version: 66.04
glider: 144
mission: 15
dive: 198
start: 8 15 109 19 49 12
data:
$ID,144
$MISSION,15
$DIVE,198
$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,-64772.441
$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,37
$R_STBD_OVSHOOT,31
$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
$GPS1,193837,5014.825,-14510.400,34,1.0,34,18.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-61.2
$GPS2,194820,5014.920,-14510.494,15,1.1,15,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.012,-0.167
$KALMAN_X,243.7,-12.8,0.6,-138.7,160.8
$KALMAN_Y,367.0,221.2,116.2,-11934.4,-135.0
$MHEAD_RNG_PITCHd_Wd,165.6,38761,-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,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.60,0.000,2,0.000,0.000,100,2298,2647
$GC,62,-0.68,-117.3,3.4,-5.0,4,96,7.15,2.33,-17.40,0.000,4,0.245,0.064,1836,3700,3413
$GC,131,-0.36,-117.3,14.7,-17.0,10,136,0.30,2.22,0.00,0.000,6,0.130,0.031,1925,2301,3414
$GC,456,-0.55,-117.3,39.1,-6.9,40,461,0.15,2.25,0.00,0.000,4,0.051,0.041,1830,889,3415
$GC,494,-0.39,-117.3,43.2,-11.5,43,502,0.32,2.22,0.00,0.000,6,0.129,0.037,1919,2311,3416
$GC,822,-0.60,-117.3,62.4,-5.6,74,827,0.17,2.25,0.00,0.000,4,0.047,0.039,1817,891,3417
$GC,866,-0.41,-117.3,67.0,-11.5,77,873,0.35,2.22,0.00,0.000,6,0.130,0.037,1914,2305,3417
$GC,1201,-0.60,-117.3,85.7,-5.5,104,1205,0.15,2.22,0.00,0.000,4,0.050,0.040,1818,893,3417
$GC,1256,-0.41,-117.3,91.9,-12.4,106,1263,0.32,2.22,0.00,0.000,6,0.127,0.037,1908,2312,3417
$GC,1572,-0.59,-117.3,111.9,-5.8,122,1577,0.12,2.25,0.00,0.000,4,0.057,0.040,1822,894,3417
$GC,1605,-0.46,-117.3,114.9,-9.9,123,1612,0.30,2.22,0.00,0.000,6,0.123,0.044,1904,2306,3417
$GC,1921,-0.65,-117.3,133.7,-5.6,139,1923,0.15,0.00,0.00,0.000,6,0.051,0.000,1807,2306,3416
$GC,2239,-0.50,-117.3,166.7,-10.5,152,2243,0.28,2.25,0.00,0.000,4,0.173,0.043,1892,893,3417
$GC,2273,-0.67,-117.3,169.3,-5.8,153,2278,0.12,2.22,0.00,0.000,6,0.058,0.041,1826,2303,3416
$GC,2613,-0.60,-117.3,197.9,-8.3,164,2618,0.17,2.25,0.00,0.000,4,0.121,0.044,1877,888,3416
$GC,2653,-0.76,-117.3,200.7,-6.2,165,2658,0.15,2.22,0.00,0.000,6,0.053,0.038,1785,2304,3416
$GC,2983,-0.55,-117.3,236.6,-11.5,176,2987,0.28,2.25,0.00,0.000,4,0.128,0.046,1874,892,3415
$GC,3017,-0.68,-117.3,239.5,-7.4,177,3021,0.10,2.22,0.00,0.000,6,0.067,0.039,1807,2310,3414
$GC,3357,-0.57,-117.3,272.4,-9.7,188,3362,0.20,2.28,0.00,0.000,4,0.122,0.050,1873,887,3414
$GC,3398,-0.73,-117.3,275.4,-6.5,189,3402,0.10,2.25,0.00,0.000,6,0.068,0.040,1801,2313,3414
$GC,3726,-0.61,-117.3,306.0,-9.6,199,3731,0.20,2.22,0.00,0.000,4,0.122,0.050,1862,3707,3413
$GC,3754,-0.68,-117.3,308.2,-7.6,199,3758,0.00,2.17,0.00,0.000,6,0.000,0.031,1862,2299,3413
$GC,4086,-0.82,-117.3,329.2,-6.3,205,4088,0.12,0.00,0.00,0.000,6,0.063,0.000,1776,2298,3412
$GC,4389,-0.60,-117.3,361.2,-10.7,210,4394,0.28,2.22,0.00,0.000,4,0.127,0.044,1866,902,3411
$GC,4433,-0.76,-117.3,364.6,-6.3,210,4438,0.10,2.20,0.00,0.000,6,0.067,0.039,1796,2303,3411
$GC,4748,-0.63,-117.3,391.7,-8.9,216,4752,0.17,2.25,0.00,0.000,4,0.125,0.052,1849,3709,3411
$GC,4775,-0.68,-117.3,393.8,-6.9,216,4778,0.00,2.17,0.00,0.000,6,0.000,0.031,1849,2302,3411
$GC,5113,-0.78,-117.3,412.5,-5.5,222,5116,0.00,2.22,0.00,0.000,4,0.000,0.048,1849,899,3410
$GC,5157,-0.88,-117.3,415.3,-6.6,222,5162,0.12,2.22,0.00,0.000,6,0.060,0.045,1773,2312,3410
$GC,5478,-0.67,-117.3,446.6,-10.0,228,5480,0.28,0.00,0.00,0.000,6,0.130,0.000,1856,2312,3409
$GC,5781,-0.79,-117.3,462.3,-5.0,233,5783,0.12,0.00,0.00,0.000,6,0.058,0.000,1780,2313,3409
$GC,6084,-0.61,-117.3,488.0,-8.7,238,6089,0.25,2.30,0.00,0.000,4,0.127,0.044,1861,890,3408
$GC,6124,-0.78,-117.3,490.7,-5.8,238,6129,0.10,2.25,0.00,0.000,6,0.069,0.040,1792,2307,3408
$GC,6445,-0.65,-117.3,517.9,-8.8,244,6447,0.22,0.00,0.00,0.000,6,0.122,0.000,1860,2308,3407
$GC,6747,-0.81,-117.3,535.4,-5.7,249,6749,0.12,0.00,0.00,0.000,6,0.058,0.000,1778,2308,3407
$GC,7051,-0.63,-117.3,565.0,-10.1,254,7055,0.25,2.28,0.00,0.000,4,0.124,0.051,1859,890,3407
$GC,7095,-0.79,-117.3,568.4,-6.4,254,7099,0.08,2.22,0.00,0.000,6,0.081,0.040,1795,2302,3406
$GC,7410,-0.69,-117.3,596.0,-9.0,260,7414,0.20,2.25,0.00,0.000,4,0.121,0.051,1851,3709,3406
$GC,7431,-0.69,-117.3,597.9,-8.2,260,7435,0.00,2.17,0.00,0.000,6,0.000,0.038,1851,2306,3406
$GC,7774,-0.84,-117.3,618.6,-6.0,266,7776,0.12,0.00,0.00,0.000,6,0.062,0.000,1776,2304,3406
$GC,8078,-0.67,-117.3,647.4,-9.7,271,8082,0.22,2.25,0.00,0.000,4,0.125,0.053,1850,894,3406
$GC,8122,-0.81,-117.3,650.7,-6.5,271,8126,0.10,2.22,0.00,0.000,6,0.071,0.044,1786,2303,3406
$GC,8436,-0.68,-117.3,678.3,-8.9,277,8441,0.20,2.25,0.00,0.000,4,0.124,0.051,1850,891,3405
$GC,8469,-0.80,-117.3,680.6,-6.4,277,8474,0.10,2.22,0.00,0.000,6,0.072,0.045,1791,2302,3405
$GC,8795,-0.69,-117.3,706.7,-8.1,283,8797,0.20,0.00,0.00,0.000,6,0.121,0.000,1851,2302,3404
$GC,9099,-0.84,-117.3,721.4,-4.7,288,9101,0.12,0.00,0.00,0.000,6,0.065,0.000,1781,2302,3405
$GC,9402,-0.70,-117.3,744.6,-7.8,293,9404,0.22,0.00,0.00,0.000,6,0.121,0.000,1850,2302,3405
$GC,9705,-0.85,-117.3,758.9,-4.6,298,9707,0.12,0.00,0.00,0.000,6,0.071,0.000,1790,2302,3405
$GC,10008,-0.75,-117.3,781.6,-7.7,303,10010,0.17,0.00,0.00,0.000,6,0.123,0.000,1842,2302,3404
$GC,10312,-0.87,-117.3,797.1,-5.0,308,10317,0.12,2.28,0.00,0.000,4,0.069,0.051,1786,894,3404
$GC,10352,-0.75,-117.3,800.2,-8.7,308,10357,0.22,2.25,0.00,0.000,6,0.127,0.041,1843,2305,3404
$GC,10673,-0.87,-117.3,816.3,-4.8,314,10675,0.12,0.00,0.00,0.000,6,0.072,0.000,1789,2307,3404
$GC,10976,-0.77,-117.3,838.2,-7.3,319,10981,0.15,2.28,0.00,0.000,4,0.129,0.053,1823,3709,3403
$GC,11009,-0.83,-117.3,840.4,-6.2,319,11013,0.00,2.20,0.00,0.000,6,0.000,0.034,1823,2305,3403
$GC,11336,-0.88,-117.3,857.6,-5.3,325,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2305,3403
$GC,11639,-0.93,-117.3,874.2,-5.5,330,11643,0.10,2.28,0.00,0.000,4,0.084,0.048,1774,891,3403
$GC,11671,-0.78,-117.3,876.9,-9.0,330,11676,0.22,2.25,0.00,0.000,6,0.134,0.047,1830,2305,3402
$GC,11997,-0.85,-117.3,895.3,-5.6,336,12001,0.00,2.28,0.00,0.000,4,0.000,0.052,1830,894,3402
$GC,12027,-0.92,-117.3,897.2,-7.1,336,12031,0.10,2.25,0.00,0.000,6,0.081,0.043,1778,2310,3403
$GC,12358,-0.78,-117.3,925.9,-8.8,342,12363,0.17,2.25,0.00,0.000,4,0.138,0.054,1824,3709,3402
$GC,12385,-0.78,-117.3,927.9,-7.6,342,12390,0.00,2.20,0.00,0.000,6,0.000,0.038,1824,2298,3402
$GC,12718,-0.84,-117.3,950.1,-6.7,348,12722,0.00,2.25,0.00,0.000,4,0.000,0.052,1824,891,3402
$GC,12746,-0.89,-117.3,952.2,-7.6,348,12750,0.00,2.25,0.00,0.000,6,0.000,0.043,1820,2305,3402
$GC,13077,-0.89,-117.3,973.9,-6.4,354,13081,0.00,2.30,0.00,0.000,4,0.000,0.054,1819,891,3402
$GC,13104,-0.89,-117.3,975.7,-6.5,354,13108,0.00,2.25,0.00,0.000,6,0.000,0.043,1810,2304,3402
$STATE,13379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13379,begin apogee
$GC,13385,-0.22,0.0,993.4,6.4,359,13481,0.45,0.00,93.43,1.328,6,0.127,0.000,1950,2303,2931
$STATE,13482,end apogee,CONTROL_FINISHED_OK
$STATE,13482,begin climb
$GC,13484,0.68,117.3,994.6,0.0,360,13591,0.60,2.55,99.57,1.296,4,0.081,0.059,2150,3706,2451
$GC,13621,0.27,117.3,990.0,8.1,362,13629,0.40,2.40,0.00,0.000,6,0.176,0.037,2062,2303,2447
$GC,13932,0.37,142.5,975.0,4.7,368,13955,0.00,0.00,21.17,1.223,6,0.000,0.000,2062,2303,2350
$GC,14234,0.59,142.5,957.9,5.8,373,14239,0.17,2.35,0.00,0.000,4,0.067,0.054,2144,888,2344
$GC,14340,0.40,142.5,949.7,8.6,374,14345,0.22,2.30,0.00,0.000,6,0.153,0.042,2084,2304,2344
$GC,14661,0.40,142.5,931.7,5.5,380,14665,0.00,2.30,0.00,0.000,4,0.000,0.052,2084,3713,2342
$GC,14711,0.35,142.5,928.5,6.5,380,14715,0.00,2.25,0.00,0.000,6,0.000,0.036,2092,2296,2342
$GC,15020,0.35,142.5,910.5,5.8,385,15024,0.00,2.33,0.00,0.000,4,0.000,0.054,2092,3720,2342
$GC,15048,0.27,142.5,908.8,5.9,385,15052,0.17,2.25,0.00,0.000,6,0.157,0.035,2056,2296,2341
$GC,15380,0.54,152.0,892.1,5.2,391,15395,0.17,2.33,8.32,1.068,4,0.064,0.057,2133,3705,2310
$GC,15558,0.26,152.0,877.1,8.6,393,15563,0.32,2.22,0.00,0.000,6,0.160,0.039,2053,2303,2308
$GC,15879,0.56,167.2,861.4,5.0,399,15899,0.17,2.33,14.32,1.150,4,0.067,0.051,2136,892,2248
$GC,16007,0.44,167.2,852.9,6.5,400,16014,0.15,2.28,0.00,0.000,6,0.143,0.047,2097,2305,2246
$GC,16317,0.44,169.1,835.6,5.4,406,16321,0.00,2.28,0.00,0.000,4,0.000,0.052,2098,3712,2245
$GC,16372,0.37,169.1,831.9,6.9,406,16380,0.08,2.25,0.00,0.000,6,0.150,0.035,2082,2309,2243
$GC,16682,0.44,184.5,816.3,5.0,412,16700,0.00,0.00,15.45,1.130,6,0.000,0.000,2082,2309,2178
$GC,16986,0.56,206.9,801.6,4.7,417,17012,0.12,2.33,20.30,1.140,4,0.061,0.058,2141,3709,2086
$GC,17029,0.37,206.9,798.4,8.0,417,17034,0.28,2.28,0.00,0.000,6,0.151,0.039,2076,2305,2085
$GC,17344,0.65,206.9,780.9,5.7,423,17349,0.20,2.30,0.00,0.000,4,0.065,0.051,2157,3708,2082
$GC,17422,0.36,206.9,773.6,10.8,424,17427,0.32,2.25,0.00,0.000,6,0.150,0.039,2077,2300,2081
$GC,17772,0.66,206.9,751.8,6.4,430,17776,0.17,2.30,0.00,0.000,4,0.065,0.056,2151,3714,2080
$GC,17834,0.40,206.9,746.1,10.0,431,17839,0.28,2.25,0.00,0.000,6,0.150,0.035,2082,2296,2079
$GC,18200,0.52,206.9,724.9,5.5,437,18204,0.12,2.28,0.00,0.000,4,0.058,0.048,2157,889,2080
$GC,18228,0.45,206.9,722.9,8.1,437,18233,0.22,2.25,0.00,0.000,6,0.140,0.041,2093,2305,2079
$GC,18560,0.54,206.9,703.6,5.7,443,18565,0.10,2.28,0.00,0.000,4,0.067,0.056,2153,3719,2079
$GC,18610,0.27,206.9,698.8,9.9,443,18615,0.38,2.22,0.00,0.000,6,0.150,0.035,2055,2302,2079
$GC,18919,0.74,206.9,681.1,5.9,448,18924,0.28,2.28,0.00,0.000,4,0.066,0.050,2164,3719,2078
$GC,18969,0.52,206.9,677.3,8.3,448,18974,0.22,2.25,0.00,0.000,6,0.153,0.036,2111,2293,2078
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$GC,23764,0.55,229.0,379.6,6.5,526,23771,0.20,2.25,0.00,0.000,6,0.140,0.044,2115,2312,1994
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$STATE,29410,end climb,SURFACE_DEPTH_REACHED
$STATE,29410,begin surface coast
$FINISH,1.0,1.014423
$STATE,29422,end surface coast,CONTROL_FINISHED_OK
$STATE,29422,begin surface
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$HUMID,1654
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$TCM_TEMP,16.80
$XPDR_PINGS,96
$24V_AH,22.9,30.362
$10V_AH,10.7,24.740
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$DEVICE_SECS,32.225,274.900,408.300,0.000,0.000,54.380,70.022,262.003,24.000,0.000,0.000,17.143,1839.847,24361.453,590.828,2466.813,813.848,31.432,1851.831,0.000,2448.609,0.000,0.529,0.000
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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,47498,770
$CAP_FILE_SIZE,220810,0
$CFSIZE,260165632,243412992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,160809,040207,5012.157,-14511.065,37,1.1,37,18.5