version: 66.04
glider: 144
mission: 15
dive: 712
start: 2 5 110 11 27 52
data:
$ID,144
$MISSION,15
$DIVE,712
$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,-76156.422
$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,35
$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
$GPS1,111613,4941.068,-14019.811,36,1.5,43,19.2
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-63.1
$GPS2,112656,4941.105,-14019.783,31,3.8,50,19.2
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.166,-0.024
$KALMAN_X,-76626.9,-134.9,-74.9,420485.1,1208.1
$KALMAN_Y,37699.1,54.2,45.9,-111644.1,69.2
$MHEAD_RNG_PITCHd_Wd,79.1,120574,-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,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.35,0.000,2,0.000,0.000,98,2305,2495
$GC,64,-0.68,-117.3,3.0,-4.9,2,107,7.30,2.38,-26.17,0.000,4,0.233,0.067,1839,3697,3412
$GC,316,-0.65,-117.3,29.6,-10.7,13,320,0.00,2.20,0.00,0.000,6,0.000,0.030,1839,2301,3413
$GC,639,-0.60,-117.3,65.1,-11.2,29,643,0.12,2.28,0.00,0.000,4,0.127,0.041,1878,897,3413
$GC,725,-0.65,-117.3,73.2,-8.8,33,729,0.00,2.22,0.00,0.000,6,0.000,0.038,1875,2300,3413
$GC,1055,-0.69,-117.3,102.1,-8.9,60,1061,0.10,0.00,0.00,0.000,6,0.062,0.000,1798,2301,3413
$GC,1385,-0.60,-117.3,139.9,-10.7,91,1390,0.20,2.28,0.00,0.000,4,0.121,0.040,1865,887,3413
$GC,1444,-0.67,-117.3,145.1,-7.5,95,1450,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2309,3413
$GC,1771,-0.72,-117.3,164.9,-5.9,111,1775,0.00,2.30,0.00,0.000,4,0.000,0.051,1853,3714,3413
$GC,1806,-0.78,-117.3,167.3,-6.5,112,1811,0.08,2.20,0.00,0.000,6,0.077,0.030,1790,2300,3413
$GC,2138,-0.71,-117.3,199.0,-9.8,123,2143,0.17,2.30,0.00,0.000,4,0.115,0.044,1850,896,3413
$GC,2229,-0.77,-117.3,206.0,-7.0,125,2235,0.00,2.25,0.00,0.000,6,0.000,0.037,1850,2304,3413
$GC,2544,-0.81,-117.3,226.3,-6.4,136,2549,0.10,2.30,0.00,0.000,4,0.064,0.050,1757,3707,3413
$GC,2573,-0.73,-117.3,229.2,-10.7,136,2580,0.22,2.22,0.00,0.000,6,0.114,0.030,1843,2304,3413
$GC,2887,-0.77,-117.3,251.7,-7.0,147,2891,0.00,2.28,0.00,0.000,4,0.000,0.043,1843,890,3413
$GC,2929,-0.83,-117.3,254.9,-7.8,148,2933,0.00,2.25,0.00,0.000,6,0.000,0.038,1837,2302,3413
$GC,3254,-0.86,-117.3,279.1,-7.4,159,3256,0.10,0.00,0.00,0.000,6,0.065,0.000,1756,2303,3413
$GC,3559,-0.73,-117.3,316.0,-12.4,167,3564,0.25,2.30,0.00,0.000,4,0.120,0.043,1839,897,3413
$GC,3629,-0.78,-117.3,322.1,-7.7,168,3634,0.00,2.28,0.00,0.000,6,0.000,0.044,1836,2313,3413
$GC,3991,-0.81,-117.3,349.2,-7.4,174,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2313,3413
$GC,4294,-0.84,-117.3,369.5,-6.7,179,4298,0.00,2.30,0.00,0.000,4,0.000,0.045,1836,898,3412
$GC,4335,-0.89,-117.3,372.4,-7.3,179,4340,0.12,2.25,0.00,0.000,6,0.057,0.040,1754,2305,3412
$GC,4657,-0.77,-117.3,406.1,-10.7,185,4659,0.28,0.00,0.00,0.000,6,0.119,0.000,1839,2305,3411
$GC,4960,-0.82,-117.3,422.7,-5.2,190,4964,0.00,2.30,0.00,0.000,4,0.000,0.043,1839,891,3411
$GC,5006,-0.88,-117.3,425.4,-6.0,190,5011,0.10,2.30,0.00,0.000,6,0.064,0.044,1766,2312,3411
$GC,5323,-0.78,-117.3,455.4,-9.9,196,5325,0.22,0.00,0.00,0.000,6,0.117,0.000,1835,2312,3411
$GC,5626,-0.83,-117.3,474.3,-6.1,201,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2312,3411
$GC,5931,-0.87,-117.3,492.7,-6.0,206,5936,0.10,2.30,0.00,0.000,4,0.066,0.043,1764,900,3411
$GC,5983,-0.79,-117.3,497.6,-9.7,206,5988,0.25,2.28,0.00,0.000,6,0.120,0.041,1828,2313,3411
$GC,6295,-0.82,-117.3,518.1,-6.4,211,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2313,3411
$GC,6597,-0.86,-117.3,536.8,-6.1,216,6601,0.00,2.28,0.00,0.000,4,0.000,0.045,1828,901,3411
$GC,6644,-0.91,-117.3,539.8,-6.9,216,6648,0.00,2.25,0.00,0.000,6,0.000,0.042,1823,2303,3411
$GC,6972,-0.93,-117.3,559.9,-6.1,222,6977,0.10,2.30,0.00,0.000,4,0.066,0.053,1742,3709,3410
$GC,7018,-0.81,-117.3,564.4,-11.5,222,7023,0.28,2.22,0.00,0.000,6,0.123,0.033,1823,2304,3410
$GC,7335,-0.84,-117.3,585.5,-6.5,228,7339,0.00,2.28,0.00,0.000,4,0.000,0.045,1823,898,3410
$GC,7386,-0.88,-117.3,589.2,-7.2,228,7390,0.00,2.28,0.00,0.000,6,0.000,0.043,1822,2309,3410
$GC,7697,-0.91,-117.3,609.7,-6.7,233,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2309,3410
$GC,8000,-0.94,-117.3,629.1,-6.4,238,8005,0.10,2.30,0.00,0.000,4,0.066,0.048,1754,894,3410
$GC,8047,-0.84,-117.3,633.4,-10.4,238,8051,0.25,2.28,0.00,0.000,6,0.121,0.038,1817,2310,3409
$GC,8363,-0.86,-117.3,655.5,-6.8,244,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2311,3409
$GC,8666,-0.89,-117.3,675.7,-6.7,249,8670,0.00,2.30,0.00,0.000,4,0.000,0.047,1817,891,3409
$GC,8713,-0.93,-117.3,679.0,-7.4,249,8717,0.00,2.28,0.00,0.000,6,0.000,0.041,1810,2305,3409
$GC,9028,-0.93,-117.3,701.3,-7.1,255,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2305,3408
$GC,9331,-0.93,-117.3,722.5,-7.0,260,9335,0.00,2.33,0.00,0.000,4,0.000,0.045,1810,892,3409
$GC,9377,-0.93,-117.3,726.0,-7.6,260,9381,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2301,3409
$GC,9705,-0.93,-117.3,747.3,-6.4,266,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3409
$GC,10007,-0.93,-117.3,765.5,-5.9,271,10008,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3408
$GC,10310,-0.93,-117.3,782.8,-5.7,276,10314,0.00,2.35,0.00,0.000,4,0.000,0.047,1808,891,3408
$GC,10345,-0.93,-117.3,785.1,-6.5,276,10349,0.00,2.30,0.00,0.000,6,0.000,0.040,1806,2306,3408
$GC,10673,-0.93,-117.3,803.9,-5.8,282,10677,0.00,2.33,0.00,0.000,4,0.000,0.047,1806,889,3408
$GC,10736,-0.93,-117.3,807.8,-6.5,283,10740,0.00,2.30,0.00,0.000,6,0.000,0.038,1796,2313,3408
$GC,11103,-0.93,-117.3,831.3,-6.5,289,11107,0.00,2.33,0.00,0.000,4,0.000,0.049,1797,899,3408
$GC,11167,-0.93,-117.3,835.6,-7.2,290,11171,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2304,3408
$GC,11539,-0.93,-117.3,860.5,-6.7,296,11543,0.00,2.30,0.00,0.000,4,0.000,0.050,1794,898,3407
$GC,11602,-0.93,-117.3,865.2,-7.3,296,11608,0.00,2.30,0.00,0.000,6,0.000,0.039,1784,2314,3408
$GC,11914,-0.89,-117.3,888.1,-7.5,302,11918,0.00,2.35,0.00,0.000,4,0.000,0.046,1784,896,3408
$GC,11978,-0.87,-117.3,893.3,-7.6,303,11983,0.12,2.30,0.00,0.000,6,0.130,0.040,1816,2302,3408
$GC,12345,-0.91,-117.3,914.4,-5.7,309,12349,0.00,2.33,0.00,0.000,4,0.000,0.053,1816,899,3407
$GC,12403,-0.94,-117.3,918.2,-7.4,309,12409,0.00,2.28,0.00,0.000,6,0.000,0.043,1810,2301,3408
$GC,12714,-0.97,-117.3,938.1,-6.4,315,12718,0.00,2.33,0.00,0.000,4,0.000,0.051,1809,897,3407
$GC,12765,-0.99,-117.3,941.9,-7.4,315,12770,0.10,2.30,0.00,0.000,6,0.077,0.041,1764,2310,3407
$GC,13077,-0.93,-117.3,968.2,-8.6,320,13079,0.12,0.00,0.00,0.000,6,0.133,0.000,1798,2310,3407
$GC,13379,-0.93,-117.3,988.7,-6.6,325,13383,0.00,2.35,0.00,0.000,4,0.000,0.051,1799,901,3407
$STATE,13397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13398,begin apogee
$GC,13409,-0.22,0.0,990.2,6.2,325,13510,0.47,0.00,98.57,1.277,6,0.115,0.000,1952,2306,2931
$STATE,13511,end apogee,CONTROL_FINISHED_OK
$STATE,13511,begin climb
$GC,13516,0.68,117.3,993.6,0.0,327,13626,0.55,0.00,104.20,1.251,6,0.072,0.000,2148,2306,2452
$GC,13948,0.58,117.3,972.7,6.4,334,13950,0.10,0.00,0.00,0.000,6,0.150,0.000,2124,2306,2443
$GC,14248,0.52,117.3,955.3,5.7,339,14252,0.00,2.33,0.00,0.000,4,0.000,0.052,2125,3714,2441
$GC,14283,0.41,117.3,953.0,7.1,339,14288,0.17,2.25,0.00,0.000,6,0.154,0.035,2088,2307,2440
$GC,14611,0.44,143.1,937.6,4.6,345,14639,0.00,2.40,21.45,1.177,4,0.000,0.051,2088,3714,2346
$GC,14663,0.45,149.2,934.8,5.3,345,14676,0.00,2.28,6.95,0.963,6,0.000,0.035,2095,2298,2322
$GC,14980,0.45,149.2,917.3,5.6,351,14981,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2298,2318
$GC,15283,0.46,159.1,901.2,5.2,356,15297,0.00,2.33,9.55,1.052,4,0.000,0.051,2096,3712,2282
$GC,15344,0.44,159.1,897.6,5.7,356,15350,0.00,2.22,0.00,0.000,6,0.000,0.034,2106,2301,2281
$GC,15656,0.46,174.2,881.9,5.0,362,15673,0.00,0.00,14.90,1.110,6,0.000,0.000,2106,2301,2220
$GC,15958,0.49,202.9,868.1,4.5,367,15997,0.00,2.35,28.27,1.083,4,0.000,0.052,2106,3704,2102
$GC,16039,0.49,202.9,863.8,6.4,368,16043,0.00,2.25,0.00,0.000,6,0.000,0.035,2116,2299,2101
$GC,16389,0.51,216.0,846.2,5.1,374,16404,0.00,0.00,12.82,1.067,6,0.000,0.000,2115,2300,2050
$GC,16692,0.55,226.0,830.5,5.2,379,16707,0.00,2.30,9.82,1.015,4,0.000,0.051,2116,3710,2009
$GC,16730,0.55,226.0,828.3,6.5,379,16734,0.00,2.22,0.00,0.000,6,0.000,0.033,2126,2295,2008
$GC,17057,0.55,226.0,807.3,6.5,385,17058,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2295,2007
$GC,17361,0.55,226.0,787.0,6.7,390,17365,0.00,2.33,0.00,0.000,4,0.000,0.051,2126,3723,2005
$GC,17406,0.52,226.0,783.3,8.4,390,17411,0.10,2.25,0.00,0.000,6,0.145,0.034,2111,2293,2005
$GC,17723,0.56,226.0,763.5,6.2,396,17724,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2292,2004
$GC,18027,0.61,226.0,744.4,6.3,401,18028,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2292,2004
$GC,18329,0.65,226.0,726.2,5.9,406,18331,0.10,0.00,0.00,0.000,6,0.068,0.000,2174,2293,2003
$GC,18632,0.55,226.0,698.9,9.3,411,18637,0.20,2.33,0.00,0.000,4,0.134,0.050,2112,3718,2003
$GC,18660,0.55,226.0,696.5,7.7,411,18664,0.00,2.22,0.00,0.000,6,0.000,0.035,2120,2304,2003
$GC,19000,0.58,235.5,678.4,5.2,417,19011,0.00,0.00,9.38,0.927,6,0.000,0.000,2120,2304,1970
$GC,19303,0.63,250.4,663.1,5.0,422,19319,0.00,0.00,14.62,0.978,6,0.000,0.000,2120,2305,1910
$GC,19606,0.68,254.4,646.9,5.4,427,19613,0.10,0.00,4.85,0.727,6,0.065,0.000,2189,2304,1893
$GC,19910,0.56,254.4,616.7,10.3,432,19914,0.22,2.33,0.00,0.000,4,0.135,0.048,2120,3712,1893
$GC,19944,0.56,254.4,613.5,7.7,432,19948,0.00,2.25,0.00,0.000,6,0.000,0.033,2129,2293,1892
$GC,20271,0.56,254.4,591.6,6.7,438,20272,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2294,1892
$GC,20574,0.56,254.4,570.1,7.1,443,20578,0.00,2.35,0.00,0.000,4,0.000,0.048,2129,3714,1892
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$STATE,29123,end climb,SURFACE_DEPTH_REACHED
$STATE,29123,begin surface coast
$FINISH,1.1,1.025450
$STATE,29147,end surface coast,CONTROL_FINISHED_OK
$STATE,29147,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1741
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$TCM_TEMP,15.70
$XPDR_PINGS,75
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$10V_AH,10.3,87.613
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$DEVICE_SECS,20.000,241.000,380.950,0.000,0.000,52.131,52.286,260.749,18.750,0.000,0.000,53.005,1709.247,24228.408,546.504,2283.855,1091.882,33.410,1756.823,0.000,2227.352,0.000,0.527,0.000
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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,44408,746
$CAP_FILE_SIZE,193756,0
$CFSIZE,260165632,203243520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,050210,193636,4940.614,-14014.812,52,1.1,52,19.2