version: 66.04
glider: 144
mission: 15
dive: 837
start: 3 19 110 17 43 44
data:
$ID,144
$MISSION,15
$DIVE,837
$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,-78727.758
$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,33
$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
$GPS1,173437,4850.769,-12928.522,36,1.4,48,19.4
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-62.4
$GPS2,174251,4850.704,-12928.399,9,1.3,28,19.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P8
$TGT_LATLONG,4849.000,-12840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.166,0.026
$KALMAN_X,-25406.2,-96.5,-25.7,1138959.6,1496.4
$KALMAN_Y,74519.5,153.3,-173.5,-241687.3,-1337.6
$MHEAD_RNG_PITCHd_Wd,61.8,59107,-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,-117.3,0.0,0.0,0,59,0.00,0.00,-40.05,0.000,2,0.000,0.000,99,2298,2610
$GC,64,-0.68,-117.3,3.9,-6.2,2,92,7.30,0.00,-18.90,0.000,6,0.232,0.000,1848,2297,3412
$GC,391,-0.64,-117.3,40.3,-10.6,18,395,0.00,2.30,0.00,0.000,4,0.000,0.047,1840,3706,3413
$GC,426,-0.60,-117.3,44.3,-11.4,19,433,0.12,2.20,0.00,0.000,6,0.114,0.029,1875,2293,3413
$GC,745,-0.62,-117.3,71.8,-8.3,35,749,0.00,2.22,0.00,0.000,4,0.000,0.040,1875,900,3413
$GC,876,-0.68,-117.3,82.5,-7.6,41,883,0.00,2.25,0.00,0.000,6,0.000,0.036,1871,2311,3414
$GC,1208,-0.72,-117.3,106.7,-7.0,72,1213,0.10,2.28,0.00,0.000,4,0.063,0.038,1790,895,3414
$GC,1317,-0.63,-117.3,118.9,-11.2,81,1325,0.30,2.28,0.00,0.000,6,0.114,0.036,1868,2298,3414
$GC,1646,-0.69,-117.3,140.0,-5.9,112,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2298,3414
$GC,1979,-0.76,-117.3,158.6,-5.3,134,1981,0.12,0.00,0.00,0.000,6,0.054,0.000,1779,2298,3414
$GC,2284,-0.66,-117.3,190.9,-11.0,144,2286,0.25,0.00,0.00,0.000,6,0.117,0.000,1855,2298,3414
$GC,2591,-0.72,-117.3,212.6,-6.8,154,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2298,3413
$GC,2897,-0.77,-117.3,232.8,-6.3,164,2901,0.10,2.30,0.00,0.000,4,0.062,0.039,1773,895,3414
$GC,2961,-0.68,-117.3,239.3,-11.0,166,2966,0.30,2.30,0.00,0.000,6,0.111,0.036,1853,2307,3414
$GC,3300,-0.74,-117.3,258.9,-5.4,177,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2307,3414
$GC,3604,-0.80,-117.3,275.8,-5.8,187,3606,0.10,0.00,0.00,0.000,6,0.064,0.000,1779,2307,3413
$GC,3910,-0.71,-117.3,306.9,-10.4,196,3915,0.20,2.33,0.00,0.000,4,0.114,0.040,1846,902,3413
$GC,3946,-0.75,-117.3,310.1,-7.4,196,3950,0.00,2.30,0.00,0.000,6,0.000,0.039,1838,2303,3413
$GC,4274,-0.78,-117.3,331.8,-6.5,202,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2303,3413
$GC,4577,-0.82,-117.3,353.1,-7.1,207,4581,0.00,2.30,0.00,0.000,4,0.000,0.048,1838,902,3413
$GC,4602,-0.86,-117.3,354.9,-7.3,207,4606,0.10,2.30,0.00,0.000,6,0.064,0.038,1768,2304,3413
$GC,4941,-0.76,-117.3,390.7,-10.7,213,4945,0.20,2.38,0.00,0.000,4,0.120,0.044,1837,892,3413
$GC,4992,-0.81,-117.3,395.0,-7.3,213,4996,0.00,2.33,0.00,0.000,6,0.000,0.042,1837,2307,3413
$GC,5305,-0.85,-117.3,413.1,-5.7,218,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2307,3413
$GC,5607,-0.88,-117.3,428.9,-5.1,223,5609,0.10,0.00,0.00,0.000,6,0.064,0.000,1766,2307,3413
$GC,5910,-0.78,-117.3,457.2,-9.6,228,5914,0.17,2.35,0.00,0.000,4,0.120,0.041,1826,905,3412
$GC,5963,-0.82,-117.3,461.3,-6.9,228,5967,0.00,2.28,0.00,0.000,6,0.000,0.037,1821,2300,3412
$GC,6285,-0.82,-117.3,483.2,-6.8,234,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2300,3412
$GC,6588,-0.82,-117.3,503.5,-6.7,239,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2299,3411
$GC,6891,-0.82,-117.3,523.9,-6.7,244,6895,0.00,2.40,0.00,0.000,4,0.000,0.054,1811,3716,3411
$GC,6920,-0.82,-117.3,526.0,-7.6,244,6924,0.00,2.25,0.00,0.000,6,0.000,0.035,1811,2305,3411
$GC,7260,-0.82,-117.3,549.8,-7.0,250,7264,0.00,2.33,0.00,0.000,4,0.000,0.044,1810,899,3410
$GC,7283,-0.82,-117.3,551.9,-8.1,250,7287,0.00,2.35,0.00,0.000,6,0.000,0.041,1806,2314,3410
$GC,7628,-0.82,-117.3,578.2,-7.7,256,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2314,3410
$GC,7931,-0.82,-117.3,602.1,-7.9,261,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2314,3410
$GC,8235,-0.82,-117.3,626.1,-7.9,266,8239,0.00,2.33,0.00,0.000,4,0.000,0.044,1806,899,3409
$GC,8275,-0.82,-117.3,629.7,-8.6,266,8280,0.10,2.33,0.00,0.000,6,0.123,0.038,1823,2314,3409
$GC,8603,-0.86,-117.3,651.5,-6.6,272,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2314,3409
$GC,8906,-0.89,-117.3,669.6,-6.0,277,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2314,3409
$GC,9210,-0.93,-117.3,687.8,-6.0,282,9212,0.10,0.00,0.00,0.000,6,0.065,0.000,1763,2314,3409
$GC,9512,-0.85,-117.3,716.1,-9.6,287,9516,0.17,2.40,0.00,0.000,4,0.120,0.043,1816,902,3408
$GC,9558,-0.88,-117.3,720.0,-7.9,287,9562,0.00,2.30,0.00,0.000,6,0.000,0.041,1809,2304,3409
$GC,9886,-0.88,-117.3,744.3,-7.4,293,9887,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2304,3408
$GC,10188,-0.88,-117.3,767.6,-7.7,298,10192,0.00,2.30,0.00,0.000,4,0.000,0.048,1809,902,3408
$GC,10223,-0.88,-117.3,770.6,-8.7,298,10227,0.00,2.33,0.00,0.000,6,0.000,0.043,1808,2304,3408
$GC,10556,-0.88,-117.3,795.3,-7.4,304,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3408
$GC,10860,-0.88,-117.3,817.9,-7.5,309,10861,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3408
$GC,11162,-0.88,-117.3,840.7,-7.6,314,11166,0.00,2.33,0.00,0.000,4,0.000,0.049,1808,900,3407
$GC,11208,-0.88,-117.3,844.4,-8.2,314,11212,0.00,2.30,0.00,0.000,6,0.000,0.039,1807,2303,3407
$GC,11524,-0.88,-117.3,867.5,-7.2,320,11528,0.00,2.35,0.00,0.000,4,0.000,0.048,1807,890,3407
$GC,11554,-0.88,-117.3,869.7,-7.8,320,11559,0.00,2.33,0.00,0.000,6,0.000,0.040,1797,2309,3407
$GC,11888,-0.88,-117.3,893.8,-7.2,326,11890,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2309,3407
$GC,12191,-0.88,-117.3,914.5,-6.8,331,12196,0.00,2.33,0.00,0.000,4,0.000,0.045,1797,900,3407
$GC,12221,-0.88,-117.3,916.5,-7.0,331,12225,0.00,2.33,0.00,0.000,6,0.000,0.042,1794,2300,3407
$GC,12555,-0.88,-117.3,939.2,-6.8,337,12556,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2300,3406
$GC,12857,-0.88,-117.3,959.3,-6.6,342,12858,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2300,3406
$GC,13160,-0.88,-117.3,979.2,-6.5,347,13161,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2301,3406
$STATE,13337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13337,begin apogee
$GC,13347,-0.22,0.0,991.5,6.8,350,13448,0.50,0.00,97.72,1.272,6,0.110,0.000,1953,2301,2931
$STATE,13448,end apogee,CONTROL_FINISHED_OK
$STATE,13448,begin climb
$GC,13454,0.68,117.3,993.2,0.0,351,13565,0.55,2.62,103.35,1.244,4,0.069,0.055,2148,3707,2451
$GC,13624,0.51,117.3,990.6,6.2,353,13629,0.20,2.40,0.00,0.000,6,0.149,0.034,2110,2311,2446
$GC,13948,0.53,163.1,977.5,4.0,359,13989,0.00,0.00,38.60,1.218,6,0.000,0.000,2111,2311,2265
$GC,14311,0.57,194.1,961.4,4.5,365,14341,0.00,0.00,27.55,1.193,6,0.000,0.000,2111,2311,2139
$GC,14615,0.62,216.6,947.2,4.7,370,14641,0.08,2.38,20.55,1.166,4,0.084,0.048,2159,888,2047
$GC,14661,0.57,216.6,944.0,6.1,370,14666,0.15,2.33,0.00,0.000,6,0.131,0.040,2121,2314,2046
$GC,14978,0.57,216.6,925.8,5.7,376,14982,0.00,2.28,0.00,0.000,4,0.000,0.049,2121,3710,2043
$GC,15019,0.55,216.6,922.9,7.1,376,15023,0.00,2.25,0.00,0.000,6,0.000,0.032,2129,2291,2042
$GC,15342,0.55,216.6,902.2,6.5,382,15346,0.00,2.33,0.00,0.000,4,0.000,0.048,2129,3710,2041
$GC,15371,0.52,216.6,899.9,7.5,382,15376,0.12,2.25,0.00,0.000,6,0.145,0.033,2106,2292,2041
$GC,15705,0.56,216.6,880.8,5.7,388,15709,0.00,2.28,0.00,0.000,4,0.000,0.054,2115,892,2040
$GC,15729,0.61,216.6,879.1,6.3,388,15733,0.00,2.28,0.00,0.000,6,0.000,0.040,2116,2306,2039
$GC,16069,0.64,216.6,858.2,6.2,394,16074,0.08,2.33,0.00,0.000,4,0.087,0.051,2167,3716,2039
$GC,16104,0.53,216.6,855.0,10.3,394,16109,0.22,2.25,0.00,0.000,6,0.143,0.034,2116,2295,2039
$GC,16439,0.56,216.6,833.0,6.5,400,16443,0.00,2.28,0.00,0.000,4,0.000,0.046,2126,892,2039
$GC,16462,0.59,216.6,831.3,6.9,400,16466,0.00,2.28,0.00,0.000,6,0.000,0.041,2126,2303,2038
$GC,16807,0.59,216.6,807.1,7.0,406,16811,0.00,2.33,0.00,0.000,4,0.000,0.053,2126,3707,2038
$GC,16844,0.57,216.6,804.4,7.2,406,16848,0.00,2.20,0.00,0.000,6,0.000,0.032,2134,2302,2038
$GC,17173,0.57,216.6,780.5,7.2,412,17175,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2302,2038
$GC,17475,0.57,216.6,758.3,7.3,417,17479,0.00,2.35,0.00,0.000,4,0.000,0.048,2134,3710,2038
$GC,17516,0.52,216.6,754.8,8.8,417,17521,0.12,2.25,0.00,0.000,6,0.135,0.038,2113,2304,2038
$GC,17840,0.56,216.6,735.6,5.9,423,17844,0.00,2.30,0.00,0.000,4,0.000,0.045,2122,895,2038
$GC,17869,0.60,216.6,733.7,5.7,423,17873,0.00,2.30,0.00,0.000,6,0.000,0.038,2122,2311,2038
$GC,18203,0.63,219.3,715.3,5.4,429,18208,0.00,2.33,0.00,0.000,4,0.000,0.048,2122,3708,2037
$GC,18250,0.63,219.3,712.4,7.6,429,18254,0.00,2.28,0.00,0.000,6,0.000,0.037,2131,2293,2037
$GC,18568,0.63,225.2,695.2,5.3,435,18577,0.00,0.00,7.57,0.893,6,0.000,0.000,2131,2293,2012
$GC,18870,0.64,233.2,679.3,5.2,440,18880,0.00,0.00,8.60,0.903,6,0.000,0.000,2131,2293,1981
$GC,19172,0.64,233.2,662.3,5.6,445,19176,0.00,2.38,0.00,0.000,4,0.000,0.051,2131,3712,1978
$GC,19219,0.64,233.2,659.1,7.2,445,19224,0.00,2.25,0.00,0.000,6,0.000,0.035,2141,2299,1977
$GC,19537,0.64,233.2,638.0,6.7,451,19538,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2298,1977
$GC,19840,0.64,233.2,615.8,7.4,456,19844,0.00,2.35,0.00,0.000,4,0.000,0.053,2141,3709,1977
$GC,19869,0.61,233.2,613.3,8.9,456,19873,0.00,2.25,0.00,0.000,6,0.000,0.031,2151,2291,1977
$GC,20204,0.58,233.2,586.3,8.0,462,20209,0.10,2.35,0.00,0.000,4,0.143,0.052,2125,3707,1977
$GC,20239,0.58,233.2,583.3,7.6,462,20243,0.00,2.22,0.00,0.000,6,0.000,0.032,2133,2305,1977
$GC,20566,0.58,233.2,561.0,6.7,468,20570,0.00,2.33,0.00,0.000,4,0.000,0.054,2133,3708,1977
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$STATE,29279,end climb,SURFACE_DEPTH_REACHED
$STATE,29279,begin surface coast
$FINISH,1.8,1.025102
$STATE,29301,end surface coast,CONTROL_FINISHED_OK
$STATE,29301,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1777
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$TCM_TEMP,16.30
$XPDR_PINGS,61
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$10V_AH,10.3,101.806
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$DEVICE_SECS,19.250,211.675,375.100,0.000,0.000,27.766,26.943,233.245,15.250,0.000,0.000,30.132,1663.407,24549.713,532.044,2043.709,1068.725,33.385,1610.854,0.000,2020.990,0.000,0.528,0.000
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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,44279,759
$CAP_FILE_SIZE,178970,0
$CFSIZE,260165632,193572864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200310,015436,4851.302,-12923.099,23,1.3,23,19.4