version: 66.04
glider: 144
mission: 15
dive: 324
start: 9 27 109 1 24 44
data:
$ID,144
$MISSION,15
$DIVE,324
$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,-67524.383
$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,37
$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
$GPS1,011737,5017.970,-14505.148,31,0.9,31,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-59.8
$GPS2,012350,5017.979,-14505.162,10,1.1,10,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.126,0.111
$KALMAN_X,-52105.8,206.2,116.2,58176.3,-2324.9
$KALMAN_Y,19228.6,-49.9,-149.8,-24585.0,808.4
$MHEAD_RNG_PITCHd_Wd,292.9,9783,-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,-117.3,0.0,0.0,0,51,0.00,0.00,-31.92,0.000,2,0.000,0.000,99,2293,2502
$GC,54,-0.68,-117.3,3.2,-5.0,3,91,7.22,2.35,-23.05,0.000,4,0.239,0.062,1846,895,3413
$GC,338,-0.62,-117.3,36.3,-11.8,28,345,0.10,2.25,0.00,0.000,6,0.143,0.036,1863,2315,3415
$GC,666,-0.62,-117.3,67.7,-9.1,59,672,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2315,3416
$GC,986,-0.62,-117.3,96.2,-8.1,81,990,0.00,2.28,0.00,0.000,4,0.000,0.043,1863,892,3417
$GC,1030,-0.65,-117.3,100.0,-8.7,83,1034,0.00,2.25,0.00,0.000,6,0.000,0.040,1863,2305,3418
$GC,1352,-0.65,-117.3,125.7,-8.0,99,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2306,3418
$GC,1661,-0.69,-117.3,147.3,-6.3,114,1665,0.00,2.25,0.00,0.000,4,0.000,0.047,1862,895,3418
$GC,1717,-0.76,-117.3,151.0,-6.6,116,1722,0.10,2.25,0.00,0.000,6,0.067,0.043,1795,2308,3417
$GC,2030,-0.68,-117.3,180.4,-9.6,126,2035,0.17,2.25,0.00,0.000,4,0.126,0.041,1852,888,3417
$GC,2074,-0.74,-117.3,183.9,-6.9,127,2078,0.00,2.25,0.00,0.000,6,0.000,0.041,1850,2305,3417
$GC,2392,-0.78,-117.3,205.6,-6.8,138,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2305,3416
$GC,2698,-0.82,-117.3,225.4,-6.3,148,2703,0.10,2.25,0.00,0.000,4,0.066,0.041,1778,892,3416
$GC,2765,-0.73,-117.3,232.1,-10.7,150,2769,0.25,2.22,0.00,0.000,6,0.177,0.038,1841,2302,3416
$GC,3094,-0.75,-117.3,254.6,-6.8,161,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2302,3415
$GC,3400,-0.78,-117.3,275.0,-6.6,171,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2302,3415
$GC,3706,-0.82,-117.3,295.3,-6.6,181,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2302,3415
$GC,4041,-0.85,-117.3,318.2,-6.9,188,4045,0.10,2.28,0.00,0.000,4,0.069,0.048,1777,891,3414
$GC,4085,-0.76,-117.3,322.7,-10.9,188,4090,0.22,2.25,0.00,0.000,6,0.125,0.044,1834,2299,3414
$GC,4400,-0.79,-117.3,344.2,-6.7,194,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2299,3413
$GC,4703,-0.82,-117.3,363.3,-6.2,199,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2299,3413
$GC,5007,-0.85,-117.3,381.7,-6.1,204,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2299,3413
$GC,5309,-0.88,-117.3,399.5,-5.8,209,5311,0.10,0.00,0.00,0.000,6,0.068,0.000,1770,2301,3412
$GC,5612,-0.79,-117.3,429.7,-10.2,214,5617,0.17,2.28,0.00,0.000,4,0.129,0.046,1827,896,3411
$GC,5675,-0.81,-117.3,434.7,-7.4,215,5679,0.00,2.25,0.00,0.000,6,0.000,0.041,1822,2304,3411
$GC,6041,-0.81,-117.3,461.7,-7.3,221,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2304,3410
$GC,6344,-0.81,-117.3,483.0,-7.0,226,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2304,3411
$GC,6647,-0.81,-117.3,504.2,-7.0,231,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2304,3410
$GC,6951,-0.81,-117.3,525.2,-6.9,236,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2304,3410
$GC,7254,-0.81,-117.3,546.1,-7.0,241,7258,0.00,2.28,0.00,0.000,4,0.000,0.049,1823,889,3409
$GC,7303,-0.81,-117.3,550.1,-7.8,241,7307,0.00,2.28,0.00,0.000,6,0.000,0.041,1821,2311,3410
$GC,7619,-0.81,-117.3,572.7,-7.2,247,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2311,3409
$GC,7922,-0.81,-117.3,594.3,-7.0,252,7926,0.00,2.28,0.00,0.000,4,0.000,0.050,1821,893,3409
$GC,7960,-0.81,-117.3,597.2,-7.4,252,7964,0.00,2.28,0.00,0.000,6,0.000,0.039,1811,2313,3409
$GC,8281,-0.81,-117.3,621.0,-7.5,258,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2313,3409
$GC,8584,-0.81,-117.3,643.4,-7.4,263,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2313,3408
$GC,8887,-0.81,-117.3,666.2,-7.5,268,8891,0.00,2.28,0.00,0.000,4,0.000,0.051,1811,894,3408
$GC,8943,-0.81,-117.3,670.7,-8.0,268,8949,0.00,2.28,0.00,0.000,6,0.000,0.043,1808,2297,3408
$GC,9252,-0.81,-117.3,694.1,-7.5,274,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2297,3408
$GC,9555,-0.81,-117.3,716.0,-7.1,279,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2298,3408
$GC,9859,-0.81,-117.3,736.1,-6.6,284,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2298,3408
$GC,10162,-0.81,-117.3,755.7,-6.5,289,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2297,3407
$GC,10465,-0.81,-117.3,774.5,-6.2,294,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2298,3407
$GC,10768,-0.81,-117.3,793.4,-6.2,299,10772,0.00,2.25,0.00,0.000,4,0.000,0.048,1808,900,3407
$GC,10806,-0.81,-117.3,796.2,-7.3,299,10811,0.00,2.30,0.00,0.000,6,0.000,0.046,1807,2305,3407
$GC,11140,-0.81,-117.3,817.4,-6.4,305,11141,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3407
$GC,11442,-0.81,-117.3,836.5,-6.3,310,11446,0.00,2.30,0.00,0.000,4,0.000,0.051,1807,892,3407
$GC,11475,-0.81,-117.3,839.0,-7.0,310,11478,0.00,2.30,0.00,0.000,6,0.000,0.041,1805,2311,3407
$GC,11808,-0.81,-117.3,860.4,-6.5,316,11809,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2311,3407
$GC,12110,-0.81,-117.3,881.4,-7.0,321,12114,0.00,2.30,0.00,0.000,4,0.000,0.050,1805,890,3407
$GC,12148,-0.81,-117.3,884.5,-8.4,321,12153,0.12,2.28,0.00,0.000,6,0.132,0.045,1830,2308,3406
$GC,12469,-0.87,-117.3,903.5,-5.9,327,12470,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2308,3407
$GC,12772,-0.93,-117.3,920.8,-5.8,332,12774,0.12,0.00,0.00,0.000,6,0.073,0.000,1777,2308,3406
$GC,13076,-0.88,-117.3,945.5,-8.3,337,13078,0.12,0.00,0.00,0.000,6,0.133,0.000,1811,2308,3406
$GC,13378,-0.91,-117.3,965.6,-6.5,342,13383,0.00,2.30,0.00,0.000,4,0.000,0.053,1811,893,3405
$GC,13423,-0.93,-117.3,968.8,-7.6,342,13427,0.00,2.28,0.00,0.000,6,0.000,0.044,1809,2302,3406
$GC,13738,-0.93,-117.3,989.7,-6.7,348,13739,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2302,3406
$STATE,13796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13796,begin apogee
$GC,13802,-0.22,0.0,993.7,6.7,349,13901,0.45,0.00,96.38,1.307,6,0.119,0.000,1953,2302,2931
$STATE,13902,end apogee,CONTROL_FINISHED_OK
$STATE,13902,begin climb
$GC,13904,0.68,117.3,995.5,0.0,350,14010,0.55,0.00,102.43,1.276,6,0.076,0.000,2146,2302,2452
$GC,14270,0.56,117.3,980.2,6.1,356,14272,0.10,0.00,0.00,0.000,6,0.156,0.000,2125,2302,2442
$GC,14574,0.50,126.9,964.2,5.2,361,14583,0.00,0.00,7.80,1.040,6,0.000,0.000,2124,2302,2413
$GC,14877,0.44,134.3,948.2,5.3,366,14887,0.12,0.00,7.88,1.041,6,0.160,0.000,2091,2302,2383
$GC,15179,0.49,175.7,935.6,4.1,371,15222,0.00,2.42,36.72,1.231,4,0.000,0.053,2091,3709,2213
$GC,15246,0.51,190.3,932.4,5.0,372,15266,0.00,2.28,14.10,1.134,6,0.000,0.041,2099,2309,2154
$GC,15611,0.52,199.4,913.7,5.2,378,15621,0.00,0.00,8.68,1.051,6,0.000,0.000,2099,2309,2118
$GC,15914,0.55,204.5,897.5,5.3,383,15922,0.00,0.00,5.75,0.919,6,0.000,0.000,2100,2309,2097
$GC,16218,0.58,204.5,880.6,5.6,388,16222,0.10,2.30,0.00,0.000,4,0.071,0.051,2149,3713,2095
$GC,16245,0.51,204.5,878.3,9.0,388,16250,0.20,2.25,0.00,0.000,6,0.155,0.041,2107,2300,2095
$GC,16582,0.51,204.5,857.5,6.0,394,16586,0.00,2.28,0.00,0.000,4,0.000,0.049,2116,891,2094
$GC,16605,0.53,204.5,856.1,5.7,394,16609,0.00,2.28,0.00,0.000,6,0.000,0.039,2116,2314,2094
$GC,16942,0.53,204.5,834.9,6.2,400,16946,0.00,2.28,0.00,0.000,4,0.000,0.052,2116,3720,2094
$GC,16981,0.49,204.5,831.9,6.9,400,16985,0.00,2.25,0.00,0.000,6,0.000,0.035,2127,2296,2093
$GC,17302,0.47,204.5,809.7,6.9,406,17304,0.12,0.00,0.00,0.000,6,0.148,0.000,2094,2297,2093
$GC,17605,0.52,209.0,793.4,5.3,411,17615,0.00,2.28,5.12,0.846,4,0.000,0.049,2094,3712,2078
$GC,17637,0.56,209.0,791.3,6.2,411,17641,0.00,2.22,0.00,0.000,6,0.000,0.038,2102,2297,2078
$GC,17969,0.60,209.0,772.6,5.7,417,17971,0.10,0.00,0.00,0.000,6,0.069,0.000,2160,2297,2077
$GC,18273,0.50,209.0,745.6,9.1,422,18277,0.17,2.30,0.00,0.000,4,0.140,0.048,2105,3712,2078
$GC,18316,0.50,209.0,741.9,6.9,422,18320,0.00,2.22,0.00,0.000,6,0.000,0.033,2114,2302,2077
$GC,18637,0.50,209.0,721.5,6.4,428,18638,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2302,2077
$GC,18941,0.50,209.0,702.8,6.1,433,18945,0.00,2.28,0.00,0.000,4,0.000,0.053,2113,3709,2077
$GC,18967,0.50,209.0,700.7,7.8,433,18971,0.00,2.22,0.00,0.000,6,0.000,0.038,2123,2293,2076
$GC,19305,0.50,209.0,677.9,6.8,439,19306,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2292,2077
$GC,19608,0.50,209.0,657.4,6.8,444,19612,0.00,2.30,0.00,0.000,4,0.000,0.049,2123,3716,2076
$GC,19642,0.46,209.0,654.7,8.3,444,19647,0.12,2.22,0.00,0.000,6,0.143,0.033,2101,2298,2076
$GC,19968,0.51,209.0,635.3,5.9,450,19972,0.00,2.25,0.00,0.000,4,0.000,0.047,2110,889,2076
$GC,19995,0.56,209.0,633.5,6.0,450,19999,0.00,2.25,0.00,0.000,6,0.000,0.038,2109,2307,2076
$GC,20327,0.59,209.0,613.9,5.9,456,20331,0.00,2.25,0.00,0.000,4,0.000,0.056,2110,3706,2076
$GC,20371,0.59,209.0,610.6,6.7,456,20375,0.00,2.20,0.00,0.000,6,0.000,0.034,2119,2304,2076
$GC,20698,0.59,209.0,590.8,6.1,462,20699,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2304,2076
$GC,21001,0.59,209.0,573.9,5.5,467,21002,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2304,2076
$GC,21305,0.61,223.3,558.6,5.0,472,21324,0.00,2.30,13.82,0.950,4,0.000,0.050,2119,3706,2019
$GC,21359,0.61,223.3,555.3,6.4,472,21363,0.00,2.22,0.00,0.000,6,0.000,0.032,2130,2302,2018
$GC,21675,0.61,226.3,538.0,5.4,478,21680,0.00,0.00,3.83,0.614,6,0.000,0.000,2130,2302,2008
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$STATE,29803,end climb,SURFACE_DEPTH_REACHED
$STATE,29803,begin surface coast
$FINISH,1.2,1.024720
$STATE,29826,end surface coast,CONTROL_FINISHED_OK
$STATE,29826,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1702
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$TCM_TEMP,18.70
$XPDR_PINGS,45
$24V_AH,22.7,47.911
$10V_AH,10.6,40.467
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$DEVICE_SECS,18.300,171.825,387.950,0.000,0.000,23.774,23.720,201.455,11.250,0.000,0.000,11.876,1658.184,25372.445,516.328,2074.880,645.916,33.375,1542.843,0.000,2086.363,0.000,0.528,0.000
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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,47433,781
$CAP_FILE_SIZE,170320,0
$CFSIZE,260165632,233455616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270909,094424,5020.250,-14510.203,37,1.9,37,18.5