version: 66.04
glider: 144
mission: 15
dive: 820
start: 3 13 110 23 43 33
data:
$ID,144
$MISSION,15
$DIVE,820
$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,-78331.297
$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,38
$R_STBD_OVSHOOT,34
$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
$GPS1,233407,4858.631,-13105.525,30,2.0,30,19.5
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-51.1
$GPS2,234240,4858.687,-13105.552,15,2.5,34,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.165,-0.030
$KALMAN_X,-41325.4,-216.4,-218.7,1040382.8,541.5
$KALMAN_Y,73890.6,-137.3,110.2,-226273.6,882.8
$MHEAD_RNG_PITCHd_Wd,80.8,31077,-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,-117.1,0.0,0.0,0,59,0.00,0.00,-40.33,0.000,2,0.000,0.000,105,2299,2705
$GC,64,-0.68,-117.3,3.8,-4.8,2,95,7.07,2.40,-18.40,0.000,4,0.229,0.061,1839,3708,3412
$GC,261,-0.65,-117.3,23.4,-10.2,11,265,0.00,2.20,0.00,0.000,6,0.000,0.029,1839,2304,3412
$GC,591,-0.58,-117.3,61.1,-12.4,27,596,0.12,2.28,0.00,0.000,4,0.126,0.040,1874,895,3413
$GC,679,-0.64,-117.3,71.0,-8.1,31,683,0.00,2.25,0.00,0.000,6,0.000,0.035,1868,2303,3413
$GC,1003,-0.64,-117.3,98.6,-7.5,56,1007,0.00,2.25,0.00,0.000,4,0.000,0.039,1867,896,3413
$GC,1080,-0.69,-117.3,104.7,-8.0,62,1084,0.00,2.25,0.00,0.000,6,0.000,0.035,1863,2304,3413
$GC,1411,-0.74,-117.3,130.8,-8.0,92,1415,0.08,2.30,0.00,0.000,4,0.077,0.049,1780,3714,3413
$GC,1448,-0.65,-117.3,134.9,-12.2,95,1453,0.28,2.20,0.00,0.000,6,0.109,0.028,1864,2296,3413
$GC,1795,-0.71,-117.3,157.6,-6.1,119,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2295,3413
$GC,2099,-0.78,-117.3,174.1,-5.3,129,2103,0.12,2.25,0.00,0.000,4,0.058,0.038,1776,899,3413
$GC,2162,-0.68,-117.3,180.6,-11.2,130,2169,0.30,2.28,0.00,0.000,6,0.110,0.043,1854,2305,3413
$GC,2477,-0.74,-117.3,202.3,-6.7,141,2480,0.00,2.33,0.00,0.000,4,0.000,0.048,1848,3714,3413
$GC,2501,-0.79,-117.3,204.1,-7.1,141,2505,0.00,2.20,0.00,0.000,6,0.000,0.028,1847,2300,3413
$GC,2816,-0.84,-117.3,226.6,-7.2,151,2821,0.12,2.25,0.00,0.000,4,0.057,0.039,1758,899,3413
$GC,2901,-0.72,-117.3,236.8,-12.4,153,2907,0.32,2.28,0.00,0.000,6,0.115,0.039,1842,2312,3413
$GC,3223,-0.76,-117.3,260.6,-7.0,164,3227,0.00,2.28,0.00,0.000,4,0.000,0.040,1842,892,3413
$GC,3258,-0.80,-117.3,263.2,-7.4,165,3262,0.00,2.28,0.00,0.000,6,0.000,0.038,1837,2307,3413
$GC,3589,-0.83,-117.3,284.5,-6.3,176,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2307,3413
$GC,3927,-0.85,-117.3,305.1,-6.2,186,3931,0.00,2.28,0.00,0.000,4,0.000,0.048,1836,894,3413
$GC,4001,-0.89,-117.3,310.3,-6.7,187,4006,0.12,2.33,0.00,0.000,6,0.055,0.044,1756,2312,3413
$GC,4363,-0.77,-117.3,351.3,-11.6,193,4365,0.25,0.00,0.00,0.000,6,0.120,0.000,1832,2312,3413
$GC,4667,-0.79,-117.3,373.8,-7.2,198,4671,0.00,2.33,0.00,0.000,4,0.000,0.042,1832,896,3413
$GC,4730,-0.83,-117.3,378.7,-7.7,198,4737,0.00,2.33,0.00,0.000,6,0.000,0.037,1826,2306,3413
$GC,5041,-0.83,-117.3,399.4,-6.6,204,5045,0.00,2.28,0.00,0.000,4,0.000,0.041,1826,902,3412
$GC,5078,-0.85,-117.3,401.7,-6.7,204,5082,0.00,2.30,0.00,0.000,6,0.000,0.038,1821,2307,3412
$GC,5406,-0.85,-117.3,423.4,-6.6,210,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2308,3412
$GC,5708,-0.85,-117.3,444.2,-6.9,215,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2308,3412
$GC,6011,-0.85,-117.3,465.0,-6.9,220,6015,0.00,2.28,0.00,0.000,4,0.000,0.043,1821,903,3412
$GC,6046,-0.85,-117.3,467.8,-8.0,220,6050,0.00,2.33,0.00,0.000,6,0.000,0.037,1812,2307,3412
$GC,6381,-0.85,-117.3,496.0,-8.6,226,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2307,3412
$GC,6682,-0.85,-117.3,522.6,-8.7,231,6686,0.00,2.33,0.00,0.000,4,0.000,0.043,1812,893,3411
$GC,6734,-0.85,-117.3,527.3,-8.7,231,6738,0.00,2.33,0.00,0.000,6,0.000,0.038,1808,2304,3411
$GC,7056,-0.85,-117.3,552.3,-7.6,237,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3410
$GC,7360,-0.85,-117.3,574.1,-7.2,242,7364,0.00,2.33,0.00,0.000,4,0.000,0.049,1808,896,3410
$GC,7405,-0.85,-117.3,577.6,-7.3,242,7409,0.00,2.33,0.00,0.000,6,0.000,0.042,1798,2305,3410
$GC,7721,-0.85,-117.3,600.4,-7.3,248,7725,0.00,2.30,0.00,0.000,4,0.000,0.043,1798,903,3410
$GC,7767,-0.85,-117.3,604.1,-8.1,248,7772,0.10,2.33,0.00,0.000,6,0.124,0.041,1817,2305,3410
$GC,8084,-0.85,-117.3,625.0,-6.6,254,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2305,3410
$GC,8387,-0.87,-117.3,643.8,-6.2,259,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2305,3409
$GC,8690,-0.89,-117.3,663.3,-6.5,264,8694,0.00,2.35,0.00,0.000,4,0.000,0.050,1817,892,3409
$GC,8765,-0.93,-117.3,668.8,-6.8,265,8769,0.00,2.30,0.00,0.000,6,0.000,0.042,1809,2302,3409
$GC,9126,-0.93,-117.3,694.8,-7.2,271,9130,0.00,2.30,0.00,0.000,4,0.000,0.048,1809,903,3409
$GC,9190,-0.93,-117.3,699.6,-7.9,272,9194,0.00,2.33,0.00,0.000,6,0.000,0.044,1808,2305,3409
$GC,9564,-0.93,-117.3,726.1,-7.1,278,9568,0.00,2.35,0.00,0.000,4,0.000,0.049,1798,3708,3408
$GC,9599,-0.93,-117.3,728.8,-7.9,278,9603,0.00,2.25,0.00,0.000,6,0.000,0.035,1798,2301,3408
$GC,9932,-0.93,-117.3,751.0,-6.6,284,9936,0.00,2.30,0.00,0.000,4,0.000,0.047,1798,891,3408
$GC,9995,-0.93,-117.3,755.3,-6.8,284,10001,0.00,2.35,0.00,0.000,6,0.000,0.038,1794,2309,3408
$GC,10307,-0.93,-117.3,775.2,-6.5,290,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2309,3408
$GC,10609,-0.93,-117.3,794.7,-6.4,295,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2309,3408
$GC,10912,-0.93,-117.3,814.5,-6.5,300,10916,0.00,2.35,0.00,0.000,4,0.000,0.044,1794,897,3407
$GC,10978,-0.93,-117.3,819.2,-7.4,301,10982,0.00,2.35,0.00,0.000,6,0.000,0.039,1785,2314,3407
$GC,11346,-0.90,-117.3,846.9,-7.6,307,11350,0.00,2.38,0.00,0.000,4,0.000,0.045,1785,892,3407
$GC,11387,-0.87,-117.3,850.3,-8.5,307,11392,0.12,2.35,0.00,0.000,6,0.124,0.043,1816,2304,3407
$GC,11715,-0.91,-117.3,871.4,-6.4,313,11716,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2304,3406
$GC,12019,-0.95,-117.3,890.4,-6.3,318,12024,0.10,2.35,0.00,0.000,4,0.072,0.051,1765,899,3406
$GC,12093,-0.90,-117.3,897.0,-8.4,319,12098,0.17,2.33,0.00,0.000,6,0.118,0.040,1804,2303,3406
$GC,12449,-0.90,-117.3,920.1,-6.3,325,12450,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2304,3407
$GC,12753,-0.90,-117.3,939.1,-6.3,330,12754,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2304,3406
$GC,13055,-0.90,-117.3,957.6,-6.0,335,13056,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2303,3406
$GC,13360,-0.90,-117.3,974.0,-5.4,340,13364,0.00,2.35,0.00,0.000,4,0.000,0.050,1804,896,3406
$GC,13401,-0.90,-117.3,976.4,-5.7,340,13405,0.00,2.35,0.00,0.000,6,0.000,0.042,1797,2312,3405
$STATE,13658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13658,begin apogee
$GC,13669,-0.22,0.0,991.1,5.6,345,13769,0.50,0.00,97.50,1.275,6,0.107,0.000,1957,2311,2931
$STATE,13770,end apogee,CONTROL_FINISHED_OK
$STATE,13770,begin climb
$GC,13774,0.68,117.3,992.0,0.0,346,13885,0.55,2.60,103.10,1.251,4,0.068,0.051,2150,3700,2451
$GC,13928,0.50,117.3,988.0,8.0,348,13933,0.22,2.40,0.00,0.000,6,0.157,0.033,2107,2312,2446
$GC,14267,0.47,117.3,969.0,5.5,354,14271,0.00,2.33,0.00,0.000,4,0.000,0.054,2116,890,2440
$GC,14302,0.47,117.3,967.1,5.6,354,14307,0.00,2.30,0.00,0.000,6,0.000,0.038,2116,2308,2440
$GC,14632,0.44,129.9,950.3,5.1,360,14647,0.00,2.33,10.27,1.084,4,0.000,0.053,2116,3715,2400
$GC,14711,0.36,129.9,945.4,6.0,361,14716,0.20,2.28,0.00,0.000,6,0.153,0.035,2073,2288,2398
$GC,15062,0.48,166.3,930.8,4.3,367,15101,0.10,2.45,31.95,1.200,4,0.080,0.051,2122,3709,2252
$GC,15187,0.40,166.3,922.9,7.1,368,15191,0.17,2.25,0.00,0.000,6,0.145,0.038,2086,2304,2249
$GC,15498,0.48,194.0,908.2,4.6,373,15525,0.00,0.00,24.92,1.167,6,0.000,0.000,2086,2304,2140
$GC,15802,0.62,194.0,891.4,5.8,378,15807,0.15,2.33,0.00,0.000,4,0.067,0.044,2153,884,2135
$GC,15930,0.57,194.0,882.4,7.3,379,15937,0.12,2.33,0.00,0.000,6,0.133,0.039,2121,2306,2133
$GC,16243,0.57,194.0,864.1,5.7,385,16247,0.00,2.33,0.00,0.000,4,0.000,0.055,2121,3716,2133
$GC,16312,0.53,194.0,859.3,7.0,386,16317,0.00,2.22,0.00,0.000,6,0.000,0.031,2129,2300,2132
$GC,16680,0.51,194.0,835.9,6.5,392,16681,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2300,2132
$GC,16983,0.51,194.0,814.7,6.9,397,16987,0.00,2.35,0.00,0.000,4,0.000,0.052,2129,3708,2132
$GC,17070,0.45,194.0,807.5,8.4,398,17075,0.17,2.22,0.00,0.000,6,0.134,0.032,2095,2303,2132
$GC,17415,0.51,200.2,788.7,5.3,404,17422,0.00,0.00,5.85,0.862,6,0.000,0.000,2095,2303,2114
$GC,17718,0.59,219.3,773.9,4.9,409,17739,0.12,0.00,18.42,1.069,6,0.058,0.000,2159,2303,2037
$GC,18022,0.50,219.3,749.9,8.1,414,18027,0.17,2.33,0.00,0.000,4,0.127,0.052,2104,3710,2033
$GC,18056,0.50,219.3,747.3,6.7,414,18060,0.00,2.22,0.00,0.000,6,0.000,0.031,2113,2297,2033
$GC,18384,0.55,220.5,729.3,5.5,420,18385,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2296,2032
$GC,18688,0.58,220.5,712.5,5.6,425,18689,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2296,2032
$GC,18990,0.62,222.7,696.0,5.4,430,18997,0.08,0.00,3.80,0.644,6,0.079,0.000,2172,2296,2023
$GC,19293,0.53,222.7,668.8,9.3,435,19295,0.20,0.00,0.00,0.000,6,0.130,0.000,2115,2296,2022
$GC,19598,0.57,227.9,651.9,5.3,440,19611,0.00,2.42,6.47,0.829,4,0.000,0.051,2115,3710,2000
$GC,19636,0.59,227.9,649.6,5.6,440,19640,0.00,2.25,0.00,0.000,6,0.000,0.032,2123,2302,2000
$GC,19965,0.63,234.2,632.2,5.3,446,19979,0.00,2.35,6.93,0.831,4,0.000,0.049,2133,894,1976
$GC,20000,0.68,246.6,630.2,5.1,446,20019,0.00,2.28,12.70,0.930,6,0.000,0.041,2133,2309,1924
$GC,20336,0.68,246.6,608.8,6.4,452,20340,0.00,2.28,0.00,0.000,4,0.000,0.053,2133,3711,1921
$GC,20377,0.68,246.6,605.7,8.5,452,20381,0.00,2.22,0.00,0.000,6,0.000,0.031,2143,2293,1921
$GC,20705,0.68,246.6,581.4,7.6,458,20709,0.00,2.33,0.00,0.000,4,0.000,0.050,2143,3706,1921
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$STATE,28896,end climb,SURFACE_DEPTH_REACHED
$STATE,28896,begin surface coast
$FINISH,1.6,1.015694
$STATE,28918,end surface coast,CONTROL_FINISHED_OK
$STATE,28918,begin surface
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$TCM_TEMP,16.30
$XPDR_PINGS,71
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$10V_AH,10.3,99.875
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$DEVICE_SECS,20.725,238.900,397.900,0.000,0.000,25.441,31.799,242.793,17.750,0.000,0.000,37.130,1689.640,23911.707,541.559,2260.381,1093.652,33.385,1740.179,0.000,2207.884,0.000,0.528,0.000
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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,44473,722
$CAP_FILE_SIZE,190501,0
$CFSIZE,260165632,194871296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140310,074827,4857.780,-13100.818,28,3.0,47,19.5