version: 66.04
glider: 144
mission: 15
dive: 685
start: 1 27 110 7 1 7
data:
$ID,144
$MISSION,15
$DIVE,685
$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,-75537.062
$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,35
$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
$GPS1,065334,4956.600,-14247.149,68,1.5,68,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-56.9
$GPS2,070013,4956.645,-14247.141,10,1.5,15,18.8
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.167,-0.020
$KALMAN_X,-92070.0,148.4,197.0,261223.7,-526.9
$KALMAN_Y,32191.9,-72.8,146.2,-77335.8,-69.7
$MHEAD_RNG_PITCHd_Wd,78.0,299797,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.68,-117.3,0.0,0.0,0,62,0.00,0.00,-40.28,0.000,2,0.000,0.000,98,2290,2505
$GC,67,-0.68,-117.3,3.2,-4.9,2,109,7.00,2.42,-25.58,0.000,4,0.223,0.062,1837,3707,3412
$GC,161,-0.65,-117.3,13.9,-13.0,6,165,0.00,2.25,0.00,0.000,6,0.000,0.038,1837,2304,3413
$GC,485,-0.59,-117.3,50.9,-12.9,22,489,0.12,2.30,0.00,0.000,4,0.128,0.041,1873,892,3414
$GC,572,-0.63,-117.3,60.9,-10.9,26,576,0.00,2.25,0.00,0.000,6,0.000,0.036,1864,2313,3414
$GC,892,-0.63,-117.3,87.0,-7.7,45,893,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2313,3414
$GC,1210,-0.65,-117.3,113.2,-8.0,75,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2313,3414
$GC,1531,-0.70,-117.3,134.6,-6.7,105,1535,0.00,2.30,0.00,0.000,4,0.000,0.041,1865,895,3415
$GC,1564,-0.77,-117.3,137.3,-7.3,107,1571,0.12,2.25,0.00,0.000,6,0.054,0.037,1768,2305,3415
$GC,1894,-0.65,-117.3,174.5,-11.1,125,1899,0.25,2.30,0.00,0.000,4,0.120,0.046,1843,3715,3415
$GC,1924,-0.65,-117.3,177.4,-8.3,126,1929,0.00,2.22,0.00,0.000,6,0.000,0.030,1843,2296,3415
$GC,2261,-0.70,-117.3,199.3,-6.8,137,2266,0.00,2.28,0.00,0.000,4,0.000,0.041,1843,889,3414
$GC,2314,-0.74,-117.3,203.2,-7.3,138,2318,0.00,2.25,0.00,0.000,6,0.000,0.036,1837,2301,3415
$GC,2628,-0.76,-117.3,225.6,-7.2,148,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2301,3415
$GC,2935,-0.79,-117.3,248.4,-7.8,158,2939,0.00,2.25,0.00,0.000,4,0.000,0.042,1837,895,3415
$GC,2999,-0.82,-117.3,254.0,-8.9,159,3006,0.00,2.28,0.00,0.000,6,0.000,0.044,1836,2310,3415
$GC,3314,-0.85,-117.3,278.5,-7.6,170,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2310,3414
$GC,3620,-0.88,-117.3,299.5,-6.4,180,3622,0.10,0.00,0.00,0.000,6,0.066,0.000,1765,2310,3414
$GC,3953,-0.77,-117.3,332.4,-10.1,186,3958,0.20,2.28,0.00,0.000,4,0.119,0.043,1830,901,3413
$GC,4044,-0.80,-117.3,339.1,-6.9,187,4048,0.00,2.25,0.00,0.000,6,0.000,0.040,1822,2305,3413
$GC,4388,-0.80,-117.3,361.5,-6.5,193,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2305,3413
$GC,4692,-0.80,-117.3,382.3,-6.8,198,4696,0.00,2.30,0.00,0.000,4,0.000,0.048,1823,887,3413
$GC,4751,-0.82,-117.3,386.6,-8.0,198,4756,0.00,2.28,0.00,0.000,6,0.000,0.043,1814,2305,3413
$GC,5062,-0.82,-117.3,411.5,-8.0,203,5066,0.00,2.30,0.00,0.000,4,0.000,0.053,1803,3710,3413
$GC,5085,-0.82,-117.3,413.6,-9.1,203,5089,0.00,2.20,0.00,0.000,6,0.000,0.031,1803,2300,3413
$GC,5430,-0.80,-117.3,446.5,-9.6,209,5435,0.10,2.28,0.00,0.000,4,0.123,0.044,1832,889,3413
$GC,5481,-0.85,-117.3,451.3,-9.0,209,5485,0.00,2.28,0.00,0.000,6,0.000,0.040,1825,2304,3412
$GC,5792,-0.87,-117.3,476.9,-8.2,214,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2305,3413
$GC,6095,-0.89,-117.3,498.7,-7.2,219,6099,0.00,2.30,0.00,0.000,4,0.000,0.050,1824,891,3412
$GC,6147,-0.92,-117.3,502.6,-7.4,219,6151,0.00,2.28,0.00,0.000,6,0.000,0.038,1821,2303,3412
$GC,6457,-0.92,-117.3,524.9,-7.1,224,6458,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3412
$GC,6761,-0.94,-117.3,546.1,-6.9,229,6763,0.10,0.00,0.00,0.000,6,0.064,0.000,1753,2303,3412
$GC,7064,-0.83,-117.3,577.7,-10.6,234,7069,0.20,2.35,0.00,0.000,4,0.123,0.044,1819,889,3411
$GC,7116,-0.86,-117.3,581.8,-6.6,234,7120,0.00,2.30,0.00,0.000,6,0.000,0.038,1812,2303,3411
$GC,7426,-0.86,-117.3,602.4,-6.5,239,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2303,3411
$GC,7729,-0.86,-117.3,622.3,-6.6,244,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2303,3411
$GC,8032,-0.86,-117.3,643.1,-6.9,249,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2303,3410
$GC,8336,-0.86,-117.3,664.5,-7.1,254,8340,0.00,2.30,0.00,0.000,4,0.000,0.051,1812,897,3411
$GC,8376,-0.86,-117.3,667.7,-8.4,254,8380,0.00,2.30,0.00,0.000,6,0.000,0.044,1808,2311,3410
$GC,8697,-0.86,-117.3,690.6,-7.1,260,8701,0.00,2.33,0.00,0.000,4,0.000,0.051,1808,892,3411
$GC,8726,-0.86,-117.3,692.6,-7.9,260,8730,0.00,2.30,0.00,0.000,6,0.000,0.042,1806,2315,3411
$GC,9060,-0.86,-117.3,714.3,-6.5,266,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2315,3410
$GC,9362,-0.86,-117.3,734.4,-6.6,271,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2314,3410
$GC,9665,-0.86,-117.3,754.2,-6.6,276,9670,0.00,2.35,0.00,0.000,4,0.000,0.049,1805,891,3410
$GC,9700,-0.86,-117.3,756.7,-6.8,276,9704,0.00,2.28,0.00,0.000,6,0.000,0.044,1796,2305,3409
$GC,10033,-0.86,-117.3,780.9,-7.4,282,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2305,3409
$GC,10336,-0.86,-117.3,804.1,-7.6,287,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2305,3410
$GC,10639,-0.86,-117.3,827.8,-7.8,292,10643,0.00,2.35,0.00,0.000,4,0.000,0.046,1796,888,3410
$GC,10684,-0.86,-117.3,831.6,-8.1,292,10688,0.00,2.33,0.00,0.000,6,0.000,0.039,1794,2309,3409
$GC,11000,-0.86,-117.3,854.9,-7.3,298,11005,0.00,2.35,0.00,0.000,4,0.000,0.047,1794,897,3409
$GC,11029,-0.86,-117.3,857.3,-7.7,298,11034,0.12,2.30,0.00,0.000,6,0.119,0.040,1819,2311,3409
$GC,11363,-0.91,-117.3,875.4,-5.3,304,11367,0.00,2.33,0.00,0.000,4,0.000,0.047,1820,892,3409
$GC,11393,-0.96,-117.3,877.0,-5.9,304,11398,0.10,2.30,0.00,0.000,6,0.074,0.039,1773,2305,3409
$GC,11726,-0.91,-117.3,900.3,-7.0,310,11728,0.12,0.00,0.00,0.000,6,0.124,0.000,1808,2305,3409
$GC,12030,-0.93,-117.3,916.4,-5.3,315,12031,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3409
$GC,12334,-0.96,-117.3,932.9,-5.4,320,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3409
$GC,12635,-0.99,-117.3,950.3,-5.8,325,12640,0.10,2.38,0.00,0.000,4,0.080,0.049,1760,898,3408
$GC,12698,-0.92,-117.3,955.5,-8.7,325,12706,0.17,2.28,0.00,0.000,6,0.132,0.045,1802,2298,3409
$GC,13009,-0.92,-117.3,974.8,-6.0,331,13010,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2298,3408
$STATE,13309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13309,begin apogee
$GC,13318,-0.22,0.0,993.3,6.1,336,13420,0.47,0.00,99.20,1.282,6,0.110,0.000,1959,2298,2931
$STATE,13421,end apogee,CONTROL_FINISHED_OK
$STATE,13421,begin climb
$GC,13425,0.68,117.3,995.1,0.0,337,13536,0.55,2.60,104.38,1.254,4,0.067,0.057,2154,3714,2451
$GC,13572,0.49,117.3,993.1,6.7,339,13577,0.25,2.42,0.00,0.000,6,0.163,0.037,2105,2310,2447
$GC,13916,0.50,144.4,977.1,4.6,345,13946,0.00,2.42,23.08,1.193,4,0.000,0.056,2114,897,2341
$GC,13976,0.51,154.1,974.1,5.2,345,13991,0.00,2.30,9.70,1.063,6,0.000,0.044,2114,2306,2304
$GC,14355,0.52,160.5,953.8,5.3,352,14368,0.00,2.35,6.82,0.976,4,0.000,0.056,2114,3709,2276
$GC,14405,0.46,160.5,950.7,6.8,352,14409,0.10,2.25,0.00,0.000,6,0.163,0.040,2101,2299,2275
$GC,14721,0.49,182.4,935.6,4.8,358,14747,0.00,2.33,20.45,1.171,4,0.000,0.050,2110,892,2187
$GC,14776,0.56,216.4,932.8,4.4,358,14815,0.00,2.30,32.20,1.190,6,0.000,0.040,2110,2311,2048
$GC,15151,0.62,235.2,914.3,4.9,365,15175,0.08,2.38,17.00,1.133,4,0.091,0.055,2154,3720,1972
$GC,15189,0.55,235.2,911.7,6.7,365,15193,0.17,2.28,0.00,0.000,6,0.146,0.035,2119,2305,1971
$GC,15517,0.57,235.5,893.3,5.5,371,15521,0.00,2.30,0.00,0.000,4,0.000,0.054,2128,893,1967
$GC,15540,0.61,246.2,891.9,5.1,371,15556,0.00,2.25,10.77,1.058,6,0.000,0.041,2128,2305,1927
$GC,15879,0.61,246.2,871.5,6.1,377,15883,0.00,2.28,0.00,0.000,4,0.000,0.051,2128,3714,1924
$GC,15902,0.61,246.2,869.7,7.3,377,15906,0.00,2.25,0.00,0.000,6,0.000,0.039,2137,2302,1923
$GC,16246,0.61,246.2,845.7,7.1,383,16247,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2302,1923
$GC,16550,0.61,246.2,825.9,6.5,388,16554,0.00,2.28,0.00,0.000,4,0.000,0.050,2137,3705,1922
$GC,16584,0.57,246.2,823.2,7.3,388,16589,0.10,2.22,0.00,0.000,6,0.150,0.034,2123,2295,1922
$GC,16912,0.60,249.7,805.6,5.4,394,16913,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2295,1921
$GC,17216,0.63,255.0,789.5,5.3,399,17226,0.00,0.00,8.75,0.979,6,0.000,0.000,2123,2295,1891
$GC,17518,0.66,255.0,771.8,6.0,404,17522,0.00,2.30,0.00,0.000,4,0.000,0.053,2123,3710,1888
$GC,17552,0.66,255.0,769.3,6.6,404,17556,0.00,2.22,0.00,0.000,6,0.000,0.039,2130,2301,1888
$GC,17879,0.66,255.0,747.3,6.7,410,17880,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2301,1887
$GC,18183,0.66,255.0,726.8,6.7,415,18187,0.00,2.33,0.00,0.000,4,0.000,0.050,2131,3711,1887
$GC,18217,0.66,255.0,724.0,9.2,415,18221,0.00,2.25,0.00,0.000,6,0.000,0.033,2140,2294,1887
$GC,18544,0.66,255.0,699.2,7.6,421,18545,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2294,1887
$GC,18847,0.66,255.0,678.1,6.9,426,18851,0.00,2.33,0.00,0.000,4,0.000,0.054,2140,3708,1887
$GC,18871,0.63,255.0,676.2,7.1,426,18875,0.00,2.22,0.00,0.000,6,0.000,0.033,2150,2302,1887
$GC,19209,0.60,255.0,651.7,7.2,432,19210,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2302,1887
$GC,19512,0.57,255.0,629.5,7.3,437,19517,0.12,2.33,0.00,0.000,4,0.138,0.047,2116,3710,1887
$GC,19547,0.59,255.0,627.1,6.4,437,19551,0.00,2.25,0.00,0.000,6,0.000,0.032,2124,2291,1886
$GC,19875,0.62,258.4,609.1,5.4,443,19881,0.00,0.00,4.32,0.681,6,0.000,0.000,2124,2291,1877
$GC,20177,0.66,260.0,592.5,5.4,448,20178,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2291,1876
$GC,20480,0.70,260.0,574.8,5.9,453,20485,0.10,2.35,0.00,0.000,4,0.065,0.048,2198,3717,1876
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$STATE,28812,end climb,SURFACE_DEPTH_REACHED
$STATE,28812,begin surface coast
$FINISH,1.2,1.025408
$STATE,28833,end surface coast,CONTROL_FINISHED_OK
$STATE,28833,begin surface
$SM_CCo,28854,3.17,0.355,0,0,1708,300.00
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$TT8_MAMPS,0.028379
$HUMID,1769
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$TCM_TEMP,15.50
$XPDR_PINGS,62
$24V_AH,21.7,98.529
$10V_AH,10.3,84.578
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$DEVICE_SECS,17.975,223.975,373.200,3.175,0.000,31.371,27.317,165.265,15.500,0.000,0.000,16.819,1658.236,24092.957,520.671,2088.317,883.745,33.386,1651.172,0.000,2064.711,0.000,0.527,0.000
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$SENSOR_SECS,523.134,602.692,764.349,813.840,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44414,740
$CAP_FILE_SIZE,181219,0
$CFSIZE,260165632,205344768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270110,150331,4956.002,-14242.183,39,2.0,39,18.8