version: 66.04
glider: 144
mission: 15
dive: 705
start: 2 3 110 2 20 56
data:
$ID,144
$MISSION,15
$DIVE,705
$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,-75957.547
$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,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
$GPS1,021336,4944.978,-14058.908,35,1.4,35,19.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-60.5
$GPS2,022002,4944.975,-14058.936,14,1.4,14,19.1
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.166,-0.021
$KALMAN_X,-81693.7,10.1,-8.3,379075.6,638.4
$KALMAN_Y,35907.4,41.6,-108.1,-102519.7,-46.8
$MHEAD_RNG_PITCHd_Wd,78.3,168113,-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,16,begin dive
$GC,20,-0.68,-117.3,0.0,0.0,0,62,0.00,0.00,-40.33,0.000,2,0.000,0.000,99,2310,2591
$GC,67,-0.68,-117.3,3.5,-5.3,2,102,7.15,2.40,-22.10,0.000,4,0.229,0.062,1849,890,3412
$GC,200,-0.68,-117.3,17.8,-12.6,8,204,0.00,2.28,0.00,0.000,6,0.000,0.039,1849,2300,3414
$GC,529,-0.65,-117.3,51.6,-9.6,24,533,0.00,2.28,0.00,0.000,4,0.000,0.041,1849,886,3414
$GC,619,-0.65,-117.3,60.6,-10.1,28,623,0.00,2.25,0.00,0.000,6,0.000,0.036,1840,2307,3414
$GC,946,-0.62,-117.3,92.0,-8.9,50,951,0.10,2.30,0.00,0.000,4,0.136,0.040,1867,886,3414
$GC,999,-0.68,-117.3,96.4,-7.0,54,1003,0.00,2.25,0.00,0.000,6,0.000,0.036,1863,2308,3414
$GC,1331,-0.72,-117.3,121.7,-7.9,84,1335,0.00,2.28,0.00,0.000,4,0.000,0.051,1854,3712,3414
$GC,1366,-0.77,-117.3,125.0,-8.2,86,1373,0.00,2.20,0.00,0.000,6,0.000,0.030,1853,2290,3414
$GC,1699,-0.82,-117.3,149.2,-6.9,117,1703,0.10,2.25,0.00,0.000,4,0.068,0.041,1772,897,3414
$GC,1796,-0.71,-117.3,160.8,-11.9,120,1801,0.28,2.25,0.00,0.000,6,0.120,0.036,1845,2310,3414
$GC,2134,-0.75,-117.3,184.4,-6.4,131,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2310,3414
$GC,2439,-0.79,-117.3,204.6,-6.4,141,2443,0.00,2.28,0.00,0.000,4,0.000,0.041,1845,903,3414
$GC,2490,-0.84,-117.3,208.3,-7.3,142,2494,0.08,2.22,0.00,0.000,6,0.077,0.037,1771,2305,3414
$GC,2810,-0.73,-117.3,243.6,-11.8,153,2815,0.20,2.30,0.00,0.000,4,0.122,0.041,1836,898,3414
$GC,2884,-0.76,-117.3,250.8,-8.9,155,2888,0.00,2.25,0.00,0.000,6,0.000,0.039,1836,2299,3414
$GC,3209,-0.79,-117.3,275.5,-7.2,166,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2299,3414
$GC,3516,-0.82,-117.3,295.6,-6.2,176,3520,0.00,2.28,0.00,0.000,4,0.000,0.043,1836,899,3414
$GC,3561,-0.85,-117.3,298.9,-7.2,177,3566,0.00,2.25,0.00,0.000,6,0.000,0.038,1836,2313,3414
$GC,3884,-0.88,-117.3,318.7,-6.2,183,3888,0.10,2.28,0.00,0.000,4,0.067,0.042,1766,890,3413
$GC,3925,-0.78,-117.3,322.5,-10.1,183,3930,0.25,2.30,0.00,0.000,6,0.118,0.044,1829,2314,3413
$GC,4247,-0.80,-117.3,346.5,-7.3,189,4251,0.00,2.33,0.00,0.000,4,0.000,0.045,1829,900,3413
$GC,4310,-0.82,-117.3,351.7,-8.5,190,4315,0.00,2.22,0.00,0.000,6,0.000,0.037,1823,2305,3413
$GC,4684,-0.82,-117.3,381.8,-8.0,196,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2305,3413
$GC,4986,-0.82,-117.3,403.3,-7.0,201,4990,0.00,2.28,0.00,0.000,4,0.000,0.044,1823,901,3412
$GC,5026,-0.82,-117.3,406.1,-7.2,201,5030,0.00,2.28,0.00,0.000,6,0.000,0.044,1817,2311,3412
$GC,5353,-0.82,-117.3,428.7,-6.9,207,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2311,3412
$GC,5656,-0.82,-117.3,448.8,-6.6,212,5660,0.00,2.30,0.00,0.000,4,0.000,0.045,1817,896,3412
$GC,5730,-0.82,-117.3,453.8,-7.0,213,5734,0.00,2.28,0.00,0.000,6,0.000,0.038,1808,2313,3412
$GC,6085,-0.82,-117.3,478.9,-7.2,219,6089,0.00,2.30,0.00,0.000,4,0.000,0.044,1808,893,3412
$GC,6113,-0.82,-117.3,481.2,-8.3,219,6118,0.10,2.25,0.00,0.000,6,0.126,0.044,1825,2309,3412
$GC,6453,-0.85,-117.3,503.9,-6.7,225,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2309,3411
$GC,6755,-0.89,-117.3,522.7,-6.2,230,6759,0.00,2.30,0.00,0.000,4,0.000,0.045,1825,894,3411
$GC,6800,-0.92,-117.3,525.7,-6.2,230,6805,0.10,2.25,0.00,0.000,6,0.064,0.039,1761,2305,3411
$GC,7129,-0.83,-117.3,556.2,-9.4,236,7134,0.17,2.33,0.00,0.000,4,0.124,0.044,1819,893,3411
$GC,7214,-0.85,-117.3,562.3,-6.3,237,7218,0.00,2.25,0.00,0.000,6,0.000,0.045,1811,2312,3411
$GC,7564,-0.85,-117.3,581.9,-5.4,243,7568,0.00,2.30,0.00,0.000,4,0.000,0.046,1811,903,3410
$GC,7616,-0.85,-117.3,585.1,-6.0,243,7621,0.00,2.25,0.00,0.000,6,0.000,0.041,1806,2306,3410
$GC,7927,-0.85,-117.3,603.7,-6.1,248,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2307,3410
$GC,8230,-0.85,-117.3,623.0,-6.5,253,8234,0.00,2.33,0.00,0.000,4,0.000,0.051,1806,894,3410
$GC,8265,-0.85,-117.3,625.5,-7.6,253,8269,0.00,2.28,0.00,0.000,6,0.000,0.038,1796,2302,3410
$GC,8594,-0.83,-117.3,650.0,-7.6,259,8596,0.10,0.00,0.00,0.000,6,0.133,0.000,1824,2302,3410
$GC,8896,-0.87,-117.3,669.7,-6.4,264,8900,0.00,2.30,0.00,0.000,4,0.000,0.048,1824,896,3410
$GC,8942,-0.92,-117.3,672.8,-6.8,264,8946,0.00,2.28,0.00,0.000,6,0.000,0.046,1822,2306,3410
$GC,9260,-0.95,-117.3,692.3,-6.1,270,9262,0.10,0.00,0.00,0.000,6,0.065,0.000,1754,2307,3410
$GC,9564,-0.85,-117.3,720.2,-9.4,275,9568,0.17,2.33,0.00,0.000,4,0.125,0.046,1813,903,3409
$GC,9643,-0.88,-117.3,726.5,-7.8,276,9647,0.00,2.25,0.00,0.000,6,0.000,0.040,1809,2304,3409
$GC,9999,-0.88,-117.3,749.3,-6.4,282,10003,0.00,2.28,0.00,0.000,4,0.000,0.049,1809,897,3409
$GC,10033,-0.88,-117.3,751.8,-7.1,282,10037,0.00,2.28,0.00,0.000,6,0.000,0.041,1807,2311,3409
$GC,10360,-0.88,-117.3,771.4,-5.9,288,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2311,3409
$GC,10663,-0.88,-117.3,788.0,-5.5,293,10668,0.00,2.30,0.00,0.000,4,0.000,0.050,1807,903,3409
$GC,10705,-0.88,-117.3,790.5,-6.1,293,10709,0.00,2.28,0.00,0.000,6,0.000,0.044,1798,2314,3409
$GC,11026,-0.88,-117.3,809.6,-6.0,299,11027,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2314,3409
$GC,11329,-0.88,-117.3,830.4,-7.0,304,11333,0.00,2.30,0.00,0.000,4,0.000,0.048,1798,904,3409
$GC,11393,-0.88,-117.3,835.4,-7.9,305,11397,0.00,2.28,0.00,0.000,6,0.000,0.043,1794,2311,3409
$GC,11761,-0.88,-117.3,862.5,-7.4,311,11765,0.00,2.33,0.00,0.000,4,0.000,0.051,1794,902,3408
$GC,11789,-0.88,-117.3,864.8,-8.4,311,11794,0.10,2.30,0.00,0.000,6,0.128,0.040,1811,2312,3408
$GC,12122,-0.91,-117.3,886.3,-6.5,317,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2312,3408
$GC,12426,-0.94,-117.3,906.5,-6.6,322,12430,0.00,2.33,0.00,0.000,4,0.000,0.050,1812,896,3408
$GC,12483,-0.98,-117.3,910.8,-7.6,322,12489,0.08,2.28,0.00,0.000,6,0.090,0.047,1770,2303,3408
$GC,12794,-0.92,-117.3,937.3,-8.6,328,12798,0.12,2.35,0.00,0.000,4,0.126,0.051,1796,3716,3408
$GC,12834,-0.92,-117.3,940.4,-7.2,328,12838,0.00,2.25,0.00,0.000,6,0.000,0.035,1796,2308,3407
$GC,13155,-0.92,-117.3,963.1,-7.0,334,13159,0.00,2.33,0.00,0.000,4,0.000,0.048,1796,896,3408
$GC,13206,-0.92,-117.3,967.3,-8.2,334,13210,0.00,2.30,0.00,0.000,6,0.000,0.042,1794,2310,3408
$STATE,13512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13513,begin apogee
$GC,13521,-0.22,0.0,991.4,7.9,339,13623,0.50,0.00,98.88,1.281,6,0.114,0.000,1953,2310,2931
$STATE,13624,end apogee,CONTROL_FINISHED_OK
$STATE,13624,begin climb
$GC,13629,0.68,117.3,993.5,0.0,340,13740,0.55,2.55,104.18,1.258,4,0.070,0.054,2148,3708,2451
$GC,13768,0.57,153.7,994.7,4.3,342,13808,0.15,2.40,34.03,1.212,6,0.158,0.038,2126,2308,2303
$GC,14126,0.56,175.6,978.0,4.8,348,14149,0.00,0.00,19.35,1.178,6,0.000,0.000,2126,2309,2214
$GC,14496,0.55,186.7,959.1,5.1,354,14512,0.00,2.33,10.48,1.087,4,0.000,0.050,2126,3718,2169
$GC,14548,0.49,186.7,956.0,6.1,354,14553,0.12,2.28,0.00,0.000,6,0.156,0.037,2103,2296,2169
$GC,14859,0.55,212.8,941.4,4.6,359,14885,0.00,0.00,24.52,1.190,6,0.000,0.000,2103,2295,2064
$GC,15162,0.62,233.7,926.9,4.8,364,15184,0.12,0.00,19.85,1.165,6,0.062,0.000,2160,2296,1978
$GC,15466,0.54,233.7,901.3,8.8,369,15471,0.17,2.33,0.00,0.000,4,0.135,0.051,2111,3719,1973
$GC,15511,0.54,233.7,897.6,7.2,369,15515,0.00,2.25,0.00,0.000,6,0.000,0.038,2119,2299,1973
$GC,15827,0.57,233.7,878.5,6.0,375,15828,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2298,1972
$GC,16130,0.59,233.7,861.3,5.6,380,16131,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2299,1971
$GC,16434,0.61,233.7,842.8,6.2,385,16438,0.00,2.35,0.00,0.000,4,0.000,0.049,2119,3714,1971
$GC,16464,0.61,233.7,840.8,6.4,385,16468,0.00,2.25,0.00,0.000,6,0.000,0.038,2129,2306,1971
$GC,16797,0.61,233.7,818.4,6.7,391,16801,0.00,2.33,0.00,0.000,4,0.000,0.052,2139,886,1970
$GC,16825,0.61,233.7,816.3,7.8,391,16829,0.00,2.28,0.00,0.000,6,0.000,0.038,2139,2306,1970
$GC,17160,0.59,233.7,791.1,7.6,397,17164,0.00,2.28,0.00,0.000,4,0.000,0.052,2139,3708,1970
$GC,17217,0.53,233.7,785.9,8.4,397,17224,0.15,2.22,0.00,0.000,6,0.137,0.033,2109,2292,1970
$GC,17529,0.58,233.7,765.8,6.4,403,17533,0.00,2.25,0.00,0.000,4,0.000,0.048,2118,896,1970
$GC,17558,0.65,233.7,763.7,6.5,403,17562,0.08,2.25,0.00,0.000,6,0.083,0.038,2169,2308,1969
$GC,17896,0.56,233.7,730.9,9.8,409,17901,0.17,2.28,0.00,0.000,4,0.134,0.054,2120,3716,1969
$GC,17958,0.56,233.7,725.6,8.0,409,17964,0.00,2.20,0.00,0.000,6,0.000,0.032,2128,2302,1969
$GC,18269,0.56,233.7,706.7,5.9,415,18273,0.00,2.25,0.00,0.000,4,0.000,0.047,2139,895,1969
$GC,18292,0.56,233.7,705.3,5.9,415,18296,0.00,2.25,0.00,0.000,6,0.000,0.039,2138,2308,1969
$GC,18637,0.56,233.7,682.6,6.7,421,18641,0.00,2.25,0.00,0.000,4,0.000,0.048,2138,3708,1969
$GC,18695,0.51,233.7,678.1,8.2,421,18700,0.15,2.20,0.00,0.000,6,0.135,0.033,2108,2296,1969
$GC,19007,0.59,247.9,661.9,5.0,426,19031,0.00,2.30,14.57,0.864,4,0.000,0.046,2116,890,1920
$GC,19056,0.71,282.8,659.4,4.3,426,19096,0.12,2.28,33.40,1.032,6,0.058,0.043,2196,2315,1776
$GC,19446,0.59,282.8,617.8,11.3,433,19450,0.22,2.28,0.00,0.000,4,0.138,0.053,2126,3706,1770
$GC,19519,0.59,282.8,611.1,7.5,434,19523,0.00,2.22,0.00,0.000,6,0.000,0.032,2135,2304,1770
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$STATE,28282,end climb,SURFACE_DEPTH_REACHED
$STATE,28282,begin surface coast
$FINISH,1.5,1.025359
$STATE,28304,end surface coast,CONTROL_FINISHED_OK
$STATE,28304,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1745
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$TCM_TEMP,15.80
$XPDR_PINGS,78
$24V_AH,21.7,101.404
$10V_AH,10.3,86.816
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$DEVICE_SECS,19.275,254.950,432.075,0.000,0.000,28.265,25.055,161.779,19.500,0.000,0.000,15.549,1693.020,23318.680,571.322,2251.201,922.646,33.387,1794.203,0.000,2230.089,0.000,0.527,0.000
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$SENSOR_SECS,506.229,596.949,749.464,780.851,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41266,720
$CAP_FILE_SIZE,192066,0
$CFSIZE,260165632,203788288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,101524,4944.740,-14052.398,40,1.3,41,19.1