version: 66.04
glider: 144
mission: 15
dive: 866
start: 3 29 110 12 58 49
data:
$ID,144
$MISSION,15
$DIVE,866
$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,-79232.375
$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
$GPS1,125038,4832.238,-12816.759,61,1.2,61,19.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-55.1
$GPS2,125755,4832.350,-12816.829,11,1.1,11,19.2
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P4
$TGT_LATLONG,4839.000,-12640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.146,-0.082
$KALMAN_X,-60623.6,55.3,360.1,1258176.9,-4443.1
$KALMAN_Y,130619.9,37.4,-200.8,-331625.7,3034.1
$MHEAD_RNG_PITCHd_Wd,100.0,119113,-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,-117.2,0.0,0.0,0,63,0.00,0.00,-39.92,0.000,2,0.000,0.000,97,2311,2660
$GC,68,-0.68,-117.2,3.9,-6.7,2,98,7.07,2.35,-17.60,0.000,4,0.229,0.061,1839,3702,3412
$GC,239,-0.63,-117.2,27.9,-9.8,9,244,0.10,2.20,0.00,0.000,6,0.298,0.028,1863,2292,3412
$GC,558,-0.61,-117.2,58.6,-9.9,24,561,0.00,2.25,0.00,0.000,4,0.000,0.041,1862,898,3412
$GC,655,-0.61,-117.2,67.7,-9.0,28,659,0.00,2.25,0.00,0.000,6,0.000,0.036,1861,2303,3413
$GC,978,-0.61,-117.2,95.8,-8.2,52,982,0.00,2.28,0.00,0.000,4,0.000,0.040,1861,893,3413
$GC,1014,-0.64,-117.2,98.7,-8.1,54,1020,0.00,2.28,0.00,0.000,6,0.000,0.041,1852,2311,3413
$GC,1346,-0.66,-117.2,124.2,-7.0,85,1350,0.00,2.30,0.00,0.000,4,0.000,0.046,1845,3713,3413
$GC,1376,-0.69,-117.2,126.7,-7.5,87,1382,0.00,2.20,0.00,0.000,6,0.000,0.028,1845,2301,3413
$GC,1728,-0.71,-117.2,152.8,-7.7,118,1732,0.00,2.25,0.00,0.000,4,0.000,0.038,1845,890,3413
$GC,1769,-0.74,-117.2,156.7,-8.0,119,1773,0.00,2.25,0.00,0.000,6,0.000,0.035,1837,2306,3413
$GC,2106,-0.74,-117.2,183.4,-7.8,130,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2306,3413
$GC,2413,-0.74,-117.2,205.5,-7.0,140,2417,0.00,2.28,0.00,0.000,4,0.000,0.039,1837,892,3413
$GC,2470,-0.76,-117.2,209.9,-7.6,141,2475,0.00,2.28,0.00,0.000,6,0.000,0.043,1837,2297,3413
$GC,2785,-0.76,-117.2,232.6,-7.3,151,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2297,3413
$GC,3091,-0.76,-117.2,254.9,-7.0,161,3095,0.00,2.28,0.00,0.000,4,0.000,0.040,1837,899,3413
$GC,3133,-0.79,-117.2,257.8,-6.8,162,3137,0.00,2.28,0.00,0.000,6,0.000,0.036,1835,2312,3413
$GC,3470,-0.79,-117.2,279.7,-6.4,173,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2312,3413
$GC,3776,-0.79,-117.2,298.8,-6.3,183,3780,0.00,2.28,0.00,0.000,4,0.000,0.039,1836,902,3413
$GC,3817,-0.82,-117.2,301.6,-6.8,184,3821,0.00,2.28,0.00,0.000,6,0.000,0.037,1835,2314,3413
$GC,4151,-0.84,-117.2,323.9,-6.8,190,4155,0.00,2.30,0.00,0.000,4,0.000,0.040,1835,901,3412
$GC,4181,-0.87,-117.2,326.3,-8.2,190,4185,0.00,2.28,0.00,0.000,6,0.000,0.040,1827,2306,3412
$GC,4520,-0.87,-117.2,352.9,-7.9,196,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2306,3412
$GC,4825,-0.87,-117.2,376.4,-7.7,201,4829,0.00,2.30,0.00,0.000,4,0.000,0.044,1826,903,3412
$GC,4871,-0.90,-117.2,380.1,-7.8,201,4875,0.00,2.30,0.00,0.000,6,0.000,0.044,1821,2314,3412
$GC,5187,-0.90,-117.2,404.5,-7.7,207,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2314,3412
$GC,5490,-0.90,-117.2,425.7,-7.0,212,5494,0.00,2.30,0.00,0.000,4,0.000,0.041,1822,902,3412
$GC,5542,-0.90,-117.2,429.4,-6.8,212,5546,0.00,2.30,0.00,0.000,6,0.000,0.038,1813,2311,3411
$GC,5865,-0.90,-117.2,451.5,-6.8,218,5869,0.00,2.30,0.00,0.000,4,0.000,0.042,1813,897,3410
$GC,5900,-0.90,-117.2,454.2,-8.1,218,5904,0.00,2.33,0.00,0.000,6,0.000,0.042,1808,2303,3410
$GC,6233,-0.90,-117.2,478.2,-7.3,224,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3410
$GC,6537,-0.90,-117.2,501.8,-7.9,229,6539,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3410
$GC,6839,-0.90,-117.2,525.5,-7.9,234,6844,0.00,2.35,0.00,0.000,4,0.000,0.048,1808,903,3410
$GC,6875,-0.90,-117.2,528.5,-8.2,234,6879,0.00,2.30,0.00,0.000,6,0.000,0.037,1799,2303,3410
$GC,7203,-0.87,-117.2,555.3,-8.1,240,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2303,3409
$GC,7507,-0.84,-117.2,580.1,-8.2,245,7511,0.00,2.35,0.00,0.000,4,0.000,0.042,1799,903,3409
$GC,7538,-0.82,-117.2,582.7,-8.8,245,7543,0.12,2.30,0.00,0.000,6,0.120,0.041,1829,2303,3409
$GC,7872,-0.86,-117.2,604.3,-6.4,251,7876,0.00,2.33,0.00,0.000,4,0.000,0.047,1829,903,3408
$GC,7902,-0.91,-117.2,606.3,-7.4,251,7906,0.00,2.33,0.00,0.000,6,0.000,0.038,1823,2313,3408
$GC,8236,-0.93,-117.2,629.0,-6.8,257,8238,0.10,0.00,0.00,0.000,6,0.066,0.000,1750,2314,3408
$GC,8539,-0.82,-117.2,661.2,-10.9,262,8543,0.20,2.38,0.00,0.000,4,0.123,0.048,1818,902,3408
$GC,8586,-0.85,-117.2,665.2,-7.6,262,8590,0.00,2.33,0.00,0.000,6,0.000,0.039,1810,2311,3408
$GC,8902,-0.85,-117.2,686.7,-6.8,268,8906,0.00,2.30,0.00,0.000,4,0.000,0.043,1810,905,3407
$GC,8942,-0.85,-117.2,689.6,-7.3,268,8946,0.00,2.30,0.00,0.000,6,0.000,0.044,1808,2308,3407
$GC,9264,-0.85,-117.2,712.8,-7.3,274,9268,0.00,2.38,0.00,0.000,4,0.000,0.050,1798,3709,3407
$GC,9294,-0.85,-117.2,715.1,-8.0,274,9298,0.00,2.25,0.00,0.000,6,0.000,0.034,1798,2304,3407
$GC,9627,-0.85,-117.2,741.8,-8.1,280,9631,0.00,2.35,0.00,0.000,4,0.000,0.046,1798,895,3406
$GC,9679,-0.85,-117.2,746.3,-9.0,280,9683,0.00,2.35,0.00,0.000,6,0.000,0.038,1794,2309,3406
$GC,9990,-0.83,-117.2,772.9,-8.6,285,9995,0.10,2.38,0.00,0.000,4,0.130,0.042,1823,897,3406
$GC,10026,-0.87,-117.2,775.8,-7.9,285,10030,0.00,2.35,0.00,0.000,6,0.000,0.044,1823,2309,3406
$GC,10354,-0.91,-117.2,799.3,-7.1,291,10358,0.00,2.33,0.00,0.000,4,0.000,0.043,1823,892,3406
$GC,10384,-0.95,-117.2,801.4,-7.9,291,10389,0.10,2.35,0.00,0.000,6,0.068,0.038,1766,2303,3406
$GC,10725,-0.88,-117.2,832.4,-9.2,297,10730,0.15,2.35,0.00,0.000,4,0.123,0.048,1812,898,3406
$GC,10760,-0.88,-117.2,835.2,-7.7,297,10764,0.00,2.30,0.00,0.000,6,0.000,0.039,1809,2303,3406
$GC,11093,-0.88,-117.2,854.4,-5.7,303,11097,0.00,2.38,0.00,0.000,4,0.000,0.049,1809,895,3405
$GC,11145,-0.88,-117.2,857.7,-6.6,303,11149,0.00,2.33,0.00,0.000,6,0.000,0.044,1808,2303,3405
$GC,11468,-0.88,-117.3,875.0,-5.3,309,11472,0.00,2.38,0.00,0.000,4,0.000,0.044,1808,895,3405
$GC,11502,-0.88,-117.3,876.9,-6.0,309,11506,0.00,2.35,0.00,0.000,6,0.000,0.041,1808,2303,3405
$GC,11836,-0.88,-117.3,895.3,-5.6,315,11840,0.00,2.38,0.00,0.000,4,0.000,0.044,1808,895,3405
$GC,11889,-0.88,-117.3,898.8,-6.9,315,11893,0.00,2.38,0.00,0.000,6,0.000,0.044,1808,2305,3404
$GC,12212,-0.88,-117.3,919.8,-6.7,321,12216,0.00,2.40,0.00,0.000,4,0.000,0.044,1808,889,3404
$GC,12241,-0.88,-117.3,922.1,-8.1,321,12245,0.00,2.35,0.00,0.000,6,0.000,0.046,1808,2302,3404
$GC,12580,-0.88,-117.3,946.8,-7.4,327,12584,0.00,2.38,0.00,0.000,4,0.000,0.050,1808,895,3404
$GC,12616,-0.88,-117.3,949.6,-7.7,327,12620,0.00,2.35,0.00,0.000,6,0.000,0.041,1806,2309,3404
$GC,12944,-0.88,-117.3,975.2,-7.7,333,12948,0.00,2.40,0.00,0.000,4,0.000,0.048,1806,898,3404
$GC,12979,-0.88,-117.3,978.1,-8.8,333,12983,0.00,2.35,0.00,0.000,6,0.000,0.044,1796,2307,3404
$STATE,13181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13181,begin apogee
$GC,13192,-0.22,0.0,995.0,8.1,337,13292,0.50,0.00,97.32,1.267,6,0.109,0.000,1954,2307,2931
$STATE,13293,end apogee,CONTROL_FINISHED_OK
$STATE,13293,begin climb
$GC,13297,0.68,117.3,997.1,0.0,338,13405,0.55,0.00,104.50,1.244,6,0.067,0.000,2148,2307,2452
$GC,13665,0.58,119.5,985.5,5.4,344,13670,0.10,2.38,0.00,0.000,4,0.152,0.050,2126,3708,2443
$GC,13701,0.47,119.5,983.3,5.8,344,13706,0.12,2.28,0.00,0.000,6,0.163,0.033,2105,2305,2442
$GC,14029,0.51,147.9,968.4,4.5,350,14059,0.00,2.38,25.33,1.192,4,0.000,0.048,2114,884,2326
$GC,14106,0.51,147.9,964.2,5.6,351,14110,0.00,2.35,0.00,0.000,6,0.000,0.041,2114,2312,2323
$GC,14463,0.49,147.9,943.5,5.8,357,14467,0.00,2.30,0.00,0.000,4,0.000,0.054,2114,3711,2321
$GC,14510,0.42,147.9,940.5,7.2,357,14515,0.12,2.25,0.00,0.000,6,0.156,0.032,2093,2299,2320
$GC,14828,0.47,172.1,925.7,4.7,363,14851,0.00,0.00,21.23,1.162,6,0.000,0.000,2093,2299,2229
$GC,15130,0.58,178.4,910.0,5.3,368,15144,0.12,2.40,6.53,0.937,4,0.069,0.054,2152,3717,2203
$GC,15280,0.44,178.4,898.2,10.1,370,15285,0.25,2.25,0.00,0.000,6,0.150,0.032,2097,2297,2201
$GC,15638,0.53,219.3,882.4,4.1,376,15681,0.00,2.40,36.53,1.168,4,0.000,0.048,2105,893,2035
$GC,15713,0.65,251.9,878.8,4.4,377,15749,0.12,2.33,29.90,1.141,6,0.066,0.040,2162,2311,1904
$GC,16067,0.57,251.9,849.0,8.8,383,16072,0.15,2.28,0.00,0.000,4,0.131,0.052,2121,3711,1895
$GC,16102,0.57,251.9,845.9,7.1,383,16106,0.00,2.22,0.00,0.000,6,0.000,0.034,2129,2297,1895
$GC,16436,0.57,251.9,823.8,6.6,389,16440,0.00,2.30,0.00,0.000,4,0.000,0.053,2140,894,1894
$GC,16460,0.57,251.9,822.2,6.5,389,16465,0.00,2.28,0.00,0.000,6,0.000,0.038,2139,2306,1893
$GC,16805,0.57,251.9,797.9,7.1,395,16809,0.00,2.35,0.00,0.000,4,0.000,0.049,2140,3713,1893
$GC,16834,0.54,251.9,795.7,6.9,395,16839,0.12,2.25,0.00,0.000,6,0.133,0.035,2117,2303,1892
$GC,17175,0.59,251.9,776.3,5.6,401,17179,0.00,2.35,0.00,0.000,4,0.000,0.048,2126,887,1892
$GC,17222,0.66,251.9,773.5,6.4,401,17226,0.00,2.30,0.00,0.000,6,0.000,0.036,2126,2304,1891
$GC,17539,0.70,266.1,757.5,5.0,407,17563,0.10,2.38,13.93,0.877,4,0.070,0.051,2186,3727,1846
$GC,17623,0.56,266.1,749.5,10.4,408,17628,0.28,2.28,0.00,0.000,6,0.143,0.034,2121,2298,1845
$GC,17981,0.66,306.6,733.3,4.1,414,18025,0.00,2.40,36.80,1.071,4,0.000,0.045,2130,896,1680
$GC,18051,0.80,352.4,730.2,3.9,415,18100,0.15,2.30,42.25,1.058,6,0.053,0.038,2211,2312,1494
$GC,18414,0.66,352.4,686.0,13.1,421,18419,0.20,2.30,0.00,0.000,4,0.138,0.047,2148,3719,1486
$GC,18465,0.66,352.4,680.5,8.7,421,18469,0.00,2.22,0.00,0.000,6,0.000,0.032,2156,2303,1485
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$STATE,26926,end climb,SURFACE_DEPTH_REACHED
$STATE,26926,begin surface coast
$FINISH,1.6,1.005208
$STATE,26947,end surface coast,CONTROL_FINISHED_OK
$STATE,26947,begin surface
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$HUMID,1793
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$TCM_TEMP,16.90
$XPDR_PINGS,92
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$10V_AH,9.9,105.106
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41195,695
$CAP_FILE_SIZE,181838,0
$CFSIZE,260165632,191315968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290310,203054,4831.841,-12816.097,49,1.9,50,19.2