version: 66.04
glider: 144
mission: 15
dive: 816
start: 3 12 110 16 16 22
data:
$ID,144
$MISSION,15
$DIVE,816
$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,-78206.516
$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,34
$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
$GPS1,160537,4900.812,-13124.927,34,1.9,34,19.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-55.4
$GPS2,161526,4900.857,-13125.097,10,2.0,10,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.163,-0.040
$KALMAN_X,-41056.7,-180.3,3.1,1016766.0,663.6
$KALMAN_Y,72836.0,94.0,120.0,-221440.0,837.8
$MHEAD_RNG_PITCHd_Wd,84.3,55046,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-39.67,0.000,2,0.000,0.000,98,2305,2515
$GC,64,-0.68,-117.3,3.3,-3.9,2,100,7.00,2.30,-23.85,0.000,4,0.222,0.055,1846,890,3411
$GC,149,-0.68,-117.3,13.3,-13.8,5,153,0.00,2.28,0.00,0.000,6,0.000,0.041,1837,2304,3412
$GC,478,-0.60,-117.3,61.2,-14.8,21,483,0.12,2.28,0.00,0.000,4,0.133,0.040,1872,889,3412
$GC,536,-0.64,-117.3,67.7,-9.8,23,543,0.00,2.25,0.00,0.000,6,0.000,0.036,1865,2305,3412
$GC,859,-0.64,-117.3,96.6,-8.3,47,863,0.00,2.25,0.00,0.000,4,0.000,0.039,1865,892,3412
$GC,889,-0.64,-117.3,99.5,-9.6,49,893,0.00,2.28,0.00,0.000,6,0.000,0.036,1863,2313,3412
$GC,1228,-0.66,-117.3,126.4,-7.2,80,1232,0.00,2.28,0.00,0.000,4,0.000,0.039,1863,888,3413
$GC,1259,-0.69,-117.3,129.3,-8.3,82,1263,0.00,2.28,0.00,0.000,6,0.000,0.036,1862,2305,3413
$GC,1598,-0.73,-117.3,154.6,-7.2,109,1602,0.00,2.30,0.00,0.000,4,0.000,0.048,1852,3707,3412
$GC,1651,-0.78,-117.3,158.7,-7.4,110,1654,0.00,2.17,0.00,0.000,6,0.000,0.028,1852,2296,3412
$GC,1977,-0.82,-117.3,181.2,-7.1,121,1981,0.10,2.33,0.00,0.000,4,0.066,0.050,1767,3710,3412
$GC,2020,-0.71,-117.3,185.3,-11.5,122,2024,0.28,2.17,0.00,0.000,6,0.111,0.028,1850,2304,3412
$GC,2351,-0.75,-117.3,208.5,-6.7,133,2355,0.00,2.25,0.00,0.000,4,0.000,0.041,1850,893,3412
$GC,2443,-0.80,-117.3,214.9,-6.9,135,2447,0.10,2.28,0.00,0.000,6,0.062,0.039,1780,2303,3412
$GC,2759,-0.72,-117.3,247.7,-10.5,145,2763,0.17,2.25,0.00,0.000,4,0.123,0.039,1839,902,3412
$GC,2828,-0.75,-117.3,253.7,-8.1,147,2832,0.00,2.28,0.00,0.000,6,0.000,0.041,1836,2308,3412
$GC,3166,-0.77,-117.3,277.0,-6.4,158,3170,0.00,2.28,0.00,0.000,4,0.000,0.041,1837,897,3412
$GC,3208,-0.81,-117.3,279.8,-6.6,159,3212,0.00,2.33,0.00,0.000,6,0.000,0.044,1836,2306,3412
$GC,3539,-0.83,-117.3,301.1,-6.7,170,3543,0.00,2.30,0.00,0.000,4,0.000,0.041,1836,893,3412
$GC,3575,-0.87,-117.3,303.7,-7.0,170,3579,0.10,2.30,0.00,0.000,6,0.064,0.043,1765,2303,3411
$GC,3909,-0.76,-117.3,340.8,-11.5,176,3914,0.20,2.30,0.00,0.000,4,0.123,0.040,1831,893,3411
$GC,3955,-0.80,-117.3,345.1,-7.7,176,3959,0.00,2.30,0.00,0.000,6,0.000,0.041,1824,2306,3411
$GC,4283,-0.80,-117.3,371.9,-8.2,182,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2306,3411
$GC,4587,-0.80,-117.3,395.9,-7.9,187,4591,0.00,2.28,0.00,0.000,4,0.000,0.048,1824,906,3410
$GC,4622,-0.80,-117.3,398.8,-7.7,187,4626,0.00,2.30,0.00,0.000,6,0.000,0.040,1815,2307,3411
$GC,4955,-0.80,-117.3,425.1,-7.9,193,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2307,3409
$GC,5258,-0.80,-117.3,448.2,-7.6,198,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2307,3409
$GC,5561,-0.80,-117.3,472.1,-7.9,203,5565,0.00,2.33,0.00,0.000,4,0.000,0.045,1815,897,3409
$GC,5619,-0.80,-117.3,477.0,-9.1,203,5625,0.00,2.33,0.00,0.000,6,0.000,0.044,1808,2310,3409
$GC,5929,-0.80,-117.3,501.7,-7.9,209,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2310,3408
$GC,6233,-0.80,-117.3,524.5,-7.6,214,6237,0.00,2.33,0.00,0.000,4,0.000,0.042,1808,891,3408
$GC,6284,-0.80,-117.3,528.6,-7.6,214,6289,0.10,2.33,0.00,0.000,6,0.127,0.043,1825,2308,3408
$GC,6597,-0.83,-117.3,549.8,-6.8,219,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2308,3408
$GC,6899,-0.86,-117.3,569.1,-6.3,224,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2308,3408
$GC,7202,-0.89,-117.3,587.4,-6.0,229,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2307,3407
$GC,7506,-0.93,-117.3,605.1,-5.8,234,7511,0.10,2.35,0.00,0.000,4,0.066,0.041,1763,893,3407
$GC,7546,-0.84,-117.3,608.4,-9.2,234,7551,0.22,2.35,0.00,0.000,6,0.119,0.038,1820,2308,3407
$GC,7869,-0.87,-117.3,628.8,-6.2,240,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2308,3406
$GC,8172,-0.90,-117.3,647.7,-6.3,245,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2308,3406
$GC,8476,-0.92,-117.3,667.9,-6.7,250,8480,0.00,2.35,0.00,0.000,4,0.000,0.046,1820,903,3406
$GC,8505,-0.95,-117.3,670.1,-7.6,250,8510,0.10,2.35,0.00,0.000,6,0.066,0.044,1756,2309,3406
$GC,8845,-0.86,-117.3,704.6,-10.5,256,8847,0.20,0.00,0.00,0.000,6,0.120,0.000,1817,2309,3406
$GC,9149,-0.89,-117.3,727.3,-7.3,261,9153,0.00,2.38,0.00,0.000,4,0.000,0.044,1817,893,3406
$GC,9189,-0.92,-117.3,730.5,-8.1,261,9193,0.00,2.35,0.00,0.000,6,0.000,0.041,1811,2306,3406
$GC,9517,-0.92,-117.3,755.1,-7.5,267,9518,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2306,3405
$GC,9820,-0.92,-117.3,775.6,-6.6,272,9824,0.00,2.33,0.00,0.000,4,0.000,0.044,1810,904,3405
$GC,9867,-0.94,-117.3,778.7,-6.7,272,9871,0.00,2.33,0.00,0.000,6,0.000,0.038,1808,2305,3405
$GC,10183,-0.94,-117.3,797.2,-5.8,278,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3405
$GC,10486,-0.94,-117.3,814.1,-5.7,283,10490,0.00,2.35,0.00,0.000,4,0.000,0.048,1809,897,3405
$GC,10526,-0.94,-117.3,816.8,-7.4,283,10530,0.00,2.33,0.00,0.000,6,0.000,0.046,1807,2306,3404
$GC,10849,-0.94,-117.3,838.6,-6.9,289,10850,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3404
$GC,11151,-0.94,-117.3,860.7,-7.4,294,11155,0.00,2.33,0.00,0.000,4,0.000,0.051,1807,906,3404
$GC,11202,-0.94,-117.3,864.8,-7.7,294,11206,0.00,2.30,0.00,0.000,6,0.000,0.042,1797,2303,3404
$GC,11513,-0.94,-117.3,889.9,-8.2,299,11517,0.00,2.35,0.00,0.000,4,0.000,0.045,1797,902,3404
$GC,11555,-0.94,-117.3,893.5,-8.1,299,11559,0.00,2.35,0.00,0.000,6,0.000,0.044,1794,2306,3404
$GC,11876,-0.94,-117.3,919.7,-8.0,305,11880,0.00,2.35,0.00,0.000,4,0.000,0.050,1795,903,3404
$GC,11905,-0.94,-117.3,922.2,-8.7,305,11910,0.00,2.35,0.00,0.000,6,0.000,0.046,1792,2307,3404
$GC,12240,-0.94,-117.3,947.8,-7.6,311,12244,0.00,2.35,0.00,0.000,4,0.000,0.045,1792,902,3404
$GC,12281,-0.94,-117.3,951.1,-8.1,311,12285,0.00,2.33,0.00,0.000,6,0.000,0.039,1781,2310,3404
$GC,12608,-0.91,-117.3,976.1,-7.6,317,12612,0.00,2.38,0.00,0.000,4,0.000,0.048,1782,895,3404
$GC,12688,-0.89,-117.3,982.8,-7.6,318,12693,0.10,2.38,0.00,0.000,6,0.138,0.041,1806,2310,3404
$STATE,12858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12858,begin apogee
$GC,12869,-0.22,0.0,993.7,6.2,321,12969,0.45,0.00,97.12,1.276,6,0.104,0.000,1954,2311,2931
$STATE,12970,end apogee,CONTROL_FINISHED_OK
$STATE,12970,begin climb
$GC,12974,0.68,117.3,995.2,0.0,322,13084,0.55,2.58,104.12,1.249,4,0.070,0.051,2148,3710,2451
$GC,13116,0.51,117.3,993.2,6.2,325,13121,0.20,2.42,0.00,0.000,6,0.152,0.036,2111,2315,2447
$GC,13473,0.48,120.8,974.0,5.4,331,13477,0.00,2.30,0.00,0.000,4,0.000,0.049,2112,3713,2441
$GC,13508,0.40,120.8,971.6,6.2,331,13513,0.15,2.25,0.00,0.000,6,0.159,0.038,2082,2295,2440
$GC,13837,0.44,138.6,955.3,4.9,337,13856,0.00,0.00,17.42,1.158,6,0.000,0.000,2082,2295,2366
$GC,14139,0.53,141.0,939.3,5.4,342,14144,0.12,2.33,0.00,0.000,4,0.067,0.053,2141,3714,2362
$GC,14343,0.40,141.0,923.7,7.7,345,14348,0.25,2.22,0.00,0.000,6,0.152,0.041,2085,2307,2361
$GC,14706,0.50,175.5,907.6,4.3,351,14741,0.08,0.00,32.75,1.183,6,0.088,0.000,2129,2306,2215
$GC,15010,0.56,184.9,891.7,5.2,356,15024,0.00,2.35,8.98,1.022,4,0.000,0.050,2129,3713,2177
$GC,15176,0.49,184.9,881.4,6.2,358,15181,0.12,2.25,0.00,0.000,6,0.151,0.037,2107,2299,2175
$GC,15516,0.56,226.5,866.7,4.1,364,15561,0.00,2.38,37.55,1.163,4,0.000,0.054,2116,897,2006
$GC,15575,0.66,264.5,864.1,4.2,364,15624,0.10,2.30,37.40,1.092,6,0.076,0.041,2166,2307,1852
$GC,15951,0.59,264.5,832.5,8.9,371,15956,0.15,2.28,0.00,0.000,4,0.130,0.048,2125,3708,1843
$GC,16020,0.59,264.5,826.6,7.7,372,16024,0.00,2.20,0.00,0.000,6,0.000,0.032,2133,2303,1842
$GC,16387,0.59,264.5,799.7,7.4,378,16391,0.00,2.33,0.00,0.000,4,0.000,0.055,2133,3709,1840
$GC,16416,0.59,264.5,797.2,8.4,378,16420,0.00,2.22,0.00,0.000,6,0.000,0.031,2143,2300,1840
$GC,16751,0.59,264.5,769.9,8.2,384,16752,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2301,1839
$GC,17053,0.59,264.5,744.0,8.5,389,17057,0.00,2.35,0.00,0.000,4,0.000,0.051,2143,3710,1839
$GC,17088,0.55,264.5,740.8,9.3,389,17092,0.12,2.25,0.00,0.000,6,0.126,0.037,2120,2303,1839
$GC,17416,0.60,264.5,718.6,6.5,395,17418,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2303,1838
$GC,17718,0.66,264.5,699.6,6.3,400,17723,0.08,2.30,0.00,0.000,4,0.078,0.044,2181,895,1838
$GC,17741,0.66,264.5,697.7,7.0,400,17746,0.15,2.30,0.00,0.000,6,0.130,0.037,2143,2312,1836
$GC,18080,0.66,264.5,672.6,7.3,406,18084,0.00,2.28,0.00,0.000,4,0.000,0.052,2143,3709,1837
$GC,18133,0.66,264.5,668.2,8.5,406,18137,0.00,2.22,0.00,0.000,6,0.000,0.032,2150,2293,1837
$GC,18455,0.66,264.5,643.4,7.8,412,18459,0.00,2.25,0.00,0.000,4,0.000,0.046,2161,892,1837
$GC,18484,0.66,264.5,641.0,7.7,412,18488,0.00,2.28,0.00,0.000,6,0.000,0.043,2161,2304,1836
$GC,18824,0.61,264.5,611.9,8.7,418,18829,0.12,2.30,0.00,0.000,4,0.127,0.046,2126,3716,1836
$GC,18876,0.64,264.5,607.5,7.3,418,18880,0.00,2.22,0.00,0.000,6,0.000,0.031,2134,2299,1836
$GC,19198,0.64,264.5,586.7,6.4,424,19199,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2299,1836
$GC,19501,0.66,264.5,569.0,5.8,429,19505,0.00,2.35,0.00,0.000,4,0.000,0.049,2134,3714,1836
$GC,19531,0.66,264.5,567.1,5.9,429,19535,0.00,2.22,0.00,0.000,6,0.000,0.031,2143,2296,1836
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$STATE,27967,end climb,SURFACE_DEPTH_REACHED
$STATE,27967,begin surface coast
$FINISH,1.5,1.021846
$STATE,27988,end surface coast,CONTROL_FINISHED_OK
$STATE,27989,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1784
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$TCM_TEMP,16.30
$XPDR_PINGS,67
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$10V_AH,10.3,99.427
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$DEVICE_SECS,18.675,247.725,394.050,0.000,0.000,57.109,104.819,181.805,16.750,0.000,0.000,15.899,1668.032,23059.389,551.782,2237.429,1127.678,33.385,1736.240,0.000,2216.153,0.000,0.528,0.000
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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,41181,712
$CAP_FILE_SIZE,186734,0
$CFSIZE,260165632,195182592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130310,000539,4859.888,-13120.573,39,1.9,41,19.5