version: 66.04
glider: 144
mission: 15
dive: 315
start: 9 24 109 1 37 56
data:
$ID,144
$MISSION,15
$DIVE,315
$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,-67353.086
$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,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
$GPS1,013136,4959.104,-14437.405,26,1.8,26,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-59.2
$GPS2,013702,4959.156,-14437.402,12,1.8,12,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.100,0.134
$KALMAN_X,-42367.3,-66.3,-285.9,81924.0,-739.6
$KALMAN_Y,18632.5,165.4,-55.1,-59164.1,-607.5
$MHEAD_RNG_PITCHd_Wd,304.7,22267,-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,17,-0.68,-117.3,0.0,0.0,0,61,0.00,0.00,-42.05,0.000,2,0.000,0.000,100,2308,2721
$GC,63,-0.68,-117.3,3.8,-6.3,4,92,7.30,2.30,-15.60,0.000,4,0.246,0.063,1845,893,3409
$GC,322,-0.61,-117.3,38.9,-13.5,26,329,0.12,2.25,0.00,0.000,6,0.141,0.037,1869,2310,3411
$GC,649,-0.61,-117.3,67.3,-7.4,57,653,0.00,2.25,0.00,0.000,4,0.000,0.040,1869,892,3412
$GC,811,-0.65,-117.3,81.1,-8.8,70,815,0.00,2.22,0.00,0.000,6,0.000,0.035,1863,2305,3413
$GC,1126,-0.65,-117.3,108.2,-9.0,85,1130,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,889,3413
$GC,1176,-0.65,-117.3,113.0,-9.2,87,1180,0.00,2.25,0.00,0.000,6,0.000,0.042,1863,2300,3414
$GC,1492,-0.67,-117.3,137.5,-6.9,102,1496,0.00,2.22,0.00,0.000,4,0.000,0.041,1863,886,3414
$GC,1520,-0.71,-117.3,139.6,-7.5,103,1524,0.00,2.28,0.00,0.000,6,0.000,0.045,1863,2315,3414
$GC,1851,-0.75,-117.3,160.7,-6.3,117,1856,0.10,2.25,0.00,0.000,4,0.067,0.041,1793,884,3413
$GC,1900,-0.67,-117.3,165.5,-10.5,118,1905,0.25,2.25,0.00,0.000,6,0.123,0.041,1856,2307,3413
$GC,2214,-0.71,-117.3,187.0,-6.8,128,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2307,3413
$GC,2519,-0.76,-117.3,205.8,-5.8,138,2523,0.00,2.25,0.00,0.000,4,0.000,0.042,1856,890,3412
$GC,2554,-0.83,-117.3,208.0,-6.4,139,2559,0.10,2.25,0.00,0.000,6,0.067,0.038,1777,2312,3412
$GC,2895,-0.73,-117.3,244.7,-11.2,150,2899,0.20,2.28,0.00,0.000,4,0.127,0.047,1840,891,3412
$GC,2935,-0.76,-117.3,248.3,-8.3,151,2939,0.00,2.25,0.00,0.000,6,0.000,0.040,1837,2304,3411
$GC,3264,-0.76,-117.3,272.2,-7.2,162,3268,0.00,2.22,0.00,0.000,4,0.000,0.049,1836,895,3411
$GC,3304,-0.76,-117.3,275.3,-7.4,163,3308,0.00,2.25,0.00,0.000,6,0.000,0.041,1835,2307,3411
$GC,3633,-0.76,-117.3,298.8,-7.3,174,3637,0.00,2.28,0.00,0.000,4,0.000,0.044,1835,885,3411
$GC,3689,-0.78,-117.3,303.0,-7.6,175,3693,0.00,2.25,0.00,0.000,6,0.000,0.041,1826,2305,3411
$GC,3999,-0.78,-117.3,324.8,-7.0,180,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2305,3410
$GC,4302,-0.78,-117.3,345.7,-6.9,185,4306,0.00,2.25,0.00,0.000,4,0.000,0.044,1826,885,3409
$GC,4365,-0.78,-117.3,350.5,-7.5,186,4369,0.00,2.25,0.00,0.000,6,0.000,0.041,1823,2304,3409
$GC,4731,-0.78,-117.3,378.6,-7.9,192,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2304,3409
$GC,5033,-0.78,-117.3,403.3,-8.1,197,5037,0.00,2.28,0.00,0.000,4,0.000,0.046,1823,890,3408
$GC,5066,-0.78,-117.3,406.1,-8.1,197,5070,0.00,2.28,0.00,0.000,6,0.000,0.040,1820,2308,3408
$GC,5393,-0.78,-117.3,432.9,-8.2,203,5397,0.00,2.28,0.00,0.000,4,0.000,0.044,1821,889,3407
$GC,5455,-0.78,-117.3,438.1,-8.2,204,5459,0.00,2.28,0.00,0.000,6,0.000,0.041,1811,2308,3407
$GC,5821,-0.78,-117.3,469.0,-8.4,210,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2308,3407
$GC,6123,-0.78,-117.3,493.5,-8.0,215,6127,0.00,2.28,0.00,0.000,4,0.000,0.044,1811,896,3407
$GC,6162,-0.78,-117.3,496.7,-8.2,215,6166,0.10,2.25,0.00,0.000,6,0.141,0.041,1834,2302,3406
$GC,6489,-0.82,-117.3,517.4,-6.2,221,6493,0.00,2.28,0.00,0.000,4,0.000,0.050,1834,892,3406
$GC,6533,-0.87,-117.3,520.2,-6.3,221,6538,0.10,2.28,0.00,0.000,6,0.071,0.044,1770,2312,3406
$GC,6848,-0.79,-117.3,549.3,-9.4,227,6850,0.20,0.00,0.00,0.000,6,0.127,0.000,1829,2312,3406
$GC,7151,-0.82,-117.3,567.2,-5.7,232,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2312,3405
$GC,7455,-0.86,-117.3,584.5,-5.8,237,7459,0.00,2.28,0.00,0.000,4,0.000,0.051,1830,894,3406
$GC,7495,-0.90,-117.3,587.1,-7.1,237,7499,0.00,2.25,0.00,0.000,6,0.000,0.043,1823,2305,3405
$GC,7816,-0.92,-117.3,606.5,-6.1,243,7820,0.10,2.28,0.00,0.000,4,0.067,0.044,1757,893,3405
$GC,7860,-0.82,-117.3,610.5,-9.9,243,7865,0.22,2.28,0.00,0.000,6,0.131,0.040,1820,2305,3405
$GC,8176,-0.82,-117.3,630.5,-6.2,249,8180,0.00,2.28,0.00,0.000,4,0.000,0.045,1820,887,3405
$GC,8210,-0.84,-117.3,632.9,-7.1,249,8214,0.00,2.28,0.00,0.000,6,0.000,0.044,1820,2312,3405
$GC,8542,-0.87,-117.3,653.3,-6.1,255,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2312,3405
$GC,8845,-0.89,-117.3,672.4,-6.3,260,8849,0.00,2.28,0.00,0.000,4,0.000,0.050,1820,895,3405
$GC,8901,-0.91,-117.3,676.2,-7.1,260,8908,0.00,2.25,0.00,0.000,6,0.000,0.046,1812,2305,3405
$GC,9211,-0.91,-117.3,697.1,-6.8,266,9215,0.00,2.28,0.00,0.000,4,0.000,0.045,1812,887,3404
$GC,9243,-0.91,-117.3,699.5,-7.5,266,9247,0.00,2.30,0.00,0.000,6,0.000,0.045,1809,2301,3404
$GC,9576,-0.91,-117.3,722.4,-6.8,272,9580,0.00,2.25,0.00,0.000,4,0.000,0.047,1809,895,3404
$GC,9620,-0.91,-117.3,725.9,-8.0,272,9624,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2304,3404
$GC,9935,-0.91,-117.3,748.4,-7.2,278,9939,0.00,2.28,0.00,0.000,4,0.000,0.048,1807,891,3403
$GC,9967,-0.91,-117.3,751.0,-8.2,278,9971,0.00,2.28,0.00,0.000,6,0.000,0.042,1798,2312,3404
$GC,10300,-0.91,-117.3,776.2,-7.6,284,10304,0.00,2.30,0.00,0.000,4,0.000,0.048,1798,886,3403
$GC,10343,-0.91,-117.3,779.8,-8.4,284,10347,0.00,2.28,0.00,0.000,6,0.000,0.046,1794,2304,3403
$GC,10665,-0.89,-117.3,802.7,-7.2,290,10669,0.00,2.28,0.00,0.000,4,0.000,0.048,1794,892,3403
$GC,10710,-0.87,-117.3,806.0,-7.4,290,10714,0.00,2.28,0.00,0.000,6,0.000,0.046,1791,2311,3403
$GC,11025,-0.84,-117.3,827.6,-6.7,296,11030,0.10,2.30,0.00,0.000,4,0.144,0.051,1818,886,3403
$GC,11053,-0.84,-117.3,829.4,-6.5,296,11057,0.00,2.28,0.00,0.000,6,0.000,0.041,1810,2309,3403
$GC,11386,-0.84,-117.3,849.0,-5.9,302,11390,0.00,2.30,0.00,0.000,4,0.000,0.051,1810,890,3403
$GC,11419,-0.84,-117.3,851.1,-5.8,302,11423,0.00,2.28,0.00,0.000,6,0.000,0.048,1809,2301,3403
$GC,11752,-0.84,-117.3,869.9,-5.6,308,11753,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2301,3402
$GC,12054,-0.84,-117.3,886.9,-5.6,313,12058,0.00,2.30,0.00,0.000,4,0.000,0.048,1809,888,3402
$GC,12093,-0.84,-117.3,889.5,-6.0,313,12097,0.00,2.30,0.00,0.000,6,0.000,0.042,1807,2307,3402
$GC,12413,-0.84,-117.3,908.4,-5.9,319,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2307,3402
$GC,12716,-0.84,-117.3,925.9,-5.8,324,12720,0.00,2.30,0.00,0.000,4,0.000,0.051,1807,889,3402
$GC,12766,-0.84,-117.3,929.2,-6.7,324,12770,0.00,2.28,0.00,0.000,6,0.000,0.045,1806,2302,3402
$GC,13082,-0.84,-117.3,948.0,-6.0,330,13083,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2302,3402
$GC,13384,-0.84,-117.3,965.7,-5.9,335,13388,0.00,2.28,0.00,0.000,4,0.000,0.054,1807,896,3402
$GC,13447,-0.84,-117.3,970.0,-6.9,336,13451,0.00,2.28,0.00,0.000,6,0.000,0.044,1804,2309,3402
$STATE,13810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13810,begin apogee
$GC,13816,-0.22,0.0,993.6,6.5,342,13914,0.47,0.00,95.38,1.312,6,0.119,0.000,1954,2309,2931
$STATE,13915,end apogee,CONTROL_FINISHED_OK
$STATE,13915,begin climb
$GC,13918,0.68,117.3,994.9,0.0,343,14026,0.55,2.55,101.85,1.282,4,0.074,0.056,2148,3709,2450
$GC,14049,0.51,117.3,992.6,5.9,345,14054,0.22,2.42,0.00,0.000,6,0.172,0.035,2107,2310,2447
$GC,14405,0.48,134.1,974.8,4.9,351,14421,0.00,0.00,14.35,1.167,6,0.000,0.000,2107,2310,2383
$GC,14707,0.46,148.2,959.5,5.0,356,14726,0.00,2.38,13.30,1.156,4,0.000,0.054,2108,3706,2325
$GC,14756,0.40,148.2,956.7,5.7,356,14761,0.12,2.28,0.00,0.000,6,0.158,0.037,2086,2298,2323
$GC,15071,0.46,191.1,943.7,4.1,362,15111,0.00,0.00,38.22,1.239,6,0.000,0.000,2086,2298,2151
$GC,15375,0.54,221.8,930.2,4.5,367,15405,0.12,0.00,27.73,1.211,6,0.070,0.000,2141,2298,2026
$GC,15678,0.48,221.8,906.9,7.9,372,15683,0.15,2.35,0.00,0.000,4,0.140,0.051,2099,3715,2019
$GC,15722,0.50,221.8,903.6,6.8,372,15726,0.00,2.28,0.00,0.000,6,0.000,0.034,2107,2301,2018
$GC,16037,0.53,221.8,885.5,5.7,378,16038,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2301,2018
$GC,16340,0.55,221.8,867.6,6.0,383,16344,0.00,2.33,0.00,0.000,4,0.000,0.050,2108,3709,2017
$GC,16361,0.55,221.8,866.0,6.8,383,16365,0.00,2.25,0.00,0.000,6,0.000,0.035,2117,2299,2016
$GC,16704,0.55,221.8,842.3,6.9,389,16705,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2300,2016
$GC,17007,0.55,221.8,820.2,7.2,394,17011,0.00,2.33,0.00,0.000,4,0.000,0.050,2118,3716,2016
$GC,17046,0.53,221.8,817.0,8.1,394,17050,0.00,2.25,0.00,0.000,6,0.000,0.034,2128,2301,2015
$GC,17368,0.50,221.8,793.5,7.2,400,17372,0.00,2.30,0.00,0.000,4,0.000,0.051,2128,3710,2015
$GC,17401,0.46,221.8,790.8,8.3,400,17405,0.15,2.22,0.00,0.000,6,0.148,0.034,2098,2301,2015
$GC,17733,0.54,241.7,773.9,4.8,406,17757,0.00,2.35,16.92,1.098,4,0.000,0.051,2107,890,1944
$GC,17781,0.64,265.3,771.4,4.7,406,17809,0.12,2.28,22.25,1.102,6,0.065,0.045,2167,2305,1849
$GC,18166,0.56,265.3,736.0,9.5,413,18171,0.17,2.30,0.00,0.000,4,0.141,0.050,2113,3711,1842
$GC,18222,0.58,265.3,731.5,7.1,413,18229,0.00,2.25,0.00,0.000,6,0.000,0.034,2121,2297,1842
$GC,18532,0.58,265.3,712.6,6.1,419,18536,0.00,2.28,0.00,0.000,4,0.000,0.054,2131,893,1841
$GC,18548,0.61,265.3,711.5,6.1,419,18552,0.00,2.25,0.00,0.000,6,0.000,0.039,2132,2302,1840
$GC,18897,0.61,265.3,688.2,6.7,425,18901,0.00,2.28,0.00,0.000,4,0.000,0.052,2132,3712,1839
$GC,18926,0.61,265.3,686.0,7.8,425,18930,0.00,2.22,0.00,0.000,6,0.000,0.034,2142,2297,1839
$GC,19264,0.58,265.3,660.6,7.5,431,19265,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2297,1839
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$STATE,27608,end climb,SURFACE_DEPTH_REACHED
$STATE,27608,begin surface coast
$FINISH,1.0,1.024681
$STATE,27630,end surface coast,CONTROL_FINISHED_OK
$STATE,27630,begin surface
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$TCM_TEMP,16.80
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$10V_AH,10.6,39.325
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$DEVICE_SECS,18.725,258.325,408.025,0.000,0.000,26.574,23.340,147.952,20.500,0.000,0.000,14.190,1664.767,22897.057,551.363,2295.478,612.725,33.382,1728.665,0.000,2287.382,0.000,0.528,0.000
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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,41241,713
$CAP_FILE_SIZE,186029,0
$CFSIZE,260165632,234156032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240909,092102,5001.518,-14441.771,41,1.2,41,18.5