version: 66.04
glider: 144
mission: 15
dive: 731
start: 2 11 110 22 21 32
data:
$ID,144
$MISSION,15
$DIVE,731
$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,-76529.43
$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,37
$R_STBD_OVSHOOT,34
$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
$GPS1,221354,4933.333,-13835.292,42,2.0,42,19.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-63.0
$GPS2,222038,4933.377,-13835.252,10,1.7,10,19.3
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.156,-0.061
$KALMAN_X,-64850.9,-57.2,-44.0,532135.4,503.9
$KALMAN_Y,50091.2,79.4,57.2,-138394.2,1510.1
$MHEAD_RNG_PITCHd_Wd,91.9,285820,-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,-117.3,0.0,0.0,0,63,0.00,0.00,-40.95,0.000,2,0.000,0.000,98,2291,2715
$GC,68,-0.68,-117.3,3.7,-6.4,2,98,7.25,2.35,-16.05,0.000,4,0.234,0.064,1840,3711,3412
$GC,251,-0.66,-117.3,26.2,-9.8,10,255,0.00,2.20,0.00,0.000,6,0.000,0.029,1840,2290,3413
$GC,574,-0.60,-117.3,60.7,-11.1,26,578,0.10,2.25,0.00,0.000,4,0.128,0.041,1868,899,3414
$GC,654,-0.63,-117.3,68.2,-9.2,29,660,0.00,2.22,0.00,0.000,6,0.000,0.035,1863,2310,3414
$GC,977,-0.63,-117.3,97.0,-7.8,54,978,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2310,3414
$GC,1296,-0.66,-117.3,120.4,-6.7,84,1300,0.00,2.25,0.00,0.000,4,0.000,0.041,1862,895,3414
$GC,1377,-0.72,-117.3,126.2,-7.3,91,1381,0.00,2.25,0.00,0.000,6,0.000,0.044,1862,2309,3414
$GC,1708,-0.76,-117.3,148.4,-7.1,121,1713,0.10,2.28,0.00,0.000,4,0.064,0.048,1767,3716,3415
$GC,1776,-0.66,-117.3,157.0,-13.0,124,1781,0.30,2.20,0.00,0.000,6,0.111,0.030,1859,2297,3414
$GC,2107,-0.72,-117.3,179.7,-6.3,135,2111,0.00,2.22,0.00,0.000,4,0.000,0.041,1858,896,3414
$GC,2154,-0.80,-117.3,182.7,-6.4,136,2159,0.10,2.25,0.00,0.000,6,0.064,0.041,1777,2313,3414
$GC,2479,-0.70,-117.3,217.6,-11.1,147,2481,0.22,0.00,0.00,0.000,6,0.116,0.000,1846,2313,3414
$GC,2786,-0.75,-117.3,239.0,-6.8,157,2790,0.00,2.28,0.00,0.000,4,0.000,0.041,1846,896,3415
$GC,2842,-0.81,-117.3,242.9,-6.8,158,2849,0.00,2.25,0.00,0.000,6,0.000,0.037,1841,2306,3414
$GC,3157,-0.85,-117.3,263.3,-6.5,169,3159,0.10,0.00,0.00,0.000,6,0.064,0.000,1759,2306,3414
$GC,3463,-0.72,-117.3,298.0,-11.8,179,3468,0.25,2.30,0.00,0.000,4,0.117,0.041,1842,896,3414
$GC,3532,-0.78,-117.3,303.8,-7.3,181,3536,0.00,2.28,0.00,0.000,6,0.000,0.038,1837,2312,3414
$GC,3894,-0.80,-117.3,329.8,-7.2,187,3898,0.00,2.28,0.00,0.000,4,0.000,0.042,1837,895,3414
$GC,3950,-0.85,-117.3,334.1,-7.9,187,3956,0.00,2.28,0.00,0.000,6,0.000,0.041,1836,2307,3414
$GC,4262,-0.88,-117.3,354.9,-6.6,193,4264,0.10,0.00,0.00,0.000,6,0.065,0.000,1766,2308,3414
$GC,4565,-0.78,-117.3,385.0,-10.1,198,4567,0.22,0.00,0.00,0.000,6,0.112,0.000,1835,2308,3413
$GC,4868,-0.82,-117.3,403.2,-5.8,203,4872,0.00,2.30,0.00,0.000,4,0.000,0.046,1836,898,3413
$GC,4898,-0.87,-117.3,405.0,-6.1,203,4903,0.10,2.28,0.00,0.000,6,0.064,0.043,1768,2313,3413
$GC,5236,-0.78,-117.3,435.1,-9.0,209,5238,0.20,0.00,0.00,0.000,6,0.114,0.000,1830,2312,3413
$GC,5540,-0.81,-117.3,451.3,-5.2,214,5544,0.00,2.28,0.00,0.000,4,0.000,0.044,1829,893,3412
$GC,5597,-0.85,-117.3,454.8,-6.2,214,5603,0.00,2.28,0.00,0.000,6,0.000,0.039,1823,2306,3412
$GC,5908,-0.85,-117.3,474.0,-6.3,220,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2306,3412
$GC,6212,-0.87,-117.3,494.9,-6.9,225,6216,0.00,2.30,0.00,0.000,4,0.000,0.044,1823,889,3412
$GC,6263,-0.90,-117.3,498.9,-7.7,225,6267,0.00,2.28,0.00,0.000,6,0.000,0.043,1822,2303,3412
$GC,6575,-0.90,-117.3,520.8,-7.0,230,6579,0.00,2.28,0.00,0.000,4,0.000,0.047,1821,898,3412
$GC,6610,-0.92,-117.3,523.5,-7.3,230,6614,0.00,2.25,0.00,0.000,6,0.000,0.039,1812,2303,3412
$GC,6937,-0.92,-117.3,548.1,-7.5,236,6941,0.00,2.30,0.00,0.000,4,0.000,0.051,1812,887,3412
$GC,6972,-0.92,-117.3,551.0,-7.6,236,6976,0.00,2.30,0.00,0.000,6,0.000,0.045,1806,2311,3411
$GC,7300,-0.92,-117.3,575.6,-7.4,242,7304,0.00,2.30,0.00,0.000,4,0.000,0.048,1806,895,3411
$GC,7334,-0.92,-117.3,578.4,-7.4,242,7338,0.00,2.28,0.00,0.000,6,0.000,0.044,1796,2306,3411
$GC,7662,-0.90,-117.3,602.3,-7.3,248,7666,0.00,2.28,0.00,0.000,4,0.000,0.048,1797,891,3411
$GC,7691,-0.88,-117.3,604.6,-7.5,248,7695,0.00,2.28,0.00,0.000,6,0.000,0.042,1788,2303,3410
$GC,8025,-0.84,-117.3,629.4,-7.5,254,8027,0.12,0.00,0.00,0.000,6,0.127,0.000,1825,2304,3410
$GC,8327,-0.88,-117.3,647.7,-6.0,259,8331,0.00,2.28,0.00,0.000,4,0.000,0.049,1825,897,3411
$GC,8362,-0.92,-117.3,650.0,-6.1,259,8367,0.08,2.28,0.00,0.000,6,0.081,0.042,1764,2308,3410
$GC,8690,-0.84,-117.3,679.6,-9.3,265,8695,0.17,2.33,0.00,0.000,4,0.115,0.050,1815,3715,3410
$GC,8719,-0.84,-117.3,682.0,-8.1,265,8723,0.00,2.25,0.00,0.000,6,0.000,0.031,1816,2294,3411
$GC,9053,-0.87,-117.3,703.6,-6.4,271,9057,0.00,2.25,0.00,0.000,4,0.000,0.044,1815,889,3410
$GC,9094,-0.90,-117.3,706.8,-7.5,271,9098,0.00,2.30,0.00,0.000,6,0.000,0.040,1810,2312,3410
$GC,9421,-0.90,-117.3,729.6,-7.0,277,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2312,3410
$GC,9724,-0.90,-117.3,750.2,-6.8,282,9728,0.00,2.30,0.00,0.000,4,0.000,0.044,1810,893,3410
$GC,9769,-0.90,-117.3,753.6,-7.5,282,9773,0.00,2.30,0.00,0.000,6,0.000,0.040,1808,2312,3409
$GC,10086,-0.90,-117.3,774.7,-6.7,288,10090,0.00,2.30,0.00,0.000,4,0.000,0.045,1808,899,3409
$GC,10120,-0.90,-117.3,777.3,-7.4,288,10124,0.00,2.28,0.00,0.000,6,0.000,0.042,1805,2305,3409
$GC,10447,-0.90,-117.3,799.4,-6.8,294,10448,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3409
$GC,10750,-0.90,-117.3,820.2,-6.9,299,10754,0.00,2.33,0.00,0.000,4,0.000,0.047,1805,888,3409
$GC,10779,-0.90,-117.3,822.3,-8.2,299,10783,0.00,2.30,0.00,0.000,6,0.000,0.043,1795,2303,3409
$GC,11111,-0.90,-117.3,846.5,-7.3,305,11115,0.00,2.33,0.00,0.000,4,0.000,0.044,1795,891,3409
$GC,11140,-0.90,-117.3,848.7,-8.0,305,11144,0.00,2.30,0.00,0.000,6,0.000,0.042,1794,2303,3408
$GC,11473,-0.90,-117.3,871.1,-6.7,311,11474,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2303,3408
$GC,11777,-0.90,-117.3,890.9,-6.5,316,11781,0.00,2.33,0.00,0.000,4,0.000,0.044,1793,894,3408
$GC,11833,-0.90,-117.3,895.2,-7.6,316,11839,0.00,2.28,0.00,0.000,6,0.000,0.040,1784,2303,3408
$GC,12144,-0.87,-117.3,917.1,-7.1,322,12146,0.10,0.00,0.00,0.000,6,0.133,0.000,1812,2303,3408
$GC,12449,-0.90,-117.3,933.9,-5.4,327,12453,0.00,2.30,0.00,0.000,4,0.000,0.046,1812,901,3408
$GC,12500,-0.94,-117.3,937.1,-6.1,327,12504,0.00,2.28,0.00,0.000,6,0.000,0.041,1810,2305,3408
$GC,12811,-0.96,-117.3,954.8,-5.7,332,12812,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2305,3408
$GC,13114,-0.98,-117.3,972.4,-5.9,337,13119,0.08,2.30,0.00,0.000,4,0.093,0.044,1768,900,3408
$GC,13155,-0.92,-117.3,975.5,-8.3,337,13160,0.17,2.28,0.00,0.000,6,0.125,0.040,1806,2301,3408
$STATE,13417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13417,begin apogee
$GC,13426,-0.22,0.0,992.1,6.1,342,13528,0.45,0.00,98.75,1.282,6,0.107,0.000,1954,2301,2931
$STATE,13528,end apogee,CONTROL_FINISHED_OK
$STATE,13529,begin climb
$GC,13533,0.68,117.3,993.7,0.0,343,13645,0.57,2.60,103.90,1.256,4,0.067,0.056,2153,3701,2451
$GC,13688,0.49,117.3,992.1,6.2,346,13693,0.22,2.38,0.00,0.000,6,0.156,0.036,2108,2308,2447
$GC,14033,0.51,164.6,978.1,3.9,352,14075,0.00,0.00,40.95,1.224,6,0.000,0.000,2108,2308,2259
$GC,14336,0.57,207.8,965.7,4.0,357,14381,0.00,2.38,38.53,1.214,4,0.000,0.053,2108,3706,2082
$GC,14401,0.62,253.7,962.7,3.9,358,14450,0.00,2.28,42.58,1.207,6,0.000,0.034,2116,2300,1895
$GC,14769,0.69,277.0,945.7,4.7,364,14804,0.12,2.35,23.05,1.079,4,0.062,0.051,2183,896,1800
$GC,14822,0.62,277.0,941.6,8.0,364,14827,0.17,2.28,0.00,0.000,6,0.132,0.039,2136,2305,1798
$GC,15133,0.62,277.0,921.5,6.3,369,15137,0.00,2.28,0.00,0.000,4,0.000,0.050,2136,3711,1794
$GC,15179,0.62,277.0,918.0,7.9,369,15183,0.00,2.22,0.00,0.000,6,0.000,0.038,2144,2304,1794
$GC,15495,0.62,277.0,893.6,7.8,375,15497,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2304,1793
$GC,15798,0.62,277.0,869.6,8.0,380,15802,0.00,2.30,0.00,0.000,4,0.000,0.050,2144,3718,1792
$GC,15839,0.59,277.0,865.7,8.8,380,15844,0.12,2.25,0.00,0.000,6,0.140,0.034,2121,2299,1792
$GC,16168,0.63,277.0,844.7,6.3,386,16172,0.00,2.28,0.00,0.000,4,0.000,0.047,2129,890,1792
$GC,16205,0.70,277.0,842.2,6.0,386,16209,0.00,2.25,0.00,0.000,6,0.000,0.038,2130,2306,1791
$GC,16538,0.72,277.0,819.9,6.7,392,16542,0.10,2.28,0.00,0.000,4,0.073,0.052,2186,3707,1791
$GC,16595,0.59,277.0,813.5,13.3,392,16602,0.25,2.22,0.00,0.000,6,0.145,0.035,2129,2305,1791
$GC,16906,0.62,277.0,791.2,6.9,398,16910,0.00,2.28,0.00,0.000,4,0.000,0.047,2138,890,1791
$GC,16930,0.66,277.0,789.4,6.7,398,16934,0.00,2.25,0.00,0.000,6,0.000,0.037,2138,2303,1789
$GC,17269,0.66,277.0,763.6,7.7,404,17273,0.00,2.28,0.00,0.000,4,0.000,0.055,2138,3713,1790
$GC,17297,0.66,277.0,761.0,8.2,404,17301,0.00,2.22,0.00,0.000,6,0.000,0.038,2147,2299,1790
$GC,17630,0.66,277.0,733.9,8.1,410,17632,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2299,1789
$GC,17933,0.66,277.0,709.1,8.2,415,17935,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2300,1789
$GC,18237,0.66,277.0,685.1,7.9,420,18241,0.00,2.33,0.00,0.000,4,0.000,0.047,2147,3714,1789
$GC,18267,0.64,277.0,682.3,8.3,420,18271,0.00,2.22,0.00,0.000,6,0.000,0.031,2157,2295,1790
$GC,18606,0.60,277.0,654.4,8.2,426,18608,0.12,0.00,0.00,0.000,6,0.137,0.000,2123,2295,1789
$GC,18910,0.66,281.9,638.0,5.3,431,18914,0.00,2.33,0.00,0.000,4,0.000,0.051,2123,3715,1788
$GC,18940,0.70,281.9,636.1,6.2,431,18944,0.08,2.22,0.00,0.000,6,0.077,0.031,2188,2298,1789
$GC,19278,0.60,281.9,601.3,10.7,437,19280,0.22,0.00,0.00,0.000,6,0.137,0.000,2124,2297,1789
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$STATE,27916,end climb,SURFACE_DEPTH_REACHED
$STATE,27916,begin surface coast
$FINISH,1.4,1.016460
$STATE,27938,end surface coast,CONTROL_FINISHED_OK
$STATE,27938,begin surface
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$HUMID,1748
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$TCM_TEMP,15.90
$XPDR_PINGS,76
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$10V_AH,10.3,89.770
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$DEVICE_SECS,20.575,240.875,377.275,0.000,0.000,30.121,29.640,168.875,19.000,0.000,0.000,12.093,1673.614,23121.994,538.574,2146.251,925.861,33.385,1687.767,0.000,2123.425,0.000,0.527,0.000
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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,44370,730
$CAP_FILE_SIZE,186912,0
$CFSIZE,260165632,201777152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,120210,061004,4931.627,-13829.973,40,1.2,49,19.3