version: 66.04
glider: 144
mission: 15
dive: 578
start: 12 22 109 2 26 28
data:
$ID,144
$MISSION,15
$DIVE,578
$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,-73371.633
$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,39
$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
$GPS1,021836,5009.701,-14453.183,30,1.2,59,18.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-61.5
$GPS2,022531,5009.720,-14453.170,10,1.4,15,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.136,0.098
$KALMAN_X,-92984.2,-101.3,7.1,113638.6,210.1
$KALMAN_Y,33633.9,-281.9,-79.8,-54127.2,915.5
$MHEAD_RNG_PITCHd_Wd,287.1,30485,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,64,0.00,0.00,-45.88,0.000,2,0.000,0.000,97,2315,2751
$GC,68,-0.68,-117.3,3.9,-3.6,3,98,7.53,2.42,-15.15,0.000,4,0.248,0.064,1848,890,3413
$GC,250,-0.68,-117.3,22.7,-8.0,11,254,0.00,2.28,0.00,0.000,6,0.000,0.044,1841,2298,3414
$GC,572,-0.64,-117.3,52.9,-10.5,27,576,0.00,2.25,0.00,0.000,4,0.000,0.042,1841,891,3414
$GC,657,-0.61,-117.3,62.5,-11.6,30,664,0.12,2.25,0.00,0.000,6,0.133,0.038,1870,2304,3414
$GC,977,-0.63,-117.3,89.4,-8.5,51,981,0.00,2.25,0.00,0.000,4,0.000,0.042,1871,890,3414
$GC,1024,-0.67,-117.3,93.5,-9.0,55,1028,0.00,2.22,0.00,0.000,6,0.000,0.037,1864,2305,3414
$GC,1359,-0.70,-117.3,120.0,-7.7,86,1363,0.00,2.25,0.00,0.000,4,0.000,0.041,1864,893,3414
$GC,1398,-0.75,-117.3,123.4,-8.0,89,1405,0.10,2.25,0.00,0.000,6,0.064,0.037,1786,2302,3414
$GC,1735,-0.66,-117.3,160.4,-11.1,115,1737,0.25,0.00,0.00,0.000,6,0.124,0.000,1862,2302,3414
$GC,2037,-0.72,-117.3,180.6,-6.1,125,2041,0.00,2.25,0.00,0.000,4,0.000,0.042,1862,887,3415
$GC,2083,-0.81,-117.3,183.5,-6.5,126,2088,0.12,2.28,0.00,0.000,6,0.054,0.040,1775,2303,3415
$GC,2409,-0.72,-117.3,215.1,-9.6,137,2411,0.22,0.00,0.00,0.000,6,0.120,0.000,1844,2304,3415
$GC,2714,-0.76,-117.3,232.1,-5.5,147,2718,0.00,2.22,0.00,0.000,4,0.000,0.042,1844,896,3414
$GC,2751,-0.82,-117.3,234.2,-6.0,148,2755,0.00,2.25,0.00,0.000,6,0.000,0.041,1839,2308,3414
$GC,3092,-0.85,-117.3,255.1,-6.4,159,3097,0.08,2.28,0.00,0.000,4,0.079,0.042,1768,889,3414
$GC,3143,-0.76,-117.3,260.1,-10.9,160,3148,0.25,2.28,0.00,0.000,6,0.120,0.044,1833,2310,3414
$GC,3463,-0.78,-117.3,282.0,-6.6,171,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2309,3414
$GC,3798,-0.81,-117.3,304.1,-6.6,181,3802,0.00,2.28,0.00,0.000,4,0.000,0.045,1834,889,3414
$GC,3838,-0.85,-117.3,307.1,-7.6,181,3842,0.00,2.28,0.00,0.000,6,0.000,0.044,1828,2306,3414
$GC,4166,-0.85,-117.3,329.5,-6.9,187,4170,0.00,2.28,0.00,0.000,4,0.000,0.043,1828,889,3414
$GC,4216,-0.88,-117.3,333.2,-7.5,187,4221,0.00,2.28,0.00,0.000,6,0.000,0.042,1821,2304,3414
$GC,4538,-0.88,-117.3,356.6,-7.3,193,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2304,3414
$GC,4841,-0.88,-117.3,380.1,-7.8,198,4845,0.00,2.28,0.00,0.000,4,0.000,0.045,1821,891,3413
$GC,4922,-0.88,-117.3,386.9,-8.6,199,4926,0.00,2.28,0.00,0.000,6,0.000,0.044,1812,2312,3413
$GC,5271,-0.88,-117.3,416.8,-8.5,205,5275,0.00,2.30,0.00,0.000,4,0.000,0.044,1813,896,3413
$GC,5344,-0.88,-117.3,423.3,-9.2,206,5348,0.00,2.28,0.00,0.000,6,0.000,0.045,1804,2306,3412
$GC,5699,-0.88,-117.3,452.5,-8.2,212,5703,0.00,2.30,0.00,0.000,4,0.000,0.048,1804,887,3413
$GC,5750,-0.88,-117.3,457.1,-9.2,212,5754,0.00,2.28,0.00,0.000,6,0.000,0.044,1795,2311,3413
$GC,6071,-0.84,-117.3,484.6,-8.6,218,6076,0.08,2.30,0.00,0.000,4,0.150,0.049,1816,899,3412
$GC,6140,-0.84,-117.3,490.4,-8.4,219,6144,0.00,2.28,0.00,0.000,6,0.000,0.044,1809,2307,3412
$GC,6505,-0.84,-117.3,520.7,-8.4,225,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3412
$GC,6808,-0.84,-117.3,544.6,-7.8,230,6813,0.00,2.30,0.00,0.000,4,0.000,0.050,1809,896,3412
$GC,6872,-0.84,-117.3,549.6,-8.4,231,6876,0.00,2.28,0.00,0.000,6,0.000,0.044,1801,2306,3412
$GC,7244,-0.84,-117.3,576.1,-6.9,237,7248,0.00,2.30,0.00,0.000,4,0.000,0.045,1801,892,3412
$GC,7288,-0.84,-117.3,579.3,-7.1,237,7293,0.10,2.30,0.00,0.000,6,0.132,0.042,1821,2307,3412
$GC,7610,-0.88,-117.3,595.6,-5.0,243,7614,0.00,2.28,0.00,0.000,4,0.000,0.044,1821,897,3411
$GC,7650,-0.91,-117.3,597.7,-5.2,243,7654,0.00,2.30,0.00,0.000,6,0.000,0.039,1821,2314,3411
$GC,7978,-0.94,-117.3,614.1,-5.0,249,7980,0.10,0.00,0.00,0.000,6,0.066,0.000,1755,2315,3411
$GC,8281,-0.85,-117.3,642.0,-9.5,254,8286,0.17,2.33,0.00,0.000,4,0.123,0.051,1814,898,3411
$GC,8321,-0.87,-117.3,645.4,-8.2,254,8325,0.00,2.30,0.00,0.000,6,0.000,0.045,1809,2313,3411
$GC,8641,-0.87,-117.3,668.0,-7.0,260,8643,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2313,3411
$GC,8945,-0.87,-117.3,689.5,-7.1,265,8949,0.00,2.30,0.00,0.000,4,0.000,0.051,1809,892,3411
$GC,9008,-0.87,-117.3,694.2,-7.6,266,9012,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2302,3411
$GC,9380,-0.87,-117.3,719.7,-6.8,272,9384,0.00,2.25,0.00,0.000,4,0.000,0.048,1808,897,3410
$GC,9413,-0.87,-117.3,722.0,-6.4,272,9417,0.00,2.28,0.00,0.000,6,0.000,0.046,1800,2313,3410
$GC,9745,-0.87,-117.3,744.1,-6.6,278,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2313,3410
$GC,10048,-0.87,-117.3,762.9,-6.2,283,10052,0.00,2.28,0.00,0.000,4,0.000,0.045,1800,896,3410
$GC,10121,-0.87,-117.3,768.0,-7.1,284,10126,0.00,2.25,0.00,0.000,6,0.000,0.041,1795,2304,3410
$GC,10482,-0.87,-117.3,792.3,-6.8,290,10486,0.00,2.28,0.00,0.000,4,0.000,0.046,1795,891,3410
$GC,10527,-0.87,-117.3,795.7,-7.6,290,10531,0.10,2.28,0.00,0.000,6,0.133,0.044,1813,2306,3410
$GC,10843,-0.90,-117.3,814.8,-6.0,296,10844,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2306,3410
$GC,11146,-0.93,-117.3,832.9,-6.0,301,11147,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2307,3410
$GC,11450,-0.96,-117.3,849.6,-5.5,306,11454,0.10,2.33,0.00,0.000,4,0.073,0.048,1761,895,3410
$GC,11495,-0.89,-117.3,853.3,-8.2,306,11500,0.17,2.30,0.00,0.000,6,0.130,0.041,1805,2303,3410
$GC,11811,-0.89,-117.3,872.5,-6.0,312,11815,0.00,2.30,0.00,0.000,4,0.000,0.053,1805,900,3409
$GC,11839,-0.89,-117.3,874.3,-6.5,312,11843,0.00,2.30,0.00,0.000,6,0.000,0.044,1797,2311,3409
$GC,12172,-0.89,-117.3,895.9,-6.5,318,12176,0.00,2.30,0.00,0.000,4,0.000,0.051,1797,900,3409
$GC,12205,-0.89,-117.3,898.5,-7.0,318,12209,0.00,2.30,0.00,0.000,6,0.000,0.042,1794,2312,3409
$GC,12532,-0.89,-117.3,920.7,-6.8,324,12536,0.00,2.33,0.00,0.000,4,0.000,0.048,1794,900,3409
$GC,12583,-0.89,-117.3,924.4,-6.8,324,12588,0.08,2.28,0.00,0.000,6,0.143,0.042,1804,2304,3409
$GC,12894,-0.91,-117.3,943.0,-5.9,329,12898,0.00,2.33,0.00,0.000,4,0.000,0.052,1805,892,3409
$GC,12922,-0.93,-117.3,945.0,-7.1,329,12926,0.00,2.30,0.00,0.000,6,0.000,0.042,1799,2305,3409
$GC,13254,-0.93,-117.3,964.4,-5.8,335,13258,0.00,2.33,0.00,0.000,4,0.000,0.048,1799,894,3409
$GC,13294,-0.93,-117.3,967.1,-6.9,335,13298,0.00,2.30,0.00,0.000,6,0.000,0.045,1795,2302,3409
$GC,13615,-0.93,-117.3,986.5,-6.1,341,13619,0.00,2.25,0.00,0.000,4,0.000,0.048,1794,900,3409
$GC,13648,-0.93,-117.3,988.8,-6.6,341,13652,0.00,2.28,0.00,0.000,6,0.000,0.048,1793,2302,3408
$STATE,13667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13667,begin apogee
$GC,13674,-0.22,0.0,990.2,6.4,341,13777,0.47,0.00,99.32,1.284,6,0.116,0.000,1950,2302,2931
$STATE,13777,end apogee,CONTROL_FINISHED_OK
$STATE,13777,begin climb
$GC,13782,0.68,117.3,991.7,0.0,343,13895,0.60,2.60,104.15,1.258,4,0.073,0.054,2154,3712,2450
$GC,13915,0.53,117.3,989.5,6.5,345,13920,0.20,2.40,0.00,0.000,6,0.166,0.038,2118,2312,2448
$GC,14227,0.48,120.0,972.4,5.4,350,14228,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2312,2441
$GC,14529,0.44,121.0,955.7,5.5,355,14531,0.10,0.00,0.00,0.000,6,0.171,0.000,2093,2311,2440
$GC,14832,0.48,157.8,942.4,4.3,360,14868,0.00,0.00,34.35,1.216,6,0.000,0.000,2094,2311,2287
$GC,15135,0.55,190.6,929.3,4.4,365,15171,0.10,2.40,29.52,1.197,4,0.071,0.054,2141,3715,2153
$GC,15189,0.48,190.6,925.8,6.5,365,15196,0.20,2.33,0.00,0.000,6,0.156,0.035,2099,2302,2152
$GC,15500,0.53,204.7,909.9,5.0,371,15520,0.00,2.40,13.40,1.112,4,0.000,0.051,2108,890,2095
$GC,15545,0.60,214.1,907.3,5.2,371,15560,0.08,2.33,10.10,1.052,6,0.090,0.040,2149,2313,2058
$GC,15866,0.53,214.1,880.0,8.8,376,15870,0.12,2.30,0.00,0.000,4,0.137,0.055,2115,3715,2053
$GC,15921,0.53,214.1,875.0,8.0,376,15928,0.00,2.25,0.00,0.000,6,0.000,0.034,2122,2296,2053
$GC,16232,0.53,214.1,851.2,7.7,382,16236,0.00,2.33,0.00,0.000,4,0.000,0.054,2123,3711,2051
$GC,16271,0.50,214.1,847.7,9.1,382,16276,0.10,2.22,0.00,0.000,6,0.156,0.034,2109,2303,2051
$GC,16593,0.53,214.1,826.0,6.6,388,16594,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2302,2051
$GC,16896,0.57,214.1,807.7,5.9,393,16897,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2302,2050
$GC,17199,0.61,214.1,790.8,5.5,398,17203,0.00,2.30,0.00,0.000,4,0.000,0.054,2109,3711,2050
$GC,17233,0.61,214.1,788.7,5.6,398,17237,0.00,2.22,0.00,0.000,6,0.000,0.041,2118,2299,2050
$GC,17565,0.61,217.1,770.5,5.4,404,17567,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2299,2050
$GC,17868,0.61,217.1,753.3,5.7,409,17872,0.00,2.28,0.00,0.000,4,0.000,0.048,2118,3711,2049
$GC,17914,0.61,217.1,750.1,7.3,409,17918,0.00,2.22,0.00,0.000,6,0.000,0.040,2127,2296,2050
$GC,18235,0.61,217.1,728.4,6.9,415,18239,0.00,2.30,0.00,0.000,4,0.000,0.049,2128,3711,2049
$GC,18274,0.58,217.1,725.0,8.0,415,18278,0.00,2.20,0.00,0.000,6,0.000,0.033,2137,2300,2049
$GC,18602,0.55,217.1,698.2,8.3,421,18606,0.00,2.28,0.00,0.000,4,0.000,0.048,2137,3712,2050
$GC,18653,0.50,217.1,693.3,9.6,421,18658,0.15,2.17,0.00,0.000,6,0.141,0.033,2107,2304,2049
$GC,18975,0.54,217.1,673.4,5.9,427,18979,0.00,2.25,0.00,0.000,4,0.000,0.048,2116,894,2049
$GC,18999,0.60,222.4,672.1,5.3,427,19013,0.00,2.25,7.45,0.886,6,0.000,0.039,2116,2308,2024
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$STATE,27682,end climb,SURFACE_DEPTH_REACHED
$STATE,27682,begin surface coast
$FINISH,1.4,1.015485
$STATE,27706,end surface coast,CONTROL_FINISHED_OK
$STATE,27706,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1732
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$TCM_TEMP,14.00
$XPDR_PINGS,68
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$10V_AH,10.4,72.524
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$DEVICE_SECS,19.975,237.500,440.025,0.000,0.000,30.694,31.826,189.469,17.000,0.000,0.000,17.025,1623.408,23018.219,585.553,2125.047,841.009,33.376,1732.606,0.000,2092.415,0.000,0.528,0.000
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$DATA_FILE_SIZE,41196,695
$CAP_FILE_SIZE,184436,0
$CFSIZE,260165632,213667840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,221209,101055,5011.417,-14457.690,38,1.7,38,18.5