version: 66.04
glider: 144
mission: 15
dive: 442
start: 11 6 109 7 3 1
data:
$ID,144
$MISSION,15
$DIVE,442
$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,-70137.438
$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,32
$R_STBD_OVSHOOT,34
$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
$GPS1,065224,4953.497,-14430.788,187,1.5,188,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-60.8
$GPS2,070207,4953.507,-14430.762,14,1.8,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.127,0.110
$KALMAN_X,-88002.6,257.3,-351.1,135153.0,865.6
$KALMAN_Y,22683.0,-289.6,39.9,-73305.4,53.8
$MHEAD_RNG_PITCHd_Wd,292.5,35265,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,50,0.00,0.00,-31.73,0.000,2,0.000,0.000,98,2302,2545
$GC,53,-0.68,-117.3,3.3,-5.3,3,88,6.82,2.33,-20.12,0.000,4,0.217,0.061,1841,891,3411
$GC,127,-0.58,-117.3,15.1,-17.5,9,134,0.15,2.28,0.00,0.000,6,0.150,0.039,1871,2305,3413
$GC,456,-0.58,-117.3,52.6,-8.1,40,460,0.00,2.28,0.00,0.000,4,0.000,0.041,1872,891,3413
$GC,508,-0.58,-117.3,57.9,-9.7,44,512,0.00,2.25,0.00,0.000,6,0.000,0.039,1864,2303,3414
$GC,842,-0.61,-117.3,87.6,-6.0,70,846,0.00,2.25,0.00,0.000,4,0.000,0.048,1854,3714,3414
$GC,1024,-0.65,-117.3,103.4,-8.5,78,1028,0.00,2.20,0.00,0.000,6,0.000,0.029,1854,2296,3414
$GC,1346,-0.65,-117.3,129.5,-8.4,94,1350,0.00,2.22,0.00,0.000,4,0.000,0.041,1853,897,3414
$GC,1431,-0.68,-117.3,136.7,-8.3,97,1437,0.00,2.22,0.00,0.000,6,0.000,0.037,1850,2309,3414
$GC,1746,-0.70,-117.3,159.5,-6.8,111,1750,0.00,2.25,0.00,0.000,4,0.000,0.042,1850,894,3414
$GC,1785,-0.75,-117.3,162.3,-7.3,112,1789,0.00,2.22,0.00,0.000,6,0.000,0.044,1850,2300,3414
$GC,2121,-0.79,-117.3,184.3,-6.5,123,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2301,3414
$GC,2427,-0.83,-117.3,205.3,-7.1,133,2429,0.10,0.00,0.00,0.000,6,0.067,0.000,1776,2301,3413
$GC,2734,-0.74,-117.3,237.2,-10.4,143,2739,0.17,2.25,0.00,0.000,4,0.120,0.042,1836,895,3413
$GC,2813,-0.77,-117.3,243.5,-7.1,145,2817,0.00,2.20,0.00,0.000,6,0.000,0.038,1836,2305,3413
$GC,3143,-0.79,-117.3,265.1,-6.6,156,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2305,3413
$GC,3449,-0.82,-117.3,285.3,-6.6,166,3453,0.00,2.25,0.00,0.000,4,0.000,0.043,1836,890,3412
$GC,3489,-0.86,-117.3,288.0,-7.3,167,3494,0.00,2.25,0.00,0.000,6,0.000,0.040,1836,2301,3412
$GC,3818,-0.88,-117.3,309.1,-6.3,176,3820,0.10,0.00,0.00,0.000,6,0.068,0.000,1766,2302,3411
$GC,4122,-0.79,-117.3,339.6,-10.3,181,4127,0.17,2.28,0.00,0.000,4,0.123,0.044,1826,896,3411
$GC,4189,-0.81,-117.3,345.1,-7.1,182,4193,0.00,2.25,0.00,0.000,6,0.000,0.039,1821,2306,3411
$GC,4549,-0.81,-117.3,369.7,-6.9,188,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3411
$GC,4853,-0.81,-117.3,390.7,-7.0,193,4857,0.00,2.25,0.00,0.000,4,0.000,0.044,1820,900,3409
$GC,4898,-0.81,-117.3,394.4,-7.8,193,4902,0.00,2.22,0.00,0.000,6,0.000,0.043,1812,2304,3410
$GC,5219,-0.81,-117.3,419.1,-7.8,199,5223,0.00,2.25,0.00,0.000,4,0.000,0.046,1812,901,3409
$GC,5298,-0.81,-117.3,425.6,-7.9,200,5302,0.00,2.22,0.00,0.000,6,0.000,0.041,1807,2312,3409
$GC,5659,-0.81,-117.3,452.8,-7.5,206,5663,0.00,2.28,0.00,0.000,4,0.000,0.046,1807,892,3409
$GC,5708,-0.81,-117.3,456.9,-7.8,206,5713,0.10,2.25,0.00,0.000,6,0.126,0.041,1825,2312,3409
$GC,6020,-0.84,-117.3,477.2,-6.5,211,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2312,3408
$GC,6322,-0.87,-117.3,496.6,-6.4,216,6326,0.00,2.28,0.00,0.000,4,0.000,0.044,1825,891,3408
$GC,6362,-0.90,-117.3,499.5,-7.6,216,6366,0.00,2.25,0.00,0.000,6,0.000,0.044,1822,2300,3408
$GC,6683,-0.93,-117.3,520.1,-6.4,222,6685,0.08,0.00,0.00,0.000,6,0.081,0.000,1760,2301,3408
$GC,6986,-0.83,-117.3,548.7,-9.6,227,6988,0.20,0.00,0.00,0.000,6,0.121,0.000,1820,2301,3408
$GC,7289,-0.86,-117.3,568.4,-6.3,232,7293,0.00,2.28,0.00,0.000,4,0.000,0.049,1821,893,3407
$GC,7328,-0.89,-117.3,571.1,-6.9,232,7332,0.00,2.28,0.00,0.000,6,0.000,0.041,1821,2311,3407
$GC,7649,-0.92,-117.3,590.6,-6.1,238,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2312,3407
$GC,7953,-0.95,-117.3,609.4,-6.3,243,7958,0.10,2.30,0.00,0.000,4,0.066,0.044,1757,898,3407
$GC,7987,-0.86,-117.3,612.5,-10.1,243,7991,0.22,2.25,0.00,0.000,6,0.128,0.046,1817,2312,3407
$GC,8319,-0.88,-117.3,634.6,-6.6,249,8323,0.00,2.28,0.00,0.000,4,0.000,0.051,1817,900,3407
$GC,8365,-0.91,-117.3,637.8,-7.1,249,8370,0.00,2.25,0.00,0.000,6,0.000,0.047,1811,2309,3407
$GC,8681,-0.91,-117.3,658.2,-6.4,255,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2309,3406
$GC,8984,-0.91,-117.3,677.7,-6.4,260,8988,0.00,2.30,0.00,0.000,4,0.000,0.048,1811,896,3406
$GC,9028,-0.91,-117.3,680.8,-7.3,260,9032,0.00,2.28,0.00,0.000,6,0.000,0.045,1808,2309,3406
$GC,9344,-0.91,-117.3,700.9,-6.3,266,9345,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3406
$GC,9646,-0.91,-117.3,720.9,-6.6,271,9650,0.00,2.28,0.00,0.000,4,0.000,0.047,1808,901,3406
$GC,9690,-0.91,-117.3,724.0,-7.3,271,9694,0.00,2.28,0.00,0.000,6,0.000,0.045,1808,2315,3406
$GC,10006,-0.91,-117.3,744.1,-6.4,277,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2315,3406
$GC,10309,-0.91,-117.3,763.6,-6.4,282,10313,0.00,2.33,0.00,0.000,4,0.000,0.050,1807,893,3405
$GC,10342,-0.91,-117.3,765.7,-6.5,282,10346,0.00,2.28,0.00,0.000,6,0.000,0.041,1806,2304,3405
$GC,10669,-0.91,-117.3,785.8,-6.1,288,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2304,3405
$GC,10971,-0.91,-117.3,803.1,-5.7,293,10975,0.00,2.30,0.00,0.000,4,0.000,0.048,1805,896,3405
$GC,11010,-0.91,-117.3,805.5,-6.2,293,11015,0.00,2.28,0.00,0.000,6,0.000,0.045,1796,2310,3404
$GC,11332,-0.91,-117.3,824.6,-5.9,299,11333,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2310,3405
$GC,11635,-0.91,-117.3,843.2,-6.2,304,11636,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2310,3404
$GC,11938,-0.91,-117.3,862.3,-6.4,309,11942,0.00,2.30,0.00,0.000,4,0.000,0.053,1796,891,3404
$GC,11989,-0.91,-117.3,866.0,-7.4,309,11993,0.00,2.28,0.00,0.000,6,0.000,0.048,1794,2305,3404
$GC,12299,-0.91,-117.3,886.9,-6.8,314,12300,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3404
$GC,12602,-0.91,-117.3,907.3,-6.8,319,12604,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3404
$GC,12905,-0.91,-117.3,927.6,-6.6,324,12909,0.00,2.30,0.00,0.000,4,0.000,0.051,1794,893,3404
$GC,12944,-0.91,-117.3,930.6,-7.7,324,12948,0.00,2.28,0.00,0.000,6,0.000,0.049,1792,2303,3404
$GC,13265,-0.91,-117.3,952.5,-6.9,330,13266,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2303,3404
$GC,13568,-0.91,-117.3,973.4,-6.9,335,13569,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2303,3404
$STATE,13869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13869,begin apogee
$GC,13875,-0.22,0.0,993.9,6.8,340,13975,0.50,0.00,97.32,1.298,6,0.114,0.000,1952,2303,2931
$STATE,13976,end apogee,CONTROL_FINISHED_OK
$STATE,13976,begin climb
$GC,13980,0.68,117.3,995.4,0.0,341,14092,0.55,2.60,103.47,1.269,4,0.073,0.052,2148,3703,2451
$GC,14139,0.50,117.3,991.2,6.6,343,14144,0.20,2.40,0.00,0.000,6,0.164,0.034,2111,2308,2447
$GC,14472,0.46,117.3,972.6,5.5,349,14473,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2308,2441
$GC,14774,0.42,117.3,955.5,5.7,354,14778,0.00,2.33,0.00,0.000,4,0.000,0.054,2111,3715,2440
$GC,14808,0.34,117.3,953.2,6.9,354,14813,0.17,2.28,0.00,0.000,6,0.156,0.035,2074,2294,2439
$GC,15136,0.42,131.8,936.9,5.0,360,15154,0.00,2.33,11.82,1.124,4,0.000,0.055,2074,3709,2392
$GC,15203,0.45,134.4,933.0,5.4,361,15207,0.00,2.25,0.00,0.000,6,0.000,0.041,2081,2301,2391
$GC,15574,0.54,134.4,912.0,5.7,367,15579,0.12,2.30,0.00,0.000,4,0.067,0.056,2143,3709,2389
$GC,15781,0.39,134.4,895.0,8.3,370,15787,0.25,2.25,0.00,0.000,6,0.159,0.039,2087,2294,2388
$GC,16142,0.44,152.5,876.9,4.9,376,16163,0.00,0.00,19.00,1.155,6,0.000,0.000,2087,2293,2309
$GC,16447,0.49,171.3,862.1,4.9,381,16471,0.00,2.42,17.45,1.133,4,0.000,0.057,2086,3719,2231
$GC,16500,0.51,171.3,859.0,5.7,381,16504,0.00,2.30,0.00,0.000,6,0.000,0.041,2095,2299,2230
$GC,16812,0.56,190.7,843.9,4.8,386,16833,0.10,0.00,18.17,1.122,6,0.068,0.000,2149,2299,2153
$GC,17114,0.50,190.7,822.3,7.3,391,17116,0.15,0.00,0.00,0.000,6,0.139,0.000,2109,2299,2149
$GC,17417,0.53,202.7,806.4,5.1,396,17435,0.00,2.33,11.70,1.050,4,0.000,0.051,2108,3709,2102
$GC,17458,0.53,202.7,803.7,7.0,396,17462,0.00,2.28,0.00,0.000,6,0.000,0.039,2116,2301,2101
$GC,17779,0.53,202.7,785.8,5.7,402,17780,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2301,2100
$GC,18082,0.53,202.7,768.2,5.8,407,18086,0.00,2.30,0.00,0.000,4,0.000,0.054,2116,3709,2099
$GC,18121,0.51,202.7,765.4,8.4,407,18125,0.00,2.25,0.00,0.000,6,0.000,0.034,2127,2299,2099
$GC,18442,0.51,202.7,744.2,6.7,413,18443,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2299,2099
$GC,18746,0.51,202.7,722.7,7.1,418,18750,0.00,2.30,0.00,0.000,4,0.000,0.048,2127,3718,2098
$GC,18785,0.47,202.7,719.3,8.1,418,18789,0.15,2.25,0.00,0.000,6,0.142,0.033,2096,2302,2098
$GC,19111,0.52,202.7,700.3,5.8,424,19115,0.00,2.28,0.00,0.000,4,0.000,0.048,2105,890,2098
$GC,19134,0.59,202.7,698.7,6.4,424,19139,0.08,2.25,0.00,0.000,6,0.081,0.039,2163,2306,2097
$GC,19472,0.49,202.7,670.0,8.6,430,19477,0.17,2.28,0.00,0.000,4,0.137,0.050,2107,3714,2097
$GC,19535,0.49,202.7,665.3,6.8,431,19539,0.00,2.22,0.00,0.000,6,0.000,0.038,2116,2295,2097
$GC,19902,0.49,202.7,644.7,5.6,437,19906,0.00,2.25,0.00,0.000,4,0.000,0.048,2126,895,2097
$GC,19936,0.52,202.7,642.7,5.6,437,19940,0.00,2.25,0.00,0.000,6,0.000,0.042,2127,2314,2097
$GC,20268,0.52,202.7,623.6,5.7,443,20271,0.00,2.25,0.00,0.000,4,0.000,0.048,2127,3718,2097
$GC,20296,0.49,202.7,621.7,7.2,443,20301,0.12,2.22,0.00,0.000,6,0.143,0.033,2103,2302,2097
$GC,20635,0.55,223.4,605.5,4.8,449,20659,0.00,2.33,18.40,0.984,4,0.000,0.048,2112,896,2019
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$STATE,28758,end climb,SURFACE_DEPTH_REACHED
$STATE,28758,begin surface coast
$FINISH,1.0,1.012556
$STATE,28782,end surface coast,CONTROL_FINISHED_OK
$STATE,28782,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1719
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$TCM_TEMP,16.30
$XPDR_PINGS,61
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$10V_AH,10.5,55.500
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$DEVICE_SECS,19.050,235.475,407.875,0.000,0.000,59.791,64.772,245.620,15.250,0.000,0.000,15.559,1683.731,23948.828,529.226,2349.468,919.537,33.380,1733.775,0.000,2353.336,0.000,0.528,0.000
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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,41136,716
$CAP_FILE_SIZE,191669,0
$CFSIZE,260165632,224243712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061109,150607,4955.101,-14434.605,87,1.5,87,18.5