version: 66.04
glider: 144
mission: 15
dive: 688
start: 1 28 110 7 22 54
data:
$ID,144
$MISSION,15
$DIVE,688
$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,-75618.914
$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,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
$GPS1,071206,4955.569,-14231.511,61,1.5,61,18.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-59.5
$GPS2,072158,4955.541,-14231.557,12,2.7,31,18.9
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.167,-0.017
$KALMAN_X,-91456.2,120.9,94.2,279161.5,14.4
$KALMAN_Y,32320.1,-13.7,150.8,-79568.1,-266.4
$MHEAD_RNG_PITCHd_Wd,76.9,280977,-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,-117.3,0.0,0.0,0,59,0.00,0.00,-40.72,0.000,2,0.000,0.000,99,2303,2488
$GC,64,-0.68,-117.3,3.2,-4.4,2,107,7.22,2.38,-26.65,0.000,4,0.234,0.062,1840,3708,3412
$GC,212,-0.65,-117.3,16.3,-10.4,8,216,0.00,2.22,0.00,0.000,6,0.000,0.030,1840,2301,3413
$GC,530,-0.60,-117.3,50.7,-10.2,23,535,0.12,2.30,0.00,0.000,4,0.125,0.041,1880,885,3413
$GC,616,-0.66,-117.3,58.3,-8.4,27,620,0.00,2.25,0.00,0.000,6,0.000,0.037,1876,2309,3414
$GC,937,-0.69,-117.3,85.4,-8.5,45,942,0.10,2.28,0.00,0.000,4,0.062,0.039,1798,887,3414
$GC,990,-0.59,-117.3,91.9,-13.5,49,995,0.28,2.25,0.00,0.000,6,0.117,0.037,1871,2309,3414
$GC,1316,-0.64,-117.3,117.6,-7.4,79,1320,0.00,2.30,0.00,0.000,4,0.000,0.041,1871,887,3414
$GC,1375,-0.70,-117.3,122.4,-8.4,84,1379,0.00,2.25,0.00,0.000,6,0.000,0.041,1866,2302,3414
$GC,1706,-0.76,-117.3,144.3,-5.0,114,1712,0.10,0.00,0.00,0.000,6,0.064,0.000,1783,2303,3413
$GC,2023,-0.67,-117.3,175.3,-9.9,129,2025,0.25,0.00,0.00,0.000,6,0.173,0.000,1855,2302,3414
$GC,2329,-0.73,-117.3,196.9,-7.0,139,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2303,3414
$GC,2635,-0.79,-117.3,217.7,-6.5,149,2637,0.10,0.00,0.00,0.000,6,0.064,0.000,1768,2303,3414
$GC,2941,-0.68,-117.3,251.7,-11.2,159,2946,0.25,2.30,0.00,0.000,4,0.117,0.047,1851,889,3414
$GC,3015,-0.75,-117.3,257.6,-7.0,161,3019,0.00,2.28,0.00,0.000,6,0.000,0.044,1850,2309,3414
$GC,3346,-0.80,-117.3,279.1,-6.6,172,3351,0.10,2.28,0.00,0.000,4,0.064,0.041,1769,887,3414
$GC,3380,-0.71,-117.3,282.5,-10.4,173,3385,0.30,2.28,0.00,0.000,6,0.114,0.041,1848,2310,3413
$GC,3741,-0.77,-117.3,303.4,-5.3,184,3745,0.00,2.30,0.00,0.000,4,0.000,0.048,1849,886,3413
$GC,3783,-0.84,-117.3,305.6,-5.4,184,3788,0.12,2.28,0.00,0.000,6,0.055,0.039,1767,2309,3413
$GC,4104,-0.73,-117.3,335.6,-9.7,190,4106,0.25,0.00,0.00,0.000,6,0.114,0.000,1844,2309,3413
$GC,4407,-0.79,-117.3,353.4,-5.7,195,4411,0.00,2.33,0.00,0.000,4,0.000,0.043,1844,886,3413
$GC,4445,-0.86,-117.3,355.6,-6.6,195,4449,0.10,2.30,0.00,0.000,6,0.064,0.041,1763,2312,3413
$GC,4772,-0.75,-117.3,388.8,-10.4,201,4774,0.25,0.00,0.00,0.000,6,0.117,0.000,1840,2312,3413
$GC,5076,-0.81,-117.3,405.8,-5.4,206,5080,0.00,2.33,0.00,0.000,4,0.000,0.043,1840,891,3412
$GC,5117,-0.87,-117.3,408.0,-5.2,206,5122,0.10,2.30,0.00,0.000,6,0.064,0.044,1762,2305,3412
$GC,5439,-0.77,-117.3,437.7,-9.5,212,5441,0.22,0.00,0.00,0.000,6,0.117,0.000,1832,2305,3412
$GC,5742,-0.80,-117.3,454.8,-5.4,217,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2305,3412
$GC,6045,-0.84,-117.3,472.0,-5.7,222,6049,0.00,2.30,0.00,0.000,4,0.000,0.051,1832,898,3412
$GC,6091,-0.90,-117.3,475.1,-7.3,222,6095,0.00,2.28,0.00,0.000,6,0.000,0.041,1827,2310,3412
$GC,6419,-0.92,-117.3,496.8,-6.7,228,6421,0.10,0.00,0.00,0.000,6,0.067,0.000,1750,2310,3411
$GC,6722,-0.81,-117.3,530.9,-11.5,233,6727,0.22,2.33,0.00,0.000,4,0.123,0.050,1825,899,3411
$GC,6763,-0.84,-117.3,534.6,-7.7,233,6767,0.00,2.28,0.00,0.000,6,0.000,0.042,1821,2312,3411
$GC,7096,-0.87,-117.3,559.3,-7.5,239,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2312,3411
$GC,7399,-0.89,-117.3,582.0,-7.4,244,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2311,3411
$GC,7702,-0.92,-117.3,604.2,-7.2,249,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2312,3411
$GC,8006,-0.95,-117.3,624.6,-6.7,254,8008,0.10,0.00,0.00,0.000,6,0.065,0.000,1749,2312,3410
$GC,8308,-0.83,-117.3,655.1,-10.2,259,8313,0.20,2.35,0.00,0.000,4,0.123,0.048,1816,894,3410
$GC,8388,-0.86,-117.3,661.1,-7.1,260,8392,0.00,2.30,0.00,0.000,6,0.000,0.043,1809,2306,3410
$GC,8739,-0.86,-117.3,683.7,-6.4,266,8743,0.00,2.30,0.00,0.000,4,0.000,0.046,1809,896,3410
$GC,8774,-0.86,-117.3,686.1,-7.3,266,8778,0.00,2.28,0.00,0.000,6,0.000,0.044,1805,2304,3410
$GC,9101,-0.86,-117.3,707.4,-6.6,272,9105,0.00,2.33,0.00,0.000,4,0.000,0.046,1805,892,3410
$GC,9135,-0.86,-117.3,709.8,-7.3,272,9139,0.00,2.30,0.00,0.000,6,0.000,0.041,1796,2313,3410
$GC,9462,-0.86,-117.3,733.6,-7.3,278,9466,0.00,2.30,0.00,0.000,4,0.000,0.051,1795,899,3410
$GC,9526,-0.86,-117.3,738.6,-7.9,279,9530,0.10,2.28,0.00,0.000,6,0.127,0.044,1814,2306,3409
$GC,9898,-0.89,-117.3,762.8,-6.5,285,9899,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2306,3410
$GC,10202,-0.92,-117.3,783.1,-6.7,290,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2306,3409
$GC,10504,-0.95,-117.3,801.8,-6.1,295,10508,0.00,2.33,0.00,0.000,4,0.000,0.050,1815,899,3409
$GC,10533,-0.98,-117.3,803.6,-6.8,295,10537,0.10,2.28,0.00,0.000,6,0.070,0.040,1753,2307,3409
$GC,10872,-0.89,-117.3,833.9,-9.1,301,10874,0.20,0.00,0.00,0.000,6,0.120,0.000,1813,2308,3409
$GC,11175,-0.92,-117.3,852.1,-5.8,306,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2307,3409
$GC,11478,-0.96,-117.3,870.7,-6.2,311,11481,0.00,2.33,0.00,0.000,4,0.000,0.045,1813,892,3409
$GC,11512,-0.99,-117.3,873.1,-6.8,311,11516,0.10,2.30,0.00,0.000,6,0.073,0.040,1758,2307,3409
$GC,11845,-0.91,-117.3,903.2,-9.3,317,11847,0.15,0.00,0.00,0.000,6,0.126,0.000,1803,2308,3409
$GC,12147,-0.91,-117.3,923.5,-6.6,322,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2308,3408
$GC,12450,-0.91,-117.3,943.3,-6.5,327,12454,0.00,2.33,0.00,0.000,4,0.000,0.048,1803,891,3409
$GC,12478,-0.91,-117.3,945.3,-7.1,327,12482,0.00,2.30,0.00,0.000,6,0.000,0.044,1796,2310,3409
$GC,12817,-0.91,-117.3,967.8,-6.6,333,12821,0.00,2.33,0.00,0.000,4,0.000,0.050,1795,893,3409
$GC,12851,-0.91,-117.3,970.2,-6.8,333,12855,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2308,3408
$STATE,13174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13174,begin apogee
$GC,13183,-0.22,0.0,990.8,6.3,339,13285,0.50,0.00,99.12,1.279,6,0.110,0.000,1955,2309,2931
$STATE,13285,end apogee,CONTROL_FINISHED_OK
$STATE,13286,begin climb
$GC,13290,0.68,117.3,992.1,0.0,340,13403,0.55,2.58,104.30,1.250,4,0.067,0.052,2151,3701,2451
$GC,13438,0.49,117.3,988.8,7.0,343,13443,0.22,2.40,0.00,0.000,6,0.163,0.035,2108,2306,2447
$GC,13789,0.46,117.7,969.4,5.5,349,13790,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2305,2441
$GC,14091,0.43,120.0,952.9,5.4,354,14095,0.00,2.33,0.00,0.000,4,0.000,0.051,2108,3717,2439
$GC,14120,0.37,120.4,951.2,5.5,354,14125,0.15,2.28,0.00,0.000,6,0.157,0.037,2080,2295,2439
$GC,14459,0.45,143.5,935.2,4.7,360,14488,0.00,2.40,21.70,1.175,4,0.000,0.051,2079,3714,2344
$GC,14546,0.49,143.5,930.3,5.9,361,14551,0.00,2.28,0.00,0.000,6,0.000,0.034,2086,2291,2342
$GC,14892,0.58,143.5,911.1,5.7,367,14897,0.12,2.33,0.00,0.000,4,0.066,0.056,2148,3715,2340
$GC,15106,0.43,143.5,892.8,9.2,370,15111,0.25,2.22,0.00,0.000,6,0.155,0.037,2092,2306,2339
$GC,15458,0.44,154.0,874.2,5.1,376,15469,0.00,0.00,9.90,1.045,6,0.000,0.000,2093,2306,2303
$GC,15760,0.48,165.7,858.6,5.1,381,15779,0.00,2.33,11.68,1.065,4,0.000,0.055,2093,3710,2253
$GC,15803,0.48,165.7,856.1,5.6,381,15807,0.00,2.25,0.00,0.000,6,0.000,0.034,2100,2295,2253
$GC,16124,0.49,175.5,839.3,5.2,387,16139,0.00,2.33,9.98,1.025,4,0.000,0.050,2101,3718,2215
$GC,16158,0.50,179.4,837.5,5.4,387,16168,0.00,2.22,5.30,0.831,6,0.000,0.037,2111,2305,2199
$GC,16485,0.52,197.7,821.3,4.9,393,16504,0.00,0.00,17.50,1.090,6,0.000,0.000,2111,2305,2125
$GC,16788,0.56,228.3,807.6,4.5,398,16822,0.00,2.35,28.20,1.114,4,0.000,0.054,2111,3701,1999
$GC,16860,0.59,238.4,804.1,5.2,399,16875,0.00,2.25,10.50,0.996,6,0.000,0.037,2121,2301,1959
$GC,17220,0.60,246.2,785.5,5.2,405,17229,0.00,0.00,7.90,0.936,6,0.000,0.000,2120,2301,1927
$GC,17524,0.63,246.2,769.1,5.5,410,17528,0.00,2.30,0.00,0.000,4,0.000,0.048,2120,3718,1923
$GC,17564,0.63,246.2,766.3,6.4,410,17568,0.00,2.22,0.00,0.000,6,0.000,0.033,2130,2296,1923
$GC,17886,0.63,246.2,746.2,6.3,416,17887,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2296,1922
$GC,18189,0.63,246.2,726.7,6.5,421,18193,0.00,2.33,0.00,0.000,4,0.000,0.048,2130,3714,1922
$GC,18235,0.63,246.2,723.0,8.7,421,18239,0.00,2.25,0.00,0.000,6,0.000,0.033,2140,2293,1922
$GC,18551,0.63,246.2,699.6,7.4,427,18552,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2294,1922
$GC,18854,0.63,246.2,676.8,7.6,432,18858,0.00,2.30,0.00,0.000,4,0.000,0.048,2140,3711,1921
$GC,18899,0.58,246.2,672.7,9.5,432,18904,0.10,2.22,0.00,0.000,6,0.140,0.033,2125,2300,1921
$GC,19216,0.61,246.2,650.5,7.0,438,19217,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2300,1921
$GC,19518,0.63,246.2,629.3,7.0,443,19520,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2300,1921
$GC,19822,0.66,246.2,609.5,6.5,448,19826,0.00,2.33,0.00,0.000,4,0.000,0.052,2125,3715,1921
$GC,19844,0.66,246.2,607.9,6.8,448,19848,0.00,2.22,0.00,0.000,6,0.000,0.032,2133,2304,1921
$GC,20184,0.66,246.2,585.7,6.5,454,20185,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2304,1921
$GC,20486,0.66,246.2,566.6,6.3,459,20490,0.00,2.30,0.00,0.000,4,0.000,0.051,2133,3708,1921
$GC,20521,0.66,246.2,564.2,6.8,459,20526,0.00,2.20,0.00,0.000,6,0.000,0.032,2143,2305,1920
$GC,20849,0.66,246.2,541.3,7.1,465,20850,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2305,1921
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$STATE,29152,end climb,SURFACE_DEPTH_REACHED
$STATE,29152,begin surface coast
$FINISH,1.3,1.013356
$STATE,29174,end surface coast,CONTROL_FINISHED_OK
$STATE,29174,begin surface
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$TT8_MAMPS,0.027612
$HUMID,1735
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$TCM_TEMP,15.40
$XPDR_PINGS,60
$24V_AH,21.8,98.970
$10V_AH,10.4,84.915
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$DEVICE_SECS,19.850,214.575,395.050,0.000,0.000,54.629,54.446,229.115,15.000,0.000,0.000,34.266,1690.178,24443.391,533.518,2158.053,1009.140,33.389,1668.479,0.000,2117.316,0.000,0.528,0.000
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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,44282,754
$CAP_FILE_SIZE,186064,0
$CFSIZE,260165632,205111296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,280110,153154,4955.219,-14225.378,41,1.1,41,18.9