version: 66.04
glider: 144
mission: 15
dive: 374
start: 10 14 109 1 41 53
data:
$ID,144
$MISSION,15
$DIVE,374
$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,-68634.719
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,013407,5004.350,-14509.999,29,1.9,29,18.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-59.4
$GPS2,014100,5004.362,-14509.956,14,2.0,30,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.025,-0.166
$KALMAN_X,-68110.6,81.1,231.3,68522.0,213.7
$KALMAN_Y,20343.1,-104.3,36.7,-51051.3,365.0
$MHEAD_RNG_PITCHd_Wd,170.2,19316,-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,-41.95,0.000,2,0.000,0.000,99,2313,2666
$GC,64,-0.68,-117.3,3.5,-6.0,4,98,7.12,2.35,-17.98,0.000,4,0.235,0.063,1847,890,3414
$GC,351,-0.63,-117.3,40.4,-11.8,29,358,0.10,2.25,0.00,0.000,6,0.138,0.038,1864,2313,3415
$GC,679,-0.63,-117.3,69.9,-8.1,60,684,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2313,3416
$GC,998,-0.63,-117.3,94.8,-7.6,82,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2313,3417
$GC,1309,-0.65,-117.3,119.7,-7.9,97,1313,0.00,2.28,0.00,0.000,4,0.000,0.041,1864,890,3417
$GC,1337,-0.69,-117.3,122.1,-8.4,98,1341,0.00,2.22,0.00,0.000,6,0.000,0.041,1863,2296,3417
$GC,1653,-0.73,-117.3,145.1,-6.7,113,1656,0.00,2.22,0.00,0.000,4,0.000,0.041,1863,894,3417
$GC,1680,-0.78,-117.3,147.1,-6.9,114,1685,0.12,2.25,0.00,0.000,6,0.057,0.038,1780,2320,3417
$GC,2010,-0.68,-117.3,181.0,-10.3,126,2015,0.20,2.25,0.00,0.000,4,0.128,0.054,1837,3721,3417
$GC,2031,-0.65,-117.3,183.0,-8.7,126,2038,0.08,2.20,0.00,0.000,6,0.115,0.030,1860,2291,3416
$GC,2345,-0.71,-117.3,202.4,-6.4,137,2349,0.00,2.20,0.00,0.000,4,0.000,0.042,1860,894,3416
$GC,2383,-0.79,-117.3,205.1,-6.9,138,2388,0.10,2.20,0.00,0.000,6,0.065,0.037,1775,2310,3416
$GC,2718,-0.69,-117.3,240.0,-10.6,149,2720,0.25,0.00,0.00,0.000,6,0.125,0.000,1850,2310,3415
$GC,3025,-0.74,-117.3,261.3,-6.9,159,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2311,3415
$GC,3331,-0.79,-117.3,281.5,-6.6,169,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2311,3415
$GC,3637,-0.85,-117.3,301.3,-6.4,179,3639,0.12,0.00,0.00,0.000,6,0.056,0.000,1767,2311,3414
$GC,3940,-0.74,-117.3,331.8,-10.3,184,3942,0.25,0.00,0.00,0.000,6,0.123,0.000,1843,2311,3414
$GC,4244,-0.79,-117.3,348.3,-5.2,189,4248,0.00,2.28,0.00,0.000,4,0.000,0.047,1843,893,3413
$GC,4272,-0.84,-117.3,349.8,-5.8,189,4276,0.00,2.25,0.00,0.000,6,0.000,0.041,1837,2310,3413
$GC,4605,-0.88,-117.3,368.6,-5.7,195,4606,0.10,0.00,0.00,0.000,6,0.066,0.000,1762,2310,3412
$GC,4908,-0.77,-117.3,398.6,-10.2,200,4910,0.25,0.00,0.00,0.000,6,0.125,0.000,1838,2311,3412
$GC,5210,-0.81,-117.3,416.8,-5.8,205,5214,0.00,2.28,0.00,0.000,4,0.000,0.044,1837,902,3411
$GC,5238,-0.85,-117.3,418.7,-6.9,205,5243,0.08,2.25,0.00,0.000,6,0.081,0.040,1778,2312,3412
$GC,5570,-0.78,-117.3,447.3,-8.7,211,5572,0.17,0.00,0.00,0.000,6,0.124,0.000,1829,2312,3411
$GC,5873,-0.81,-117.3,464.0,-5.3,216,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2312,3410
$GC,6177,-0.85,-117.3,479.7,-5.2,221,6181,0.00,2.28,0.00,0.000,4,0.000,0.047,1829,898,3410
$GC,6204,-0.88,-117.3,481.4,-6.1,221,6208,0.00,2.25,0.00,0.000,6,0.000,0.042,1823,2310,3410
$GC,6537,-0.90,-117.3,501.1,-5.9,227,6539,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2311,3409
$GC,6840,-0.93,-117.3,518.8,-5.9,232,6842,0.10,0.00,0.00,0.000,6,0.067,0.000,1753,2311,3409
$GC,7143,-0.82,-117.3,547.1,-9.6,237,7148,0.20,2.28,0.00,0.000,4,0.132,0.049,1818,903,3409
$GC,7206,-0.84,-117.3,551.6,-6.3,238,7210,0.00,2.22,0.00,0.000,6,0.000,0.047,1810,2309,3409
$GC,7577,-0.84,-117.3,575.7,-6.5,244,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2310,3408
$GC,7880,-0.84,-117.3,595.0,-6.4,249,7884,0.00,2.28,0.00,0.000,4,0.000,0.054,1800,3711,3408
$GC,7908,-0.84,-117.3,596.9,-7.3,249,7912,0.00,2.20,0.00,0.000,6,0.000,0.037,1800,2306,3408
$GC,8246,-0.84,-117.3,618.7,-6.5,255,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2305,3408
$GC,8549,-0.84,-117.3,638.8,-6.7,260,8553,0.00,2.28,0.00,0.000,4,0.000,0.048,1800,889,3408
$GC,8576,-0.84,-117.3,640.9,-8.1,260,8580,0.10,2.25,0.00,0.000,6,0.133,0.043,1821,2301,3407
$GC,8914,-0.87,-117.3,661.7,-6.2,266,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2301,3407
$GC,9217,-0.90,-117.3,681.7,-6.6,271,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2301,3407
$GC,9519,-0.94,-117.3,702.0,-6.7,276,9524,0.10,2.28,0.00,0.000,4,0.067,0.044,1764,888,3407
$GC,9552,-0.86,-117.3,705.2,-10.3,276,9557,0.20,2.28,0.00,0.000,6,0.128,0.044,1813,2312,3407
$GC,9879,-0.88,-117.3,727.9,-6.8,282,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2312,3407
$GC,10182,-0.90,-117.3,747.9,-6.6,287,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2312,3406
$GC,10485,-0.93,-117.3,766.8,-6.2,292,10487,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2313,3406
$GC,10788,-0.95,-117.3,784.6,-5.8,297,10789,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2313,3406
$GC,11092,-0.98,-117.3,800.9,-5.4,302,11094,0.10,0.00,0.00,0.000,6,0.073,0.000,1764,2313,3406
$GC,11395,-0.91,-117.3,823.7,-7.6,307,11396,0.15,0.00,0.00,0.000,6,0.130,0.000,1807,2313,3406
$GC,11697,-0.91,-117.3,840.2,-5.3,312,11698,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2313,3406
$GC,12000,-0.91,-117.3,856.6,-5.4,317,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2313,3405
$GC,12304,-0.91,-117.3,873.5,-5.6,322,12308,0.00,2.33,0.00,0.000,4,0.000,0.048,1807,898,3406
$GC,12331,-0.91,-117.3,875.3,-6.0,322,12335,0.00,2.28,0.00,0.000,6,0.000,0.044,1807,2305,3405
$GC,12663,-0.91,-117.3,894.9,-5.9,328,12664,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3405
$GC,12966,-0.91,-117.3,912.4,-5.7,333,12967,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3405
$GC,13269,-0.91,-117.3,929.4,-5.6,338,13271,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3405
$GC,13573,-0.91,-117.3,945.9,-5.4,343,13574,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3405
$GC,13875,-0.91,-117.3,961.9,-5.3,348,13880,0.00,2.30,0.00,0.000,4,0.000,0.055,1807,895,3405
$GC,13903,-0.91,-117.3,963.7,-6.5,348,13907,0.00,2.28,0.00,0.000,6,0.000,0.044,1806,2305,3405
$GC,14236,-0.91,-117.3,983.1,-5.9,354,14237,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3405
$STATE,14354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14354,begin apogee
$GC,14360,-0.22,0.0,990.1,5.7,356,14459,0.47,0.00,96.93,1.296,6,0.120,0.000,1956,2305,2931
$STATE,14460,end apogee,CONTROL_FINISHED_OK
$STATE,14460,begin climb
$GC,14463,0.68,117.3,991.3,0.0,357,14574,0.55,2.60,102.60,1.268,4,0.077,0.057,2146,3706,2451
$GC,14602,0.50,117.3,988.3,6.7,359,14607,0.20,2.42,0.00,0.000,6,0.166,0.037,2110,2305,2448
$GC,14952,0.48,130.8,970.5,5.0,365,14965,0.00,0.00,11.48,1.121,6,0.000,0.000,2110,2304,2397
$GC,15255,0.46,142.3,955.1,5.1,370,15273,0.00,2.40,11.45,1.118,4,0.000,0.051,2120,891,2349
$GC,15297,0.45,151.7,952.6,5.2,370,15312,0.10,2.30,9.60,1.075,6,0.135,0.040,2096,2303,2312
$GC,15617,0.46,164.2,936.5,5.1,375,15636,0.00,2.38,11.98,1.121,4,0.000,0.053,2095,3713,2260
$GC,15671,0.46,164.2,933.2,6.6,375,15675,0.00,2.28,0.00,0.000,6,0.000,0.041,2103,2299,2259
$GC,15980,0.46,164.2,915.7,5.7,380,15981,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2299,2257
$GC,16283,0.46,164.2,899.0,5.5,385,16287,0.00,2.30,0.00,0.000,4,0.000,0.052,2103,3710,2257
$GC,16322,0.42,164.2,896.6,7.0,385,16326,0.00,2.22,0.00,0.000,6,0.000,0.036,2114,2301,2256
$GC,16644,0.40,164.2,878.5,5.6,391,16646,0.12,0.00,0.00,0.000,6,0.156,0.000,2082,2301,2256
$GC,16947,0.51,203.0,865.7,4.2,396,16987,0.10,2.35,34.20,1.192,4,0.074,0.058,2127,3700,2102
$GC,17011,0.54,203.0,861.7,5.7,397,17016,0.00,2.28,0.00,0.000,6,0.000,0.035,2137,2297,2100
$GC,17379,0.49,203.0,836.5,7.1,403,17381,0.12,0.00,0.00,0.000,6,0.156,0.000,2106,2297,2097
$GC,17681,0.53,212.1,820.4,5.2,408,17695,0.00,2.33,8.52,1.006,4,0.000,0.055,2106,3700,2065
$GC,17724,0.53,212.1,817.8,5.7,408,17727,0.00,2.20,0.00,0.000,6,0.000,0.033,2114,2301,2065
$GC,18051,0.53,215.8,800.3,5.4,414,18060,0.00,2.28,4.65,0.798,4,0.000,0.048,2123,891,2051
$GC,18078,0.57,224.6,798.8,5.2,414,18092,0.00,2.25,9.77,1.017,6,0.000,0.040,2124,2309,2014
$GC,18414,0.57,224.6,780.0,5.6,420,18415,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2309,2011
$GC,18718,0.58,235.1,764.2,5.1,425,18733,0.00,2.30,10.32,1.016,4,0.000,0.051,2133,888,1971
$GC,18756,0.63,257.5,762.2,4.7,425,18782,0.00,2.25,21.02,1.085,6,0.000,0.040,2133,2305,1881
$GC,19142,0.63,257.5,739.3,6.1,432,19146,0.00,2.30,0.00,0.000,4,0.000,0.050,2133,3716,1876
$GC,19181,0.63,257.5,736.4,7.8,432,19185,0.00,2.25,0.00,0.000,6,0.000,0.040,2143,2304,1876
$GC,19503,0.60,257.5,715.0,6.7,438,19507,0.00,2.30,0.00,0.000,4,0.000,0.051,2143,3717,1875
$GC,19530,0.55,257.5,712.8,7.5,438,19535,0.15,2.22,0.00,0.000,6,0.136,0.033,2112,2303,1875
$GC,19863,0.63,282.9,697.2,4.6,444,19893,0.10,2.33,23.10,1.059,4,0.067,0.048,2186,899,1776
$GC,19928,0.58,282.9,691.8,8.5,445,19933,0.22,2.28,0.00,0.000,6,0.125,0.043,2122,2310,1773
$GC,20294,0.62,282.9,669.5,6.0,451,20299,0.00,2.25,0.00,0.000,4,0.000,0.054,2122,3710,1770
$GC,20350,0.65,282.9,665.2,8.1,451,20357,0.00,2.20,0.00,0.000,6,0.000,0.033,2130,2301,1770
$GC,20661,0.68,282.9,644.7,6.6,457,20662,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2301,1769
$GC,20963,0.70,282.9,623.5,7.0,462,20968,0.08,2.28,0.00,0.000,4,0.080,0.049,2192,3713,1769
$GC,20997,0.59,282.9,620.0,11.0,462,21002,0.28,2.20,0.00,0.000,6,0.146,0.034,2125,2303,1768
$GC,21323,0.63,282.9,597.8,6.5,468,21327,0.00,2.25,0.00,0.000,4,0.000,0.047,2133,886,1769
$GC,21353,0.69,282.9,595.9,6.2,468,21357,0.00,2.25,0.00,0.000,6,0.000,0.041,2133,2314,1768
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$STATE,29068,end climb,SURFACE_DEPTH_REACHED
$STATE,29068,begin surface coast
$FINISH,0.7,1.013262
$STATE,29082,end surface coast,CONTROL_FINISHED_OK
$STATE,29082,begin surface
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$HUMID,1733
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$TCM_TEMP,16.70
$XPDR_PINGS,56
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$10V_AH,10.6,46.789
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$DEVICE_SECS,19.500,207.425,441.225,0.000,0.000,24.114,25.501,213.720,14.000,0.000,0.000,31.851,1646.481,24448.980,547.359,2208.149,709.054,33.370,1677.642,0.000,2185.231,0.000,0.528,0.000
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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,41310,729
$CAP_FILE_SIZE,183708,0
$CFSIZE,260165632,229580800
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,141009,094907,5001.423,-14511.605,37,1.5,37,18.4