version: 66.04
glider: 144
mission: 15
dive: 392
start: 10 20 109 5 48 52
data:
$ID,144
$MISSION,15
$DIVE,392
$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,-68972.031
$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,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
$GPS1,053707,5014.126,-14428.635,38,1.2,38,18.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-52.6
$GPS2,054759,5014.227,-14428.830,17,1.3,17,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.002,-0.168
$KALMAN_X,-75432.9,292.0,-221.9,124693.6,-96.6
$KALMAN_Y,22950.4,-274.6,-127.2,-35057.7,880.5
$MHEAD_RNG_PITCHd_Wd,162.0,37458,-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,-41.72,0.000,2,0.000,0.000,98,2293,2574
$GC,64,-0.68,-117.3,3.4,-5.2,4,99,7.18,2.30,-19.23,0.000,4,0.235,0.064,1845,887,3413
$GC,157,-0.63,-117.3,16.9,-12.6,12,162,0.10,2.28,0.00,0.000,6,0.137,0.041,1862,2304,3414
$GC,482,-0.63,-117.3,50.5,-8.7,42,486,0.00,2.28,0.00,0.000,4,0.000,0.041,1862,883,3415
$GC,590,-0.66,-117.3,59.1,-8.2,51,594,0.00,2.28,0.00,0.000,6,0.000,0.038,1862,2315,3416
$GC,914,-0.66,-117.3,85.4,-8.6,78,917,0.00,2.25,0.00,0.000,4,0.000,0.041,1862,893,3416
$GC,970,-0.68,-117.3,90.5,-8.9,80,974,0.00,2.22,0.00,0.000,6,0.000,0.038,1862,2305,3417
$GC,1286,-0.68,-117.3,115.9,-7.9,95,1290,0.00,2.25,0.00,0.000,4,0.000,0.042,1861,887,3417
$GC,1314,-0.70,-117.3,118.3,-8.1,96,1319,0.00,2.25,0.00,0.000,6,0.000,0.041,1853,2305,3417
$GC,1636,-0.70,-117.3,141.0,-6.9,112,1640,0.00,2.28,0.00,0.000,4,0.000,0.049,1848,3717,3417
$GC,1660,-0.75,-117.3,142.6,-7.0,113,1665,0.00,2.20,0.00,0.000,6,0.000,0.029,1848,2292,3416
$GC,1981,-0.78,-117.3,163.9,-6.3,125,1985,0.00,2.20,0.00,0.000,4,0.000,0.042,1848,896,3416
$GC,2020,-0.83,-117.3,166.6,-6.8,126,2024,0.00,2.20,0.00,0.000,6,0.000,0.037,1841,2304,3416
$GC,2356,-0.85,-117.3,191.8,-8.2,137,2360,0.10,2.22,0.00,0.000,4,0.065,0.041,1763,898,3416
$GC,2389,-0.74,-117.3,195.7,-12.6,138,2394,0.30,2.22,0.00,0.000,6,0.124,0.041,1841,2304,3415
$GC,2719,-0.77,-117.3,223.2,-8.0,149,2723,0.00,2.25,0.00,0.000,4,0.000,0.050,1841,889,3414
$GC,2741,-0.80,-117.3,225.0,-7.8,149,2748,0.00,2.25,0.00,0.000,6,0.000,0.040,1837,2311,3415
$GC,3055,-0.83,-117.3,247.9,-6.9,160,3059,0.00,2.25,0.00,0.000,4,0.000,0.047,1837,894,3414
$GC,3105,-0.86,-117.3,251.6,-7.3,161,3109,0.10,2.22,0.00,0.000,6,0.067,0.040,1767,2312,3414
$GC,3424,-0.75,-117.3,282.9,-9.8,172,3428,0.20,2.28,0.00,0.000,4,0.127,0.042,1833,893,3413
$GC,3456,-0.75,-117.3,285.7,-6.8,173,3460,0.00,2.25,0.00,0.000,6,0.000,0.038,1825,2309,3413
$GC,3821,-0.75,-117.3,308.6,-6.4,183,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2308,3413
$GC,4124,-0.75,-117.3,328.3,-6.5,188,4128,0.00,2.25,0.00,0.000,4,0.000,0.044,1825,900,3412
$GC,4191,-0.75,-117.3,333.1,-6.6,189,4195,0.00,2.25,0.00,0.000,6,0.000,0.040,1821,2307,3412
$GC,4557,-0.75,-117.3,358.9,-7.2,195,4561,0.00,2.25,0.00,0.000,4,0.000,0.046,1820,903,3412
$GC,4590,-0.75,-117.3,361.7,-8.3,195,4595,0.10,2.22,0.00,0.000,6,0.129,0.043,1839,2306,3412
$GC,4923,-0.80,-117.3,383.8,-6.6,201,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2306,3411
$GC,5226,-0.85,-117.3,404.1,-6.7,206,5228,0.10,0.00,0.00,0.000,6,0.064,0.000,1772,2306,3411
$GC,5528,-0.77,-117.3,433.6,-9.9,211,5533,0.17,2.28,0.00,0.000,4,0.123,0.044,1830,904,3410
$GC,5568,-0.81,-117.3,436.7,-7.1,211,5572,0.00,2.25,0.00,0.000,6,0.000,0.045,1823,2310,3410
$GC,5889,-0.81,-117.3,456.5,-6.1,217,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2311,3409
$GC,6191,-0.81,-117.3,475.6,-6.4,222,6195,0.00,2.30,0.00,0.000,4,0.000,0.045,1823,891,3409
$GC,6237,-0.83,-117.3,479.0,-7.6,222,6241,0.00,2.28,0.00,0.000,6,0.000,0.041,1821,2309,3409
$GC,6552,-0.83,-117.3,502.6,-7.6,228,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2311,3409
$GC,6855,-0.83,-117.3,526.0,-7.7,233,6859,0.00,2.28,0.00,0.000,4,0.000,0.045,1821,902,3408
$GC,6882,-0.83,-117.3,528.3,-8.4,233,6886,0.00,2.25,0.00,0.000,6,0.000,0.042,1813,2311,3408
$GC,7214,-0.83,-117.3,553.4,-7.5,239,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2311,3408
$GC,7517,-0.83,-117.3,574.3,-6.8,244,7521,0.00,2.28,0.00,0.000,4,0.000,0.048,1813,896,3408
$GC,7561,-0.83,-117.3,577.5,-6.9,244,7565,0.00,2.25,0.00,0.000,6,0.000,0.040,1808,2303,3408
$GC,7882,-0.83,-117.3,599.4,-6.9,250,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3408
$GC,8185,-0.83,-117.3,619.9,-6.7,255,8189,0.00,2.25,0.00,0.000,4,0.000,0.049,1808,900,3407
$GC,8240,-0.83,-117.3,623.9,-7.3,255,8247,0.00,2.28,0.00,0.000,6,0.000,0.044,1807,2301,3407
$GC,8550,-0.83,-117.3,645.0,-6.8,261,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2301,3407
$GC,8853,-0.83,-117.3,666.5,-7.1,266,8857,0.00,2.25,0.00,0.000,4,0.000,0.051,1807,900,3407
$GC,8892,-0.83,-117.3,669.7,-8.3,266,8897,0.08,2.25,0.00,0.000,6,0.140,0.041,1818,2308,3406
$GC,9213,-0.86,-117.3,691.2,-6.8,272,9214,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2308,3407
$GC,9516,-0.89,-117.3,711.0,-6.5,277,9520,0.00,2.30,0.00,0.000,4,0.000,0.045,1819,893,3406
$GC,9549,-0.92,-117.3,713.3,-7.2,277,9553,0.00,2.28,0.00,0.000,6,0.000,0.041,1813,2313,3407
$GC,9876,-0.95,-117.3,733.8,-6.2,283,9880,0.00,2.28,0.00,0.000,4,0.000,0.046,1813,899,3406
$GC,9910,-0.97,-117.3,736.1,-6.1,283,9914,0.00,2.25,0.00,0.000,6,0.000,0.040,1809,2307,3406
$GC,10236,-0.97,-117.3,756.2,-6.2,289,10237,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2308,3406
$GC,10539,-0.97,-117.3,774.9,-6.2,294,10543,0.00,2.30,0.00,0.000,4,0.000,0.047,1809,892,3406
$GC,10577,-0.97,-117.3,777.5,-6.5,294,10582,0.00,2.28,0.00,0.000,6,0.000,0.046,1808,2308,3405
$GC,10898,-0.97,-117.3,796.0,-5.7,300,10902,0.00,2.28,0.00,0.000,4,0.000,0.052,1808,899,3405
$GC,10926,-0.97,-117.3,797.7,-6.4,300,10930,0.00,2.25,0.00,0.000,6,0.000,0.043,1806,2304,3406
$GC,11264,-0.97,-117.3,817.5,-5.8,306,11268,0.00,2.25,0.00,0.000,4,0.000,0.051,1807,900,3405
$GC,11303,-0.97,-117.3,820.2,-7.2,306,11307,0.00,2.25,0.00,0.000,6,0.000,0.043,1797,2305,3404
$GC,11624,-0.97,-117.3,841.1,-6.6,312,11628,0.00,2.28,0.00,0.000,4,0.000,0.054,1797,891,3404
$GC,11651,-0.97,-117.3,843.0,-7.0,312,11655,0.00,2.28,0.00,0.000,6,0.000,0.043,1794,2309,3404
$GC,11984,-0.97,-117.3,864.9,-6.6,318,11985,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2309,3404
$GC,12287,-0.97,-117.3,885.4,-6.8,323,12291,0.00,2.30,0.00,0.000,4,0.000,0.049,1794,902,3404
$GC,12327,-0.97,-117.3,888.4,-7.1,323,12331,0.00,2.28,0.00,0.000,6,0.000,0.046,1794,2306,3404
$GC,12648,-0.97,-117.3,910.3,-6.9,329,12649,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2304,3404
$GC,12951,-0.97,-117.3,930.0,-6.4,334,12955,0.00,2.30,0.00,0.000,4,0.000,0.050,1794,896,3404
$GC,12989,-0.97,-117.3,932.5,-6.4,334,12993,0.00,2.28,0.00,0.000,6,0.000,0.042,1791,2303,3404
$GC,13316,-0.97,-117.3,952.1,-6.0,340,13320,0.00,2.28,0.00,0.000,4,0.000,0.052,1792,903,3404
$GC,13338,-0.97,-117.3,953.6,-5.9,340,13342,0.00,2.25,0.00,0.000,6,0.000,0.044,1782,2304,3404
$GC,13682,-0.93,-117.3,975.1,-6.3,346,13686,0.00,2.28,0.00,0.000,4,0.000,0.054,1782,903,3404
$GC,13716,-0.90,-117.3,977.4,-6.2,346,13721,0.10,2.28,0.00,0.000,6,0.150,0.051,1806,2310,3404
$STATE,13984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13984,begin apogee
$GC,13991,-0.22,0.0,990.8,4.9,351,14090,0.45,0.00,97.03,1.295,6,0.114,0.000,1953,2310,2931
$STATE,14091,end apogee,CONTROL_FINISHED_OK
$STATE,14091,begin climb
$GC,14094,0.68,117.3,991.8,0.0,352,14206,0.57,2.58,102.88,1.264,4,0.077,0.052,2152,3707,2451
$GC,14234,0.49,117.3,987.3,7.9,354,14239,0.22,2.40,0.00,0.000,6,0.167,0.040,2110,2308,2447
$GC,14584,0.45,117.3,967.1,5.7,360,14586,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2308,2440
$GC,14887,0.42,124.1,951.0,5.3,365,14897,0.00,2.33,5.30,0.896,4,0.000,0.055,2110,3718,2424
$GC,14920,0.36,134.1,949.1,5.2,365,14936,0.15,2.28,10.35,1.095,6,0.163,0.035,2081,2300,2384
$GC,15247,0.46,181.7,936.0,3.9,371,15291,0.00,0.00,42.25,1.231,6,0.000,0.000,2081,2300,2190
$GC,15550,0.61,192.5,920.5,5.1,376,15566,0.17,2.33,10.18,1.079,4,0.063,0.049,2158,887,2146
$GC,15712,0.55,192.5,909.0,7.8,378,15717,0.15,2.30,0.00,0.000,6,0.139,0.044,2119,2304,2143
$GC,16044,0.55,192.5,889.2,5.9,384,16048,0.00,2.28,0.00,0.000,4,0.000,0.055,2119,3712,2142
$GC,16100,0.50,192.5,885.1,6.7,384,16106,0.00,2.28,0.00,0.000,6,0.000,0.039,2128,2298,2141
$GC,16410,0.47,192.5,864.8,6.6,390,16415,0.12,2.28,0.00,0.000,4,0.150,0.048,2103,888,2141
$GC,16433,0.47,192.5,863.4,5.6,390,16437,0.00,2.28,0.00,0.000,6,0.000,0.040,2103,2314,2140
$GC,16772,0.50,198.2,845.3,5.3,396,16782,0.00,2.25,5.70,0.898,4,0.000,0.051,2104,3709,2122
$GC,16805,0.50,198.2,843.3,5.9,396,16809,0.00,2.22,0.00,0.000,6,0.000,0.037,2114,2300,2123
$GC,17131,0.50,198.2,824.5,5.7,402,17135,0.00,2.28,0.00,0.000,4,0.000,0.054,2124,887,2122
$GC,17152,0.50,198.2,823.2,5.6,402,17156,0.00,2.25,0.00,0.000,6,0.000,0.041,2124,2305,2121
$GC,17495,0.50,198.2,802.3,6.2,408,17497,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2305,2121
$GC,17798,0.50,198.2,783.3,6.4,413,17803,0.00,2.30,0.00,0.000,4,0.000,0.048,2134,892,2120
$GC,17826,0.50,198.2,781.4,6.7,413,17831,0.10,2.28,0.00,0.000,6,0.130,0.047,2108,2313,2121
$GC,18159,0.53,200.2,763.4,5.4,419,18162,0.00,2.25,0.00,0.000,4,0.000,0.051,2109,3713,2121
$GC,18204,0.53,200.2,760.3,6.3,419,18208,0.00,2.22,0.00,0.000,6,0.000,0.037,2117,2302,2120
$GC,18525,0.53,200.2,741.8,5.8,425,18526,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2302,2120
$GC,18828,0.53,200.2,723.4,6.1,430,18832,0.00,2.28,0.00,0.000,4,0.000,0.049,2117,3715,2120
$GC,18856,0.51,200.2,721.4,6.5,430,18860,0.00,2.22,0.00,0.000,6,0.000,0.038,2127,2301,2119
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$STATE,30118,end climb,SURFACE_DEPTH_REACHED
$STATE,30118,begin surface coast
$FINISH,0.8,1.024725
$STATE,30129,end surface coast,CONTROL_FINISHED_OK
$STATE,30129,begin surface
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$HUMID,1739
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$TCM_TEMP,16.10
$XPDR_PINGS,74
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$10V_AH,10.6,49.084
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$DEVICE_SECS,18.675,253.600,387.450,0.000,0.000,56.597,84.221,304.048,18.500,0.000,0.000,19.371,1762.770,25214.381,544.394,2394.145,932.320,33.377,1758.889,0.000,2371.553,0.000,0.529,0.000
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$DATA_FILE_SIZE,47459,776
$CAP_FILE_SIZE,198126,0
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201009,141337,5011.047,-14429.042,40,2.0,40,18.6