,15947,0.00,2.35,0.00,0.000,4,0.000,0.055,2120,3714,2113
$GC,15990,0.50,199.6,848.2,6.6,375,15994,0.00,2.25,0.00,0.000,6,0.000,0.032,2130,2303,2113
$GC,16306,0.50,199.6,827.7,6.4,381,16308,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2303,2113
$GC,16611,0.50,199.6,809.2,6.0,386,16615,0.00,2.35,0.00,0.000,4,0.000,0.049,2130,3718,2113
$GC,16679,0.44,199.6,804.3,7.2,387,16684,0.17,2.25,0.00,0.000,6,0.139,0.032,2094,2292,2113
$GC,17046,0.56,246.5,789.5,3.9,393,17099,0.10,0.00,44.65,1.081,6,0.067,0.000,2155,2292,1926
$GC,17351,0.51,246.5,767.1,7.7,398,17356,0.17,2.33,0.00,0.000,4,0.131,0.053,2105,3711,1920
$GC,17402,0.55,246.5,763.5,7.1,398,17406,0.00,2.22,0.00,0.000,6,0.000,0.032,2114,2297,1919
$GC,17714,0.60,248.1,746.7,5.4,403,17715,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2297,1918
$GC,18018,0.65,250.9,730.3,5.4,408,18024,0.10,0.00,3.95,0.671,6,0.072,0.000,2179,2297,1908
$GC,18320,0.55,250.9,701.8,9.7,413,18324,0.20,2.35,0.00,0.000,4,0.134,0.047,2117,3721,1907
$GC,18383,0.55,250.9,697.0,6.0,414,18387,0.00,2.22,0.00,0.000,6,0.000,0.031,2126,2300,1907
$GC,18756,0.58,250.9,674.0,6.1,420,18757,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2301,1906
$GC,19059,0.60,250.9,654.3,6.6,425,19063,0.00,2.33,0.00,0.000,4,0.000,0.048,2126,3713,1907
$GC,19082,0.60,250.9,652.4,7.0,425,19086,0.00,2.22,0.00,0.000,6,0.000,0.032,2135,2295,1906
$GC,19422,0.60,250.9,629.0,6.8,431,19423,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2295,1906
$GC,19724,0.60,250.9,610.4,6.1,436,19728,0.00,2.35,0.00,0.000,4,0.000,0.047,2135,3719,1906
$GC,19747,0.60,250.9,608.7,6.4,436,19751,0.00,2.25,0.00,0.000,6,0.000,0.031,2145,2305,1906
$GC,20085,0.60,250.9,585.2,6.9,442,20089,0.00,2.30,0.00,0.000,4,0.000,0.047,2145,3710,1906
$GC,20127,0.57,250.9,582.2,6.9,442,20132,0.12,2.22,0.00,0.000,6,0.133,0.031,2123,2303,1906
$GC,20449,0.62,261.9,565.0,5.1,448,20462,0.00,0.00,11.45,0.894,6,0.000,0.000,2123,2302,1863
$GC,20752,0.70,280.2,550.0,4.9,453,20780,0.10,0.00,19.73,0.848,6,0.065,0.000,2188,2302,1787
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$STATE,28515,end climb,SURFACE_DEPTH_REACHED
$STATE,28515,begin surface coast
$FINISH,1.8,1.025236
$STATE,28537,end surface coast,CONTROL_FINISHED_OK
$STATE,28537,begin surface
$SM_CCo,28619,0.00,0.000,0,0,1513,347.84
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$TT8_MAMPS,0.028379
$HUMID,1756
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$TCM_TEMP,16.30
$XPDR_PINGS,59
$24V_AH,21.9,113.596
$10V_AH,10.3,96.334
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$DEVICE_SECS,19.075,215.150,416.750,0.000,0.000,30.483,25.142,159.739,14.750,0.000,0.000,14.557,1651.018,23719.451,585.976,2094.106,950.900,33.388,1688.355,0.000,2076.741,0.000,0.528,0.000
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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,44376,733
$CAP_FILE_SIZE,178951,0
$CFSIZE,260165632,197287936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,030310,204136,4904.386,-13340.952,38,2.0,44,19.5