version: 66.04
glider: 144
mission: 15
dive: 67
start: 7 4 109 4 59 14
data:
$ID,144
$MISSION,15
$DIVE,67
$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,-62232.27
$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,0.039999999
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,045207,5003.766,-14507.822,27,1.4,27,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-67.9
$GPS2,045820,5003.798,-14507.815,9,1.7,9,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.032,-0.165
$KALMAN_X,-34434.0,292.8,-43.1,25886.0,-283.9
$KALMAN_Y,12612.2,171.7,9.3,-5198.2,641.6
$MHEAD_RNG_PITCHd_Wd,172.6,18783,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-32.35,0.000,2,0.000,0.000,101,2309,2550
$GC,54,-0.68,-117.3,3.1,-5.5,3,91,7.00,2.35,-23.50,0.000,4,0.249,0.072,1842,894,3412
$GC,300,-0.53,-117.3,33.4,-12.0,25,305,0.17,2.25,0.00,0.000,6,0.138,0.047,1884,2314,3414
$GC,632,-0.53,-117.3,60.3,-7.9,56,633,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,2314,3415
$GC,947,-0.53,-117.3,85.4,-8.0,83,951,0.00,2.28,0.00,0.000,4,0.000,0.051,1884,885,3415
$GC,979,-0.60,-117.3,88.0,-8.2,84,986,0.00,2.25,0.00,0.000,6,0.000,0.045,1877,2315,3415
$GC,1295,-0.60,-117.3,113.9,-7.9,100,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,2316,3416
$GC,1605,-0.67,-117.3,134.0,-6.1,115,1606,0.08,0.00,0.00,0.000,6,0.085,0.000,1822,2315,3416
$GC,1913,-0.55,-117.3,162.4,-9.5,128,1917,0.17,2.28,0.00,0.000,4,0.127,0.053,1880,887,3416
$GC,1990,-0.70,-117.3,168.5,-6.6,130,1995,0.10,2.25,0.00,0.000,6,0.072,0.048,1820,2314,3416
$GC,2308,-0.62,-117.3,197.8,-9.3,141,2310,0.17,0.00,0.00,0.000,6,0.128,0.000,1872,2314,3416
$GC,2615,-0.74,-117.3,217.2,-6.1,151,2619,0.12,2.28,0.00,0.000,4,0.064,0.051,1806,883,3415
$GC,2681,-0.61,-117.3,223.6,-10.5,153,2686,0.25,2.25,0.00,0.000,6,0.129,0.046,1871,2314,3415
$GC,3010,-0.72,-117.3,243.7,-6.0,164,3015,0.10,2.28,0.00,0.000,4,0.074,0.051,1815,883,3415
$GC,3043,-0.63,-117.3,246.5,-9.1,165,3048,0.20,2.25,0.00,0.000,6,0.132,0.051,1867,2309,3415
$GC,3372,-0.74,-117.3,268.8,-6.7,176,3374,0.12,0.00,0.00,0.000,6,0.068,0.000,1802,2309,3415
$GC,3678,-0.60,-117.3,299.6,-10.0,186,3683,0.20,2.25,0.00,0.000,4,0.131,0.052,1865,893,3414
$GC,3733,-0.73,-117.3,303.9,-7.0,187,3740,0.08,2.22,0.00,0.000,6,0.090,0.048,1813,2306,3414
$GC,4043,-0.64,-117.3,330.7,-8.8,193,4048,0.17,2.25,0.00,0.000,4,0.130,0.053,1864,886,3414
$GC,4076,-0.75,-117.3,333.3,-7.1,193,4080,0.10,2.22,0.00,0.000,6,0.075,0.054,1807,2305,3414
$GC,4402,-0.64,-117.3,362.9,-9.3,199,4404,0.20,0.00,0.00,0.000,6,0.128,0.000,1867,2304,3414
$GC,4705,-0.77,-117.3,380.4,-5.6,204,4710,0.12,2.25,0.00,0.000,4,0.066,0.059,1799,887,3413
$GC,4738,-0.65,-117.3,383.1,-8.8,204,4742,0.22,2.25,0.00,0.000,6,0.133,0.051,1859,2314,3413
$GC,5064,-0.76,-117.3,402.4,-5.8,210,5068,0.10,2.25,0.00,0.000,4,0.077,0.051,1806,891,3413
$GC,5091,-0.70,-117.3,404.6,-9.0,210,5095,0.17,2.22,0.00,0.000,6,0.132,0.050,1847,2305,3413
$GC,5422,-0.77,-117.3,425.5,-6.2,216,5426,0.00,2.22,0.00,0.000,4,0.000,0.059,1847,894,3412
$GC,5456,-0.84,-117.3,427.7,-6.3,216,5460,0.12,2.22,0.00,0.000,6,0.068,0.048,1782,2308,3412
$GC,5787,-0.65,-117.3,458.2,-9.4,222,5792,0.22,2.25,0.00,0.000,4,0.132,0.053,1855,893,3412
$GC,5837,-0.77,-117.3,461.7,-6.4,222,5841,0.00,2.22,0.00,0.000,6,0.000,0.047,1850,2307,3412
$GC,6147,-0.85,-117.3,479.2,-5.7,227,6152,0.12,2.25,0.00,0.000,4,0.065,0.060,1781,3716,3412
$GC,6187,-0.67,-117.3,482.5,-9.9,227,6192,0.25,2.20,0.00,0.000,6,0.129,0.044,1857,2291,3412
$GC,6508,-0.79,-117.3,502.1,-5.9,233,6513,0.12,2.20,0.00,0.000,4,0.069,0.053,1794,893,3411
$GC,6548,-0.64,-117.3,505.6,-9.4,233,6553,0.25,2.22,0.00,0.000,6,0.133,0.048,1861,2309,3411
$GC,6869,-0.78,-117.3,525.2,-6.1,239,6871,0.12,0.00,0.00,0.000,6,0.067,0.000,1794,2309,3411
$GC,7172,-0.65,-117.3,553.6,-9.6,244,7176,0.20,2.25,0.00,0.000,4,0.128,0.055,1859,891,3411
$GC,7227,-0.79,-117.3,558.0,-7.2,244,7234,0.10,2.22,0.00,0.000,6,0.077,0.055,1794,2307,3411
$GC,7537,-0.67,-117.3,586.4,-9.3,250,7539,0.20,0.00,0.00,0.000,6,0.130,0.000,1854,2306,3411
$GC,7840,-0.80,-117.3,604.7,-5.9,255,7842,0.10,0.00,0.00,0.000,6,0.077,0.000,1803,2306,3411
$GC,8143,-0.71,-117.3,628.3,-7.9,260,8148,0.15,2.25,0.00,0.000,4,0.130,0.056,1847,888,3410
$GC,8176,-0.80,-117.3,630.6,-6.6,260,8180,0.00,2.22,0.00,0.000,6,0.000,0.048,1840,2304,3410
$GC,8502,-0.87,-117.3,648.7,-5.5,266,8507,0.10,2.22,0.00,0.000,4,0.083,0.058,1788,896,3410
$GC,8529,-0.77,-117.3,650.8,-7.9,266,8534,0.17,2.22,0.00,0.000,6,0.142,0.051,1831,2310,3410
$GC,8862,-0.82,-117.3,669.2,-5.4,272,8866,0.00,2.25,0.00,0.000,4,0.000,0.055,1831,889,3410
$GC,8894,-0.82,-117.3,671.3,-6.8,272,8898,0.00,2.22,0.00,0.000,6,0.000,0.052,1825,2306,3410
$GC,9227,-0.82,-117.3,691.7,-6.3,278,9230,0.00,2.22,0.00,0.000,4,0.000,0.059,1824,897,3410
$GC,9276,-0.82,-117.3,695.4,-7.7,278,9280,0.00,2.20,0.00,0.000,6,0.000,0.051,1816,2303,3410
$GC,9597,-0.82,-117.3,718.5,-7.3,284,9601,0.00,2.22,0.00,0.000,4,0.000,0.057,1815,896,3410
$GC,9641,-0.82,-117.3,721.8,-7.7,284,9645,0.00,2.20,0.00,0.000,6,0.000,0.054,1807,2301,3410
$GC,9968,-0.76,-117.3,747.0,-7.8,290,9970,0.10,0.00,0.00,0.000,6,0.146,0.000,1834,2301,3409
$GC,10271,-0.83,-117.3,766.3,-6.3,295,10275,0.00,2.25,0.00,0.000,4,0.000,0.063,1834,886,3409
$GC,10299,-0.89,-117.3,768.2,-6.7,295,10304,0.10,2.25,0.00,0.000,6,0.086,0.051,1790,2313,3409
$GC,10631,-0.77,-117.3,796.4,-8.6,301,10633,0.15,0.00,0.00,0.000,6,0.145,0.000,1831,2314,3409
$GC,10934,-0.83,-117.3,816.6,-6.6,306,10938,0.00,2.28,0.00,0.000,4,0.000,0.059,1831,887,3409
$GC,10978,-0.90,-117.3,819.7,-6.7,306,10982,0.00,2.25,0.00,0.000,6,0.000,0.054,1824,2313,3409
$GC,11293,-0.90,-117.3,839.7,-6.3,312,11294,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2314,3409
$GC,11595,-0.90,-117.3,858.1,-6.1,317,11599,0.00,2.28,0.00,0.000,4,0.000,0.064,1826,890,3409
$GC,11659,-0.94,-117.3,862.3,-6.2,318,11663,0.10,2.22,0.00,0.000,6,0.089,0.050,1778,2303,3409
$GC,12024,-0.77,-117.3,893.1,-8.6,324,12026,0.20,0.00,0.00,0.000,6,0.148,0.000,1835,2303,3409
$GC,12327,-0.85,-117.3,911.0,-5.7,329,12331,0.00,2.25,0.00,0.000,4,0.000,0.058,1840,889,3409
$GC,12377,-0.96,-117.3,914.1,-5.9,329,12382,0.15,2.25,0.00,0.000,6,0.081,0.051,1779,2313,3408
$GC,12687,-0.80,-117.3,938.5,-8.0,334,12692,0.17,2.25,0.00,0.000,4,0.150,0.062,1825,3717,3408
$GC,12714,-0.80,-117.3,940.3,-6.3,334,12718,0.00,2.20,0.00,0.000,6,0.000,0.046,1824,2302,3408
$GC,13052,-0.84,-117.3,958.2,-5.2,340,13056,0.00,2.25,0.00,0.000,4,0.000,0.062,1827,887,3409
$GC,13091,-0.89,-117.3,960.5,-6.0,340,13095,0.00,2.25,0.00,0.000,6,0.000,0.058,1821,2310,3408
$GC,13412,-0.89,-117.3,977.1,-5.1,346,13414,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2310,3408
$STATE,13713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13713,begin apogee
$GC,13718,-0.22,0.0,992.9,5.2,351,13814,0.43,0.00,93.18,1.350,6,0.134,0.000,1954,2310,2931
$STATE,13815,end apogee,CONTROL_FINISHED_OK
$STATE,13815,begin climb
$GC,13818,0.68,117.3,993.7,0.0,352,13924,0.57,2.53,97.93,1.325,4,0.091,0.067,2148,3710,2450
$GC,13970,0.25,117.3,986.6,9.0,354,13976,0.43,2.35,0.00,0.000,6,0.189,0.048,2051,2307,2446
$GC,14309,0.44,139.5,970.1,4.7,360,14333,0.15,2.42,18.17,1.234,4,0.076,0.066,2117,897,2361
$GC,14419,0.33,139.5,963.3,6.3,361,14424,0.17,2.33,0.00,0.000,6,0.153,0.054,2072,2302,2358
$GC,14740,0.37,168.8,948.5,4.5,367,14770,0.00,2.38,25.10,1.262,4,0.000,0.067,2071,3711,2243
$GC,14814,0.37,168.8,944.3,5.8,368,14818,0.00,2.30,0.00,0.000,6,0.000,0.048,2079,2302,2241
$GC,15169,0.43,180.4,926.4,5.1,374,15185,0.00,2.35,10.90,1.155,4,0.000,0.061,2090,890,2194
$GC,15202,0.51,187.8,924.5,5.3,374,15216,0.00,2.33,7.85,1.062,6,0.000,0.051,2090,2310,2164
$GC,15533,0.55,187.8,905.5,5.8,380,15537,0.10,2.30,0.00,0.000,4,0.087,0.061,2132,3720,2160
$GC,15560,0.40,187.8,903.3,8.3,380,15565,0.22,2.28,0.00,0.000,6,0.176,0.046,2083,2298,2160
$GC,15892,0.46,187.8,883.9,5.7,386,15896,0.00,2.28,0.00,0.000,4,0.000,0.065,2093,894,2159
$GC,15924,0.55,187.8,881.9,5.6,386,15929,0.10,2.28,0.00,0.000,6,0.085,0.051,2134,2314,2159
$GC,16250,0.37,187.8,854.3,8.6,392,16255,0.20,2.25,0.00,0.000,4,0.163,0.064,2074,3711,2159
$GC,16306,0.42,187.8,850.3,6.6,392,16313,0.00,2.25,0.00,0.000,6,0.000,0.047,2082,2301,2158
$GC,16616,0.50,193.9,833.9,5.3,398,16624,0.10,0.00,5.75,0.953,6,0.086,0.000,2129,2301,2140
$GC,16919,0.35,193.9,810.4,7.9,403,16921,0.20,0.00,0.00,0.000,6,0.156,0.000,2073,2301,2139
$GC,17222,0.50,215.8,795.6,4.8,408,17248,0.12,2.33,20.17,1.170,4,0.075,0.058,2128,3710,2050
$GC,17276,0.34,215.8,791.6,8.0,408,17283,0.25,2.28,0.00,0.000,6,0.165,0.045,2071,2295,2049
$GC,17586,0.65,216.4,775.0,5.5,414,17591,0.20,2.28,0.00,0.000,4,0.074,0.056,2150,889,2046
$GC,17671,0.52,216.4,768.8,7.4,415,17676,0.15,2.28,0.00,0.000,6,0.151,0.054,2111,2307,2046
$GC,18014,0.52,216.4,746.2,6.5,421,18018,0.00,2.28,0.00,0.000,4,0.000,0.062,2111,3717,2045
$GC,18058,0.44,216.4,742.7,9.3,421,18062,0.10,2.22,0.00,0.000,6,0.174,0.041,2096,2302,2045
$GC,18373,0.50,216.4,724.4,5.7,427,18377,0.00,2.28,0.00,0.000,4,0.000,0.061,2105,885,2044
$GC,18394,0.58,216.4,723.0,6.1,427,18398,0.00,2.25,0.00,0.000,6,0.000,0.051,2105,2304,2044
$GC,18731,0.58,216.4,702.4,6.1,433,18732,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2305,2044
$GC,19034,0.58,216.4,684.1,6.0,438,19035,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2305,2043
$GC,19337,0.58,216.4,665.8,6.1,443,19341,0.00,2.28,0.00,0.000,4,0.000,0.058,2114,886,2044
$GC,19365,0.62,216.4,664.1,5.8,443,19369,0.00,2.25,0.00,0.000,6,0.000,0.052,2114,2309,2043
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$STATE,27798,end climb,SURFACE_DEPTH_REACHED
$STATE,27798,begin surface coast
$FINISH,1.3,1.025060
$STATE,27811,end surface coast,CONTROL_FINISHED_OK
$STATE,27811,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1600
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$TCM_TEMP,16.10
$XPDR_PINGS,79
$24V_AH,23.5,12.900
$10V_AH,10.7,8.906
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$DEVICE_SECS,27.900,239.425,389.950,0.000,0.000,25.871,27.750,201.740,19.750,0.000,0.000,10.927,1715.747,23071.059,531.080,2294.318,635.914,33.373,1706.436,0.000,2296.007,0.000,0.530,0.000
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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,44380,726
$CAP_FILE_SIZE,199809,0
$CFSIZE,260165632,253710336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040709,124506,5001.083,-14508.866,28,1.1,28,18.4