version: 66.04
glider: 144
mission: 15
dive: 179
start: 8 10 109 9 59 32
data:
$ID,144
$MISSION,15
$DIVE,179
$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,-64494.141
$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,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
$GPS1,094926,5000.984,-14429.785,32,2.9,51,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-62.1
$GPS2,095837,5000.953,-14429.889,16,1.6,33,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.014,-0.180
$KALMAN_X,-82125.9,-148.1,-30.3,119173.0,544.2
$KALMAN_Y,70130.6,-5.3,-83.8,-67706.7,-169.7
$MHEAD_RNG_PITCHd_Wd,165.9,12856,-10.7,-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,15,-0.61,-117.3,0.0,0.0,0,50,0.00,0.00,-32.22,0.000,2,0.000,0.000,100,2308,2477
$GC,52,-0.61,-117.3,3.0,-5.6,3,90,7.15,2.33,-23.33,0.000,4,0.241,0.067,1851,3707,3413
$GC,225,-0.41,-117.3,26.2,-13.6,18,229,0.20,2.20,0.00,0.000,6,0.116,0.031,1912,2296,3414
$GC,551,-0.47,-117.3,47.9,-5.9,48,555,0.00,2.22,0.00,0.000,4,0.000,0.041,1912,889,3415
$GC,648,-0.57,-117.3,54.1,-6.7,56,652,0.10,2.22,0.00,0.000,6,0.066,0.036,1836,2312,3416
$GC,972,-0.37,-117.3,90.2,-12.2,82,974,0.28,0.00,0.00,0.000,6,0.126,0.000,1919,2312,3417
$GC,1280,-0.52,-117.3,110.4,-5.6,97,1281,0.12,0.00,0.00,0.000,6,0.058,0.000,1836,2312,3417
$GC,1589,-0.38,-117.3,139.7,-9.3,112,1594,0.22,2.25,0.00,0.000,4,0.121,0.043,1912,894,3417
$GC,1622,-0.54,-117.3,141.9,-5.3,113,1629,0.08,2.20,0.00,0.000,6,0.081,0.040,1861,2304,3417
$GC,1936,-0.54,-117.3,163.1,-6.5,126,1941,0.10,2.22,0.00,0.000,4,0.122,0.054,1882,3705,3416
$GC,1975,-0.70,-117.3,165.2,-5.4,127,1979,0.12,2.17,0.00,0.000,6,0.064,0.033,1804,2288,3416
$GC,2298,-0.49,-117.3,194.4,-9.3,138,2303,0.28,2.17,0.00,0.000,4,0.123,0.042,1895,900,3415
$GC,2354,-0.67,-117.3,197.9,-5.0,139,2361,0.08,2.20,0.00,0.000,6,0.050,0.038,1830,2293,3415
$GC,2667,-0.58,-117.3,222.2,-8.1,150,2669,0.15,0.00,0.00,0.000,6,0.124,0.000,1873,2293,3414
$GC,2973,-0.65,-117.3,240.0,-5.5,160,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2293,3414
$GC,3280,-0.74,-117.3,255.5,-4.9,170,3282,0.12,0.00,0.00,0.000,6,0.057,0.000,1788,2293,3413
$GC,3585,-0.49,-117.3,284.5,-9.7,180,3590,0.30,2.20,0.00,0.000,4,0.125,0.044,1888,895,3412
$GC,3624,-0.65,-117.3,287.1,-5.1,181,3629,0.10,2.22,0.00,0.000,6,0.064,0.040,1823,2316,3412
$GC,3946,-0.55,-117.3,310.5,-7.6,190,3951,0.17,2.25,0.00,0.000,4,0.120,0.050,1882,897,3412
$GC,3973,-0.64,-117.3,312.4,-6.5,190,3977,0.00,2.20,0.00,0.000,6,0.000,0.041,1877,2304,3412
$GC,4312,-0.74,-117.3,330.4,-5.4,196,4313,0.12,0.00,0.00,0.000,6,0.063,0.000,1793,2304,3411
$GC,4615,-0.53,-117.3,361.0,-10.4,201,4619,0.28,2.22,0.00,0.000,4,0.125,0.048,1884,901,3410
$GC,4653,-0.69,-117.3,364.1,-6.5,201,4658,0.10,2.20,0.00,0.000,6,0.071,0.041,1822,2306,3410
$GC,4973,-0.61,-117.3,390.3,-8.2,207,4975,0.15,0.00,0.00,0.000,6,0.121,0.000,1867,2305,3409
$GC,5277,-0.69,-117.3,407.3,-5.6,212,5280,0.00,2.20,0.00,0.000,4,0.000,0.044,1866,902,3409
$GC,5310,-0.80,-117.3,409.2,-5.6,212,5314,0.12,2.20,0.00,0.000,6,0.060,0.042,1786,2305,3409
$GC,5642,-0.56,-117.3,440.3,-9.7,218,5644,0.30,0.00,0.00,0.000,6,0.127,0.000,1878,2306,3408
$GC,5945,-0.75,-117.3,455.9,-5.0,223,5950,0.15,2.25,0.00,0.000,4,0.070,0.053,1819,3718,3408
$GC,5978,-0.82,-117.3,458.2,-6.9,223,5982,0.00,2.17,0.00,0.000,6,0.000,0.036,1819,2306,3408
$GC,6304,-0.73,-117.3,481.1,-7.2,229,6309,0.10,2.22,0.00,0.000,4,0.130,0.048,1846,900,3407
$GC,6377,-0.73,-117.3,485.8,-6.1,230,6381,0.00,2.20,0.00,0.000,6,0.000,0.042,1840,2304,3408
$GC,6731,-0.73,-117.3,507.6,-6.2,236,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2304,3407
$GC,7035,-0.73,-117.3,527.1,-6.5,241,7038,0.00,2.22,0.00,0.000,4,0.000,0.052,1839,899,3407
$GC,7062,-0.73,-117.3,529.1,-7.5,241,7066,0.00,2.22,0.00,0.000,6,0.000,0.043,1837,2312,3407
$GC,7405,-0.73,-117.3,552.0,-6.7,247,7409,0.00,2.25,0.00,0.000,4,0.000,0.046,1837,893,3406
$GC,7433,-0.73,-117.3,553.9,-7.2,247,7437,0.00,2.22,0.00,0.000,6,0.000,0.047,1836,2304,3406
$GC,7770,-0.73,-117.3,575.0,-6.1,253,7774,0.00,2.25,0.00,0.000,4,0.000,0.048,1836,890,3406
$GC,7798,-0.73,-117.3,576.8,-6.8,253,7801,0.00,2.22,0.00,0.000,6,0.000,0.047,1836,2302,3405
$GC,8141,-0.73,-117.3,597.4,-5.9,259,8145,0.00,2.22,0.00,0.000,4,0.000,0.051,1835,897,3405
$GC,8185,-0.73,-117.3,600.1,-6.3,259,8189,0.00,2.22,0.00,0.000,6,0.000,0.041,1833,2309,3405
$GC,8512,-0.73,-117.3,617.7,-5.3,265,8516,0.00,2.25,0.00,0.000,4,0.000,0.051,1833,895,3405
$GC,8545,-0.73,-117.3,619.8,-6.4,265,8549,0.00,2.22,0.00,0.000,6,0.000,0.042,1824,2307,3405
$GC,8878,-0.68,-117.3,638.4,-5.6,271,8882,0.10,2.25,0.00,0.000,4,0.135,0.046,1852,898,3404
$GC,8905,-0.73,-117.3,639.9,-5.4,271,8910,0.00,2.22,0.00,0.000,6,0.000,0.047,1850,2311,3404
$GC,9239,-0.79,-117.3,654.7,-4.6,277,9240,0.08,0.00,0.00,0.000,6,0.084,0.000,1793,2312,3404
$GC,9541,-0.62,-117.3,677.2,-7.6,282,9545,0.20,2.25,0.00,0.000,4,0.123,0.046,1860,898,3404
$GC,9573,-0.72,-117.3,679.5,-5.8,282,9577,0.00,2.22,0.00,0.000,6,0.000,0.048,1860,2310,3404
$GC,9901,-0.83,-117.3,696.0,-5.1,288,9903,0.15,0.00,0.00,0.000,6,0.060,0.000,1781,2310,3404
$GC,10203,-0.62,-117.3,722.0,-8.8,293,10208,0.25,2.25,0.00,0.000,4,0.122,0.051,1864,901,3403
$GC,10242,-0.76,-117.3,724.5,-5.5,293,10246,0.10,2.22,0.00,0.000,6,0.074,0.041,1814,2312,3403
$GC,10563,-0.70,-117.3,746.9,-7.1,299,10565,0.12,0.00,0.00,0.000,6,0.124,0.000,1849,2312,3403
$GC,10865,-0.78,-117.3,763.6,-5.5,304,10869,0.00,2.25,0.00,0.000,4,0.000,0.048,1849,897,3404
$GC,10887,-0.85,-117.3,765.0,-5.9,304,10892,0.12,2.22,0.00,0.000,6,0.071,0.042,1793,2314,3403
$GC,11237,-0.70,-117.3,791.6,-7.7,310,11239,0.20,0.00,0.00,0.000,6,0.128,0.000,1852,2314,3403
$GC,11540,-0.79,-117.3,805.7,-4.5,315,11542,0.10,0.00,0.00,0.000,6,0.084,0.000,1807,2315,3403
$GC,11842,-0.71,-117.3,823.1,-5.8,320,11847,0.15,2.28,0.00,0.000,4,0.130,0.048,1850,892,3403
$GC,11887,-0.80,-117.3,825.3,-4.9,320,11892,0.10,2.25,0.00,0.000,6,0.080,0.042,1804,2314,3402
$GC,12204,-0.70,-117.3,842.9,-5.6,326,12208,0.15,2.25,0.00,0.000,4,0.131,0.055,1838,3720,3403
$GC,12231,-0.70,-117.3,844.3,-4.7,326,12234,0.00,2.20,0.00,0.000,6,0.000,0.040,1839,2300,3402
$GC,12569,-0.75,-117.3,858.4,-4.3,332,12570,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2300,3402
$GC,12873,-0.81,-117.3,872.6,-4.7,337,12874,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2300,3402
$GC,13175,-0.86,-117.3,887.2,-4.8,342,13180,0.10,2.25,0.00,0.000,4,0.090,0.056,1783,3706,3402
$GC,13213,-0.69,-117.3,889.9,-7.8,342,13218,0.22,2.20,0.00,0.000,6,0.126,0.039,1849,2292,3401
$GC,13535,-0.78,-117.3,906.4,-5.1,348,13538,0.00,2.22,0.00,0.000,4,0.000,0.054,1849,893,3401
$GC,13568,-0.86,-117.3,908.4,-5.9,348,13572,0.12,2.22,0.00,0.000,6,0.074,0.043,1797,2305,3401
$GC,13906,-0.74,-117.3,933.2,-7.5,354,13908,0.15,0.00,0.00,0.000,6,0.132,0.000,1839,2305,3401
$GC,14209,-0.79,-117.3,950.4,-5.6,359,14210,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2305,3401
$GC,14512,-0.85,-117.3,967.1,-5.5,364,14516,0.10,2.25,0.00,0.000,4,0.090,0.050,1799,898,3401
$GC,14550,-0.72,-117.3,970.0,-7.7,364,14555,0.20,2.22,0.00,0.000,6,0.137,0.047,1846,2305,3401
$GC,14871,-0.81,-117.3,986.1,-5.0,370,14872,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2305,3401
$STATE,14989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14989,begin apogee
$GC,14994,-0.22,0.0,992.1,4.9,372,15090,0.32,0.00,92.88,1.330,6,0.122,0.000,1951,2305,2931
$STATE,15091,end apogee,CONTROL_FINISHED_OK
$STATE,15091,begin climb
$GC,15093,0.61,117.3,993.6,0.0,373,15199,0.55,2.50,99.05,1.300,4,0.081,0.058,2136,3707,2451
$GC,15217,0.28,117.3,991.1,6.5,375,15223,0.35,2.40,0.00,0.000,6,0.177,0.037,2061,2306,2447
$GC,15533,0.35,171.5,978.3,4.0,381,15580,0.00,0.00,46.05,1.271,6,0.000,0.000,2061,2306,2231
$GC,15836,0.59,171.5,962.0,5.5,386,15841,0.17,2.35,0.00,0.000,4,0.073,0.053,2133,894,2223
$GC,15961,0.42,171.5,953.6,7.4,387,15968,0.17,2.30,0.00,0.000,6,0.144,0.042,2087,2306,2222
$GC,16271,0.43,177.8,936.8,5.3,393,16281,0.00,2.30,5.45,0.933,4,0.000,0.054,2087,3716,2205
$GC,16334,0.35,177.8,932.9,6.2,394,16339,0.00,2.25,0.00,0.000,6,0.000,0.036,2095,2299,2204
$GC,16701,0.30,182.3,912.9,5.4,400,16708,0.12,0.00,5.30,0.918,6,0.156,0.000,2063,2299,2187
$GC,17004,0.57,199.8,898.3,5.0,405,17028,0.17,2.38,16.50,1.187,4,0.071,0.058,2145,885,2116
$GC,17081,0.38,199.8,893.5,6.3,406,17086,0.22,2.30,0.00,0.000,6,0.143,0.041,2082,2308,2113
$GC,17435,0.42,225.8,876.3,4.8,412,17464,0.00,2.35,23.27,1.200,4,0.000,0.057,2082,3704,2009
$GC,17500,0.46,225.8,872.5,5.8,413,17504,0.00,2.25,0.00,0.000,6,0.000,0.035,2088,2302,2007
$GC,17865,0.50,225.8,852.0,5.6,419,17867,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2302,2003
$GC,18168,0.50,225.8,834.8,5.7,424,18172,0.00,2.30,0.00,0.000,4,0.000,0.054,2088,3716,2003
$GC,18194,0.50,225.8,832.8,7.2,424,18198,0.00,2.25,0.00,0.000,6,0.000,0.035,2093,2300,2002
$GC,18533,0.50,225.8,811.3,6.4,430,18536,0.00,2.28,0.00,0.000,4,0.000,0.055,2103,895,2002
$GC,18560,0.54,225.8,809.4,6.7,430,18564,0.00,2.25,0.00,0.000,6,0.000,0.047,2103,2309,2001
$GC,18903,0.54,225.8,785.8,6.9,436,18907,0.00,2.25,0.00,0.000,4,0.000,0.051,2103,3714,2002
$GC,18942,0.47,225.8,782.7,7.6,436,18947,0.00,2.22,0.00,0.000,6,0.000,0.036,2113,2291,2001
$GC,19269,0.39,225.8,759.4,7.1,442,19274,0.12,2.30,0.00,0.000,4,0.152,0.050,2080,3719,2001
$GC,19307,0.39,225.8,756.6,6.7,442,19311,0.00,2.22,0.00,0.000,6,0.000,0.035,2088,2292,2001
$GC,19634,0.45,229.9,738.8,5.4,448,19635,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2292,2001
$GC,19937,0.51,236.6,722.7,5.3,453,19952,0.08,2.30,9.50,1.016,4,0.089,0.052,2139,3710,1966
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$GC,20661,0.43,236.6,631.0,20.8,465,20666,0.73,2.28,0.00,0.000,4,0.190,0.052,2096,3717,1963
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$STATE,30485,end climb,SURFACE_DEPTH_REACHED
$STATE,30485,begin surface coast
$FINISH,1.1,1.024370
$STATE,30507,end surface coast,CONTROL_FINISHED_OK
$STATE,30508,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1654
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$TCM_TEMP,16.50
$XPDR_PINGS,85
$24V_AH,23.0,28.243
$10V_AH,10.7,22.766
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$DEVICE_SECS,27.600,251.250,423.625,0.000,0.000,58.165,56.966,223.128,21.250,0.000,0.000,34.486,1828.185,25463.648,580.417,2493.836,756.891,33.377,1837.756,0.000,2462.584,0.000,0.529,0.000
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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,47408,777
$CAP_FILE_SIZE,214716,0
$CFSIZE,260165632,244703232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100809,183036,4957.549,-14429.844,39,1.7,44,18.5