version: 66.04
glider: 144
mission: 15
dive: 808
start: 3 9 110 23 4 20
data:
$ID,144
$MISSION,15
$DIVE,808
$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,-78029.109
$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,32
$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
$GPS1,225643,4906.419,-13207.060,36,1.8,48,19.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-53.4
$GPS2,230326,4906.421,-13207.050,14,1.8,14,19.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.148,-0.079
$KALMAN_X,-44565.0,-68.1,-144.7,970722.9,1360.8
$KALMAN_Y,68784.3,-209.3,-42.8,-206613.0,1842.9
$MHEAD_RNG_PITCHd_Wd,98.4,106920,-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,-40.33,0.000,2,0.000,0.000,99,2305,2691
$GC,68,-0.68,-117.3,4.2,-8.9,2,98,6.90,2.35,-16.73,0.000,4,0.219,0.061,1850,895,3414
$GC,352,-0.68,-117.3,31.4,-11.0,14,359,0.00,2.28,0.00,0.000,6,0.000,0.037,1849,2309,3414
$GC,670,-0.64,-117.3,65.7,-10.5,30,674,0.00,2.30,0.00,0.000,4,0.000,0.041,1849,886,3415
$GC,795,-0.64,-117.3,79.1,-9.8,35,799,0.00,2.30,0.00,0.000,6,0.000,0.041,1842,2303,3414
$GC,1125,-0.60,-117.3,111.9,-9.0,64,1130,0.10,2.30,0.00,0.000,4,0.136,0.039,1869,889,3415
$GC,1183,-0.65,-117.3,117.2,-8.0,68,1190,0.00,2.28,0.00,0.000,6,0.000,0.035,1863,2310,3415
$GC,1514,-0.70,-117.3,143.6,-7.4,99,1518,0.00,2.25,0.00,0.000,4,0.000,0.047,1855,3710,3415
$GC,1596,-0.76,-117.3,149.6,-6.8,106,1600,0.00,2.20,0.00,0.000,6,0.000,0.028,1855,2289,3415
$GC,1917,-0.81,-117.3,171.6,-7.0,117,1921,0.10,2.20,0.00,0.000,4,0.069,0.038,1774,901,3415
$GC,2103,-0.71,-117.3,192.5,-11.4,122,2108,0.28,2.25,0.00,0.000,6,0.112,0.041,1848,2304,3415
$GC,2424,-0.75,-117.3,214.1,-6.5,133,2428,0.00,2.30,0.00,0.000,4,0.000,0.056,1846,3712,3415
$GC,2456,-0.81,-117.3,216.3,-7.1,134,2460,0.00,2.17,0.00,0.000,6,0.000,0.029,1846,2299,3415
$GC,2800,-0.85,-117.3,239.0,-6.6,145,2805,0.10,2.25,0.00,0.000,4,0.064,0.040,1769,898,3415
$GC,2846,-0.75,-117.3,243.7,-10.5,146,2851,0.28,2.25,0.00,0.000,6,0.112,0.041,1838,2304,3415
$GC,3166,-0.78,-117.3,265.6,-6.4,157,3170,0.00,2.25,0.00,0.000,4,0.000,0.041,1837,898,3414
$GC,3197,-0.82,-117.3,267.7,-6.7,157,3205,0.00,2.25,0.00,0.000,6,0.000,0.037,1837,2314,3414
$GC,3512,-0.84,-117.3,288.7,-6.9,168,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2314,3414
$GC,3817,-0.87,-117.3,311.9,-7.9,176,3821,0.10,2.30,0.00,0.000,4,0.064,0.048,1764,895,3414
$GC,3886,-0.77,-117.3,319.9,-12.5,177,3891,0.28,2.28,0.00,0.000,6,0.112,0.043,1835,2303,3414
$GC,4254,-0.80,-117.3,349.8,-7.8,183,4258,0.00,2.25,0.00,0.000,4,0.000,0.042,1835,901,3414
$GC,4284,-0.84,-117.3,352.1,-7.9,183,4288,0.00,2.25,0.00,0.000,6,0.000,0.039,1835,2309,3414
$GC,4630,-0.87,-117.3,374.3,-6.3,189,4634,0.10,2.30,0.00,0.000,4,0.064,0.045,1768,892,3413
$GC,4693,-0.78,-117.3,380.5,-10.5,190,4698,0.25,2.33,0.00,0.000,6,0.111,0.039,1832,2310,3413
$GC,5066,-0.81,-117.3,404.7,-6.2,196,5070,0.00,2.30,0.00,0.000,4,0.000,0.045,1832,901,3413
$GC,5119,-0.86,-117.3,408.4,-7.2,196,5123,0.00,2.25,0.00,0.000,6,0.000,0.041,1826,2305,3413
$GC,5442,-0.86,-117.3,428.5,-6.2,202,5445,0.00,2.28,0.00,0.000,4,0.000,0.042,1826,900,3412
$GC,5471,-0.88,-117.3,430.5,-6.8,202,5475,0.00,2.30,0.00,0.000,6,0.000,0.043,1823,2307,3412
$GC,5810,-0.88,-117.3,452.9,-6.7,208,5814,0.00,2.33,0.00,0.000,4,0.000,0.043,1822,898,3412
$GC,5840,-0.88,-117.3,455.2,-7.5,208,5844,0.00,2.30,0.00,0.000,6,0.000,0.044,1821,2311,3412
$GC,6179,-0.88,-117.3,478.6,-6.9,214,6183,0.00,2.33,0.00,0.000,4,0.000,0.049,1821,901,3411
$GC,6208,-0.88,-117.3,480.8,-7.6,214,6212,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2303,3411
$GC,6548,-0.88,-117.3,507.1,-7.9,220,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2303,3411
$GC,6851,-0.88,-117.3,531.5,-8.0,225,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2303,3411
$GC,7153,-0.88,-117.3,556.2,-8.1,230,7157,0.00,2.33,0.00,0.000,4,0.000,0.048,1812,891,3410
$GC,7176,-0.88,-117.3,558.1,-8.0,230,7180,0.00,2.33,0.00,0.000,6,0.000,0.038,1808,2307,3410
$GC,7516,-0.88,-117.3,584.7,-7.7,236,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3411
$GC,7820,-0.88,-117.3,606.6,-7.1,241,7824,0.00,2.33,0.00,0.000,4,0.000,0.048,1808,900,3410
$GC,7901,-0.88,-117.3,612.5,-7.6,242,7905,0.00,2.33,0.00,0.000,6,0.000,0.041,1806,2311,3410
$GC,8251,-0.88,-117.3,635.0,-6.3,248,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2311,3409
$GC,8555,-0.88,-117.3,653.3,-6.1,253,8559,0.00,2.35,0.00,0.000,4,0.000,0.048,1806,902,3409
$GC,8623,-0.88,-117.3,658.1,-7.0,254,8627,0.00,2.30,0.00,0.000,6,0.000,0.040,1796,2304,3409
$GC,8990,-0.88,-117.3,683.1,-6.8,260,8994,0.00,2.33,0.00,0.000,4,0.000,0.044,1797,892,3409
$GC,9013,-0.88,-117.3,685.0,-7.5,260,9017,0.00,2.35,0.00,0.000,6,0.000,0.043,1794,2313,3409
$GC,9353,-0.85,-117.3,709.9,-7.4,266,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2314,3409
$GC,9655,-0.83,-117.3,732.5,-7.5,271,9660,0.10,2.38,0.00,0.000,4,0.133,0.044,1824,903,3408
$GC,9690,-0.87,-117.3,735.1,-6.6,271,9694,0.00,2.33,0.00,0.000,6,0.000,0.041,1822,2309,3408
$GC,10019,-0.91,-117.3,755.7,-6.3,277,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2309,3408
$GC,10321,-0.95,-117.3,775.1,-6.4,282,10325,0.10,2.35,0.00,0.000,4,0.067,0.048,1753,904,3408
$GC,10361,-0.85,-117.3,778.6,-9.7,282,10366,0.25,2.33,0.00,0.000,6,0.114,0.041,1815,2311,3408
$GC,10684,-0.88,-117.3,798.2,-5.8,288,10688,0.00,2.33,0.00,0.000,4,0.000,0.047,1815,904,3407
$GC,10725,-0.92,-117.3,800.7,-6.1,288,10729,0.00,2.30,0.00,0.000,6,0.000,0.041,1810,2303,3408
$GC,11047,-0.92,-117.3,818.2,-5.4,294,11048,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2303,3408
$GC,11350,-0.92,-117.3,834.9,-5.5,299,11354,0.00,2.35,0.00,0.000,4,0.000,0.045,1810,901,3407
$GC,11397,-0.94,-117.3,837.7,-6.1,299,11401,0.00,2.33,0.00,0.000,6,0.000,0.045,1808,2312,3407
$GC,11713,-0.94,-117.3,856.1,-5.8,305,11717,0.00,2.38,0.00,0.000,4,0.000,0.050,1808,897,3407
$GC,11764,-0.94,-117.3,859.5,-6.5,305,11768,0.00,2.33,0.00,0.000,6,0.000,0.041,1808,2305,3406
$GC,12076,-0.94,-117.3,879.6,-6.5,310,12077,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3407
$GC,12380,-0.94,-117.3,900.3,-6.9,315,12384,0.00,2.38,0.00,0.000,4,0.000,0.046,1808,901,3407
$GC,12420,-0.94,-117.3,903.4,-7.4,315,12424,0.00,2.35,0.00,0.000,6,0.000,0.044,1809,2307,3407
$GC,12742,-0.94,-117.3,925.5,-6.9,321,12743,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3407
$GC,13045,-0.94,-117.3,945.7,-6.7,326,13049,0.00,2.38,0.00,0.000,4,0.000,0.051,1808,904,3406
$GC,13111,-0.97,-117.3,950.3,-6.5,327,13115,0.00,2.35,0.00,0.000,6,0.000,0.044,1808,2309,3406
$GC,13478,-0.99,-117.3,972.4,-5.8,333,13482,0.10,2.35,0.00,0.000,4,0.079,0.047,1763,905,3406
$GC,13514,-0.92,-117.3,975.0,-8.1,333,13519,0.17,2.33,0.00,0.000,6,0.127,0.043,1803,2306,3406
$STATE,13837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13837,begin apogee
$GC,13847,-0.22,0.0,992.9,5.2,339,13947,0.47,0.00,97.75,1.276,6,0.107,0.000,1957,2306,2931
$STATE,13948,end apogee,CONTROL_FINISHED_OK
$STATE,13948,begin climb
$GC,13952,0.68,117.3,993.5,0.0,340,14064,0.55,2.60,103.47,1.249,4,0.067,0.056,2153,3708,2451
$GC,14124,0.50,117.3,986.8,8.8,342,14129,0.22,2.38,0.00,0.000,6,0.156,0.036,2109,2310,2446
$GC,14446,0.47,117.3,967.4,5.9,348,14447,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2310,2441
$GC,14750,0.44,122.8,951.1,5.3,353,14756,0.00,0.00,4.15,0.759,6,0.000,0.000,2109,2311,2430
$GC,15052,0.43,142.1,936.3,4.8,358,15076,0.00,2.40,18.30,1.156,4,0.000,0.054,2109,3715,2350
$GC,15108,0.38,142.1,933.3,5.8,358,15113,0.15,2.28,0.00,0.000,6,0.154,0.033,2080,2296,2349
$GC,15420,0.51,178.0,920.2,4.3,363,15460,0.12,2.47,31.77,1.185,4,0.071,0.051,2141,3720,2204
$GC,15557,0.40,178.0,911.6,7.5,365,15562,0.25,2.28,0.00,0.000,6,0.152,0.038,2085,2305,2202
$GC,15926,0.54,192.4,893.6,5.0,371,15945,0.12,2.35,13.45,1.095,4,0.071,0.049,2150,895,2145
$GC,16066,0.50,192.4,884.6,7.3,373,16071,0.17,2.30,0.00,0.000,6,0.135,0.042,2103,2318,2142
$GC,16435,0.56,214.9,866.3,4.7,379,16461,0.00,2.30,20.85,1.130,4,0.000,0.050,2103,3708,2052
$GC,16502,0.58,214.9,862.6,6.0,380,16506,0.00,2.25,0.00,0.000,6,0.000,0.034,2111,2298,2051
$GC,16864,0.65,242.6,845.4,4.6,386,16894,0.10,2.33,24.85,1.127,4,0.069,0.048,2176,892,1942
$GC,16914,0.59,242.6,842.0,6.1,386,16919,0.17,2.30,0.00,0.000,6,0.133,0.038,2130,2311,1940
$GC,17226,0.59,242.6,824.0,5.6,391,17230,0.00,2.28,0.00,0.000,4,0.000,0.048,2130,3709,1938
$GC,17283,0.59,242.6,819.9,7.6,391,17289,0.00,2.22,0.00,0.000,6,0.000,0.032,2137,2302,1937
$GC,17594,0.59,242.6,799.2,6.7,397,17599,0.00,2.30,0.00,0.000,4,0.000,0.053,2137,3710,1936
$GC,17624,0.56,242.6,797.0,7.6,397,17629,0.10,2.25,0.00,0.000,6,0.148,0.035,2123,2295,1936
$GC,17957,0.60,242.6,777.9,5.6,403,17961,0.00,2.28,0.00,0.000,4,0.000,0.047,2132,892,1934
$GC,17988,0.65,251.8,776.1,5.2,403,18002,0.00,2.28,8.85,0.967,6,0.000,0.038,2132,2306,1903
$GC,18332,0.65,251.8,754.1,6.5,409,18336,0.00,2.28,0.00,0.000,4,0.000,0.052,2132,3714,1901
$GC,18383,0.65,251.8,749.9,7.7,409,18387,0.00,2.20,0.00,0.000,6,0.000,0.032,2142,2303,1901
$GC,18708,0.65,251.8,725.3,7.6,415,18709,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2303,1901
$GC,19008,0.65,251.8,702.5,7.5,420,19012,0.00,2.30,0.00,0.000,4,0.000,0.048,2142,3710,1900
$GC,19049,0.61,251.8,699.0,9.8,420,19053,0.00,2.22,0.00,0.000,6,0.000,0.032,2152,2296,1900
$GC,19378,0.57,251.8,671.7,8.5,426,19382,0.12,2.35,0.00,0.000,4,0.139,0.048,2117,3716,1900
$GC,19402,0.57,251.8,669.7,7.7,426,19406,0.00,2.22,0.00,0.000,6,0.000,0.033,2126,2298,1900
$GC,19746,0.60,251.8,647.7,6.3,432,19750,0.00,2.30,0.00,0.000,4,0.000,0.050,2136,885,1900
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$STATE,29638,end climb,SURFACE_DEPTH_REACHED
$STATE,29638,begin surface coast
$FINISH,1.7,1.025303
$STATE,29660,end surface coast,CONTROL_FINISHED_OK
$STATE,29660,begin surface
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$HUMID,1742
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$TCM_TEMP,16.30
$XPDR_PINGS,78
$24V_AH,21.8,116.499
$10V_AH,10.3,98.518
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$DEVICE_SECS,19.050,261.800,451.450,0.000,0.000,26.112,24.262,167.190,19.500,0.000,0.000,15.563,1770.667,24325.543,574.027,2423.640,1035.023,33.386,1884.360,0.000,2392.896,0.000,0.529,0.000
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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,44437,758
$CAP_FILE_SIZE,197501,0
$CFSIZE,260165632,195796992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100310,072125,4904.982,-13202.494,39,1.8,39,19.5