version: 66.04
glider: 144
mission: 15
dive: 594
start: 12 27 109 13 36 32
data:
$ID,144
$MISSION,15
$DIVE,594
$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,-73708.93
$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
$GPS1,132924,4958.718,-14506.843,38,1.7,38,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-63.1
$GPS2,133538,4958.742,-14506.792,14,1.6,14,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.123,0.114
$KALMAN_X,-91479.8,-113.6,-181.9,96251.8,-6.6
$KALMAN_Y,35374.5,274.8,143.2,-76974.5,-253.5
$MHEAD_RNG_PITCHd_Wd,29.0,24905,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.68,-117.3,0.0,0.0,0,62,0.00,0.00,-41.05,0.000,2,0.000,0.000,100,2299,2796
$GC,66,-0.68,-117.3,4.1,-8.3,2,92,7.32,2.35,-13.75,0.000,4,0.237,0.063,1841,3714,3410
$GC,256,-0.66,-117.3,26.4,-10.3,10,263,0.00,2.22,0.00,0.000,6,0.000,0.030,1841,2292,3411
$GC,574,-0.62,-117.3,58.5,-10.4,26,578,0.10,2.25,0.00,0.000,4,0.128,0.041,1869,887,3412
$GC,660,-0.66,-117.3,66.6,-9.2,30,664,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2308,3412
$GC,982,-0.66,-117.3,95.3,-8.9,53,983,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2308,3412
$GC,1302,-0.69,-117.3,119.6,-5.9,83,1306,0.00,2.28,0.00,0.000,4,0.000,0.041,1863,897,3412
$GC,1347,-0.74,-117.3,122.5,-6.0,86,1354,0.10,2.25,0.00,0.000,6,0.064,0.037,1787,2304,3412
$GC,1695,-0.65,-117.3,156.7,-10.1,115,1699,0.20,2.30,0.00,0.000,4,0.120,0.041,1854,897,3413
$GC,1752,-0.72,-117.3,161.4,-6.9,116,1758,0.00,2.28,0.00,0.000,6,0.000,0.036,1850,2305,3413
$GC,2066,-0.76,-117.3,182.4,-7.0,127,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2305,3413
$GC,2372,-0.80,-117.3,202.7,-6.4,137,2376,0.10,2.30,0.00,0.000,4,0.064,0.041,1768,890,3413
$GC,2423,-0.70,-117.3,207.8,-11.0,138,2428,0.30,2.25,0.00,0.000,6,0.117,0.037,1848,2302,3412
$GC,2737,-0.75,-117.3,226.5,-5.5,148,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2303,3413
$GC,3043,-0.79,-117.3,244.5,-6.1,158,3047,0.00,2.25,0.00,0.000,4,0.000,0.042,1848,899,3413
$GC,3084,-0.85,-117.3,247.4,-7.0,159,3089,0.12,2.28,0.00,0.000,6,0.057,0.039,1766,2302,3412
$GC,3409,-0.75,-117.3,282.5,-10.9,170,3413,0.20,2.33,0.00,0.000,4,0.123,0.054,1825,3708,3413
$GC,3473,-0.78,-117.3,288.2,-7.9,172,3477,0.00,2.20,0.00,0.000,6,0.000,0.030,1825,2304,3413
$GC,3807,-0.78,-117.3,315.1,-8.1,180,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2304,3413
$GC,4110,-0.78,-117.3,338.0,-7.5,185,4114,0.00,2.30,0.00,0.000,4,0.000,0.045,1825,894,3412
$GC,4188,-0.78,-117.3,344.1,-7.4,186,4192,0.00,2.28,0.00,0.000,6,0.000,0.044,1817,2309,3412
$GC,4544,-0.78,-117.3,369.1,-7.0,192,4548,0.00,2.28,0.00,0.000,4,0.000,0.044,1816,903,3412
$GC,4600,-0.78,-117.3,373.3,-7.1,192,4606,0.10,2.28,0.00,0.000,6,0.130,0.039,1834,2314,3412
$GC,4910,-0.82,-117.3,391.7,-5.9,198,4914,0.00,2.30,0.00,0.000,4,0.000,0.043,1834,891,3412
$GC,4945,-0.86,-117.3,394.1,-7.3,198,4949,0.00,2.30,0.00,0.000,6,0.000,0.039,1834,2302,3411
$GC,5272,-0.90,-117.3,413.9,-6.1,204,5274,0.12,0.00,0.00,0.000,6,0.058,0.000,1754,2303,3411
$GC,5575,-0.78,-117.3,445.9,-10.8,209,5580,0.22,2.33,0.00,0.000,4,0.123,0.044,1828,892,3411
$GC,5639,-0.82,-117.3,451.1,-7.8,210,5643,0.00,2.30,0.00,0.000,6,0.000,0.042,1823,2312,3411
$GC,6005,-0.82,-117.3,477.3,-7.1,216,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2312,3410
$GC,6309,-0.82,-117.3,499.3,-7.4,221,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2312,3411
$GC,6612,-0.84,-117.3,522.1,-7.5,226,6616,0.00,2.30,0.00,0.000,4,0.000,0.046,1823,893,3411
$GC,6646,-0.87,-117.3,524.9,-7.7,226,6651,0.00,2.30,0.00,0.000,6,0.000,0.041,1821,2307,3411
$GC,6979,-0.89,-117.3,548.3,-7.0,232,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2307,3410
$GC,7282,-0.89,-117.3,568.7,-6.7,237,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2307,3410
$GC,7586,-0.91,-117.3,587.7,-6.2,242,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2307,3410
$GC,7889,-0.93,-117.3,606.7,-6.3,247,7894,0.08,2.33,0.00,0.000,4,0.081,0.044,1764,892,3410
$GC,7968,-0.85,-117.3,613.9,-9.4,248,7973,0.20,2.30,0.00,0.000,6,0.126,0.041,1813,2305,3410
$GC,8322,-0.85,-117.3,637.2,-6.5,254,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2305,3410
$GC,8626,-0.85,-117.3,657.6,-6.7,259,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2305,3410
$GC,8929,-0.85,-117.3,677.8,-6.7,264,8933,0.00,2.28,0.00,0.000,4,0.000,0.052,1813,903,3409
$GC,8963,-0.87,-117.3,680.3,-7.2,264,8967,0.00,2.28,0.00,0.000,6,0.000,0.040,1809,2304,3409
$GC,9289,-0.87,-117.3,701.9,-6.5,270,9293,0.00,2.30,0.00,0.000,4,0.000,0.051,1809,891,3409
$GC,9317,-0.87,-117.3,703.9,-7.1,270,9322,0.00,2.30,0.00,0.000,6,0.000,0.043,1808,2309,3409
$GC,9650,-0.87,-117.3,723.8,-5.9,276,9654,0.00,2.30,0.00,0.000,4,0.000,0.046,1808,891,3409
$GC,9695,-0.87,-117.3,726.7,-6.2,276,9700,0.00,2.28,0.00,0.000,6,0.000,0.040,1799,2304,3409
$GC,10011,-0.87,-117.3,745.5,-5.9,282,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2304,3408
$GC,10315,-0.87,-117.3,764.4,-6.3,287,10319,0.00,2.28,0.00,0.000,4,0.000,0.047,1799,899,3409
$GC,10348,-0.87,-117.3,766.7,-7.0,287,10352,0.00,2.28,0.00,0.000,6,0.000,0.047,1795,2306,3408
$GC,10674,-0.87,-117.3,787.8,-6.4,293,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2306,3408
$GC,10978,-0.87,-117.3,808.4,-6.8,298,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3409
$GC,11281,-0.87,-117.3,829.1,-6.8,303,11285,0.00,2.28,0.00,0.000,4,0.000,0.046,1794,895,3408
$GC,11326,-0.87,-117.3,832.4,-7.3,303,11330,0.00,2.28,0.00,0.000,6,0.000,0.044,1793,2306,3408
$GC,11653,-0.87,-117.3,857.0,-7.6,309,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2306,3407
$GC,11957,-0.87,-117.3,880.9,-7.9,314,11958,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2306,3408
$GC,12259,-0.87,-117.3,904.2,-7.6,319,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2307,3408
$GC,12563,-0.87,-117.3,927.0,-7.5,324,12564,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2307,3407
$GC,12865,-0.87,-117.3,948.6,-7.1,329,12866,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2306,3408
$GC,13168,-0.87,-117.3,969.4,-6.9,334,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2307,3407
$STATE,13468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13468,begin apogee
$GC,13476,-0.22,0.0,990.7,7.0,339,13578,0.50,0.00,99.05,1.286,6,0.117,0.000,1952,2306,2931
$STATE,13578,end apogee,CONTROL_FINISHED_OK
$STATE,13578,begin climb
$GC,13583,0.68,117.3,992.4,0.0,340,13694,0.55,2.60,104.45,1.260,4,0.074,0.054,2147,3712,2451
$GC,13745,0.50,117.3,989.7,5.7,342,13750,0.20,2.40,0.00,0.000,6,0.160,0.038,2110,2308,2446
$GC,14073,0.49,139.8,974.0,4.7,348,14095,0.00,0.00,19.48,1.184,6,0.000,0.000,2109,2308,2360
$GC,14376,0.47,142.8,957.6,5.4,353,14380,0.00,2.33,0.00,0.000,4,0.000,0.051,2110,3711,2355
$GC,14410,0.42,142.8,955.4,5.9,353,14415,0.12,2.25,0.00,0.000,6,0.160,0.037,2088,2298,2355
$GC,14738,0.47,163.3,939.7,4.8,359,14764,0.00,2.35,20.83,1.187,4,0.000,0.052,2087,3714,2265
$GC,14782,0.52,180.8,937.3,4.9,359,14805,0.00,2.28,17.08,1.150,6,0.000,0.038,2095,2293,2193
$GC,15169,0.55,180.8,915.8,5.6,366,15171,0.08,0.00,0.00,0.000,6,0.084,0.000,2141,2293,2188
$GC,15472,0.49,180.8,893.1,7.6,371,15476,0.12,2.33,0.00,0.000,4,0.137,0.050,2108,3714,2187
$GC,15500,0.46,180.8,891.0,7.6,371,15504,0.00,2.22,0.00,0.000,6,0.000,0.035,2116,2303,2186
$GC,15832,0.46,180.8,870.7,6.0,377,15836,0.00,2.30,0.00,0.000,4,0.000,0.052,2116,3716,2186
$GC,15856,0.44,180.8,869.2,6.6,377,15861,0.12,2.22,0.00,0.000,6,0.154,0.034,2096,2294,2186
$GC,16195,0.51,212.1,853.6,4.4,383,16224,0.00,0.00,28.02,1.162,6,0.000,0.000,2096,2294,2066
$GC,16497,0.66,212.1,837.5,5.5,388,16502,0.15,2.33,0.00,0.000,4,0.061,0.049,2159,888,2061
$GC,16594,0.61,212.1,831.2,6.7,389,16598,0.12,2.33,0.00,0.000,6,0.137,0.043,2128,2314,2060
$GC,16926,0.61,212.1,811.8,5.8,395,16930,0.00,2.28,0.00,0.000,4,0.000,0.054,2128,3712,2059
$GC,16971,0.57,212.1,808.5,7.0,395,16975,0.00,2.25,0.00,0.000,6,0.000,0.033,2136,2292,2059
$GC,17288,0.54,212.1,788.4,6.3,401,17289,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2292,2059
$GC,17590,0.52,212.1,768.8,6.5,406,17595,0.10,2.35,0.00,0.000,4,0.153,0.048,2111,3716,2059
$GC,17618,0.52,212.1,766.7,7.5,406,17622,0.00,2.25,0.00,0.000,6,0.000,0.033,2119,2299,2058
$GC,17951,0.52,212.1,747.1,6.0,412,17952,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2298,2059
$GC,18253,0.52,212.1,729.0,5.9,417,18257,0.00,2.35,0.00,0.000,4,0.000,0.051,2119,3714,2058
$GC,18282,0.52,212.1,727.0,6.3,417,18285,0.00,2.22,0.00,0.000,6,0.000,0.032,2128,2303,2058
$GC,18620,0.52,212.1,705.5,6.4,423,18624,0.00,2.30,0.00,0.000,4,0.000,0.047,2140,890,2058
$GC,18643,0.52,212.1,703.9,6.8,423,18647,0.12,2.28,0.00,0.000,6,0.123,0.038,2107,2314,2058
$GC,18986,0.56,212.1,684.6,5.6,429,18991,0.00,2.28,0.00,0.000,4,0.000,0.048,2107,3718,2058
$GC,19010,0.60,212.1,683.1,5.9,429,19014,0.00,2.22,0.00,0.000,6,0.000,0.031,2114,2301,2057
$GC,19349,0.63,212.1,663.6,5.7,435,19350,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2301,2057
$GC,19652,0.67,223.0,647.8,5.1,440,19664,0.10,0.00,9.70,0.930,6,0.065,0.000,2184,2301,2022
$GC,19955,0.54,223.0,620.9,9.1,445,19959,0.22,2.35,0.00,0.000,4,0.142,0.048,2116,3719,2020
$GC,20005,0.54,223.0,617.2,6.1,445,20009,0.00,2.25,0.00,0.000,6,0.000,0.032,2125,2303,2020
$GC,20316,0.55,232.1,601.1,5.2,450,20327,0.00,0.00,9.65,0.905,6,0.000,0.000,2125,2303,1984
$GC,20618,0.55,234.7,584.7,5.4,455,20619,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2303,1982
$GC,20921,0.56,237.9,568.2,5.4,460,20934,0.00,2.38,6.47,0.803,4,0.000,0.047,2135,891,1960
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$STATE,29199,end climb,SURFACE_DEPTH_REACHED
$STATE,29199,begin surface coast
$FINISH,1.6,1.025528
$STATE,29221,end surface coast,CONTROL_FINISHED_OK
$STATE,29221,begin surface
$SM_CCo,29300,0.00,0.000,0,0,1541,340.97
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$TT8_MAMPS,0.029146
$HUMID,1741
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$TCM_TEMP,15.60
$XPDR_PINGS,54
$24V_AH,21.8,85.816
$10V_AH,10.4,74.324
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$DEVICE_SECS,19.250,228.000,410.400,0.000,0.000,27.700,25.141,159.932,13.500,0.000,0.000,16.198,1660.088,24542.824,548.646,2108.208,800.912,33.384,1682.343,0.000,2075.603,0.000,0.527,0.000
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$SENSOR_SECS,515.083,594.547,751.375,773.883,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44353,731
$CAP_FILE_SIZE,184141,0
$CFSIZE,260165632,212418560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,271209,214607,5001.791,-14503.107,33,0.9,33,18.5