version: 66.04
glider: 144
mission: 15
dive: 700
start: 2 1 110 9 41 11
data:
$ID,144
$MISSION,15
$DIVE,700
$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,-75840.914
$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,32
$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
$GPS1,093326,4949.274,-14125.311,44,2.6,63,19.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-59.9
$GPS2,094014,4949.285,-14125.375,10,1.2,10,19.0
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.149,-0.077
$KALMAN_X,-83842.6,161.4,-119.1,349937.2,1009.8
$KALMAN_Y,36951.7,-258.5,-134.2,-95256.7,1833.9
$MHEAD_RNG_PITCHd_Wd,98.2,200644,-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,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.15,0.000,2,0.000,0.000,99,2317,2635
$GC,63,-0.68,-117.3,3.5,-5.6,2,95,7.20,2.35,-19.58,0.000,4,0.235,0.060,1849,891,3410
$GC,175,-0.68,-117.3,16.5,-10.7,7,179,0.00,2.25,0.00,0.000,6,0.000,0.038,1849,2302,3412
$GC,498,-0.65,-117.3,49.0,-10.2,23,502,0.00,2.28,0.00,0.000,4,0.000,0.041,1849,887,3412
$GC,539,-0.65,-117.3,53.1,-9.5,25,543,0.00,2.25,0.00,0.000,6,0.000,0.037,1840,2309,3412
$GC,860,-0.61,-117.3,87.0,-9.9,43,865,0.10,2.28,0.00,0.000,4,0.134,0.041,1868,890,3413
$GC,906,-0.66,-117.3,91.1,-8.4,46,912,0.00,2.22,0.00,0.000,6,0.000,0.036,1863,2308,3412
$GC,1236,-0.69,-117.3,116.6,-7.6,77,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2308,3413
$GC,1563,-0.75,-117.3,137.4,-6.5,108,1568,0.10,2.25,0.00,0.000,4,0.063,0.041,1778,890,3413
$GC,1594,-0.70,-117.3,140.1,-10.1,110,1599,0.28,2.22,0.00,0.000,6,0.117,0.036,1851,2309,3413
$GC,1919,-0.75,-117.3,162.6,-6.6,129,1923,0.00,2.30,0.00,0.000,4,0.000,0.054,1844,3711,3413
$GC,1942,-0.79,-117.3,164.3,-6.7,129,1949,0.00,2.20,0.00,0.000,6,0.000,0.029,1844,2295,3412
$GC,2257,-0.83,-117.3,183.8,-6.1,140,2262,0.10,2.28,0.00,0.000,4,0.064,0.041,1766,892,3413
$GC,2297,-0.72,-117.3,187.5,-10.3,141,2302,0.30,2.25,0.00,0.000,6,0.117,0.038,1844,2301,3412
$GC,2623,-0.76,-117.3,209.8,-6.8,152,2626,0.00,2.25,0.00,0.000,4,0.000,0.041,1844,897,3412
$GC,2653,-0.80,-117.3,211.9,-7.8,152,2659,0.00,2.22,0.00,0.000,6,0.000,0.037,1837,2305,3412
$GC,2967,-0.83,-117.3,233.8,-7.0,163,2971,0.00,2.28,0.00,0.000,4,0.000,0.042,1837,892,3412
$GC,2998,-0.86,-117.3,236.0,-7.8,164,3003,0.08,2.28,0.00,0.000,6,0.080,0.040,1771,2308,3412
$GC,3335,-0.76,-117.3,271.7,-10.9,175,3337,0.20,0.00,0.00,0.000,6,0.121,0.000,1831,2308,3412
$GC,3640,-0.79,-117.3,293.9,-7.2,185,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2308,3412
$GC,3974,-0.81,-117.3,318.5,-7.4,192,3978,0.00,2.28,0.00,0.000,4,0.000,0.043,1832,902,3412
$GC,4021,-0.85,-117.3,322.2,-8.3,192,4025,0.00,2.25,0.00,0.000,6,0.000,0.041,1825,2306,3412
$GC,4337,-0.85,-117.3,346.2,-7.6,198,4341,0.00,2.30,0.00,0.000,4,0.000,0.044,1825,894,3412
$GC,4361,-0.85,-117.3,348.1,-8.0,198,4365,0.00,2.28,0.00,0.000,6,0.000,0.038,1816,2308,3412
$GC,4699,-0.85,-117.3,375.2,-8.0,204,4703,0.00,2.28,0.00,0.000,4,0.000,0.046,1816,903,3411
$GC,4734,-0.85,-117.3,378.2,-8.1,204,4738,0.00,2.25,0.00,0.000,6,0.000,0.044,1808,2304,3411
$GC,5062,-0.85,-117.3,404.2,-7.9,210,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3412
$GC,5365,-0.85,-117.3,426.4,-7.2,215,5369,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,901,3410
$GC,5416,-0.85,-117.3,430.4,-7.7,215,5420,0.00,2.28,0.00,0.000,6,0.000,0.041,1798,2311,3410
$GC,5727,-0.82,-117.3,454.2,-7.8,220,5732,0.10,2.30,0.00,0.000,4,0.135,0.050,1826,903,3410
$GC,5784,-0.86,-117.3,458.5,-7.2,220,5791,0.00,2.25,0.00,0.000,6,0.000,0.045,1821,2302,3411
$GC,6095,-0.86,-117.3,480.2,-7.0,226,6099,0.00,2.30,0.00,0.000,4,0.000,0.044,1821,891,3410
$GC,6136,-0.88,-117.3,483.3,-7.6,226,6140,0.00,2.30,0.00,0.000,6,0.000,0.038,1812,2318,3410
$GC,6457,-0.88,-117.3,508.9,-8.0,232,6458,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2318,3410
$GC,6760,-0.88,-117.3,532.8,-7.9,237,6764,0.00,2.30,0.00,0.000,4,0.000,0.045,1812,903,3410
$GC,6805,-0.88,-117.3,536.6,-8.4,237,6809,0.00,2.28,0.00,0.000,6,0.000,0.045,1809,2313,3410
$GC,7122,-0.88,-117.3,559.6,-7.2,243,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2313,3410
$GC,7424,-0.88,-117.3,578.5,-6.1,248,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2313,3409
$GC,7727,-0.88,-117.3,596.2,-5.8,253,7731,0.00,2.30,0.00,0.000,4,0.000,0.046,1808,898,3409
$GC,7783,-0.88,-117.3,599.8,-6.4,253,7789,0.00,2.28,0.00,0.000,6,0.000,0.040,1799,2311,3409
$GC,8095,-0.88,-117.3,620.0,-6.6,259,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2311,3409
$GC,8397,-0.88,-117.3,641.4,-7.1,264,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2311,3409
$GC,8700,-0.88,-117.3,663.1,-7.1,269,8704,0.00,2.30,0.00,0.000,4,0.000,0.048,1800,896,3408
$GC,8734,-0.88,-117.3,665.8,-8.5,269,8738,0.00,2.28,0.00,0.000,6,0.000,0.046,1794,2312,3408
$GC,9067,-0.85,-117.3,691.3,-7.7,275,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2312,3409
$GC,9371,-0.83,-117.3,715.6,-8.0,280,9376,0.10,2.35,0.00,0.000,4,0.133,0.048,1823,894,3408
$GC,9422,-0.88,-117.3,719.7,-7.6,280,9426,0.00,2.28,0.00,0.000,6,0.000,0.042,1822,2304,3408
$GC,9733,-0.92,-117.3,741.1,-6.9,285,9738,0.08,2.30,0.00,0.000,4,0.082,0.047,1760,894,3408
$GC,9768,-0.84,-117.3,744.3,-9.9,285,9773,0.22,2.28,0.00,0.000,6,0.123,0.043,1820,2306,3408
$GC,10096,-0.88,-117.3,767.1,-6.7,291,10100,0.00,2.30,0.00,0.000,4,0.000,0.045,1820,900,3408
$GC,10119,-0.92,-117.3,768.9,-7.2,291,10123,0.00,2.28,0.00,0.000,6,0.000,0.046,1820,2304,3408
$GC,10464,-0.96,-117.3,791.4,-6.6,297,10469,0.10,2.28,0.00,0.000,4,0.066,0.045,1757,894,3408
$GC,10493,-0.91,-117.3,794.0,-9.0,297,10498,0.17,2.30,0.00,0.000,6,0.129,0.045,1803,2313,3407
$GC,10832,-0.91,-117.3,817.4,-6.7,303,10835,0.00,2.30,0.00,0.000,4,0.000,0.049,1803,897,3407
$GC,10872,-0.91,-117.3,820.4,-7.4,303,10876,0.00,2.28,0.00,0.000,6,0.000,0.041,1795,2313,3407
$GC,11200,-0.91,-117.3,843.2,-7.0,309,11204,0.00,2.30,0.00,0.000,4,0.000,0.050,1795,898,3407
$GC,11234,-0.91,-117.3,846.0,-8.1,309,11238,0.00,2.28,0.00,0.000,6,0.000,0.045,1791,2309,3407
$GC,11561,-0.91,-117.3,868.9,-6.9,315,11562,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2309,3407
$GC,11864,-0.91,-117.3,889.0,-6.6,320,11869,0.00,2.35,0.00,0.000,4,0.000,0.048,1792,894,3407
$GC,11904,-0.91,-117.3,892.0,-8.1,320,11909,0.10,2.30,0.00,0.000,6,0.130,0.042,1808,2308,3407
$GC,12226,-0.93,-117.3,911.0,-5.9,326,12228,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3407
$GC,12529,-0.96,-117.3,928.9,-5.9,331,12533,0.00,2.33,0.00,0.000,4,0.000,0.053,1808,897,3407
$GC,12571,-0.98,-117.3,931.5,-6.7,331,12575,0.08,2.28,0.00,0.000,6,0.087,0.041,1770,2302,3407
$GC,12892,-0.93,-117.3,957.2,-8.1,337,12894,0.10,0.00,0.00,0.000,6,0.134,0.000,1796,2302,3407
$GC,13195,-0.93,-117.3,977.6,-6.6,342,13196,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2302,3407
$STATE,13434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13434,begin apogee
$GC,13443,-0.22,0.0,993.2,6.5,346,13545,0.47,0.00,98.45,1.282,6,0.111,0.000,1951,2302,2931
$STATE,13545,end apogee,CONTROL_FINISHED_OK
$STATE,13545,begin climb
$GC,13549,0.68,117.3,994.8,0.0,347,13661,0.57,2.58,104.28,1.254,4,0.072,0.055,2152,3704,2451
$GC,13713,0.50,117.3,991.3,7.0,349,13718,0.22,2.35,0.00,0.000,6,0.164,0.033,2108,2306,2446
$GC,14046,0.49,136.2,974.7,4.9,355,14064,0.00,0.00,16.20,1.154,6,0.000,0.000,2108,2306,2375
$GC,14349,0.50,147.5,959.3,5.1,360,14362,0.00,0.00,11.07,1.095,6,0.000,0.000,2108,2306,2329
$GC,14652,0.52,157.5,943.7,5.2,365,14666,0.00,2.35,9.82,1.066,4,0.000,0.052,2108,3717,2289
$GC,14703,0.47,157.5,940.5,6.6,365,14707,0.00,2.28,0.00,0.000,6,0.000,0.040,2117,2294,2287
$GC,15019,0.45,157.5,922.7,5.7,371,15023,0.00,2.30,0.00,0.000,4,0.000,0.052,2117,3708,2286
$GC,15053,0.38,157.5,920.4,6.8,371,15058,0.17,2.22,0.00,0.000,6,0.153,0.037,2081,2303,2284
$GC,15387,0.51,176.9,904.4,4.8,377,15412,0.10,2.35,18.27,1.146,4,0.074,0.053,2144,892,2208
$GC,15470,0.46,176.9,899.4,6.5,378,15474,0.17,2.25,0.00,0.000,6,0.136,0.041,2096,2308,2206
$GC,15826,0.55,213.4,883.9,4.3,384,15866,0.08,2.35,33.10,1.173,4,0.081,0.055,2142,3707,2060
$GC,15907,0.47,213.4,878.2,8.5,385,15912,0.20,2.22,0.00,0.000,6,0.143,0.041,2099,2304,2058
$GC,16258,0.56,242.8,861.9,4.5,391,16292,0.10,2.38,26.73,1.143,4,0.068,0.055,2162,891,1940
$GC,16323,0.53,242.8,857.3,7.4,392,16328,0.17,2.28,0.00,0.000,6,0.130,0.041,2115,2306,1938
$GC,16690,0.58,242.8,836.3,5.7,398,16694,0.00,2.28,0.00,0.000,4,0.000,0.049,2115,3711,1935
$GC,16742,0.58,242.8,832.8,7.4,398,16746,0.00,2.22,0.00,0.000,6,0.000,0.036,2123,2300,1935
$GC,17053,0.61,242.8,813.3,6.3,403,17054,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2299,1934
$GC,17356,0.64,242.8,793.8,6.5,408,17357,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2300,1933
$GC,17659,0.66,242.8,773.7,6.7,413,17660,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2300,1932
$GC,17963,0.69,242.8,753.1,6.8,418,17964,0.10,0.00,0.00,0.000,6,0.065,0.000,2180,2299,1932
$GC,18265,0.59,242.8,722.2,10.4,423,18270,0.20,2.33,0.00,0.000,4,0.138,0.050,2119,3708,1932
$GC,18321,0.59,242.8,717.5,7.1,423,18327,0.00,2.22,0.00,0.000,6,0.000,0.033,2127,2290,1932
$GC,18633,0.61,242.8,698.5,6.0,429,18634,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2290,1932
$GC,18935,0.61,242.8,680.3,6.0,434,18939,0.00,2.33,0.00,0.000,4,0.000,0.049,2127,3714,1932
$GC,18970,0.61,242.8,677.8,7.0,434,18974,0.00,2.22,0.00,0.000,6,0.000,0.032,2137,2297,1932
$GC,19298,0.61,242.8,654.7,7.0,440,19299,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2297,1931
$GC,19602,0.61,242.8,633.0,7.1,445,19606,0.00,2.30,0.00,0.000,4,0.000,0.048,2137,3708,1931
$GC,19642,0.57,242.8,629.7,7.8,445,19646,0.10,2.20,0.00,0.000,6,0.143,0.032,2122,2303,1931
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$STATE,29381,end climb,SURFACE_DEPTH_REACHED
$STATE,29381,begin surface coast
$FINISH,1.6,1.012051
$STATE,29406,end surface coast,CONTROL_FINISHED_OK
$STATE,29407,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1748
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$TCM_TEMP,15.80
$XPDR_PINGS,69
$24V_AH,21.8,100.676
$10V_AH,10.3,86.264
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$DEVICE_SECS,19.400,250.475,398.725,0.000,0.000,22.302,29.913,185.672,17.250,0.000,0.000,12.476,1713.104,24507.588,547.276,2170.730,943.949,33.384,1727.760,0.000,2149.660,0.000,0.527,0.000
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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,44331,760
$CAP_FILE_SIZE,190191,0
$CFSIZE,260165632,204173312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010210,175400,4947.467,-14120.542,39,1.1,39,19.0