version: 66.04
glider: 144
mission: 15
dive: 386
start: 10 18 109 4 0 56
data:
$ID,144
$MISSION,15
$DIVE,386
$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,-68872.133
$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,36
$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
$GPS1,035236,5011.478,-14444.144,39,1.1,39,18.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-68.4
$GPS2,040002,5011.380,-14444.138,9,2.0,9,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.120,0.118
$KALMAN_X,-74795.4,49.1,65.7,105927.3,-1249.6
$KALMAN_Y,21549.1,152.1,121.9,-39592.6,-1010.5
$MHEAD_RNG_PITCHd_Wd,26.9,24571,-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,-31.58,0.000,2,0.000,0.000,98,2291,2556
$GC,54,-0.68,-117.3,3.4,-6.0,3,89,7.30,2.35,-20.62,0.000,4,0.240,0.062,1832,3712,3410
$GC,281,-0.61,-117.3,33.4,-12.7,23,286,0.12,2.22,0.00,0.000,6,0.130,0.030,1866,2303,3412
$GC,609,-0.61,-117.3,63.8,-7.1,53,613,0.00,2.28,0.00,0.000,4,0.000,0.042,1866,891,3413
$GC,672,-0.65,-117.3,68.7,-7.9,58,676,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2309,3413
$GC,992,-0.65,-117.3,93.2,-7.6,80,996,0.00,2.25,0.00,0.000,4,0.000,0.047,1853,3708,3414
$GC,1025,-0.65,-117.3,96.1,-8.7,81,1029,0.00,2.20,0.00,0.000,6,0.000,0.029,1853,2295,3414
$GC,1346,-0.65,-117.3,122.5,-8.3,97,1350,0.00,2.20,0.00,0.000,4,0.000,0.041,1853,896,3414
$GC,1385,-0.67,-117.3,126.0,-8.6,98,1392,0.00,2.22,0.00,0.000,6,0.000,0.038,1850,2311,3414
$GC,1702,-0.69,-117.3,150.5,-7.3,114,1706,0.00,2.25,0.00,0.000,4,0.000,0.048,1840,3715,3415
$GC,1758,-0.73,-117.3,154.8,-7.8,115,1762,0.00,2.20,0.00,0.000,6,0.000,0.029,1841,2299,3414
$GC,2071,-0.73,-117.3,176.9,-6.7,125,2075,0.00,2.22,0.00,0.000,4,0.000,0.042,1840,892,3414
$GC,2178,-0.75,-117.3,184.7,-7.4,128,2182,0.00,2.22,0.00,0.000,6,0.000,0.045,1837,2299,3414
$GC,2508,-0.75,-117.3,206.9,-6.5,139,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2299,3413
$GC,2814,-0.75,-117.3,226.7,-6.4,149,2818,0.00,2.22,0.00,0.000,4,0.000,0.042,1837,892,3413
$GC,2865,-0.75,-117.3,230.3,-6.7,150,2869,0.00,2.25,0.00,0.000,6,0.000,0.040,1828,2309,3412
$GC,3177,-0.75,-117.3,253.3,-7.5,160,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2309,3413
$GC,3484,-0.75,-117.3,275.4,-7.1,170,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2308,3412
$GC,3790,-0.75,-117.3,296.7,-7.0,180,3794,0.00,2.22,0.00,0.000,4,0.000,0.043,1828,899,3411
$GC,3840,-0.75,-117.3,300.6,-7.8,181,3844,0.00,2.25,0.00,0.000,6,0.000,0.041,1823,2306,3412
$GC,4162,-0.75,-117.3,323.8,-7.2,187,4166,0.00,2.28,0.00,0.000,4,0.000,0.044,1823,890,3411
$GC,4202,-0.75,-117.3,326.9,-7.9,187,4207,0.08,2.28,0.00,0.000,6,0.141,0.039,1834,2314,3410
$GC,4524,-0.79,-117.3,347.8,-6.5,193,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2315,3410
$GC,4826,-0.83,-117.3,367.8,-6.7,198,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2316,3410
$GC,5129,-0.86,-117.3,388.4,-6.8,203,5133,0.00,2.28,0.00,0.000,4,0.000,0.044,1835,900,3409
$GC,5168,-0.91,-117.3,391.3,-6.6,203,5173,0.12,2.25,0.00,0.000,6,0.057,0.044,1757,2308,3409
$GC,5489,-0.79,-117.3,425.0,-10.7,209,5491,0.25,0.00,0.00,0.000,6,0.129,0.000,1831,2309,3408
$GC,5793,-0.83,-117.3,443.9,-6.0,214,5797,0.00,2.28,0.00,0.000,4,0.000,0.044,1831,899,3408
$GC,5844,-0.87,-117.3,447.2,-6.4,214,5848,0.00,2.25,0.00,0.000,6,0.000,0.046,1825,2306,3408
$GC,6154,-0.90,-117.3,466.4,-6.2,219,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2307,3408
$GC,6457,-0.92,-117.3,485.9,-6.5,224,6462,0.10,2.30,0.00,0.000,4,0.064,0.049,1754,891,3407
$GC,6520,-0.81,-117.3,492.1,-10.7,225,6525,0.28,2.28,0.00,0.000,6,0.124,0.039,1825,2308,3407
$GC,6887,-0.85,-117.3,515.2,-6.1,231,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2308,3407
$GC,7189,-0.88,-117.3,533.5,-6.1,236,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2308,3407
$GC,7492,-0.91,-117.3,552.2,-6.2,241,7494,0.10,0.00,0.00,0.000,6,0.069,0.000,1763,2308,3406
$GC,7795,-0.82,-117.3,580.5,-9.4,246,7800,0.17,2.30,0.00,0.000,4,0.123,0.045,1823,893,3406
$GC,7840,-0.86,-117.3,584.1,-7.6,246,7844,0.00,2.28,0.00,0.000,6,0.000,0.044,1822,2311,3406
$GC,8155,-0.89,-117.3,604.2,-6.4,252,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2311,3406
$GC,8458,-0.92,-117.3,624.2,-6.6,257,8462,0.00,2.28,0.00,0.000,4,0.000,0.048,1822,902,3406
$GC,8498,-0.95,-117.3,626.9,-6.8,257,8503,0.10,2.25,0.00,0.000,6,0.067,0.044,1755,2302,3406
$GC,8819,-0.85,-117.3,658.3,-9.9,263,8823,0.20,2.30,0.00,0.000,4,0.127,0.050,1818,894,3405
$GC,8852,-0.87,-117.3,661.0,-6.8,263,8856,0.00,2.28,0.00,0.000,6,0.000,0.041,1810,2313,3405
$GC,9179,-0.87,-117.3,683.1,-6.7,269,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2313,3405
$GC,9481,-0.87,-117.3,704.0,-6.9,274,9485,0.00,2.30,0.00,0.000,4,0.000,0.045,1811,894,3405
$GC,9508,-0.87,-117.3,706.1,-7.7,274,9512,0.00,2.28,0.00,0.000,6,0.000,0.044,1809,2309,3405
$GC,9840,-0.87,-117.3,728.7,-6.8,280,9841,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3405
$GC,10143,-0.87,-117.3,749.3,-6.8,285,10147,0.00,2.28,0.00,0.000,4,0.000,0.051,1809,900,3405
$GC,10187,-0.87,-117.3,752.7,-7.7,285,10191,0.00,2.25,0.00,0.000,6,0.000,0.043,1807,2302,3405
$GC,10508,-0.87,-117.3,775.9,-7.2,291,10512,0.00,2.28,0.00,0.000,4,0.000,0.056,1798,3709,3404
$GC,10535,-0.87,-117.3,778.2,-7.9,291,10539,0.00,2.20,0.00,0.000,6,0.000,0.033,1798,2304,3404
$GC,10873,-0.87,-117.3,804.2,-7.7,297,10874,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2304,3404
$GC,11176,-0.87,-117.3,827.2,-7.5,302,11180,0.00,2.30,0.00,0.000,4,0.000,0.054,1798,889,3404
$GC,11214,-0.87,-117.3,830.2,-7.6,302,11218,0.00,2.28,0.00,0.000,6,0.000,0.043,1794,2301,3404
$GC,11535,-0.87,-117.3,853.8,-7.3,308,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2301,3404
$GC,11839,-0.87,-117.3,875.4,-7.1,313,11843,0.00,2.30,0.00,0.000,4,0.000,0.051,1794,893,3404
$GC,11877,-0.87,-117.3,878.5,-7.7,313,11881,0.00,2.28,0.00,0.000,6,0.000,0.048,1794,2305,3403
$GC,12204,-0.87,-117.3,901.6,-7.1,319,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2304,3403
$GC,12507,-0.87,-117.3,922.4,-6.8,324,12508,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2304,3403
$GC,12810,-0.87,-117.3,941.3,-6.2,329,12814,0.00,2.33,0.00,0.000,4,0.000,0.048,1794,893,3403
$GC,12849,-0.87,-117.3,943.9,-6.1,329,12853,0.00,2.28,0.00,0.000,6,0.000,0.044,1791,2306,3403
$GC,13170,-0.87,-117.3,962.6,-5.8,335,13171,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2306,3403
$GC,13472,-0.87,-117.3,980.0,-5.7,340,13474,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2305,3403
$STATE,13652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13652,begin apogee
$GC,13658,-0.22,0.0,990.6,5.8,343,13758,0.50,0.00,96.55,1.295,6,0.119,0.000,1950,2306,2931
$STATE,13759,end apogee,CONTROL_FINISHED_OK
$STATE,13759,begin climb
$GC,13761,0.68,117.3,991.5,0.0,344,13871,0.60,2.55,102.75,1.267,4,0.079,0.054,2150,3710,2451
$GC,13899,0.50,117.3,987.5,7.2,347,13904,0.22,2.42,0.00,0.000,6,0.167,0.038,2108,2310,2447
$GC,14260,0.46,117.3,967.1,5.7,353,14262,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2310,2441
$GC,14562,0.43,117.3,949.7,5.7,358,14564,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2311,2439
$GC,14866,0.39,117.3,932.4,5.6,363,14867,0.10,0.00,0.00,0.000,6,0.168,0.000,2083,2310,2438
$GC,15170,0.43,147.3,918.6,4.5,368,15196,0.00,0.00,24.70,1.200,6,0.000,0.000,2082,2310,2330
$GC,15472,0.54,162.8,903.9,5.0,373,15492,0.12,2.30,14.40,1.133,4,0.067,0.056,2137,3714,2267
$GC,15633,0.43,162.8,892.2,7.3,375,15638,0.20,2.28,0.00,0.000,6,0.153,0.036,2095,2300,2264
$GC,15971,0.47,202.7,877.6,4.2,381,16009,0.00,0.00,36.08,1.190,6,0.000,0.000,2095,2300,2104
$GC,16274,0.56,232.6,863.9,4.5,386,16304,0.10,0.00,27.10,1.165,6,0.069,0.000,2145,2300,1982
$GC,16577,0.50,232.6,841.2,7.8,391,16579,0.15,0.00,0.00,0.000,6,0.134,0.000,2105,2299,1976
$GC,16881,0.56,240.3,824.9,5.2,396,16890,0.00,0.00,7.07,0.955,6,0.000,0.000,2105,2300,1950
$GC,17183,0.62,240.3,807.9,5.7,401,17185,0.10,0.00,0.00,0.000,6,0.068,0.000,2156,2300,1948
$GC,17486,0.55,240.3,780.6,9.3,406,17491,0.15,2.30,0.00,0.000,4,0.139,0.053,2115,3715,1947
$GC,17519,0.55,240.3,777.5,7.9,406,17523,0.00,2.25,0.00,0.000,6,0.000,0.038,2123,2295,1947
$GC,17846,0.55,240.3,754.5,7.0,412,17850,0.00,2.25,0.00,0.000,4,0.000,0.048,2134,892,1946
$GC,17874,0.57,240.3,752.3,7.3,412,17878,0.00,2.25,0.00,0.000,6,0.000,0.039,2134,2308,1946
$GC,18212,0.57,240.3,728.1,7.1,418,18216,0.00,2.25,0.00,0.000,4,0.000,0.052,2134,3710,1946
$GC,18234,0.54,240.3,726.1,7.8,418,18239,0.12,2.22,0.00,0.000,6,0.143,0.033,2111,2290,1946
$GC,18572,0.59,241.7,707.3,5.5,424,18575,0.00,2.22,0.00,0.000,4,0.000,0.048,2119,896,1946
$GC,18599,0.65,241.7,705.6,6.2,424,18604,0.08,2.22,0.00,0.000,6,0.081,0.039,2173,2305,1945
$GC,18938,0.54,241.7,672.9,10.0,430,18942,0.17,2.28,0.00,0.000,4,0.142,0.054,2120,3713,1945
$GC,18993,0.54,241.7,668.1,7.5,430,18999,0.00,2.22,0.00,0.000,6,0.000,0.033,2128,2308,1945
$GC,19302,0.54,241.7,647.4,6.7,436,19306,0.00,2.28,0.00,0.000,4,0.000,0.048,2139,887,1945
$GC,19336,0.56,241.7,644.9,7.4,436,19340,0.00,2.25,0.00,0.000,6,0.000,0.041,2139,2307,1945
$GC,19663,0.56,241.7,620.7,7.5,442,19667,0.00,2.25,0.00,0.000,4,0.000,0.055,2139,3718,1945
$GC,19704,0.52,241.7,617.4,8.7,442,19709,0.15,2.20,0.00,0.000,6,0.137,0.033,2108,2298,1945
$GC,20032,0.59,256.7,600.2,5.0,448,20052,0.00,2.25,14.98,0.969,4,0.000,0.050,2116,899,1883
$GC,20080,0.72,285.9,597.7,4.5,448,20115,0.12,2.22,27.27,0.997,6,0.061,0.044,2185,2305,1765
$GC,20461,0.61,285.9,560.6,10.0,455,20466,0.20,2.28,0.00,0.000,4,0.138,0.049,2125,3709,1758
$GC,20511,0.64,285.9,556.6,6.6,455,20515,0.00,2.20,0.00,0.000,6,0.000,0.033,2133,2305,1758
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$STATE,28637,end climb,SURFACE_DEPTH_REACHED
$STATE,28637,begin surface coast
$FINISH,1.1,1.012773
$STATE,28659,end surface coast,CONTROL_FINISHED_OK
$STATE,28659,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1718
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$TCM_TEMP,16.60
$XPDR_PINGS,50
$24V_AH,22.1,56.504
$10V_AH,10.6,48.307
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$DEVICE_SECS,19.350,216.725,401.950,0.000,0.000,24.890,35.787,250.952,12.500,0.000,0.000,11.156,1671.573,23962.055,544.586,2216.893,775.180,33.371,1660.837,0.000,2222.823,0.000,0.529,0.000
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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,44405,752
$CAP_FILE_SIZE,181051,0
$CFSIZE,260165632,228655104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,181009,120107,5014.207,-14440.377,35,1.0,35,18.6