version: 66.04
glider: 144
mission: 15
dive: 809
start: 3 10 110 7 29 20
data:
$ID,144
$MISSION,15
$DIVE,809
$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,-78044.5
$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,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
$GPS1,072125,4904.982,-13202.494,39,1.8,39,19.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-61.6
$GPS2,072826,4904.965,-13202.481,13,1.7,13,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,-0.047
$KALMAN_X,-44562.7,-98.7,-122.5,976132.1,855.1
$KALMAN_Y,68779.4,28.2,-225.4,-209348.0,821.2
$MHEAD_RNG_PITCHd_Wd,86.6,101056,-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,-40.38,0.000,2,0.000,0.000,97,2310,2356
$GC,68,-0.68,-117.3,3.3,-4.6,2,112,7.00,2.35,-29.73,0.000,4,0.225,0.062,1843,3715,3411
$GC,125,-0.59,-117.3,8.7,-13.0,4,130,0.10,2.25,0.00,0.000,6,0.127,0.031,1869,2292,3411
$GC,442,-0.59,-117.3,38.9,-8.0,19,446,0.00,2.33,0.00,0.000,4,0.000,0.052,1861,3711,3412
$GC,595,-0.59,-117.3,52.6,-8.2,25,602,0.00,2.20,0.00,0.000,6,0.000,0.028,1861,2299,3412
$GC,914,-0.59,-117.3,81.6,-8.8,41,918,0.00,2.25,0.00,0.000,4,0.000,0.040,1861,896,3412
$GC,1040,-0.62,-117.3,94.1,-10.8,52,1044,0.00,2.22,0.00,0.000,6,0.000,0.041,1853,2300,3412
$GC,1377,-0.62,-117.3,123.8,-8.8,83,1381,0.00,2.25,0.00,0.000,4,0.000,0.038,1853,889,3412
$GC,1492,-0.64,-117.3,134.4,-9.1,93,1496,0.00,2.28,0.00,0.000,6,0.000,0.036,1850,2312,3412
$GC,1836,-0.67,-117.3,158.4,-6.7,117,1840,0.00,2.28,0.00,0.000,4,0.000,0.040,1850,892,3412
$GC,1868,-0.71,-117.3,160.7,-7.2,118,1872,0.00,2.28,0.00,0.000,6,0.000,0.044,1850,2300,3412
$GC,2205,-0.75,-117.3,182.1,-6.3,129,2209,0.00,2.33,0.00,0.000,4,0.000,0.054,1843,3718,3412
$GC,2240,-0.79,-117.3,184.2,-6.0,130,2245,0.00,2.20,0.00,0.000,6,0.000,0.031,1843,2306,3412
$GC,2572,-0.82,-117.3,205.1,-6.3,141,2576,0.00,2.28,0.00,0.000,4,0.000,0.040,1843,887,3412
$GC,2624,-0.87,-117.3,208.7,-6.8,142,2629,0.10,2.30,0.00,0.000,6,0.062,0.043,1767,2309,3412
$GC,2940,-0.76,-117.3,242.2,-11.0,152,2945,0.20,2.28,0.00,0.000,4,0.121,0.040,1834,894,3412
$GC,3011,-0.79,-117.3,248.2,-7.2,154,3015,0.00,2.28,0.00,0.000,6,0.000,0.041,1828,2306,3412
$GC,3347,-0.79,-117.3,273.4,-7.6,165,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2306,3412
$GC,3654,-0.79,-117.3,295.9,-7.2,175,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2306,3411
$GC,3957,-0.79,-117.3,317.1,-7.0,181,3961,0.00,2.30,0.00,0.000,4,0.000,0.041,1828,889,3411
$GC,4003,-0.81,-117.3,320.6,-7.9,181,4007,0.00,2.30,0.00,0.000,6,0.000,0.038,1822,2303,3411
$GC,4331,-0.81,-117.3,345.9,-7.8,187,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3411
$GC,4635,-0.81,-117.3,367.7,-7.1,192,4639,0.00,2.33,0.00,0.000,4,0.000,0.049,1822,894,3410
$GC,4720,-0.81,-117.3,374.2,-7.1,193,4724,0.00,2.30,0.00,0.000,6,0.000,0.043,1813,2306,3410
$GC,5070,-0.81,-117.3,399.3,-7.2,199,5074,0.00,2.33,0.00,0.000,4,0.000,0.048,1813,890,3410
$GC,5106,-0.81,-117.3,401.9,-7.7,199,5110,0.00,2.33,0.00,0.000,6,0.000,0.043,1808,2306,3410
$GC,5434,-0.79,-117.3,426.8,-7.7,205,5436,0.08,0.00,0.00,0.000,6,0.141,0.000,1830,2306,3409
$GC,5737,-0.82,-117.3,447.8,-6.9,210,5741,0.00,2.33,0.00,0.000,4,0.000,0.049,1830,895,3409
$GC,5783,-0.86,-117.3,451.5,-8.1,210,5787,0.00,2.30,0.00,0.000,6,0.000,0.038,1824,2306,3409
$GC,6101,-0.86,-117.3,476.4,-8.0,216,6105,0.00,2.33,0.00,0.000,4,0.000,0.048,1824,892,3409
$GC,6141,-0.88,-117.3,480.1,-8.8,216,6145,0.00,2.33,0.00,0.000,6,0.000,0.038,1821,2311,3408
$GC,6463,-0.88,-117.3,505.8,-8.0,222,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2311,3408
$GC,6767,-0.88,-117.3,526.9,-6.9,227,6771,0.00,2.33,0.00,0.000,4,0.000,0.044,1821,892,3408
$GC,6808,-0.91,-117.3,529.9,-7.6,227,6812,0.00,2.30,0.00,0.000,6,0.000,0.042,1813,2305,3408
$GC,7130,-0.91,-117.3,552.3,-6.9,233,7134,0.00,2.33,0.00,0.000,4,0.000,0.048,1813,892,3407
$GC,7186,-0.91,-117.3,556.5,-7.6,233,7192,0.00,2.33,0.00,0.000,6,0.000,0.038,1809,2306,3407
$GC,7498,-0.91,-117.3,577.9,-6.8,239,7502,0.00,2.33,0.00,0.000,4,0.000,0.044,1809,895,3407
$GC,7527,-0.91,-117.3,580.0,-6.8,239,7531,0.00,2.33,0.00,0.000,6,0.000,0.039,1808,2306,3407
$GC,7861,-0.91,-117.3,601.1,-6.3,245,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3407
$GC,8164,-0.91,-117.3,620.0,-6.4,250,8168,0.00,2.33,0.00,0.000,4,0.000,0.048,1808,898,3406
$GC,8230,-0.91,-117.3,624.4,-7.1,251,8234,0.00,2.30,0.00,0.000,6,0.000,0.043,1799,2307,3407
$GC,8597,-0.91,-117.3,652.7,-7.9,257,8599,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2307,3406
$GC,8900,-0.91,-117.3,677.5,-8.2,262,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2307,3406
$GC,9204,-0.91,-117.3,700.6,-7.6,267,9208,0.00,2.30,0.00,0.000,4,0.000,0.046,1799,899,3406
$GC,9296,-0.91,-117.3,707.8,-8.2,268,9300,0.00,2.30,0.00,0.000,6,0.000,0.046,1794,2302,3405
$GC,9641,-0.88,-117.3,732.1,-7.0,274,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2303,3405
$GC,9944,-0.86,-117.3,752.9,-6.8,279,9948,0.00,2.33,0.00,0.000,4,0.000,0.049,1794,893,3405
$GC,9974,-0.86,-117.3,755.2,-8.1,279,9978,0.10,2.30,0.00,0.000,6,0.125,0.045,1812,2306,3405
$GC,10313,-0.89,-117.3,776.6,-6.2,285,10317,0.00,2.33,0.00,0.000,4,0.000,0.048,1812,898,3405
$GC,10359,-0.92,-117.3,779.9,-7.3,285,10363,0.00,2.30,0.00,0.000,6,0.000,0.038,1809,2306,3405
$GC,10676,-0.92,-117.3,800.1,-6.3,291,10677,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3404
$GC,10981,-0.92,-117.3,819.9,-6.6,296,10985,0.00,2.33,0.00,0.000,4,0.000,0.044,1809,898,3404
$GC,11027,-0.94,-117.3,823.3,-6.6,296,11031,0.00,2.33,0.00,0.000,6,0.000,0.041,1808,2306,3404
$GC,11343,-0.94,-117.3,843.0,-6.2,302,11344,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3404
$GC,11646,-0.94,-117.3,862.4,-6.4,307,11650,0.00,2.35,0.00,0.000,4,0.000,0.048,1808,891,3403
$GC,11716,-0.96,-117.3,867.1,-6.7,308,11720,0.00,2.38,0.00,0.000,6,0.000,0.042,1808,2314,3404
$GC,12077,-0.96,-117.3,890.4,-6.5,314,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2314,3403
$GC,12380,-0.96,-117.3,910.6,-6.7,319,12384,0.00,2.35,0.00,0.000,4,0.000,0.045,1808,899,3403
$GC,12422,-0.98,-117.3,913.4,-6.6,319,12427,0.08,2.35,0.00,0.000,6,0.085,0.042,1769,2312,3403
$GC,12744,-0.92,-117.3,937.8,-7.6,325,12749,0.12,2.38,0.00,0.000,4,0.131,0.054,1796,3713,3403
$GC,12778,-0.92,-117.3,940.4,-7.1,325,12783,0.00,2.25,0.00,0.000,6,0.000,0.039,1796,2298,3403
$GC,13108,-0.92,-117.3,960.2,-6.1,331,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2298,3403
$GC,13410,-0.92,-117.3,979.5,-6.4,336,13414,0.00,2.33,0.00,0.000,4,0.000,0.051,1796,898,3403
$GC,13439,-0.92,-117.3,981.6,-8.0,336,13443,0.00,2.35,0.00,0.000,6,0.000,0.044,1794,2309,3403
$STATE,13585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13585,begin apogee
$GC,13595,-0.22,0.0,991.6,6.7,339,13695,0.50,0.00,97.10,1.276,6,0.106,0.000,1955,2309,2931
$STATE,13696,end apogee,CONTROL_FINISHED_OK
$STATE,13696,begin climb
$GC,13701,0.68,117.3,993.0,0.0,340,13814,0.57,2.58,103.40,1.248,4,0.067,0.051,2152,3705,2450
$GC,13855,0.49,117.3,989.9,7.3,343,13860,0.22,2.38,0.00,0.000,6,0.158,0.040,2109,2307,2446
$GC,14207,0.46,123.6,971.3,5.3,349,14213,0.00,0.00,4.93,0.845,6,0.000,0.000,2110,2308,2427
$GC,14508,0.43,123.6,954.7,5.5,354,14512,0.00,2.30,0.00,0.000,4,0.000,0.056,2110,3711,2425
$GC,14549,0.35,123.6,952.1,6.8,354,14554,0.17,2.25,0.00,0.000,6,0.157,0.034,2073,2291,2424
$GC,14873,0.47,155.1,937.5,4.4,360,14908,0.10,2.40,28.35,1.191,4,0.079,0.055,2122,3704,2297
$GC,14933,0.42,155.1,934.0,5.6,360,14940,0.17,2.25,0.00,0.000,6,0.153,0.035,2087,2298,2295
$GC,15245,0.51,192.8,920.5,4.2,366,15281,0.08,0.00,33.42,1.187,6,0.085,0.000,2131,2298,2144
$GC,15611,0.48,192.8,897.8,6.4,372,15615,0.12,2.33,0.00,0.000,4,0.136,0.054,2098,3710,2138
$GC,15639,0.48,192.8,895.9,6.1,372,15643,0.00,2.25,0.00,0.000,6,0.000,0.035,2105,2295,2137
$GC,15979,0.51,192.8,876.4,5.9,378,15983,0.00,2.35,0.00,0.000,4,0.000,0.053,2106,3714,2136
$GC,16008,0.51,192.8,874.3,6.3,378,16012,0.00,2.25,0.00,0.000,6,0.000,0.032,2116,2295,2136
$GC,16347,0.51,192.8,850.7,7.0,384,16351,0.00,2.33,0.00,0.000,4,0.000,0.053,2116,3714,2135
$GC,16376,0.51,192.8,848.4,7.6,384,16380,0.00,2.22,0.00,0.000,6,0.000,0.032,2126,2302,2135
$GC,16718,0.51,192.8,822.6,7.6,390,16719,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2302,2135
$GC,17018,0.51,192.8,799.8,7.5,395,17022,0.00,2.33,0.00,0.000,4,0.000,0.049,2126,3708,2134
$GC,17078,0.45,192.8,794.9,9.1,395,17083,0.15,2.22,0.00,0.000,6,0.141,0.032,2097,2301,2134
$GC,17392,0.50,192.8,777.2,5.5,400,17396,0.00,2.30,0.00,0.000,4,0.000,0.052,2106,899,2133
$GC,17416,0.57,205.1,775.8,5.1,400,17431,0.00,2.30,10.18,0.993,6,0.000,0.042,2106,2310,2095
$GC,17755,0.61,205.1,755.7,6.0,406,17759,0.10,2.30,0.00,0.000,4,0.068,0.051,2170,3714,2093
$GC,17784,0.51,205.1,753.0,9.4,406,17788,0.25,2.22,0.00,0.000,6,0.146,0.032,2113,2291,2093
$GC,18124,0.54,205.1,732.3,5.9,412,18128,0.00,2.33,0.00,0.000,4,0.000,0.046,2122,887,2093
$GC,18148,0.57,205.1,730.7,5.8,412,18152,0.00,2.30,0.00,0.000,6,0.000,0.040,2122,2310,2092
$GC,18492,0.57,205.1,710.8,5.7,418,18496,0.00,2.33,0.00,0.000,4,0.000,0.055,2122,3718,2092
$GC,18534,0.54,205.1,708.2,6.9,418,18538,0.00,2.25,0.00,0.000,6,0.000,0.037,2132,2305,2091
$GC,18856,0.54,205.1,689.7,5.8,424,18857,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2305,2091
$GC,19159,0.54,205.1,671.8,5.9,429,19163,0.00,2.35,0.00,0.000,4,0.000,0.050,2132,3717,2091
$GC,19206,0.49,205.1,668.6,7.5,429,19211,0.15,2.25,0.00,0.000,6,0.133,0.031,2102,2296,2091
$GC,19523,0.57,227.8,653.1,4.7,435,19545,0.00,0.00,20.95,1.005,6,0.000,0.000,2102,2296,2002
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$STATE,28443,end climb,SURFACE_DEPTH_REACHED
$STATE,28443,begin surface coast
$FINISH,1.5,1.025386
$STATE,28465,end surface coast,CONTROL_FINISHED_OK
$STATE,28465,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1766
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$TCM_TEMP,16.10
$XPDR_PINGS,82
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$10V_AH,10.3,98.630
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$DEVICE_SECS,19.200,261.775,415.475,0.000,0.000,31.238,33.626,166.886,20.500,0.000,0.000,14.760,1674.170,23470.535,566.435,2209.658,1028.206,33.384,1780.370,0.000,2189.607,0.000,0.528,0.000
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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,41098,716
$CAP_FILE_SIZE,191172,0
$CFSIZE,260165632,195723264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100310,152636,4904.520,-13157.842,40,1.6,45,19.5